CN112461491B - Capture Track (CTS) test speed control method based on uniform acceleration motion - Google Patents
Capture Track (CTS) test speed control method based on uniform acceleration motion Download PDFInfo
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Abstract
The invention discloses a Capture Trajectory (CTS) test speed control method based on uniform acceleration motion, which comprises the following steps: s1, calculating a target motion speed of a six-degree-of-freedom manipulator through a target position in a position control method based on a motor speed uniform acceleration model and an encoder real-time feedback value matched with the six-degree-of-freedom manipulator; s2, carrying out scale transformation on the limited movement time to obtain the transformed six-degree-of-freedom manipulator movement speed; s3, calculating to obtain the actual movement speed of the six-degree-of-freedom manipulator based on the acceleration of the six-degree-of-freedom manipulator; and S4, controlling the six-degree-of-freedom manipulator to move according to the actual movement speed, and returning to S1 until the whole track is completed after the six-degree-of-freedom manipulator moves at the next moment. The invention provides a Capture Trajectory (CTS) test speed control method based on uniform acceleration motion, which can avoid the derivation of the corresponding relation between the motion speed of a plug-in model and the speed of a six-degree-of-freedom manipulator and effectively eliminate the accumulated error in the test process.
Description
Technical Field
The invention relates to the field of wind tunnel tests. More particularly, the present invention relates to a method for controlling a Capturing Trajectory (CTS) test speed based on a uniform acceleration motion in a Capturing Trajectory (CTS) test technique.
Background
A Capture Track (CTS) test technology is used for predicting track characteristics of an external object after the external object is separated (launched/thrown) from a carrier, and the basic principle is that the carrier and the external object are installed in a wind tunnel after being reduced in proportion, a balance is used for measuring the pneumatic load of an external object model, a motion equation is solved to obtain the motion speed or position of the external object model, a six-degree-of-freedom mechanical arm is used for controlling the motion of the external object model, the balance is used for measuring the pneumatic load, and the process is repeated until the whole motion track is measured.
Since the last 70 s, the CTS test device based on the position control mode was developed in the countries of America, english, french and the like, but the time for obtaining a separation track is long because the external hanging model of the position control mode is in an intermittent motion mode.
After 80 years, along with the development of computer technology and automatic control technology, a speed control mode for completing a CTS test by continuous motion of a foreign object model appears abroad, and the control mode has a very outstanding advantage in improving the test efficiency and is favored by wind tunnel test organizations of all countries in the world, such as a CTS system of an Israel aircraft industry company (IAI) 4-foot temporary-rush high-speed wind tunnel and an American AEDC4T wind tunnel.
In China, the China Aerodynamic Research and Development Center (CARDC) provides a double closed-loop speed control CTS test method (Huang Xuhui, and the like, the national invention patent of ZL201210075221.6, 2014) based on space-time transformation, and the flight speed obtained by solving a motion equation is subjected to space-time transformation to dynamically generate an optimal speed transformation scale, so that the problem that the motion speed of the true flight of an external store can not be achieved due to the limitation of the maximum motion speed and the maximum motion acceleration of a six-degree-of-freedom manipulator is solved.
The method takes the motion speed of the pendant model as a control target, but the corresponding relation between the motion speed of the pendant model and the motion speed between the axes of the six-degree-of-freedom manipulator is complex and the realization difficulty is high due to the structural characteristics that the degrees of freedom of the six-degree-of-freedom manipulator are not completely independent, the angle rotation center and the mass center of the pendant model are not overlapped frequently and the like; on the other hand, in order to ensure that the plug-in model is in a uniform motion state, the six-degree-of-freedom manipulator needs to perform variable-speed motion, and in the speed adjusting process, the six-degree-of-freedom manipulator is in a frequent acceleration and deceleration state. In the movement process, speed control errors inevitably occur, so that the pose of the store model is gradually accumulated along with the advance of separation time, and the coupled relation between the aerodynamic force of the CTS test and the movement pose of the store is known, and if the accumulated errors are not eliminated in time, the test result may have larger deviation.
