CN116399543A - Six-degree-of-freedom wind tunnel model supporting system based on Hexaglide parallel mechanism and control method - Google Patents
Six-degree-of-freedom wind tunnel model supporting system based on Hexaglide parallel mechanism and control method Download PDFInfo
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Abstract
The invention discloses a six-degree-of-freedom wind tunnel model supporting system and a control method based on a Hexaglide parallel mechanism, wherein the system comprises the following components: the support rod is connected with the target aircraft model; six groups of attitude control assemblies, wherein each group of attitude control assemblies is hinged with the support rod and drives the support rod to move so as to control the flight attitude of the target aircraft; wherein: each group of gesture control assembly comprises a guide rail, a sliding block and a connecting rod, wherein the first end of the connecting rod is hinged with the supporting rod, the second end of the connecting rod is hinged with the sliding block, and the sliding block slides on the guide rail to drive the supporting rod to move. The invention connects the slide blocks on the guide rails with the support rods through the rigid connecting rods, the support rods are rigidly connected with the aircraft model, and the aircraft model can complete the appointed movement gesture by controlling the movement of the slide blocks on each guide rail, so that the invention has the advantages of high positioning precision, high loading capacity, high dynamic performance and the like.
Description
Technical Field
The invention relates to the technical field of wind tunnel test control, in particular to a six-degree-of-freedom wind tunnel model supporting system based on a Hexaglide parallel mechanism and a control method.
Background
The wind tunnel laboratory can make and control the air flow in a manual mode, so that the air flight working condition of the aircraft can be simulated in the laboratory, and the wind tunnel laboratory is widely applied to various aerodynamic experiments. Because many aerodynamic performance indexes of the aircraft are difficult to obtain through theoretical calculation, wind tunnel experiments provide conditions for simulating the state of the aircraft in the air, and aerodynamic parameters required by the experiments are obtained through various sensors mounted on the aircraft, which are indispensable steps in the development process of various aircraft.
In the wind tunnel test process of the aircraft, a model supporting device is needed to position the flight model in the wind tunnel test cabin, and the transformation motion of the appointed gesture can be realized. Different model supporting modes can be selected according to different wind tunnel test requirements, and the current common supporting modes can be divided into two modes of serial connection and parallel connection. The series supporting mechanism is formed by connecting a series of structures in series, but the series supporting mechanism has the defects of less motion freedom degree, lower dynamic response capability, larger weight of parts, accumulated error and the like. The parallel type supporting mechanism is formed by independently connecting a plurality of driving units in parallel, and compared with a serial mechanism, the parallel type supporting mechanism has the advantages of multiple degrees of freedom, high positioning precision, large load weight ratio, high system stability, low flow field blocking degree and the like, but the positioning precision, the load capacity and the dynamic performance of the parallel type supporting mechanism in the prior art are all unsatisfactory. Therefore, how to provide a six-degree-of-freedom wind tunnel model support system with high positioning accuracy, high load capacity and high dynamic performance based on a Hexaglide parallel mechanism is a technical problem to be solved.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The invention mainly aims to provide an ultra-wideband radio frequency signal high-speed BPSK phase modulation circuit and method, and aims to solve the technical problems that the positioning accuracy, the load capacity and the dynamic performance of a parallel type supporting mechanism in the prior art are not satisfactory.
To achieve the above object, the present invention provides a six-degree-of-freedom wind tunnel model support system based on a Hexaglide parallel mechanism, the system comprising:
the support rod is connected with the target aircraft model;
six groups of attitude control assemblies, wherein each group of attitude control assemblies is hinged with the support rod and drives the support rod to move so as to control the flight attitude of the target aircraft;
wherein: each group of gesture control assembly comprises a guide rail, a sliding block and a connecting rod, wherein the first end of the connecting rod is hinged with the supporting rod, the second end of the connecting rod is hinged with the sliding block, and the sliding block slides on the guide rail to drive the supporting rod to move.
Optionally, the connecting rod adopts a rigid connecting rod, so that the sliding block drives the supporting rod to move when sliding on the guide rail.
Optionally, the support bar is rigidly connected to the target aircraft model, so that when the support bar moves, the flight attitude of the target aircraft model is controlled.
