CN116147881B - Reset method of reset mechanism in wind tunnel six-component Tian-bang correction system - Google Patents
Reset method of reset mechanism in wind tunnel six-component Tian-bang correction system Download PDFInfo
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Abstract
The invention discloses a reset method of a reset mechanism in a wind tunnel six-component Tian-bang system, which relates to the field of wind tunnel tests.
Description
Technical Field
The invention relates to the field of wind tunnel tests, in particular to a resetting method of a resetting mechanism in a wind tunnel six-component natural calm correction system.
Background
The balance is a core measuring element for measuring aerodynamic force and moment acting on the model in the wind tunnel test process, and the accuracy of the balance is related to the accuracy of test data and the success and failure of the whole blowing test. Therefore, before the balance is applied to a wind tunnel force test, a set of known loads must be applied to the calibration device and the corresponding strain amounts thereof measured, and a calibration formula and a working formula of the balance in a certain shafting are determined.
The purpose of the wind tunnel six-component calm correction system is to meet the application requirements of conventional six components (resistance, lift force, lateral force, pitching moment, rolling moment and yawing moment) used by the wind tunnel and the static correction of a strain balance below the six components, obtain a corresponding calm correction formula, calm correction precision and calibration degree and provide a balance support rod elastic angle correction formula. The wind tunnel six-component Tian-bang correction system group consists of a 6-degree-of-freedom reset mechanism, an automatic loading mechanism, a positioning mechanism, a balance support rod, a balance loading head and a base 6. The 6-degree-of-freedom reset mechanism is mainly used for resetting the balance loading head to an initial position after the balance is loaded; the automatic loading mechanism is used for automatically loading the balance loading head with required force and moment according to the calibration requirement; the positioning mechanism is mainly used for measuring the real-time position and the gesture of the balance loading head and providing basis for the reset operation of the 6-degree-of-freedom reset mechanism; the balance support rod is mainly used for connecting a 6-degree-of-freedom reset mechanism and a balance loading head and is the same as the balance actually used in a wind tunnel; the balance loading head is mainly used for realizing effective loading of force and moment in the balance calibration process; the base is used for guaranteeing that the operating condition of balance calibration equipment is stable.
In the calibration process of the balance, according to different calibration methods, single-component, binary or comprehensive calibration is carried out on the balance, after the balance is loaded, the loading head deforms to different degrees in all directions of pitching alpha, yawing beta, rolling gamma and X, Y, Z, according to the calibration method of the zero-return balance calibration device, after the loading head is reset to an initial state by the balance reset mechanism, the output of the balance in the state is obtained, and finally the balance calibration result is obtained.
In the working process of the wind tunnel six-component balance correction system, the reset precision of the balance reset mechanism directly influences the static calibration precision of the balance, and further influences the precision of wind tunnel test data, and the reset efficiency of the balance reset mechanism directly influences the precision and efficiency of the balance reset mechanism for completing reset. Thus, the first and second substrates are bonded together, the reset control method of the balance reset mechanism is particularly important.
The reset method of the reset mechanism in the wind tunnel six-component Tian-bang correction system in the prior art comprises the following steps: resetting is carried out by experience of staff according to field conditions, resetting precision and efficiency of different staff are different, and efficiency is low.
Disclosure of Invention
The invention aims to improve the resetting efficiency of a resetting mechanism in a wind tunnel six-component Tian-bang correction system.
The applicant researches find that because of mechanical processing and structural installation errors, the motion relations of all components are mutually coupled in the operation process of the reset mechanism, and the operation efficiency of different reset sequences of balance reset mechanisms of a serial structure is different according to the strength of the coupling relations, so that the applicant thinks that the reset efficiency is effectively improved by obtaining the optimal reset sequence for resetting.
