CN113237629B - Method for measuring control plane angle of low-speed wind tunnel free flight model - Google Patents
Method for measuring control plane angle of low-speed wind tunnel free flight model Download PDFInfo
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- G01M9/00—Aerodynamic testing; Arrangements in or on wind tunnels
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- G—PHYSICS
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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- G—PHYSICS
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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Abstract
The invention is suitable for the technical field of wind tunnel tests, and provides a method for measuring the control plane angle of a free flight model of a low-speed wind tunnel, which comprises the following steps: setting a first mark point on a stabilizing surface of the aircraft model, and setting a second mark point on a control surface; placing the aircraft model outside the wind tunnel test section, and calculating the length of a position vector between the first mark point and the second mark point; obtaining a deflection direction instruction and a control plane deflection angle when the aircraft model is arranged outside a wind tunnel test section to form an interpolation table; placing an aircraft model in a wind tunnel test section, and calculating the length of a position vector between the first marking point and the second marking point; and obtaining a deflection direction instruction when the aircraft model is placed in the wind tunnel test section, and substituting the position vector length and the deflection direction instruction into an interpolation table to obtain the deflection angle of the control surface. The invention obtains the control surface angle of the aircraft model in the free flight state by a non-contact method, and has good universality and simple method.
Description
Technical Field
The invention relates to the field of wind tunnel tests, in particular to a method for determining a control plane angle of a free flight model of a low-speed wind tunnel.
Background
The balancing and the control stability augmentation of the low-speed wind tunnel free flight test model are mainly realized by controlling the deflection of a control plane to change the aerodynamic force and the moment applied to the model. Therefore, the accurate measurement of the angle of the control surface and the real-time feedback technology are one of the key technologies for realizing the free flight of the model in the low-speed wind tunnel.
In the prior art, a low-speed wind tunnel free flight model generally determines the relationship between an electric signal of a steering engine and a deflection degree of a control plane by a ground calibration method in advance, and the deflection of the control plane is controlled by applying a steering engine deflection instruction in the test process, but information such as whether the control plane deflects in place and whether the control plane deflects after being in place cannot be acquired. Although the control surface angle can be determined by engineering methods such as measuring the elongation change by using an inclination angle sensor and a linear differential sensor, the methods cannot be used on a scaling small-size model.
Disclosure of Invention
The invention aims to provide a method for measuring the angle of a control surface of a free flight model of a low-speed wind tunnel, which solves the technical problems, and comprises the following steps:
step S10: setting a first mark point on a stabilizing surface of the aircraft model, and setting a second mark point on a control surface of the aircraft model;
step S20: placing the aircraft model outside the wind tunnel test section, and calculating the length of the position vector between the first mark point and the second mark point when the aircraft model is placed outside the wind tunnel test sectionL；
Step S30: obtaining a deflection direction instruction when the aircraft model is arranged outside a wind tunnel test sectionPDeclination angle of control surfaceθAccording to the length of the position vectorLDeclination angle of control surfaceθ、Deflection direction commandPForm aL-θ-PAn interpolation table;
step S40: placing the aircraft model in the wind tunnel test section, and calculating the aircraft modelThe length of the position vector between the first mark point and the second mark point when the wind tunnel test section is insideL’；
Step S50: obtaining a deflection direction instruction when the aircraft model is arranged in a wind tunnel test sectionP’Length of said position vectorL’The deflection direction instructionP’Substitution intoL-θ-PInterpolation table to obtain the deflection angle of control surfaceθ’。
Further, in step S10, a distance between the first mark point and the control surface rotation axis is greater than a first preset threshold, and a distance between the second mark point and the control surface rotation axis is greater than a second preset threshold.
Furthermore, a connecting line between the first mark point and the second mark point is perpendicular to the axis of the aircraft control surface rotating shaft in the vertical direction.
Further, when the control surface is zero offset, the length of the position vector between the first mark point and the second mark pointLGreater than a third preset threshold.
