CN107121256B - A kind of six degree of freedom captive trajectory testing method of continuous in-orbit movement - Google Patents
A kind of six degree of freedom captive trajectory testing method of continuous in-orbit movement Download PDFInfo
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Abstract
The invention discloses a kind of six degree of freedom captive trajectory testing methods of continuous in-orbit movement, the separation body Model aerodynamic force that the test method is measured using force balance, solve full-scale chorista kinetics equation group, obtain the flight path of full-scale chorista, it is converted again by the world, speed contracting ratio, obtain detaching the movement locus of body Model under wind tunnel axis system, finally utilize mechanism in six degree of freedom that the track of separation body Model on demand is driven to move, during chorista model sport, balance data are measured in advance, solve full-scale chorista kinetics equation group, and plan next section of movement locus.The test method carries out signal measurement without pause motion and data calculate, so that the movement locus Non-intermittent of entire separation body Model, and it can ensure that separation body Model remains in real trace, improve test accuracy, increase test data amount, the captive trajectory testing time is shortened, experimentation cost is reduced.
Description
Technical field
The invention belongs to hypersonic wind tunnel experiment technical fields, and in particular to a kind of six degree of freedom of continuous in-orbit movement
Captive trajectory testing method.
Background technology
Wind-tunnel captive trajectory testing technology（Abbreviation CTS）It is a kind of electromechanical integrated device being used in wind tunnel test,
It is suitable layout of the chorista on its host and dispensing parameter for simulating the movement locus after chorista is detached from host
Control provides reliable basis.It is cooperated using computer, six degree of freedom device and wind-tunnel, and body Model is detached by measurement
Aerodynamic loading solve chorista model space six degrees of freedom equation of motion group come obtain separation body Model movement position or speed,
And then realize dropping trajectory simulation.
Currently, the control mode of CTS is mainly based upon the position control mode of closed loop, separation body Model is in constant speed interval
Formula motor pattern is primarily present following deficiency：
1）Separation body Model suspends after moving to target location, carries out signal measurement and data calculate, then carry out again
The movement of next step, and need to correct position repeatedly, therefore the time for obtaining a chorista track is longer, experiment effect
Rate is low, high energy consumption；
2）Chorista model sport is noncontinuity, and the subsequent point position of tracing point is that prediction generates, might not with point
Isolated model six-degree-of-freedom dynamics equation specified position overlaps always, and model center of gravity can not be continuously held in real motion rail
On mark.
In addition to this, there is the method for control speed of CTS both at home and abroad, solve the kinematics six degree of freedom side of chorista flight
Journey calculates given time step-lengthThe centroid velocity of chorista afterwardsWith the angular speed of rotation around center of mass, reuse
Interpolation method obtains continuous speedWith angular speed, then control mechanism in six degree of freedom and drive chorista mould
Type according toMovement locus withAthletic posture moves, and iterative method completes the measurement of a separated track, but solves
The polynomial method of quadratic interpolation is used between speed out, the position of movement may be with the six-freedom motion differential equation
Calculated position difference is larger.
Since the track of CTS system mechanism in six degree of freedom movement cannot determine before the test, so traditional industry six is freely
The ripe control strategy of degree manipulator is difficult in the control for directly applying to CTS experiments.
Invention content
Technical problem to be solved by the invention is to provide a kind of six degree of freedom captive trajectory testings of continuous in-orbit movement
Method.