In order to achieve the above object, the present invention provides a method for resetting a resetting mechanism in a six-component Tian-bang correction system for a wind tunnel, wherein the resetting mechanism is a 6-degree-of-freedom resetting mechanism with three angles of a pitch angle alpha, a yaw angle beta and a roll angle gamma and three directions of an X axis, a Y axis and a Z axis, and the method comprises:
step 1: based on the random sequencing combination of the pitch angle alpha, the yaw angle beta, the roll angle gamma, the X axis, the Y axis and the Z axis, generating the reset sequence of a plurality of reset mechanisms, simulating the reset sequence of the plurality of reset mechanisms, and determining the optimal reset sequence of the reset mechanisms based on simulation results;
step 2: installing a wind tunnel six-component natural calm correction system, walking a reset mechanism in the wind tunnel six-component natural calm correction system to a mechanism zero position, recording the initial position of a laser displacement sensor in the wind tunnel six-component natural calm correction system, and obtaining initial position data;
step 3: applying corresponding force and moment to a loading head in the wind tunnel six-component natural calm correction system;
step 4: setting a first angle reset error range and a first displacement error range;
step 5: calculating to obtain the yaw angle beta deformation of the loading head by using real-time position data and initial position data of a laser displacement sensor in a wind tunnel six-component Tian-bang correction system;
step 6: if the yaw angle beta deformation is larger than the first angle reset error range, executing the step 7, and if the yaw angle beta deformation is smaller than the first angle reset error range, executing the step 8;
step 7: based on the optimal resetting sequence and the yaw angle beta deformation, controlling a resetting mechanism to execute the yaw angle beta resetting of the loading head, and returning to execute the step 5;
step 8: calculating to obtain the pitch angle alpha deformation of the loading head by using real-time position data and initial position data of a laser displacement sensor in a wind tunnel six-component calm correction system; if the pitch angle alpha deformation is larger than the first angle reset error range, executing the step 9, and if the pitch angle alpha deformation is smaller than the first angle reset error range, executing the step 10;
step 9: based on the optimal resetting sequence and the deformation of the pitch angle alpha, controlling a resetting mechanism to execute the pitch angle alpha resetting of the loading head, and returning to the execution step 5;
step 10: calculating to obtain the rolling angle gamma deformation of the loading head by utilizing real-time position data and initial position data of a laser displacement sensor in a wind tunnel six-component Tian-bang correction system; if the rolling angle gamma deformation is larger than the first angle reset error range, executing step 11, and if the rolling angle gamma deformation is smaller than the first angle reset error range, executing step 12;
step 11: based on the optimal resetting sequence and the rolling angle gamma deformation, controlling a resetting mechanism to execute rolling angle gamma resetting of the loading head, and returning to execute the step 5;
step 12: after the reset mechanism completes reset of the yaw angle beta, the pitch angle alpha and the roll angle gamma, calculating and obtaining displacement deformation of the loading head in the X-axis, Y-axis and Z-axis directions by utilizing real-time position data and initial position data of a laser displacement sensor in a wind tunnel six-component natural calm correction system; if the displacement deformation amounts of the loading head in the X-axis, Y-axis and Z-axis directions are all larger than the first displacement error range, executing step 13, and if the displacement deformation amounts of the loading head in the X-axis, Y-axis and Z-axis directions are all smaller than the first displacement error range, executing step 14;
step 13: based on the optimal resetting sequence and displacement deformation of the loading head in the X-axis, Y-axis and Z-axis directions, controlling a resetting mechanism to execute displacement resetting of the loading head in the X-axis, Y-axis and Z-axis directions, and returning to execute the step 5;
step 14: setting a second angle reset error range and a second displacement error range, wherein the second angle reset error range is smaller than the first angle reset error range, and the second displacement error range is smaller than the first displacement error range;
step 15: and judging whether the deflection of the yaw angle beta, the deflection of the pitch angle alpha and the deflection of the roll angle gamma are smaller than a second angle reset error range or not, and whether the displacement deflection of the loading head in the X-axis, Y-axis and Z-axis directions is smaller than a second displacement error range or not, if so, completing the reset operation of the reset mechanism, and if not, returning to the step 5.
In the resetting method of the resetting mechanism in the wind tunnel six-component Tian-bang correction system, which is provided by the invention, the resetting control efficiency of the balance resetting mechanism is improved through 2 technical means. The first technical means is as follows: in the debugging process of the reset strategy, simulation software is used for simulating the reset sequences of different mechanisms according to the structural parameters such as actual materials of the mechanisms, and the optimal reset strategy of the balance reset mechanism is determined according to the simulated reset execution time. The second technical means is that in the resetting process, a control method with 2-level precision is adopted, in the initial resetting stage, a first-level error (a first angle resetting error range and a first displacement error range) limit control mechanism with larger error is adopted to realize coarse resetting, after the standby mechanism is reset to meet the first-level error limit, a second-level error (a second angle resetting error range and a second displacement error range) limit control reset with higher precision is adopted, and compared with the resetting efficiency which only uses the first-level error limit, the resetting efficiency is obviously improved.