Disclosure of Invention
An object of the present invention is to solve at least the above problems and/or disadvantages and to provide at least the advantages described hereinafter.
To achieve these objects and other advantages in accordance with the purpose of the invention, there is provided a Capturing Trajectory (CTS) test velocity control method based on uniform acceleration motion, including:
s1, calculating a target motion speed of a six-degree-of-freedom manipulator through a target position in a position control method based on a motor speed uniform acceleration model and an encoder real-time feedback value matched with the six-degree-of-freedom manipulator;
s2, carrying out scale transformation on the limited movement time based on the target movement speed, the maximum movement speed and the shortest control period which can be achieved by the six-degree-of-freedom manipulator in the test so as to obtain the movement speed of the six-degree-of-freedom manipulator after transformation;
s3, calculating to obtain the actual movement speed of the six-degree-of-freedom manipulator based on the acceleration of the six-degree-of-freedom manipulator;
and S4, controlling the six-degree-of-freedom manipulator to move according to the actual movement speed, and returning to S1 until the whole track is completed after the six-degree-of-freedom manipulator moves at the next moment.
Preferably, in S1, the method of calculating the target moving speed is configured to include:
s10, mixing t i (i is more than or equal to 0) at the moment, the feedback positions of the motor encoders of all the shafts of the six-degree-of-freedom manipulator are recorded as
S11, measuring aerodynamic force and moment on the plug-in model through a balance;
s12, calculating t of the six-degree-of-freedom manipulator according to a wind tunnel CTS test position control method i+1 Target position of time of day
Adopting the following formula to make a pair of six-freedom-degree mechanical arms from t i To t i+1 Target movement speed of time
And (3) calculating:
preferably, in S2, the scale transformation λ v Is configured to include:
s20, setting the maximum motion speed which can be reached by the six-degree-of-freedom manipulator in the test to be
The shortest control period is T Min The following formula is adopted to convert the two pairs of maximum motion speed into the scale lambda max And (3) calculating:
s21, if lambda max (t i+1 -t i )＞T Min Then the velocity transformation scale λ v = λ max And if not, the step (B),
s22, recording the movement speed of the six-degree-of-freedom manipulator subjected to scale transformation as
It is configured to be calculated using equation three as follows to yield:
time of movement T i+1 Is configured to calculate using equation four as follows to yield:
T i+1 ＝λ v (t i+1 -t i ) (4)。
preferably, in S3, the actual moving speed is configured to be obtained by:
the acceleration set value of the six-degree-of-freedom manipulator is set as
t i The actual movement speed at the moment of time is
At t i+1 Actual movement speed of manipulator with six degrees of freedom at any moment
The following equations need to be satisfied:
in the equation,/represents that the corresponding elements of the two vectors are divided, and the result is the operation symbol of the vector with the same size;
the equation is about
And selecting a solution with a shorter acceleration time as a solution of the equation as shown in formula five:
the invention at least comprises the following beneficial effects: firstly, the method is high in universality, the motion speed of the six-degree-of-freedom device is calculated by using the target position in the position control method, the derivation of the corresponding relation between the motion speed of the external pendant model and the speed of the six-degree-of-freedom manipulator is avoided, and particularly when the degrees of freedom of the six-degree-of-freedom manipulator are not independent, the corresponding relation between the six-degree-of-freedom manipulator and the six-degree-of-freedom manipulator is possibly very complex;
secondly, the method reduces the difficulty of transition from a position control mode to a speed control mode of a CTS test, solves the actual motion speed of the six-degree-of-freedom manipulator by a motor speed uniform acceleration model and an encoder real-time feedback value, and effectively eliminates the accumulated error in the test process.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
The invention provides a CTS test speed control method based on uniform acceleration motion, which uses a target position in a position control method to calculate the target motion speed of a six-degree-of-freedom manipulator, thereby avoiding deriving the complex corresponding relation between the motion speed of a plug-in model and the speed of the six-degree-of-freedom manipulator; the difficulty that the maximum motion speed and the dynamic response time of the six-degree-of-freedom manipulator are limited is solved by limiting the scale transformation of the motion time; the actual motion speed of the manipulator with six degrees of freedom is solved by the real-time feedback value of the encoder and the motor uniform acceleration motion model, and the pose accumulated error in the test process can be effectively eliminated. The method has strong practicability and universality, and reduces the difficulty of transition from a position control mode to a speed control mode in a CTS test.