Further, the length of the position vector in step S20LOr the length of the position vector in step S40 orL 
The calculation method comprises the following steps:
acquiring the position information of the first mark point and the second mark point through an infrared optical motion capture system,
calculating the length of the position vector according to the acquired position informationL or L'。
Further, the method for acquiring the position information of the first mark point and the second mark point comprises the following steps:
the infrared optical motion capture system emits infrared light to the first mark point and the second mark point;
the infrared optical motion capture system receives the light rays reflected by the first mark point and the second mark point;
the infrared optical motion capture system collects images of the first mark point and the second mark point and processes the images to obtain position information of the first mark point and the second mark point.
Further, the first mark point and the second mark point are made of thin-sheet type reflecting materials.
Further, the first marker point or the second marker point is at least simultaneously seen by two cameras.
The beneficial effects of the invention at least comprise the following aspects:
1. the invention adopts the infrared optical motion capture system to obtain the control plane angle of the aircraft model in the free flight state by a non-contact method, and solves the problem that the control plane angle cannot be used on a small-size aircraft model when the control plane angle is determined by adopting an inclination angle sensor and a linear differential sensor in the prior art.
2. Firstly, placing the aircraft model outside a wind tunnel test section, and obtaining the position vector length between the aircraft model stabilizing surface mark point and the control surface mark pointLDeclination angle of control surfaceθA deflection direction commandPForm aL-θ-PAn interpolation table is added, then the aircraft model is placed in a wind tunnel test section, and the position vector length between the aircraft model stabilizing surface mark point and the control surface mark point is obtainedL’And a yaw direction commandP’，By substituting it intoL-θ-PInterpolation table, and then obtainingθ’，The method can measure the deflection angle of the control plane of the aircraft model in the free flight state in real time, and can find out whether the control plane deflects in place or not and whether the control plane deflects in place or not in time.
3. The control plane deflection angle measuring method provided by the invention adopts a non-contact measuring mode, can be suitable for the wind tunnel free flight research of aircrafts of different models, and has good universality; the application method is simple and easy to implement, can be popularized to other low-speed wind tunnels, and has good engineering application prospect.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention or in the description of the prior art will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of a method for measuring the angle of a control plane of a free flight model of a low-speed wind tunnel according to the invention;
FIG. 2 is a schematic view of an aircraft model of the present invention positioned outside a wind tunnel test section
FIG. 3 is a schematic diagram of the aircraft model of the present invention calibrating the rudder deflection angle;
FIG. 4 shows the present inventionL-θ-PAn interpolation table diagram;
FIG. 5 is a schematic representation of an aircraft model of the present invention positioned within a wind tunnel test section.
10-an infrared optical motion capture system, 20-an aircraft model, 21-a stabilizer plane, 22-a rudder plane, 23-a rotating shaft, 31-a second marking point, 32-a first marking point, 40-a wind tunnel test section and 50-a clamping plate.
Detailed Description
The following description provides many different embodiments, or examples, for implementing different features of the invention. The particular examples set forth below are illustrative only and are not intended to be limiting.