Optionally, the gesture control assembly comprises three groups of first gesture control assemblies arranged on one side of the target aircraft model and the support rod and three groups of second gesture control assemblies arranged on the other side of the target aircraft model and the support rod, and guide rails in the three groups of first gesture control assemblies and the three groups of second gesture control assemblies are arranged in parallel.
Alternatively, the slider provides a sliding driving force by a driving motor within a slidable range of the guide rail.
In order to achieve the above object, the present invention further provides a control method of a six-degree-of-freedom wind tunnel model support system based on a Hexaglide parallel mechanism, which is used for the six-degree-of-freedom wind tunnel model support system based on the Hexaglide parallel mechanism, and comprises the following steps:
s1: acquiring a target attitude of a target aircraft model;
s2: determining the position of each sliding block of the target aircraft model in the target attitude;
s3: each slider is driven to move to a corresponding position to transform the target aircraft model from the current pose to the target pose.
Optionally, the step S2 specifically includes:
s201: establishing a relation expression of the position of the sliding block relative to the position of the connecting rod and the position of the supporting rod;
s202: and determining the position of each sliding block according to the target attitude of the target aircraft model by using the relational expression.
Optionally, the relational expression of the slider position about the position of the connecting rod and the position of the supporting rod is specifically:
wherein S is i For the slide position i=1, 2, …,6, p i Is the position of the spherical hinge on the supporting rod. Optionally, the expression of the position of each slider is specifically:
wherein q= [ x, y, z, α, β, γ] T Position parameters for the aircraft model; l= [ l ] 1 ,l 2 ,l 3 ,l 4 ,l 5 ,l 6 ] T The length of the connecting rod is 1 to 6; r is (r) y The height of the guide rail where the sliding block is positioned from the ground; r is (r) s The distance between the spherical hinge of the support rod and the axis is the distance between the spherical hinge of the support rod and the axis; d, d z Is the distance between the guide rails on the left side and the right side.
Optionally, the step S3 specifically includes:
determining a speed expression of each slider to drive each slider to move to a corresponding position based on the corresponding speed;
the speed expression of the sliding block is specifically as follows:
the invention provides a six-degree-of-freedom wind tunnel model supporting system and a control method based on a Hexaglide parallel mechanism, wherein the system comprises the following components: the support rod is connected with the target aircraft model; six groups of attitude control assemblies, wherein each group of attitude control assemblies is hinged with the support rod and drives the support rod to move so as to control the flight attitude of the target aircraft; wherein: each group of gesture control assembly comprises a guide rail, a sliding block and a connecting rod, wherein the first end of the connecting rod is hinged with the supporting rod, the second end of the connecting rod is hinged with the sliding block, and the sliding block slides on the guide rail to drive the supporting rod to move. The invention connects the slide blocks on the guide rails with the support rods through the rigid connecting rods, the support rods are rigidly connected with the aircraft model, and the aircraft model can complete the appointed movement gesture by controlling the movement of the slide blocks on each guide rail, so that the invention has the advantages of high positioning precision, high loading capacity, high dynamic performance and the like.
Drawings
FIG. 1 is a schematic diagram of a six degree of freedom wind tunnel model support system based on a Hexaglide parallel mechanism in an embodiment of the invention;
FIG. 2 is a schematic diagram of a global coordinate system of a support system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a slider position solution in an embodiment of the present invention;
FIG. 4 is a schematic view of the start and end positions of the pitching motion of an aircraft model according to an embodiment of the present invention;
FIG. 5 is a graph of slider velocity profiles according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of an optimal iterative computation process in an embodiment of the present invention;
FIG. 7 is a graph of velocity profile of each slider after optimization in accordance with an embodiment of the present invention;
FIG. 8 is a schematic diagram of an input drive equation according to an embodiment of the present invention;
fig. 9 shows the starting and ending states of the kinematic simulation in the embodiment of the invention.
Reference numerals illustrate:
1-an aircraft model; 2-a guide rail; 3-a slider; 4-connecting rods; 5-supporting rods.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, based on the embodiments of the invention, which would be apparent to one of ordinary skill in the art without inventive effort are within the scope of the invention.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicators are changed accordingly.
In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary that the technical solutions are based on the fact that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the technical solutions should be considered that the combination does not exist and is not within the scope of protection claimed by the invention.