The six degree of freedom captive trajectory testing method of the continuous in-orbit movement of the present invention, its main feature is that：The experiment side
The testing equipment that method uses includes host computer, next bit computer, motor driver, motor, mechanism in six degree of freedom, position biography
Sensor, velocity sensor and force balance；The motor driver includes X1 spindle motors driver, X2 spindle motors driver, Y
Spindle motor driver, Z1 spindle motors driver, Z2 spindle motors driver, α spindle motors driver, β spindle motors driver and γ axis
Motor driver；The motor includes X1 spindle motors corresponding with motor driver, X2 spindle motors, y-axis motor, Z1 axis electricity
Machine, Z2 spindle motors, α spindle motors, β spindle motors and γ spindle motors；Absolute type encoder, absolute type are installed on the motor shaft
The data of acquisition are processed into position and speed information by encoder, and absolute type encoder has position sensor and velocity sensor
Dual function；
Its connection relation is that the host computer, next bit computer and motor driver are connected by cable, motor
Driver is connected by signal wire with power line with motor, and position sensor, velocity sensor and next bit computer pass through signal
Line connection, force balance are connected with next bit computer by signal wire；Force balance, dynamometry day are installed inside separation body Model
Flat strut is fixedly connected with mechanism in six degree of freedom；The motor driver driving motor control mechanism in six degree of freedom passes through survey
The strut of power balance drives chorista model sport；
The host computer is equipped with human-computer interaction program, and human-computer interaction program is for reading test parameters and preservation
Data, triggering experiment, display present speed and position, display balance signal；
The next bit computer is equipped with PLC softwares, is used for real-time control motor movement, and write in PLC softwares
The program of captive trajectory testing；
The running position signal of the position sensor detection separation body Model, and it is sent to next bit computer；
The running speed signal of the velocity sensor detection separation body Model, and it is sent to next bit computer；
The force balance measures the aerodynamic force of separation body Model, and is sent to next bit computer；
The six degree of freedom captive trajectory testing method of the continuous in-orbit movement includes the following steps：
1a. is inputted by host computer human-computer interaction interface and is tested relevant force balance coefficient, pneumatically resolves and join
Count n for track in number, track operation hop count m, every section of track, model geometric shrinkage scale, velocity transformation scale, single hop
Track moves the deadline, resolving time in advance, balance delay time, read balance data time；Input six
Degree of freedom kinematics of mechanism is against dematrix R1, the speed in input mechanism in six degree of freedom space is mapped to the Jacobi square of joint space
Battle array R2；
1b. controls motor movement by slave computer computer PLC softwares, by chorista model sport to initial pose（）, and track hop count i=0 of resolving is set；
1c. judges whether the track hop count i currently resolved is 0, if i=0, slave computer computer acquisition force balance is surveyed
The power and torque that the chorista model of amount is received；If i ≠ 0, i-th section of track of slave computer computer acquisition exists（t1-t2-t3）Extremely
（t1-t2）The power and torque that balance measurement chorista model is received in time range, and calculate the average value of power and torque；
1d. slave computer computers calculate power and torque suffered by full-scale chorista；
1e. resolves full-scale chorista kinetics equation group by differential equation group numerical algorithm, obtains the（i+1）Section rail
The pose and speed of n tracing point on mark；
1f. by world conversion method, obtain under wind tunnel axis system the pose of the separation corresponding n tracing point of body Model and
Speed；
1g. obtains separation body Model and corresponds to this n tracing point pose and speed by speed contracting ratio and Inverse Kinematics Solution method
Each motor corner and rotating speed of degree；
1h. utilizes each motor corner and rotating speed, by motor movement curve planing method, plans that the movement of each motor is bent
Line；
Track hop count i=i+1 that 1i. has been resolved；
1j. judges whether i is 1 at this time, if i=1, by the movement of i-th section of track, if i ≠ 1, waits for the（i-1）
After the completion of the movement of section track, then by i-th section of track movement；
1k. is when i-th section of track run duration, meetWhen, judge whether i is less than track and runs
Hop count m returns to step 1c if i≤m, and output trajectory after the completion of i-th section of track movement is waited for if i ＞ m, terminates examination
It tests.
The differential equation group numerical algorithm includes one kind in single order or second order differential equations numerical algorithm.
The world conversion method is as follows：
The center of mass motion of full-scale chorista by n tracing point of full-scale chorista pose（）
With speed（）It is described；
Model geometric scaling factor is, start the initial pose for testing time-division isolated model（）,
Under wind tunnel axis system detach body Model correspond to tracing point pose () and speed
(), specific formula for calculation is as follows：
The speed contracting ratio includes the following steps with Inverse Kinematics Solution method：
4a. increases speed the chorista model sport time change of scaleTimes, separation body Model is respectively same by degree speed
When reduce velocity transformation scaleTimes, then detach speed when body Model actual motion（）
For
4b. is according to the pose for detaching some tracing point of body Model（）It is transported with mechanism in six degree of freedom
It is dynamic to learn inverse dematrix R1, calculate the corresponding corner of each motor（）, specific formula for calculation is as follows：
Speed when actual motion（）It is mapped with the speed in mechanism in six degree of freedom space
To the Jacobian matrix R of joint space2, rotating speed（）, specific formula for calculation is as follows：
The motor movement curve planing method is as follows：
The corresponding angle of motor of two neighboring tracing point in known single hop track,And angular speed,（）, the two neighboring tracing point run duration in single hop trackAfterwards, use is more three times
Item formula interpolation, the equation for obtaining curve movement are as follows：
Wherein：
。
World conversion method involved in the six degree of freedom captive trajectory testing method of the continuous in-orbit movement of the present invention
Principle is：The center of mass motion of full-scale chorista is actual track in the sky, when being converted to the situation in wind-tunnel, chorista mould
The barycenter displacement of type is reduced by geometry scaling factor, similarly, detaches the linear velocity of body Model by the linear speed of full-scale chorista barycenter
Geometry scaling factor is spent to reduce.Because the relative attitude of the separation body Model in full-scale chorista and wind-tunnel in the sky is constant, institute
It does not press geometry scaling factor with chorista model attitude angle to reduce, detaches the angular speed of the angular speed and full-scale chorista of body Model
It is identical.