Preferably, the step 1 specifically includes: generating a reset sequence of a plurality of reset mechanisms based on random sequencing combination of pitch angle alpha, yaw angle beta, rolling angle gamma, X axis, Y axis and Z axis; based on the material parameters and the structure parameters of the reset mechanisms, simulation software is adopted to simulate the generated reset sequences of the reset mechanisms to obtain simulation results, and based on the simulation reset execution time in the simulation results, the optimal reset sequence of the reset mechanisms is determined.
Preferably, the wind tunnel six-component calm correction system comprises 6 laser displacement sensors, which are respectively: a laser displacement sensor P1 for measuring a yaw angle β deformation amount, a pitch angle α deformation amount, and an X-axis direction displacement deformation amount, a laser displacement sensor P2 for measuring a yaw angle β deformation amount, a pitch angle α deformation amount, and an X-axis direction displacement deformation amount, a laser displacement sensor P3 for measuring a pitch angle α deformation amount, and an X-axis direction displacement deformation amount, a laser displacement sensor P4 for measuring a roll angle γ deformation amount, and a Y-axis direction displacement deformation amount, a laser displacement sensor P5 for measuring a roll angle γ deformation amount, and a Y-axis direction displacement deformation amount, and a laser displacement sensor P6 for measuring a Z-axis direction displacement deformation amount.
Preferably, two laser displacement sensors P1 and P2 are adopted for measurement, so that the calculation of the yaw angle beta is simplified for improving the calculation efficiency, and only the variation of the loading head in the direction of the yaw angle beta is considered. When the final reset is finished, all angles and displacements of the loading head are reset to be within the initial value error range, the reset is finished, and the deflection of the yaw angle beta is calculated by adopting the following modes:
calculating to obtain the displacement variation of the laser displacement sensor P1 through the initial position data and the real-time position data of the laser displacement sensor P1;
calculating to obtain the displacement variation of the laser displacement sensor P2 through the initial position data and the real-time position data of the laser displacement sensor P2;
calculating to obtain a first average displacement variation based on the displacement variation of the laser displacement sensor P1 and the displacement variation of the laser displacement sensor P2;
the yaw angle β deformation amount is calculated based on the installation distance between the laser displacement sensor P1 and the laser displacement sensor P2 and the first average displacement variation amount.
Preferably, the mounting distance between the laser displacement sensor P1 and the laser displacement sensor P2 is L1, the first average displacement variation is dl, and the yaw angle β deformation=arctan (d 1/L1).
Preferably, the pitch angle alpha is measured by three laser displacement sensors P1, P2 and P3, the P1 and P2 are horizontally installed and are used for measuring the yaw angle beta, the P1, P2 and P3 are all perpendicular to the deformation positioning plane, the P3 is installed below the P1 and P2 and forms an isosceles triangle with the P1 and P2, and the pitch angle alpha deformation is calculated by adopting the following modes:
obtaining initial position data of a midpoint of a connecting line between the laser displacement sensor P1 and the laser displacement sensor P2 through the initial position data of the laser displacement sensor P1 and the initial position data of the laser displacement sensor P2;
real-time position data of the midpoint of a connecting line between the laser displacement sensor P1 and the laser displacement sensor P2 are obtained through the real-time position data of the laser displacement sensor P1 and the real-time position data of the laser displacement sensor P2;
calculating and obtaining displacement variation of the midpoint of the connecting line between the laser displacement sensor P1 and the laser displacement sensor P2 based on initial position data and real-time position data of the midpoint of the connecting line between the laser displacement sensor P1 and the laser displacement sensor P2;
calculating to obtain the displacement variation of the laser displacement sensor P3 through the initial position data and the real-time position data of the laser displacement sensor P3;
calculating to obtain a second average displacement variation based on the displacement variation of the midpoint of the connecting line between the laser displacement sensor P1 and the laser displacement sensor P2 and the displacement variation of the laser displacement sensor P3;
and calculating and obtaining the pitch angle alpha deformation based on the distance from the connecting line between the laser displacement sensor P1 and the laser displacement sensor P2 to the laser displacement sensor P3 and the second average displacement variation.
Preferably, the distance between the laser displacement sensor P1 and the laser displacement sensor P2 and the laser displacement sensor P3 is L2, the second average displacement variation is d2, and the pitch angle α deformation=arctan (d 2/L2).