As shown in fig. 1, an embodiment of the present invention provides a method for measuring a control plane angle of a free flight model of a low-speed wind tunnel, where the method for measuring the control plane angle includes the following steps:
step S10: arranging a first marking point 32 on a stabilizing surface 21 of the aircraft model 20, and arranging a second marking point 31 on a control surface 22 of the aircraft model;
step S20: placing the aircraft model outside the wind tunnel test section, and calculating the length of the position vector between the first mark point and the second mark point when the aircraft model is placed outside the wind tunnel test sectionL；
Step S30: obtaining that the aircraft model is arranged outside the wind tunnel test sectionTime-shift direction commandPDeclination angle of control surfaceθAccording to the length of the position vectorLDeclination angle of control surfaceθ、Deflection direction commandPForm aL-θ-PAn interpolation table;
step S40: placing the aircraft model in the wind tunnel test section 40, and calculating the length of the position vector between the first mark point and the second mark point when the aircraft model is placed in the wind tunnel test sectionL’；
Step S50: obtaining a deflection direction instruction when the aircraft model is arranged in a wind tunnel test sectionP’Length of said position vectorL’The deflection direction instructionSubstitution of P' into L-θ-PInterpolation table to obtain the deflection angle of control surfaceθ’。
In the above scheme, as shown in fig. 2, firstly, the aircraft model is placed outside the wind tunnel test section, the first position information acquisition system is arranged around the aircraft model, the first position information acquisition system is an infrared optical motion capture system 10, and includes a plurality of cameras, the plurality of cameras are arranged on both sides of the top of the aircraft model, and the plurality of cameras are calibrated simultaneously. The number of the cameras may be 4, 6, 8, 10, and the specific number of the cameras may be determined according to the size of the covered field of view, which is not limited herein. As shown in FIG. 5, a world coordinate system is establishedo g-x g y g z g，o gIs positioned at any point of the lower tunnel wall of the wind tunnel test section,x gthe shaft is parallel to the axis of the wind tunnel test section and points to the incoming flow direction,y gthe shaft is in the plane of the lower tunnel wall of the wind tunnel test section, andy gaxis perpendicular tox gThe axis is directed to the right and,z gthe axis orientation conforms to the right hand rule. In the establishment of world coordinate systemo g-x g y g z gThe visual angle of a driver in the aircraft model is adopted,x gthe direction of the axis is the direction of the incoming flow of the wind tunnel air flow velocity viewed by the eyes of the driver, whereiny gThe axial direction is the direction in which the driver's eyes look to the right.
At the plane of the aircraft modelA first mark point is arranged on the surface of the rudder, a second mark point is arranged on the surface of the rudder, and the coordinate of the first mark point on the stabilizing surface under a world coordinate system is obtained through a first position information acquisition system (x f，y f，z f) And coordinates of a second mark point on the control surface in a world coordinate system (x s，y s，z s) And then, when the aircraft model is arranged outside the wind tunnel test section, the position vector length L between the first mark point on the stabilizing surface and the second mark point on the control surface can be calculated, and then:
the method comprises the steps of obtaining a deflection direction instruction P when an aircraft model is arranged outside a wind tunnel test section, recording and obtaining an electric signal sent by a steering engine of the aircraft model in a computer, recording the obtained deflection direction instruction P of a control surface by adopting numbers in the embodiment of the invention, taking the control surface as a reference surface when the control surface is horizontal, setting the deflection direction instruction to be-1 when the control surface deflects upwards anticlockwise, and setting the deflection instruction to be 1 when the control surface deflects downwards clockwise, so that recording personnel can conveniently and clearly record the deflection direction instruction.
As shown in FIG. 3, the deflection angle of the control surface when the aircraft model is placed outside the wind tunnel test section is obtainedθIn the process, the control surface is calibrated by manually using the clamping plate 50, and the deflection angle of the control surface is obtainedθThe value of (2) is highly accurate. In addition, other methods may be used to calibrate the control surface, which is not limited herein.
The above steps are then repeated, as shown in FIG. 4, to establish the position vector lengthLDeclination angle of control surfaceθ、Deflection direction commandPMapping relation between the three，Thereby formingL-θ-PInterpolation table, by which it is clear when the rudder surface is offθWhen the deflection direction instruction of the control surface is anticlockwise and upwards deflected, the length of a position vector between a first mark point on a corresponding aircraft model stabilizing surface and a second mark point on the control surface is 5 degreesLIs 168.9mm。
The method comprises the steps of arranging an aircraft model outside a wind tunnel test section in advance, obtaining position vector length L between an aircraft model stabilizing surface mark point and a control surface mark point, a control surface deflection angle theta and a deflection direction instruction P, and further forming an L-theta-P interpolation table.