Referring to fig. 1, fig. 1 is a schematic diagram of a six-degree-of-freedom wind tunnel model supporting system based on a Hexaglide parallel mechanism according to an embodiment of the present invention.
The embodiment provides a six-degree-of-freedom wind tunnel model support system based on a Hexaglide parallel mechanism, which comprises: the support rod is connected with the target aircraft model; six groups of attitude control assemblies, wherein each group of attitude control assemblies is hinged with the support rod and drives the support rod to move so as to control the flight attitude of the target aircraft; wherein: each group of gesture control assembly comprises a guide rail, a sliding block and a connecting rod, wherein the first end of the connecting rod is hinged with the supporting rod, the second end of the connecting rod is hinged with the sliding block, and the sliding block slides on the guide rail to drive the supporting rod to move.
In a specific embodiment, the fixed ends of the six-degree-of-freedom parallel support mechanism are positioned on two side walls of the wind tunnel test cabin, 3 parallel guide rails are arranged on each side, the guide rails are connected with the sliding blocks and the support rods through the rigid connecting rods, the support rods are rigidly connected with the aircraft model, and the specified movement posture of the aircraft model is completed by controlling the movement of the sliding blocks on each guide rail, so that the overall structure is shown in fig. 1.
The support system is based on a 6-PUS (prismatic universal spherical) parallel track parallel mechanism, and the main body structure consists of 6 fixed bases (comprising guide rails, sliding blocks, driving motors and the like), 6 connecting rods, supporting rods and an aircraft model fixed on the connecting rods. Wherein the joint of the connecting rod, the sliding block and the supporting rod is in spherical hinge connection. Each slider is movable within the range of travel of the track powered by a motor. Compared with the traditional serial mechanism, the structure has the following advantages:
1) High positioning accuracy
Sources of errors affecting the positioning accuracy of the support mechanism are mainly from joint play, sensor accuracy, link deformation, assembly errors, and geometric errors due to manufacturing tolerances. In a series arrangement the errors and backlash are added together, amplifying their effect on the positioning of the end aircraft, whereas in a parallel arrangement the errors and backlash interact in a more complex way, possibly counteracting each other. Thus, the overall sensitivity of the end-aircraft positioning to various sources of error is low.
2) High load capacity
The parallel mechanism has great rigidity and the ability to effectively unload heavy loads to a fixed support surface, ensuring a high ratio between the effective mass and the moving mass of the load, such a support structure being kinematically defined by a closed loop chain, so that the load tends to be distributed evenly by the tie rods and mainly in the length direction to the tie rods, so that the positioning errors of the end aircraft are small.
3) High dynamic performance
The driving device of the parallel mechanism is closely attached to each fixed guide rail, so that the moving mass of the mechanism is reduced to the minimum, and the high-speed movement is allowed. Because of the closed-loop chain, dynamic loads tend to be evenly distributed over the individual links, so the same size actuator can be selected.
In a preferred embodiment, the support system is dynamically analyzed by first establishing its system coordinate system. As shown in fig. 2, the rotation center of the aircraft model is taken as an origin O of a wind tunnel coordinate system, the direction of incoming flow in the wind tunnel test cabin is taken as an X axial direction, and the direction of the incoming flow is positive; the Y axis is vertical and upward is positive; the Z axis is perpendicular to the XY plane, and the positive direction is determined according to the right hand rule.
Setting a coordinate system O taking the center of the supporting rod as an origin in the same way 1 X 1 Y 1 Z 1 And a coordinate system O with the center of the aircraft model as the origin 2 X 2 Y 2 Z 2 . It can be seen that OXYZ and O when the aircraft model is in the mechanical zero position 2 X 2 Y 2 Z 2 The two coordinate systems coincide with each other.
For the slider on each track, the initial coordinates of each slider in the xyz coordinate system are set as follows:
because each sliding block in the structure only moves along the X-axis direction, in the formula (3-1)
And->
The value of (2) is a constant value.