Preferably, the rolling angle gamma deformation is measured by two laser displacement sensors P4 and P5, and the P4 and P5 are vertically arranged on the upper surface of the positioning surface. The deformation amount calculating method is the same as the yaw angle beta calculating method, and the rolling angle gamma deformation amount is calculated by adopting the following modes:
calculating to obtain the displacement variation of the laser displacement sensor P4 through the initial position data and the real-time position data of the laser displacement sensor P4;
calculating to obtain the displacement variation of the laser displacement sensor P5 through the initial position data and the real-time position data of the laser displacement sensor P5;
calculating to obtain a third average displacement variation based on the displacement variation of the laser displacement sensor P4 and the displacement variation of the laser displacement sensor P5;
the rolling angle gamma deformation is calculated and obtained based on the installation distance between the laser displacement sensor P4 and the laser displacement sensor P5 and the third average displacement variation.
Preferably, the mounting distance between the laser displacement sensor P4 and the laser displacement sensor P5 is L3, the third average displacement variation is d3, and the roll angle γ deformation=arctan (d 3/L3).
Preferably, the displacement deformation amounts in the X-axis, Y-axis and Z-axis directions are calculated as follows:
respectively calculating and obtaining the displacement variation of each of the laser displacement sensors P1 to P6 through the initial position data and the real-time position data of each of the laser displacement sensors P1 to P6;
averaging the displacement variation amounts of the laser displacement sensors P1 to P3 to obtain the displacement deformation amount in the X-axis direction;
averaging the displacement variation amounts of the laser displacement sensors P4 to P5 to obtain a displacement deformation amount in the Y-axis direction;
the displacement variation of the laser displacement sensor P6 is a displacement variation in the Z-axis direction.
The one or more technical schemes provided by the invention have at least the following technical effects or advantages:
the resetting method of the resetting mechanism in the wind tunnel six-component Tian-bang correction system improves the control efficiency of the balance resetting mechanism through 2 ways. Firstly, in the debugging process of the reset strategy, through simulation software, the reset sequences of different mechanisms are simulated according to the structural parameters such as actual materials of the mechanisms, and the reset strategy of the optimal balance reset mechanism is determined according to the simulation reset execution time, so that the reset by adopting other bad or low-efficiency reset sequences is avoided, the reset sequence is also avoided to be determined by adopting manual experience, and the reset efficiency is improved as a whole. Secondly, in the resetting process, a 2-level precision step-by-step control method is adopted, in the initial resetting stage, a first-level error limit control mechanism with larger error is adopted to realize coarse resetting, and after the standby-level mechanism resetting meets the first-level error limit, a second-level error limit control resetting with higher precision is adopted. According to the resetting method, the influence of the motion coupling of the resetting mechanism on the resetting efficiency is effectively reduced through mechanical simulation, and meanwhile, the resetting efficiency of the mechanism is obviously improved through 2-level precision step-by-step control.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention;
FIG. 1 is a schematic flow chart of a resetting method of a resetting mechanism in a wind tunnel six-component Tian-bang correction system;
FIG. 2 is a schematic view of the relative positions of P1-P3 along the measuring direction of the laser displacement sensor;
fig. 3 is a schematic view of the mounting positions of 6 laser displacement sensors.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. In addition, the embodiments of the present invention and the features in the embodiments may be combined with each other without collision.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than within the scope of the description, and the scope of the invention is therefore not limited to the specific embodiments disclosed below.
Example 1
The first embodiment of the invention provides a resetting method of a resetting mechanism in a wind tunnel six-component Tian-bang calibrating system, which is suitable for a resetting control method of a serial structure zero-resetting type full-automatic body shafting balance calibrating system for statically calibrating a balance with conventional six components (resistance, lift force, lateral force, pitching moment, rolling moment and yaw moment) and below, wherein the balance loading head is stressed to cause spatial position change, and the balance loading head resetting mechanism returns the loading head to an initial position.
The wind tunnel six-component strain balance static calibration system is complex in structure, components are mutually coupled in the operation process of the reset mechanism due to mechanism machining and installation errors, the control difficulty is high, and the reset method of the reset mechanism of the temporarily-unavailable type is currently used for reference.