In particular, t is measured during the test i+1 (i is more than or equal to 0) moment, the movement speed of the six-degree-of-freedom manipulator
The calculation method is as follows:
1. will t i (i is more than or equal to 0) at the moment, the feedback positions of the motor encoders of all the shafts of the six-degree-of-freedom manipulator are recorded as
Wherein x, y, z, alpha, beta and gamma in the formula and the later formula represent position information of the manipulator in six dimensions at a certain time, and the position information acts on the hanging object model through balance measurementThe aerodynamic force and the moment of the six-freedom-degree manipulator are calculated according to a wind tunnel CTS test position control method at t i+1 Target position of time of day
Using the formula (1) calculation, the six-degree-of-freedom manipulator is driven from t i To t i+1 Target speed of time
2. The maximum motion speed which can be reached by the six-freedom-degree mechanical arm in the test is set as
The shortest control period is T Min Calculating a transformation scale lambda with respect to the maximum motion velocity using the formula (2) max ：
If λ max (t i+1 -t i )＞T Min Then the velocity transformation scale λ v = λ max ；
If not, then,
the movement speed of the six-degree-of-freedom manipulator after scale transformation is recorded as
The calculation method is shown as the formula (3):
time of movement T i+1 The calculation is performed by equation (4):
T i+1 ＝λ v (t i+1 -t i ) (4)
3. the acceleration set value of the manipulator with six degrees of freedom is set as
t i The actual movement speed at the moment of time is
After considering the effect of motor acceleration, t i+1 Actual movement speed of manipulator with six degrees of freedom at any moment
An equation satisfying the formula (5):
wherein, represents the multiplication of the corresponding elements of the two vectors, the result is still the operation sign of the same size vector,/represents the division of the corresponding elements of the two vectors, the result is still the operation sign of the same size vector. (5) Formula is about
Of a quadratic equation of one unit of (1) with the 1 st component
For example, the distribution of the equation solutions is illustrated with respect to
The corresponding root discriminant is expressed by equation (6):
to make the value of equation (6) constantly larger than zero, it is only necessary that the product of acceleration and acceleration time is larger than twice the speed difference, and this condition is usually satisfied, and the equation has two real solutions, and the solution with shorter acceleration time is selected as the solution of the equation, as shown in equation (7):
4. controlling the six-freedom-degree manipulator to move according to the speed of the formula (7) when the six-freedom-degree manipulator moves T i+1 After the time, the aerodynamic force and the moment acting on the hanging object model are measured through the balance, and the process is repeated until the whole track is completed.
Compared with the prior art, the method is applied to CTS test control, and has the innovation points of strong universality and avoidance of deducing the corresponding relation between the motion speed of the external hanging object model and the speed of the six-degree-of-freedom manipulator; and the actual motion speed of the six-degree-of-freedom manipulator is solved through the motor speed uniform acceleration model and the encoder real-time feedback value, so that the accumulated error in the test process is effectively eliminated.
The above scheme is merely illustrative of a preferred example, and is not limiting. In the implementation of the invention, appropriate replacement and/or modification can be carried out according to the requirements of users.
The number of apparatuses and the scale of the process described herein are intended to simplify the description of the present invention. Applications, modifications and variations of the present invention will be apparent to those skilled in the art.
While embodiments of the invention have been disclosed above, it is not intended to be limited to the uses set forth in the specification and examples. It can be applied to all kinds of fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. It is therefore intended that the invention not be limited to the exact details and illustrations described and illustrated herein, but fall within the scope of the appended claims and equivalents thereof.