The attitude of the aircraft model has 6 degrees of freedom, namely O 2 X 2 Y 2 Z 2 Translation along the directions of 3 coordinate axes and rotation around the directions of 3 coordinate axes in a coordinate system are respectively represented by alpha, beta and gamma to form a rolling angle, a yaw angle and a pitch angle of the model around the X, Y, Z axis. The positional parameter equation of the aircraft model at this time is:
q＝[x ,y ,z ,α ,β ,γ] Y (3-2)
in parallel structures, the kinematic law of the system is usually studied by adopting a position reaction method, namely, the motion parameters required by the input end (6 sliding blocks) are obtained according to the motion track required by the output end (an aircraft model).
Due to the aircraft coordinate system O 2 X 2 Y 2 Z 2 In space, the model moves, so that the coordinate system O is needed to be analyzed when the system is in position 2 X 2 Y 2 Z 2 And an inertial coordinate system ozz. Since all the motion gestures of the aircraft model can be decomposed into a translational motion in 3 axial directions and a rotational motion around 3 axial directions, the course of the motion is investigated below using a transformation matrix.
1) Translational movement
The position vector of any point in the inertial coordinate system is expressed as:
P＝[x p ,y p ,z p ] T (4-1)
translation [ x, y, z] T The point then becomes:
2) Rotational movement
After any point on the coordinate system O2X2Y2Z2 rotates by an angle alpha around the X axis, the rotation matrix is as follows:
after any point on the coordinate system O2X2Y2Z2 rotates by beta angle around the Y axis, the rotation matrix is as follows:
after any point on the coordinate system O2X2Y2Z2 rotates by a gamma angle around the Z axis, the rotation matrix is as follows:
the rotation matrix of the aircraft model is obtained after the rotation matrices of the 3 directions are coupled:
3) Slide block position inverse solution
Because the sliding block, the supporting rod and the connecting rod are connected by the spherical hinge mechanism, the position P of the spherical hinge on the supporting rod is calculated i The position S of the slide block can be reversely pushed out i . Let the length of the support rod be L s The lengths of the 6 connecting rods are L respectively i (i=1, 2, …, 6), the parallel structure aircraft model is directed to the self coordinate system O when rotating 2 X 2 Y 2 Z 2 In the step (2), when the position of the spherical hinge on the supporting rod in the inertial coordinate system OXYZ is calculated, the transformation matrix in the formula (4-4) is multiplied, namely:
wherein the method comprises the steps of
The displacement of the sliding block is the displacement.
Meanwhile, according to the length of the connecting rod and the position relation of the sliding rail, the method can be as follows:
p in the formula 0 ＝(x,y,z,α,β,γ) T And (4-5) and (4-6) are combined to obtain:
in the formula (4-7), the displacement vector
For displacement of each slide in the X-axis direction, i.e. the slide position S is given by formula (4-7) i Is a unitary quadratic equation of (a). Observation equation constant term +.>
It can be seen that due to l i For the length of each connecting rod, therefore +.>
The two real solutions with opposite signs of the formulas (4-7) are obtained, and if the length of the sliding rail is unlimited, the position of the sliding block is two solutions, as shown in fig. 3, when the aircraft model is in a certain posture, the position of the sliding block number 1 is two solutions, but because the position of the sliding block in the parallel structure is limited by the track length (S i <P i ) Therefore, the position solution 2 is invalid, S in the present parallel structure i Is unique to the solution of (c).
The position solution of each sliding block is obtained by taking the corresponding parameters into the formula (4-7):
in the formulae (4-8) to (4-13):
q＝[x,y,z,α,β,γ] T position parameters for the aircraft model;
l＝[l 1 ,l 2 ,l 3 ,l 4 ,l 5 ,l 6 ] T the length of the connecting rod is 1 to 6;
r y the height of the guide rail where the sliding block is positioned from the ground;
r s the distance between the spherical hinge of the support rod and the axis is the distance between the spherical hinge of the support rod and the axis;
d z the distance between the guide rails at the left side and the right side is the distance between the guide rails at the left side and the right side;
it can be seen that the position solution for each slider is determined by 15 parameters, the rest being structural constants except that q is the position parameter transformed over time. The velocity equation of the slider obtained by deriving the time t from the formulas (4-8) to (4-13) is:
in a specific example, the initial design parameter values of the present parallel support system are as follows:
l 1 ＝4200mm，l 2 ＝4200mm，l 3 ＝4200mm，l 4 ＝4200mm，l 5 ＝4200mm，l 6 ＝4200mm，r 1 ＝r 4 ＝4400mm，r 2 ＝r 5 ＝2400mm，r 3 ＝r 6 ＝400mm，r s ＝300mm，d z ＝4800mm。
the motion attitude of the aircraft model calculated at this time is that the pitch angle is changed from-10 degrees to 25 degrees (see fig. 4), and the time is 5s. The results of the introduction of the respective parameter values into the formulas (4 to 14) are shown in fig. 5:
from FIG. 4, it is seen that the maximum drive speed required for the No. 4 slider is 628mm/s when the aircraft model performs the present prescribed operation. In practical engineering application, the slider driving mechanism is powered by a hydraulic system or a servo motor, and the higher the required speed of the slider is, the higher the operation performance requirement of the driving system is, so that the maximum moving speed of the slider is reduced as much as possible on the premise of meeting the system movement requirement, and the purpose of optimizing the system design is achieved.