User is man-machine by host computer in the six degree of freedom captive trajectory testing method of the continuous in-orbit movement of the present invention
Interactive interface input experiment and Parameters in Mathematical Model, next bit computer solve full-scale chorista flight six-freedom motion side
Journey calculates the pose and speed of full-scale chorista after given time step-length；According to solve come data, carry out the world turn
It changes, the tracing point for detaching body Model under wind tunnel axis system is obtained, by speed contracting than obtaining each electricity against solution with mechanism in six degree of freedom
The corresponding corner of machine and rotating speed cook up the full curve of a motor movement using the corner and rotating speed of each motor.It has planned
Cheng Hou, notice next bit computer control motor make CTS mechanism in six degree of freedom drive chorista model sport, it have been moved in track
Before, consider balance signal delay and chorista flight six-degree-of-freedom dynamics equation solution time, resolves and plan down in advance
One track ensures that separation body Model is transitioned into next track from a smooth trajectory.
The six degree of freedom captive trajectory testing method of the continuous in-orbit movement of the present invention is a kind of raising separation body Model fortune
The CTS test methods of dynamic path accuracy, the test method propose continuous in-orbit control mode, ensure that separation body Model according to
The track that chorista flight six-degree-of-freedom dynamics equation solver comes out is moved.The test method can be controlled and be counted simultaneously
The pose and speed for calculating tracing point, measure balance data in advance during model sport, solve full-scale chorista six
The degree of freedom equation of motion, and plan next section of movement locus, it carries out signal measurement without pause motion and data calculates so that is whole
A chorista model sport track Non-intermittent, it is ensured that separation body Model is maintained in real trace, improves test accuracy, is increased
Test data amount, shortens CTS test periods, reduces experimentation cost.
Description of the drawings
Fig. 1 is the separation body Model mechanism in six degree of freedom control system schematic diagram in the present invention；
Fig. 2 is the captive trajectory testing flow chart in the present invention.
Specific implementation mode
The present invention will be described in detail with reference to the accompanying drawings and examples.
As shown in Figure 1, the experiment that the six degree of freedom captive trajectory testing method of the continuous in-orbit movement of the present invention uses is set
Standby includes host computer, next bit computer, motor driver, motor, mechanism in six degree of freedom, position sensor, velocity pick-up
Device and force balance；The motor driver include X1 spindle motors driver, X2 spindle motors driver, y-axis motor driver,
Z1 spindle motors driver, Z2 spindle motors driver, α spindle motors driver, β spindle motors driver and γ spindle motor drivers；Institute
The motor stated includes X1 spindle motors corresponding with motor driver, X2 spindle motors, y-axis motor, Z1 spindle motors, Z2 spindle motors, α axis
Motor, β spindle motors and γ spindle motors；Absolute type encoder is installed, absolute type encoder is by acquisition on the motor shaft
Data are processed into position and speed information, and absolute type encoder has the dual function of position sensor and velocity sensor；
Its connection relation is that the host computer, next bit computer and motor driver are connected by cable, motor
Driver is connected by signal wire with power line with motor, and position sensor, velocity sensor and next bit computer pass through signal
Line connection, force balance are connected with next bit computer by signal wire；Force balance, dynamometry day are installed inside separation body Model
Flat strut is fixedly connected with mechanism in six degree of freedom；The motor driver driving motor control mechanism in six degree of freedom passes through survey
The strut of power balance drives chorista model sport；
The host computer is equipped with human-computer interaction program, and human-computer interaction program is for reading test parameters and preservation
Data, triggering experiment, display present speed and position, display balance signal；
The next bit computer is equipped with PLC softwares, is used for real-time control motor movement, and write in PLC softwares
The program of captive trajectory testing；
The running position signal of the position sensor detection separation body Model, and it is sent to next bit computer；
The running speed signal of the velocity sensor detection separation body Model, and it is sent to next bit computer；
The force balance measures the aerodynamic force of separation body Model, and is sent to next bit computer；
As shown in Fig. 2, the six degree of freedom captive trajectory testing method of the continuous in-orbit movement includes the following steps：