The invention relates to a resetting method of a resetting mechanism in a six-component Tian-bang calibration system of a wind tunnel, which is suitable for resetting control of a mechanism after loading of a six-component wind tunnel balance calibration system, and mainly comprises the following steps: firstly, simulating different mechanism reset sequences according to structural parameters such as actual materials of the mechanism by virtual Lab Motion control system simulation software, and determining an optimal balance reset mechanism reset strategy according to simulation reset execution time; the space attitude of the balance loading frame mechanism after loading deformation is obtained through a space attitude measuring sensor of the balance loading head; controlling a 6-degree-of-freedom reset mechanism, and walking a beta mechanism (yaw mechanism) to a reset control precision range according to an optimal reset sequence obtained by simulation to finish first-stage error reset of a beta angle; controlling a six-component reset mechanism, and walking an alpha mechanism (a pitching mechanism) to a reset control precision range to finish first-stage error reset of an alpha angle; controlling a six-component reset mechanism, and walking a gamma mechanism (a rolling mechanism) to a reset control precision range to finish first-stage error reset of a gamma angle; judging whether the reset values of the 3 angles meet the first-stage error reset requirement of the reset mechanism, if so, controlling the six-component reset mechanism, resetting the mechanism along X, Y and Z directions according to the first-stage error at the same time, and completing the 3 displacement reset control of the reset mechanism; judging whether the values of 3 angles and 3 displacements of the mechanism meet the first-stage error control precision requirement of the reset mechanism, and if not, repeating the steps; if the load state meets the second-stage error resetting requirement, repeating the sequence, and finishing the accurate resetting operation in the load state.
In the resetting method of the resetting mechanism in the wind tunnel six-component Tian-bang correction system, the control efficiency of the balance resetting mechanism is improved through 2 methods. Firstly, in the debugging process of a reset strategy, simulation software of a virtual Lab Motion control system (the software can directly introduce a mechanical design diagram of a 6-degree-of-freedom reset mechanism, and can more accurately realize the mechanism kinematic characteristic policy by setting material parameters), different mechanism reset sequences are simulated according to structural parameters (such as material types, sizes of all components, force and moment constraints under loading states of a loading head, mechanism running speed and the like) of the mechanism, and according to simulation reset execution time, an optimal balance reset mechanism reset strategy (the reset sequence refers to the reset sequence after loading the 6-degree-of-freedom reset mechanism, comprises three-angle reset of alpha, beta and gamma and the different reset sequences of X, Y, Z of the 6 mechanisms, and because one mechanism runs due to machining and installation errors, the different reset sequences of alpha, beta, gamma and X, Y, Z have great influence on the reset efficiency.
The second method is that in the resetting process, a 2-level precision control method is adopted, in the initial resetting stage, a first-level error limit control mechanism with larger error is adopted to realize coarse resetting, after the standby mechanism is reset to meet the first-level error limit, a second-level error limit control reset with higher precision is adopted.
The resetting method of the resetting mechanism in the wind tunnel six-component Tian-bang system is particularly applied to a hypersonic wind tunnel 6-degree-of-freedom balance bang-bang system. In the debugging process of the balance static correction system, the content of the patent is summarized by comparing the reset sequence for a plurality of times and combining the mechanism simulation software result. The specific execution step flow is shown in fig. 1, and comprises the following steps:
(1) Simulating different mechanism resetting sequences according to structural parameters such as actual materials of the mechanisms by virtual Lab Motion control system simulation software, determining an optimal resetting strategy of a balance resetting mechanism according to simulation resetting execution time, and entering the step (2);
(2) After the calibration balance is installed, the reset mechanism of the wind tunnel day calm calibration system is walked to the zero position of the mechanism, the initial positions of 6 laser displacement sensors (P1 to P6) are recorded, and the step (3) is carried out;
(3) According to the loading sequence (the loading sequence is obtained through software simulation and actual debugging optimization, if any loading sequence is used, the mechanism reset can be finally realized, but the efficiency is lower), corresponding force and moment are applied to the balance loading head, and the step (4) is carried out;
(4) Setting a reset error as a first-stage error (the angle reset error is 0.005 degrees, the displacement error is 0.02 mm), and entering a step (5);
(5) After loading of the loading head is completed, according to the obtained optimal resetting sequence in the step (1), according to the position relation between the loading head of the positioning mechanism and the laser displacement sensor, the yaw angle beta deformation of the loading head is calculated through the displacement change after the deformation of the laser displacement sensors at the points P1 and P2. (the installation distance between the laser displacement sensor P1 and the laser displacement sensor P2 is L1, the first average displacement variation is d1, the plane rotation is simplified to M1 to M2, and the step (6) is entered;