From equations (4-14), the parameters affecting the slider speed are known to include l 1 ～l 6 ，r 1 ～r 6 ，r y ，r s And d z In actual working condition r 1 ～r 6 ，r 1 ～r 6 ，r s And d z The parameters are limited by field conditions and are generally constant, so that the optimization algorithm only analyzes the rest parameters. For this multi-objective optimization design, a genetic algorithm (pareto optimal solution) is generally adopted to optimize the dimensional parameters of the structure of the support system with the minimum slider speed as an objective function.
The mathematical model of the multi-objective optimization is as follows:
in f (l) 1 ),…,f(r y ) As regards l 1 ，…，r y Is aimed at making the slider velocity V p Minimizing. Wherein the method comprises the steps of
For each rotational matrix of the connecting rods relative to the aircraft model,
second order differentiation with respect to time is provided for each slider position.
Attitude equation relating initial parameters to aircraft model
Introduced into (5-1) at V p || ∞ And (3) performing iterative optimization for a minimum target, setting the crossover rate of a selection operator to be 0.8, the mutation rate to be 0.2, and the maximum iteration number to be 100, wherein the iteration result is shown in fig. 6. The effective solution (pareto optimal solution) of the target individual can be basically converged after 40 iterations, and the adaptive value of the optimal individual is basically the same as the group average adaptive valueEtc. The optimal adaptation value of the population is 10.1354, and the average adaptation value is 10.1926, so that the result obtained by the optimization can be used as the optimal solution of the model.
The optimized structural parameters are as follows: l (L) 1 ＝4321mm，l 2 ＝4287mm，l 3 ＝4196mm，l 4 ＝4352mm，l 5 ＝3963mm，l 6 ＝4085mm，r s The remaining parameters remained unchanged, and the optimized parameters were introduced into equations (4-14) to obtain the results as shown in fig. 7:
as can be seen from FIG. 7, after the mechanism is optimized, the maximum driving speed required by the No. 4 slider is reduced from original 628mm/s to 487mm/s by about 22.5% when the same pitching motion flow is completed. While the speed required for the remaining sliders is correspondingly reduced.
In order to verify the accuracy of the calculation of the dynamics theory, a three-dimensional model of the parallel support mechanism is established according to the optimized parameters, and the SolidWorks software is used for carrying out the kinematic simulation. The velocity profile of each slider calculated in the previous section is applied as a driving equation to each slider (for example, the driving equation of the slider No. 1 in fig. 8). After the completion, the simulation is carried out, so that the running track of the vehicle is completely consistent with the theoretical calculation track (see fig. 9), and the accuracy of the theoretical calculation of the vehicle is verified.
The foregoing description is only of the preferred embodiments of the invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalent structure or equivalent flow scheme disclosed in the specification and drawings, or any other related art, directly or indirectly, as desired.
Claims (10)
1. Six-degree-of-freedom wind tunnel model support system based on Hexaglide parallel mechanism, characterized in that the system comprises:
the support rod is connected with the target aircraft model;
six groups of attitude control assemblies, wherein each group of attitude control assemblies is hinged with the support rod and drives the support rod to move so as to control the flight attitude of the target aircraft;
wherein: each group of gesture control assembly comprises a guide rail, a sliding block and a connecting rod, wherein the first end of the connecting rod is hinged with the supporting rod, the second end of the connecting rod is hinged with the sliding block, and the sliding block slides on the guide rail to drive the supporting rod to move.