Claims (4)
1. A Capture Trajectory (CTS) test speed control method based on uniform acceleration motion is characterized by comprising the following steps:
s1, calculating a target motion speed of a six-degree-of-freedom manipulator through a target position in a position control method based on a motor speed uniform acceleration model and an encoder real-time feedback value matched with the six-degree-of-freedom manipulator;
s2, carrying out scale transformation on the limited movement time based on the target movement speed and the maximum movement speed and the shortest control period which can be achieved by the six-degree-of-freedom manipulator in the test so as to obtain the movement speed of the six-degree-of-freedom manipulator after transformation;
s3, calculating to obtain the actual movement speed of the six-degree-of-freedom manipulator based on the acceleration of the six-degree-of-freedom manipulator;
and S4, controlling the six-degree-of-freedom manipulator to move according to the actual movement speed, and returning to S1 until the whole track is completed after the six-degree-of-freedom manipulator moves at the next moment.
2. The uniform acceleration motion-based Capture Trajectory (CTS) trial speed control method according to claim 1, wherein in S1, the target movement speed calculation method is configured to include:
s10, mixing t i And (i is more than or equal to 0) recording the feedback positions of the motor encoders of the shafts of the six-degree-of-freedom manipulator at the moment
S11, measuring aerodynamic force and moment on the plug-in model through a balance;
s12, calculating t of the six-degree-of-freedom manipulator according to a wind tunnel CTS test position control method i+1 Target position of time of day
The following formula (1) is adopted for the six-degree-of-freedom mechanical arm from t i To t i+1 Target movement speed of time
And (3) calculating:
3. the method for uniform acceleration motion-based trajectory for Capture (CTS) trial speed control as set forth in claim 2, wherein in S2, the scaling λ is transformed v Is configured to include:
s20, setting the maximum motion speed which can be reached by the six-degree-of-freedom manipulator in the test to be
The shortest control period is T Min The following formula (2) is adopted to change the scale lambda of the maximum motion speed max And (3) calculating:
s21, if lambda max (t i+1 -t i )＞T Min Then the velocity transformation scale λ v = λ max And if not, the step (B),
s22, recording the movement speed of the six-degree-of-freedom manipulator after scale transformation as
It is configured to be calculated using equation (3) as follows to obtain:
time of movement T i+1 Is configured to be calculated using equation (4) as follows to yield:
T i+1 ＝λ v (t i+1 -t i ) (4)。
4. a uniform acceleration motion based Capture Trajectory (CTS) test velocity control method according to claim 3, characterized in that in S3, the actual motion velocity is configured to be obtained by using:
the acceleration set value of the manipulator with six degrees of freedom is set as
t i The actual movement speed at the moment of time is
At t i+1 Actual movement speed of manipulator with six degrees of freedom at any moment
The following equations need to be satisfied:
in the equation,/represents that the corresponding elements of the two vectors are multiplied, and the result is still the operation symbol of the vector with the same size,/represents that the corresponding elements of the two vectors are divided, and the result is still the operation symbol of the vector with the same size;
the equation is about
And selecting a solution with a shorter acceleration time as a solution of the equation as shown in equation (5):
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| US7302839B1 (en) * | 2006-06-22 | 2007-12-04 | Cessna Aircraft Company | Method and system for gathering pressure signature data using a scaled model in a wind tunnel |
| JP5054746B2 (en) * | 2009-10-01 | 2012-10-24 | 川崎重工業株式会社 | Wind tunnel relative distance measurement system and wind tunnel relative distance measurement method |
| CN201653679U (en) * | 2010-04-29 | 2010-11-24 | 中国空气动力研究与发展中心高速空气动力研究所 | Real-time control device for capturing continuous motion of external store model in track wind tunnel test |
| CN102620902B (en) * | 2012-03-21 | 2014-03-26 | 中国空气动力研究与发展中心高速空气动力研究所 | Double-closed loop speed control captive trajectory simulation (CTS) test method based on time and space transformation |
| CN106872138B (en) * | 2016-12-31 | 2019-03-05 | 重庆大学 | Based on the captive trajectory testing device being laid out in second level course three outer four |
| CN109297665B (en) * | 2018-08-16 | 2020-02-28 | 中国航空工业集团公司沈阳空气动力研究所 | On-line test method for capturing track by using high-precision aerodynamic model |
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