(6) If the angle beta is larger than the error line, the step (7) is carried out, and if the angle beta is smaller than the error line, the step (8) is carried out;
(7) Controlling a reset mechanism to finish the beta angle reset of the loading head, and entering the step (5);
(8) Calculating the deformation of the midpoint of the connecting line of P1 and P2 by the deformation of the points P1 and P2, calculating the pitch angle alpha deformation of the balance loading head by the deformation of the midpoint of the connecting line of P1 and P2 and the deformation of the point P3 in combination with the deformation of the point P3, wherein the distance from the connecting line between the laser displacement sensor P1 and the laser displacement sensor P2 to the laser displacement sensor P3 is L2, the second average displacement change is d2, the pitch angle alpha deformation = arctan (d 2/L2), if the alpha angle is larger than the error line, entering the step (9), and if the alpha angle is smaller than the error line, entering the step (10);
(9) Controlling a reset mechanism to finish alpha angle reset of the loading head, and entering the step (5);
(10) Calculating the rolling angle gamma deformation of the balance loading head according to the deformation of the points P4 and P5, wherein the installation distance between the laser displacement sensor P4 and the laser displacement sensor P5 is L3, the third average displacement change is d3, the rolling angle gamma deformation=arctan (d 3/L3), if the gamma angle is larger than the error line, the step (11) is carried out, and if the gamma angle is smaller than the error line, the step (12) is carried out;
(11) Controlling a reset mechanism to finish gamma angle reset of the loading head, and entering the step (5);
(12) After the balance reset mechanism completes angle reset on the balance loading head according to the posture deformation amount of the loading head, calculating the displacement deformation amounts of the balance loading head in the X-axis, Y-axis and Z-axis directions (wherein the displacement deformation amounts of the laser displacement sensors P1 to P3 are averaged to obtain the displacement deformation amount in the X-axis direction, the displacement deformation amounts of the laser displacement sensors P4 to P5 are averaged to obtain the displacement deformation amount in the Y-axis direction, and the displacement deformation amount of the laser displacement sensor P6 is the displacement deformation amount in the Z-axis direction). If the displacement deformation amounts in the three directions are larger than the error line, the step (13) is carried out, and if the displacement deformation amounts in the three directions are smaller than the error line, the step (14) is carried out;
(13) Completing displacement reset of the balance loading head in three directions according to the displacement variation, and entering the step (5);
(14) Setting the reset error as a second-stage error (the angle reset error is 0.0002 degrees, the displacement error is 0.002 mm), and entering the step (15);
(15) If the angle change amount and the displacement change amount of the loading head meet the error requirement, finishing the resetting operation, entering the step (16), and if not, entering the step (5);
(16) Starting balance signal acquisition, and entering a step (15) after the acquisition is completed;
(17) Load and reset operations to enter the next calibration state.
The pitch angle alpha is measured through three laser displacement sensors P1, P2 and P3, the P1 and P2 are horizontally installed and used for measuring the yaw angle beta, the P1, P2 and P3 are all perpendicular to the deformation positioning plane, and the P3 is installed below the P1 and P2 and forms an isosceles triangle with the P1 and P2. A schematic diagram of the installation relative position along the measuring direction of the laser displacement sensor is shown in fig. 2.
The rolling angle gamma deformation is measured by two laser displacement sensors P4 and P5, the P4 and P5 are vertically arranged on the upper surface of the positioning surface, the installation positions of 6 laser displacement sensors (P1 to P6) are schematically shown in FIG. 3, and the short line of the marking position of each laser displacement sensor in FIG. 3 is the light measurement position of the laser displacement sensor.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (10)
1. The reset method of the reset mechanism in the wind tunnel six-component Tian-bang correction system, the reset mechanism is a 6-degree-of-freedom reset mechanism with three angles of pitch angle alpha, yaw angle beta and roll angle gamma and three directions of X axis, Y axis and Z axis, and is characterized in that the method comprises the following steps:
step 1: based on the random sequencing combination of the pitch angle alpha, the yaw angle beta, the roll angle gamma, the X axis, the Y axis and the Z axis, generating the reset sequence of a plurality of reset mechanisms, simulating the reset sequence of the plurality of reset mechanisms, and determining the optimal reset sequence of the reset mechanisms based on simulation results;
step 2: installing a wind tunnel six-component natural calm correction system, walking a reset mechanism in the wind tunnel six-component natural calm correction system to a mechanism zero position, recording the initial position of a laser displacement sensor in the wind tunnel six-component natural calm correction system, and obtaining initial position data;