2. The six-degree-of-freedom wind tunnel model supporting system based on a Hexaglide parallel mechanism of claim 1, wherein the connecting rods are rigid connecting rods, so that the sliding blocks slide on the guide rails to drive the supporting rods to move.
3. The Hexaglide parallel mechanism-based six degree-of-freedom wind tunnel model support system of claim 1, wherein the support rods are rigidly connected to the target aircraft model such that when the support rods are moved, the attitude of the target aircraft model is controlled.
4. The Hexaglide parallel mechanism-based six degree-of-freedom wind tunnel model support system of claim 1, wherein the attitude control assembly comprises three sets of first attitude control assemblies disposed on one side of the target aircraft model and the support bar and three sets of second attitude control assemblies disposed on the other side of the target aircraft model and the support bar, the guide rails in the three sets of first attitude control assemblies and the three sets of second attitude control assemblies being disposed in parallel.
5. The Hexaglide parallel mechanism-based six-degree-of-freedom wind tunnel model support system of claim 1, wherein the slider provides a sliding driving force through the driving motor within a slidable range of the guide rail.
6. A control method of a six-degree-of-freedom wind tunnel model support system based on a Hexaglide parallel mechanism, which is used for the six-degree-of-freedom wind tunnel model support system based on the Hexaglide parallel mechanism as claimed in any one of claims 1 to 5, and is characterized by comprising the following steps:
s1: acquiring a target attitude of a target aircraft model;
s2: determining the position of each sliding block of the target aircraft model in the target attitude;
s3: each slider is driven to move to a corresponding position to transform the target aircraft model from the current pose to the target pose.
7. The method for controlling the six-degree-of-freedom wind tunnel model supporting system based on the Hexaglide parallel mechanism according to claim 6, wherein the step S2 specifically comprises:
s201: establishing a relation expression of the position of the sliding block relative to the position of the connecting rod and the position of the supporting rod;
s202: and determining the position of each sliding block according to the target attitude of the target aircraft model by using the relational expression.
8. The control method of the six-degree-of-freedom wind tunnel model supporting system based on the Hexaglide parallel mechanism according to claim 7, wherein the relational expression of the slider position with respect to the connecting rod position and the supporting rod position is specifically:
wherein x is i ,y i ,z i Respectively 3-dimensional coordinates, P of the spherical hinge on the supporting rod i Is the position of the spherical hinge on the supporting rod,t is the rotation matrix of the target aircraft model [] T Is transposed matrix S i Is the position of the sliding block,
for displacement of each slide block in the X-axis direction, O is the origin of coordinates, P i T To support the transposed matrix of the spherical hinge in position, l i For the length of each connecting rod, < > a->
Is l i I=1, 2, …,6, t z For a rotation matrix of the target aircraft model after rotating around the x axis for an alpha angle, T y For a rotation matrix of the target aircraft model rotated around the Y axis by an angle beta, T x And a rotation matrix after the target aircraft model rotates by a gamma angle around the Z axis.
9. The control method of the six-degree-of-freedom wind tunnel model support system based on the Hexaglide parallel mechanism of claim 8, wherein the expression of the position of each slide block is specifically:
wherein d s Is the diameter of the support rod, l z For the length of the support rod, q= [ x, y, z, alpha, beta, gamma] T Position parameters for a target aircraft model; l= [ l ] 1 ,l 2 ,l 3 ,l 4 ,l 5 ,l 6 ] T The length of the connecting rod is 1 to 6; r is (r) y The height of the guide rail where the sliding block is positioned from the ground; r is (r) s The distance between the spherical hinge of the support rod and the axis is the distance between the spherical hinge of the support rod and the axis; d, d z Is the distance between the guide rails on the left side and the right side.
10. The method for controlling the six-degree-of-freedom wind tunnel model supporting system based on the Hexaglide parallel mechanism according to claim 9, wherein the step S3 specifically comprises:
determining a speed expression of each slider to drive each slider to move to a corresponding position based on the corresponding speed;
the speed expression of the sliding block is specifically as follows:
where q (t) is a position parameter of the target aircraft model over time t.
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