Forming desired outside the wind tunnel test sectionL-θ-PAfter the interpolation table is obtained, as shown in fig. 5, the aircraft model is arranged in the wind tunnel test section to be in a free flight state, a second position information acquisition system is arranged around the aircraft model, the second position information acquisition system is an infrared optical motion capture system and comprises a plurality of cameras, and the plurality of cameras are arranged on two sides of the top of the aircraft model and are calibrated simultaneously. The specific installation positions of the cameras are that glass windows are distributed on the tunnel wall on one side of the wind tunnel test section at intervals, the cameras are located outside the wind tunnel test section, and the cameras are installed at corresponding positions on the outer side of each glass window. The number of the cameras may be 4, 6, 8, 10, and the specific number of the cameras may be determined according to the size of the covered field of view, which is not limited herein.
It should be noted that, when the wind tunnel test section is outside, the first mark point set on the aircraft model stabilizing surface and the second mark point set on the control surface are always kept unchanged, because if any one of the first mark point set on the stabilizing surface and the second mark point set on the control surface is changed, the first mark point and the second mark point may be created outside the wind tunnel test sectionL-θ-PThe mapping relations in the interpolation table are not in one-to-one correspondence, and the serious influence is generated on a control plane deflection angle result of an aircraft model in a subsequent research wind tunnel test section.
Acquiring the coordinates of the first mark point on the stabilization surface under the world coordinate system through a second position information acquisition system (x f ’，y f ’，z f ’) And a second mark point on the control surface in a world coordinate systemCoordinates of (A), (B) and (C)x s ’，y s ’，z s ’) Then, the position vector length L between the first mark point on the stabilizing surface and the second mark point on the control surface when the aircraft model is arranged in the wind tunnel test section can be calculated’Then, there are:
the deflection direction instruction P when the aircraft model is arranged in the wind tunnel test section is obtained through the recording of the electric signal sent by the steering engine of the aircraft model in the computer’Then the length L of the position vector’And a yaw direction command P’Built when substituted outside the wind tunnel test sectionL-θ-PIn the interpolation table, the deflection angle of the control surface at the moment can be obtainedθ’And the information of the deflection angle of the control surface is obtained in time.
Specifically, a first position information acquisition system arranged outside a wind tunnel test section and a second position information acquisition system in the wind tunnel test section are both infrared optical motion capture systems to acquire the position information of a mark point on an aircraft model, and the infrared optical motion capture type non-contact measurement system comprises: the system comprises a camera, a cable, a network switch, a resolving computer, a synchronizer and a calibration rod; the camera is connected with the network switch through a cable, the camera transmits the acquired point location information to the network switch, the network switch is electrically connected with the resolving computer through the cable, the network switch transmits the acquired point location information to the resolving computer, and the computer performs operation processing on the point location information; before the test is started, calibrating a plurality of cameras simultaneously, and determining the relative position relation among the cameras.
The infrared optical motion capture system is adopted in the embodiment of the invention, the control plane angle of the aircraft model in the free flight state is obtained by a non-contact method, and the problem that the control plane angle cannot be used on a small-size aircraft model when the control plane angle is determined by adopting an inclination angle sensor and a linear differential sensor in the prior art is solved.
In the embodiment of the invention, a non-contact measurement mode is adopted, firstly, the aircraft model is arranged outside a wind tunnel test section, and the position vector length between the aircraft model stabilizing surface mark point and the control surface mark point is obtainedLDeclination angle of control surfaceθA deflection direction commandPForm aL-θ-PAn interpolation table is added, then the aircraft model is placed in a wind tunnel test section, and the position vector length between the aircraft model stabilizing surface mark point and the control surface mark point is obtainedL’And a yaw direction commandP’，By substituting it intoL-θ-PInterpolation table, and then obtainingθ’，The method can measure the deflection angle of the control plane of the aircraft model in the free flight state in real time, and can find out whether the control plane deflects in place or not and whether the control plane deflects in place or not in time.
The control plane deflection angle measuring method provided by the embodiment of the invention adopts a non-contact measuring mode, can be suitable for the wind tunnel free flight research of aircrafts of different models, and has good universality; the application method is simple and easy to implement, can be popularized to other low-speed wind tunnels, and has good engineering application prospect.