step 3: applying corresponding force and moment to a loading head in the wind tunnel six-component natural calm correction system;
step 4: setting a first angle reset error range and a first displacement error range;
step 5: calculating to obtain the yaw angle beta deformation of the loading head by using real-time position data and initial position data of a laser displacement sensor in a wind tunnel six-component Tian-bang correction system;
step 6: if the yaw angle beta deformation is larger than the first angle reset error range, executing the step 7, and if the yaw angle beta deformation is smaller than the first angle reset error range, executing the step 8;
step 7: based on the optimal resetting sequence and the yaw angle beta deformation, controlling a resetting mechanism to execute the yaw angle beta resetting of the loading head, and returning to execute the step 5;
step 8: calculating to obtain the pitch angle alpha deformation of the loading head by using real-time position data and initial position data of a laser displacement sensor in a wind tunnel six-component calm correction system; if the pitch angle alpha deformation is larger than the first angle reset error range, executing the step 9, and if the pitch angle alpha deformation is smaller than the first angle reset error range, executing the step 10;
step 9: based on the optimal resetting sequence and the deformation of the pitch angle alpha, controlling a resetting mechanism to execute the pitch angle alpha resetting of the loading head, and returning to the execution step 5;
step 10: calculating to obtain the rolling angle gamma deformation of the loading head by utilizing real-time position data and initial position data of a laser displacement sensor in a wind tunnel six-component Tian-bang correction system; if the rolling angle gamma deformation is larger than the first angle reset error range, executing step 11, and if the rolling angle gamma deformation is smaller than the first angle reset error range, executing step 12;
step 11: based on the optimal resetting sequence and the rolling angle gamma deformation, controlling a resetting mechanism to execute rolling angle gamma resetting of the loading head, and returning to execute the step 5;
step 12: after the reset mechanism completes reset of the yaw angle beta, the pitch angle alpha and the roll angle gamma, calculating and obtaining displacement deformation of the loading head in the X-axis, Y-axis and Z-axis directions by utilizing real-time position data and initial position data of a laser displacement sensor in a wind tunnel six-component natural calm correction system; if the displacement deformation amounts of the loading head in the X-axis, Y-axis and Z-axis directions are all larger than the first displacement error range, executing step 13, and if the displacement deformation amounts of the loading head in the X-axis, Y-axis and Z-axis directions are all smaller than the first displacement error range, executing step 14;
step 13: based on the optimal resetting sequence and displacement deformation of the loading head in the X-axis, Y-axis and Z-axis directions, controlling a resetting mechanism to execute displacement resetting of the loading head in the X-axis, Y-axis and Z-axis directions, and returning to execute the step 5;
step 14: setting a second angle reset error range and a second displacement error range, wherein the second angle reset error range is smaller than the first angle reset error range, and the second displacement error range is smaller than the first displacement error range;
step 15: and judging whether the deflection of the yaw angle beta, the deflection of the pitch angle alpha and the deflection of the roll angle gamma are smaller than a second angle reset error range or not, and whether the displacement deflection of the loading head in the X-axis, Y-axis and Z-axis directions is smaller than a second displacement error range or not, if so, completing the reset operation of the reset mechanism, and if not, returning to the step 5.
2. The resetting method of the resetting mechanism in the wind tunnel six-component Tian-bang correction system according to claim 1, wherein the step 1 specifically comprises: generating a reset sequence of a plurality of reset mechanisms based on random sequencing combination of pitch angle alpha, yaw angle beta, rolling angle gamma, X axis, Y axis and Z axis; based on the material parameters and the structure parameters of the reset mechanisms, simulation software is adopted to simulate the generated reset sequences of the reset mechanisms to obtain simulation results, and based on the simulation reset execution time in the simulation results, the optimal reset sequence of the reset mechanisms is determined.
3. The resetting method of the resetting mechanism in the wind tunnel six-component Tian-bang system according to claim 1, wherein the wind tunnel six-component Tian-bang system comprises 6 laser displacement sensors, which are respectively: a laser displacement sensor P1 for measuring a yaw angle β deformation amount, a pitch angle α deformation amount, and an X-axis direction displacement deformation amount, a laser displacement sensor P2 for measuring a yaw angle β deformation amount, a pitch angle α deformation amount, and an X-axis direction displacement deformation amount, a laser displacement sensor P3 for measuring a pitch angle α deformation amount, and an X-axis direction displacement deformation amount, a laser displacement sensor P4 for measuring a roll angle γ deformation amount, and a Y-axis direction displacement deformation amount, a laser displacement sensor P5 for measuring a roll angle γ deformation amount, and a Y-axis direction displacement deformation amount, and a laser displacement sensor P6 for measuring a Z-axis direction displacement deformation amount.