1a. is inputted by host computer human-computer interaction interface and is tested relevant force balance coefficient, pneumatically resolves and join
Count n for track in number, track operation hop count m, every section of track, model geometric shrinkage scale, velocity transformation scale, single hop
Track moves the deadline, resolving time in advance, balance delay time, read balance data time；Input six
Degree of freedom kinematics of mechanism is against dematrix R1, the speed in input mechanism in six degree of freedom space is mapped to the Jacobi square of joint space
Battle array R2；
1b. controls motor movement by slave computer computer PLC softwares, by chorista model sport to initial pose（）, and track hop count i=0 of resolving is set；
1c. judges whether the track hop count i currently resolved is 0, if i=0, slave computer computer acquisition force balance is surveyed
The power and torque that the chorista model of amount is received；If i ≠ 0, i-th section of track of slave computer computer acquisition exists（t1-t2-t3）Extremely
（t1-t2）The power and torque that balance measurement chorista model is received in time range, and calculate the average value of power and torque；
1d. slave computer computers calculate power and torque suffered by full-scale chorista；
1e. resolves full-scale chorista kinetics equation group by differential equation group numerical algorithm, obtains the（i+1）Section rail
The pose and speed of n tracing point on mark；
1f. by world conversion method, obtain under wind tunnel axis system the pose of the separation corresponding n tracing point of body Model and
Speed；
1g. obtains separation body Model and corresponds to this n tracing point pose and speed by speed contracting ratio and Inverse Kinematics Solution method
Each motor corner and rotating speed of degree；
1h. utilizes each motor corner and rotating speed, by motor movement curve planing method, plans that the movement of each motor is bent
Line；
Track hop count i=i+1 that 1i. has been resolved；
1j. judges whether i is 1 at this time, if i=1, by the movement of i-th section of track, if i ≠ 1, waits for the（i-1）
After the completion of the movement of section track, then by i-th section of track movement；
1k. is when i-th section of track run duration, meetWhen, judge whether i is less than track and runs
Hop count m returns to step 1c if i≤m, and output trajectory after the completion of i-th section of track movement is waited for if i ＞ m, terminates examination
It tests.
The differential equation group numerical algorithm includes one kind in single order or second order differential equations numerical algorithm.
The world conversion method is as follows：
The center of mass motion of full-scale chorista by n tracing point of full-scale chorista pose（）
With speed（）It is described；
Model geometric scaling factor is, start the initial pose for testing time-division isolated model（）,
Under wind tunnel axis system detach body Model correspond to tracing point pose () and speed
(), specific formula for calculation is as follows：
。
The speed contracting ratio includes the following steps with Inverse Kinematics Solution method：
4a. increases speed the chorista model sport time change of scaleTimes, separation body Model is respectively same by degree speed
When reduce velocity transformation scaleTimes, then detach speed when body Model actual motion（）
For
；
4b. is according to the pose for detaching some tracing point of body Model（）It is transported with mechanism in six degree of freedom
It is dynamic to learn inverse dematrix R1, calculate the corresponding corner of each motor（）, specific formula for calculation is as follows：
Speed when actual motion（）It is mapped with the speed in mechanism in six degree of freedom space
To the Jacobian matrix R of joint space2, rotating speed（）, specific formula for calculation is as follows：
。
The motor movement curve planing method is as follows：
The corresponding angle of motor of two neighboring tracing point in known single hop track,And angular speed,（）, the two neighboring tracing point run duration in single hop trackAfterwards, it is inserted using cubic polynomial
Value, the equation for obtaining curve movement are as follows：
Wherein：
。
Embodiment 1
The present embodiment is implemented according to the above embodiment, it should be noted that differential equation group numerical algorithm is micro- using single order
Divide equation group numerical algorithm.Differential equation group formula is as follows：
Wherein,Be followed successively by that full-scale chorista is subject to along X to Y-direction and Z-direction
Resultant force；
Be followed successively by that full-scale chorista is subject to around X-axis, the resultant force of Y-axis and Z axis
Square；
To be followed successively by speed of the full-scale chorista with respect to main body along its body axis x to, Y-direction and Z-direction
Component, unit；
To be followed successively by speed of the full-scale chorista with respect to main body along its body axis x to, Y-direction and Z
To component change rate, unit；
To be followed successively by the angular speed of the opposite body rotation of full-scale separation along its body axis X-axis, Y-axis and Z