Further, in step S10, the distance between the first mark point and the control surface rotation axis 23 is greater than a first preset threshold, and the distance between the second mark point and the control surface rotation axis is greater than a second preset threshold. (this is done to avoid marking points on the spindle, which would cause the baseline vector L to be too short.)
In the scheme, a first preset threshold of the distance between a first mark point on the stabilizing surface and the rotating shaft of the control surface is set, when the distance between the first mark point and the rotating shaft of the control surface is smaller than the first preset threshold, a situation that a baseline vector L between the first mark point and a second mark point is too short is set, a preset threshold of the distance between a second mark point of the control surface and the rotating shaft of the control surface is set, when the distance between the second mark point and the rotating shaft of the control surface is smaller than the preset threshold, a situation that the baseline vector L between the first mark point and the second mark point is too short is set, therefore, when the first mark point is set on the stabilizing surface, the distance between the first mark point and the rotating shaft of the control surface needs to be larger than the first preset threshold, and when the second mark point is set on the control surface, the distance between the second mark point and the rotating shaft of the control surface needs to be larger than the second preset threshold.
Furthermore, a connecting line between the first mark point and the second mark point is perpendicular to the axis of the aircraft control surface rotating shaft in the vertical direction.
In the above scheme, the small-size aircraft model is adopted in this embodiment, and when a connecting line between the first mark point on the stabilizer and the second mark point on the control surface is perpendicular to the axis of the aircraft control surface rotating shaft in the vertical direction, the optimal selection is adopted, and at this time, when the angle of the control surface changes slightly, the change of the baseline vector L is obvious, in other words, when the change of the baseline vector L is obvious, the degree of the control surface with small angle change can be obtained easily.
Further, when the control surface is zero offset, the length of the position vector between the first mark point and the second mark pointLGreater than a third preset threshold.
In the above scheme, the length of the position vector between the first mark point and the second mark point is setLAnd the length is larger than the third preset threshold value, so that the base line vector length L can generate larger change when the change of the control surface angle is smaller.
When the change of the control surface angle is small and the change of the length of the baseline vector L is smaller than the resolution of the camera, the measurement result has a large error, for example, when the baseline vector L =5cm and the control surface angle changes by 1 °, L =5.003cm, and the recognition rate of the camera is 0.1 mm, a small change of the baseline length L cannot be recognized by the camera.
In a word, when the length of a baseline vector L formed by connecting lines of a first mark point of the stabilizing surface and a second mark point of the control surface is set, attention needs to be paid to the fact that the baseline vector L changes obviously when the angle of the control surface changes and is sensitive to the angle change, a camera can be identified, and an obtained result is fed back in time, so that the deflection condition of the control surface when the aircraft model flies freely can be obtained in time, and the great effect is achieved on the follow-up research on the problems of whether the control surface of the aircraft deflects in place, whether the control surface deflects in place and the like.
Further, the length of the position vector in step S20LOr the length of the position vector in step S40 orL’The calculation method comprises the following steps:
acquiring the position information of the first mark point and the second mark point through an infrared optical motion capture system,
calculating the length of the position vector according to the acquired position informationL or L'。
Further, the method for acquiring the position information of the first mark point and the second mark point comprises the following steps:
the infrared optical motion capture system emits infrared light to the first mark point and the second mark point;
the infrared optical motion capture system receives the light rays reflected by the first mark point and the second mark point;
the infrared optical motion capture system collects images of the first mark point and the second mark point and processes the images to obtain position information of the first mark point and the second mark point.
In the above scheme, the camera in the infrared optical motion capture system is a camera with an infrared lens, and a camera of the infrared camera can emit infrared light with a wavelength of 850 nm. The light emitted by the infrared camera can be used for distinguishing the target from the surrounding environment, and noise is reduced. In addition, the high-speed camera generally adopted in the prior art cannot obtain required information in real time, can be obtained after post-processing, and cannot be used for controlling feedback of the information, and the camera adopted in the scheme can feed back the acquired information in real time.