4. A method for resetting a resetting mechanism in a six-component cyclostatics system in a wind tunnel according to claim 3, wherein the yaw angle β deformation is calculated by:
calculating to obtain the displacement variation of the laser displacement sensor P1 through the initial position data and the real-time position data of the laser displacement sensor P1;
calculating to obtain the displacement variation of the laser displacement sensor P2 through the initial position data and the real-time position data of the laser displacement sensor P2;
calculating to obtain a first average displacement variation based on the displacement variation of the laser displacement sensor P1 and the displacement variation of the laser displacement sensor P2;
the yaw angle β deformation amount is calculated based on the installation distance between the laser displacement sensor P1 and the laser displacement sensor P2 and the first average displacement variation amount.
5. The resetting method of a resetting mechanism in a six-component cyclostatics system of wind tunnel as claimed in claim 4, wherein the installation distance between the laser displacement sensor P1 and the laser displacement sensor P2 is L1, the first average displacement variation is d1, and the yaw angle β deformation=arctan (d 1/L1).
6. The resetting method of a resetting mechanism in a six-component cyclostatics system of a wind tunnel according to claim 1, wherein the pitch angle alpha deformation is calculated by the following method:
obtaining initial position data of a midpoint of a connecting line between the laser displacement sensor P1 and the laser displacement sensor P2 through the initial position data of the laser displacement sensor P1 and the initial position data of the laser displacement sensor P2;
real-time position data of the midpoint of a connecting line between the laser displacement sensor P1 and the laser displacement sensor P2 are obtained through the real-time position data of the laser displacement sensor P1 and the real-time position data of the laser displacement sensor P2;
calculating and obtaining displacement variation of the midpoint of the connecting line between the laser displacement sensor P1 and the laser displacement sensor P2 based on initial position data and real-time position data of the midpoint of the connecting line between the laser displacement sensor P1 and the laser displacement sensor P2;
calculating to obtain the displacement variation of the laser displacement sensor P3 through the initial position data and the real-time position data of the laser displacement sensor P3;
calculating to obtain a second average displacement variation based on the displacement variation of the midpoint of the connecting line between the laser displacement sensor P1 and the laser displacement sensor P2 and the displacement variation of the laser displacement sensor P3;
and calculating and obtaining the pitch angle alpha deformation based on the distance from the connecting line between the laser displacement sensor P1 and the laser displacement sensor P2 to the laser displacement sensor P3 and the second average displacement variation.
7. The resetting method of a resetting mechanism in a six-component Tian-bang system of claim 6, wherein a distance from a line between the laser displacement sensor P1 and the laser displacement sensor P2 to the laser displacement sensor P3 is L2, the second average displacement variation is d2, and the pitch angle α deformation=arctan (d 2/L2).
8. The resetting method of a resetting mechanism in a six-component Tian-bang correction system of a wind tunnel according to claim 1, wherein the rolling angle gamma deformation is calculated by the following method:
calculating to obtain the displacement variation of the laser displacement sensor P4 through the initial position data and the real-time position data of the laser displacement sensor P4;
calculating to obtain the displacement variation of the laser displacement sensor P5 through the initial position data and the real-time position data of the laser displacement sensor P5;
calculating to obtain a third average displacement variation based on the displacement variation of the laser displacement sensor P4 and the displacement variation of the laser displacement sensor P5;
the rolling angle gamma deformation is calculated and obtained based on the installation distance between the laser displacement sensor P4 and the laser displacement sensor P5 and the third average displacement variation.
9. The resetting method of a resetting mechanism in a six-component Tian-bang system of claim 8, wherein the installation distance between the laser displacement sensor P4 and the laser displacement sensor P5 is L3, the third average displacement variation is d3, and the roll angle γ deformation=arctan (d 3/L3).
10. The resetting method of the resetting mechanism in the wind tunnel six-component Tian-bang system according to claim 1, wherein the displacement deformation amounts in the X-axis, Y-axis and Z-axis directions are calculated by the following modes respectively:
respectively calculating and obtaining the displacement variation of each of the laser displacement sensors P1 to P6 through the initial position data and the real-time position data of each of the laser displacement sensors P1 to P6;
averaging the displacement variation amounts of the laser displacement sensors P1 to P3 to obtain the displacement deformation amount in the X-axis direction;
averaging the displacement variation amounts of the laser displacement sensors P4 to P5 to obtain a displacement deformation amount in the Y-axis direction;
the displacement variation of the laser displacement sensor P6 is a displacement variation in the Z-axis direction.
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