The projection of axis, unit；
To be followed successively by the angular acceleration of the opposite body rotation of full-scale separation along its body axis X-axis, Y-axis
It hangs down with Z the projection of axis, unit；
To be followed successively by the moment of inertia that full-scale chorista is rotated around its body axis X-axis, Y-axis and Z axis, unit；
It is that full-scale chorista is accumulated about the rotator inertia in its longitudinally asymmetric face, unit
For the quality of full-scale chorista, unit。
Above equation group is full-scale chorista kinetics equation group, and it is classical using quadravalence to solve above equation group
RungeKutta methods, the resultant force that the full-scale chorista speed and angular speed of last moment and full-scale chorista are subject to and
Resultant moment substitutes into quadravalence classics RungeKutta formula, solves the chorista speed of subsequent time（）
And angular speed（）Change rate.Increment after change rate is integrated brings the speed of last moment into and angular speed can
The speed and angular speed at current time are obtained, then integrates and can obtain position（）And angle（）,
Obtain the pose of each tracing point on every section of track（）And speed（）.
Embodiment 2
The present embodiment and the embodiment of embodiment 1 are essentially identical, and the main distinction is：Differential equation group numerical algorithm is adopted
With second order differential equations numerical algorithm.Differential equation group formula is as follows：
Wherein,For the quality of full-scale chorista；
It is vectorial in fixed coordinate system bottom offset for full-scale chorista,,
For its second dervative vector；
Roll angle,Yaw angleFor pitch angle,For
Corresponding attitude angle first derivative vector,For corresponding attitude angle second dervative vector；
The direction cosine matrix of coordinate system is relatively fixed for separation body Model；Its calculation formula is as follows：
For body shafting angular speed,For body shafting angle
Percentage speed variation；
ForWithTransformed matrix, formula is：
For the resultant force vector suffered by full-scale chorista；
For resultant moment suffered by full-scale chorista to
Amount；
Moment of inertia matrix for chorista about chorista body shafting；
For body shafting angular speed coordinate square formation, wherein square formation expression way is as follows：
After obtaining the above second order differential equations formula, with numerical solutions such as Newmark β-methods, calculate、 And one
Order derivative.
The present invention is not limited to above-mentioned specific implementation mode, person of ordinary skill in the field from above-mentioned design,
Without performing creative labour, made various transformation are within the scope of the present invention.
Claims (5)
1. a kind of six degree of freedom captive trajectory testing method of continuous in-orbit movement, it is characterised in that：The test method makes
Testing equipment includes host computer, next bit computer, motor driver, motor, mechanism in six degree of freedom, position sensing
Device, velocity sensor and force balance；The motor driver includes X1 spindle motors driver, X2 spindle motors driver, Y-axis
Motor driver, Z1 spindle motors driver, Z2 spindle motors driver, α spindle motors driver, β spindle motors driver and γ axis electricity
Machine driver；The motor include X1 spindle motors corresponding with motor driver, X2 spindle motors, y-axis motor, Z1 spindle motors,
Z2 spindle motors, α spindle motors, β spindle motors and γ spindle motors；Absolute type encoder is installed, absolute type is compiled on the motor shaft
The data of acquisition are processed into position and speed information by code device, and absolute type encoder has position sensor and velocity sensor
Dual function；
Its connection relation is that the host computer, next bit computer and motor driver are connected by cable, motor driving
Device is connected by signal wire with power line with motor, and position sensor, velocity sensor and next bit computer are connected by signal wire
It connects, force balance is connected with next bit computer by signal wire；Force balance is installed inside separation body Model, force balance
Strut is fixedly connected with mechanism in six degree of freedom；The motor driver driving motor control mechanism in six degree of freedom passes through dynamometry day
Flat strut drives chorista model sport；
The host computer is equipped with human-computer interaction program, and human-computer interaction program is for reading test parameters and preserving number
According to, triggering experiment, display present speed and position, display balance signal；
The next bit computer is equipped with PLC softwares, is used for real-time control motor movement, and capture is write in PLC softwares
The program of trajectory tests；
The running position signal of the position sensor detection separation body Model, and it is sent to next bit computer；
The running speed signal of the velocity sensor detection separation body Model, and it is sent to next bit computer；