According to the invention, infrared light with the wavelength of 850nm is emitted by an infrared camera and irradiates on the first reflective mark point, the mark point and the surrounding environment in the obtained image can be obviously distinguished, the data amount processed by a computer is reduced by only processing the image gray scale information of the mark point and neglecting the background image, the real-time performance is improved, the measurement bandwidth of more than 100Hz can be realized, and the method is suitable for the horizontal free flight control measurement requirement of a low-speed wind tunnel.
Further, the first mark point and the second mark point are made of thin-sheet type reflecting materials.
In the above-mentioned scheme, first mark point and second mark point all adopt be slice formula mark point, and paste on the surface of aircraft model, can not bring the damage to the surface of aircraft model, and it is convenient to dismantle, and what the material of mark point chooseed for use is reflecting material, and this reflecting material has the reflective power of reinforcing infrared ray, compares with prior art, and mark point self can not send light.
Further, the first marker point or the second marker point is at least simultaneously seen by two cameras.
In the above scheme, for the same mark point, if the first mark point is seen by two cameras at the same time, the position of the first mark point in the space can be determined according to the camera shooting measurement principle.
The control plane deflection angle measuring method provided by the invention adopts a non-contact measuring mode, can be suitable for the wind tunnel free flight research of aircrafts of different models, and has good universality; the application method is simple and easy to implement, can be popularized to other low-speed wind tunnels, and has good engineering application prospect.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (8)
1. A method for measuring the angle of a control surface of a free flight model of a low-speed wind tunnel is characterized by comprising the following steps:
step S10: setting a first mark point on a stabilizing surface of the aircraft model, and setting a second mark point on a control surface of the aircraft model;
step S20: placing the aircraft model outside the wind tunnel test section, and calculating the length of the position vector between the first mark point and the second mark point when the aircraft model is placed outside the wind tunnel test sectionL；
Step (ii) ofS30: obtaining a deflection direction instruction when the aircraft model is arranged outside a wind tunnel test sectionPAngle of control surfaceθAccording to the length of the position vectorLAngle of control surfaceθ、Deflection direction commandPForm aL-θ-PAn interpolation table;
step S40: placing the aircraft model in the wind tunnel test section, and calculating the length of the position vector between the first mark point and the second mark point when the aircraft model is placed in the wind tunnel test sectionL′ ；
Step S50: obtaining a deflection direction instruction when the aircraft model is arranged in a wind tunnel test sectionP', extending said position vectorL'. the yaw direction commandP′ Substituted into L-θ-PInterpolation table to obtain control surface angleθ′ 。
2. The rudder surface angle measuring method according to claim 1, wherein in step S10, the distance between the first mark point and the rudder surface rotation axis is greater than a first preset threshold, and the distance between the second mark point and the rudder surface rotation axis is greater than a second preset threshold.
3. The control surface angle measuring method according to claim 2, characterized in that a connecting line between the first mark point and the second mark point is perpendicular to an axis of the aircraft model control surface rotating shaft in the vertical direction.
4. Control surface angle measuring method according to claim 3, characterized in that the length of the position vector between the first mark point and the second mark point is equal to zero offset of the control surfaceLGreater than a third preset threshold.
5. Rudder surface angle measuring method according to claim 1 characterised in that the length of the position vector in step S20LOr the length of the position vector in step S40LThe calculation method of' is as follows:
acquiring the position information of the first mark point and the second mark point through an infrared optical motion capture system,
calculating the length of the position vector according to the acquired position informationLOrL′ 。
6. The control surface angle measuring method according to claim 5, characterized in that the position information of the first mark point and the second mark point is acquired by the following method:
the infrared optical motion capture system emits infrared light to the first mark point and the second mark point;
the infrared optical motion capture system receives the light rays reflected by the first mark point and the second mark point;
the infrared optical motion capture system collects images of the first mark point and the second mark point and processes the images to obtain position information of the first mark point and the second mark point.
7. The rudder surface angle measuring method according to claim 6, wherein the first mark point and the second mark point are made of a sheet type reflecting material.
8. Control surface angle measuring method according to claim 7, characterized in that the first marker point or the second marker point is seen by at least two cameras simultaneously.
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