The force balance measures the aerodynamic force of separation body Model, and is sent to next bit computer；
The six degree of freedom captive trajectory testing method of the continuous in-orbit movement includes the following steps：
1a. is inputted by host computer human-computer interaction interface and is tested relevant force balance coefficient, pneumatically resolves parameter, rail
Mark runs the track points n in hop count m, every section of track, model geometric shrinkage scale, velocity transformation scale, single hop track
Move the deadline, resolving time in advance, balance delay time, read balance data time；Input six is freely
Kinematics of mechanism is spent against dematrix R1, the speed in input mechanism in six degree of freedom space is mapped to the Jacobian matrix R of joint space2；
1b. controls motor movement by slave computer computer PLC softwares, by chorista model sport to initial pose（）, and track hop count i=0 of resolving is set；
1c. judges whether the track hop count i currently resolved is 0, if i=0, what slave computer computer acquisition force balance measured
The power and torque that chorista model is received；If i ≠ 0, i-th section of track of slave computer computer acquisition exists（t1-t2-t3）Extremely（t1-
t2）The power and torque that balance measurement chorista model is received in time range, and calculate the average value of power and torque；
1d. slave computer computers calculate power and torque suffered by full-scale chorista；
1e. resolves full-scale chorista kinetics equation group by differential equation group numerical algorithm, obtains the（i+1）On section track
The pose and speed of n tracing point；
1f. obtains the pose of the separation corresponding n tracing point of body Model and speed under wind tunnel axis system by world conversion method
Degree；
1g. by speed contract than and Inverse Kinematics Solution method, obtain separation body Model and correspond to this n tracing point pose and speed
Each motor corner and rotating speed；
1h. plans the curve movement of each motor using each motor corner and rotating speed by motor movement curve planing method；
Track hop count i=i+1 that 1i. has been resolved；
1j. judges whether i is 1 at this time, if i=1, by the movement of i-th section of track, if i ≠ 1, waits for the（i-1）Section rail
After the completion of mark movement, then by i-th section of track movement；
1k. is when i-th section of track run duration, meetWhen, judge whether i is less than track and runs hop count
M returns to step 1c if i≤m, and output trajectory after the completion of i-th section of track movement is waited for if i ＞ m, terminates experiment.
2. the six degree of freedom captive trajectory testing method of continuous in-orbit movement according to claim 1, it is characterised in that：Institute
The differential equation group numerical algorithm stated includes one kind in single order or second order differential equations numerical algorithm.
3. the six degree of freedom captive trajectory testing method of continuous in-orbit movement according to claim 1, it is characterised in that：Institute
The world conversion method stated is as follows：
The center of mass motion of full-scale chorista by n tracing point of full-scale chorista pose（）
With speed（）It is described；
Model geometric scaling factor is, start the initial pose for testing time-division isolated model（）,
Under wind tunnel axis system detach body Model correspond to tracing point pose () and speed
(), specific formula for calculation is as follows：
。
4. the six degree of freedom captive trajectory testing method of continuous in-orbit movement according to claim 1, it is characterised in that：Institute
The speed contracting ratio stated includes the following steps with Inverse Kinematics Solution method：
4a. increases speed the chorista model sport time change of scaleTimes, separation body Model is respectively subtracted by degree speed simultaneously
Few velocity transformation scaleTimes, then detach speed when body Model actual motion（）For
；
4b. is according to the pose for detaching some tracing point of body Model（）With mechanism in six degree of freedom kinematics
Inverse dematrix R1, calculate the corresponding corner of each motor（）, specific formula for calculation is as follows：
Speed when actual motion（）It is mapped to pass with the speed in mechanism in six degree of freedom space
Save the Jacobian matrix R in space2, rotating speed（）, specific formula for calculation is as follows：
。
5. the six degree of freedom captive trajectory testing method of continuous in-orbit movement according to claim 1, it is characterised in that：Institute
The motor movement curve planing method stated is as follows：
The corresponding angle of motor of two neighboring tracing point in known single hop track,And angular speed,（）, the two neighboring tracing point run duration in single hop trackAfterwards, it is inserted using cubic polynomial
Value, the equation for obtaining curve movement are as follows：
Wherein：
。
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| 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 |
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