CN102620902B - Double-closed loop speed control captive trajectory simulation (CTS) test method based on time and space transformation - Google Patents

Double-closed loop speed control captive trajectory simulation (CTS) test method based on time and space transformation Download PDF

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CN102620902B
CN102620902B CN201210075221.6A CN201210075221A CN102620902B CN 102620902 B CN102620902 B CN 102620902B CN 201210075221 A CN201210075221 A CN 201210075221A CN 102620902 B CN102620902 B CN 102620902B
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speed
time
cts
store combinations
model
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CN102620902A (en
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黄叙辉
张征宇
李平
于志松
周润
高峰
高荣钊
庞旭东
马东平
喻波
郑向金
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High Speed Aerodynamics Research Institute of China Aerodynamics Research and Development Center
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High Speed Aerodynamics Research Institute of China Aerodynamics Research and Development Center
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Abstract

The invention discloses a double closed loop speed control captive trajectory simulation (CTS)CTS test method based on time and space transformation. On the one hand, an error model of CTS speed control is established by a load discreet value calculation method based on speed second order interpolation polynomials, the self adaption of time step length of the movement of external models is realized, and the optimal time and space transformation scale is dynamically produced by combining dynamic response parameters of CTS hardware and errors of trajectory control; and on the other hand, the movement speed of a support mechanism for a six-freedom degree model is precisely controlled in a conventional speed closed loop control mode formed by a lower computer and a speed sensor, signal measurement and data calculation can be performed without suspension, the center of gravity of the model is ensured to be continuously kept on a real movement track, false collision of the external models and a master is avoided, and the CTS time is shorten and the test cost is reduced possibly under the condition of ensuring test precision.

Description

Two closed-loop speeds based on space-time transformation are controlled CTS test method
Technical field
The present invention relates to the test method that a kind of high-speed wind tunnel store Combinations of controlling based on speed is caught track (CTS).
Background technology
Because store Combinations is after aircraft transmitting/input, at the initial stage of leaving aircraft, be in the interference flowing field of aircraft, may sharply come back or bow even rolling so that collide with aircraft, these bad input stalling characteristics not only affect the precision that armament systems hit, more seriously entail dangers to aircraft and pilot's safety.
For this reason, before actual combat, must assess the stalling characteristic of store Combinations, the implementation condition of grasp to throw in/transmitting, after input/transmitting movement locus separately of the aerodynamic interference between dynamic perfromance, aircraft and the store Combinations of aircraft, separated rear aircraft and store Combinations and attitude and relative movement orbit thereof and attitude, input/launching shock force and moment on decision boundaries of the accuracy at target of the impact of aircraft and store Combinations, external stores, safe separating etc., both guaranteed the flight safety of aircraft, guarantee again the accuracy at target of input/weapon delivery, effectively hit enemy.
Wind-tunnel store Combinations is caught Trajectory System (CTS) major concern store Combinations at the separated track that leaves the machine tool initial stage.In the separated later stage of track, store Combinations, away from machine tool, is eliminated substantially to the security implication of machine tool and mutual disturbing effect, and its separated track has not belonged to the scope of CTS systematic survey.The separated initial stage is implication more accurately, and the store Combinations that refers to motion is the scope under machine tool still, and for example bullet departs from machine tool afterbody during deliver, projectile tail flies away from after machine tool head while launching a guided missile, and CTS system just stops the measurement of separated track.
At present, domestic CTS is the position control mode based on closed loop still, causes store Combinations model in constant speed intermittent movement pattern, mainly has the following disadvantages:
1) motion of store Combinations model is step, after moving to destination locations, suspend at every turn, carrying out signal measurement and data calculates, and then carry out next step motion, and need to repeatedly revise position, therefore it is longer to obtain the time of a store Combinations separated track, for example, the Live Flying track of 0.5～2 second, this system approximately needs the wind tunnel operation time of 2～4 minutes, its test efficiency is low, energy consumption is high, and especially China's high speed main force wind-tunnel is for rushing temporarily the formula method of operation, and this shortcoming seems more obvious.
2) store Combinations model sport is noncontinuity, and the more lower position of tracing point (
Figure 2012100752216100002DEST_PATH_IMAGE002
constantly) be prediction generating, might not overlap all the time with store Combinations model six-degree-of-freedom dynamics equation assigned position, model center of gravity can not remain on real motion track continuously, easily cause store Combinations model and pole thereof and machine tool model to be collided, force the generation halfway of track to be ended, become the potential safety hazard of experiment.
3) position coordinates of six-freedom motion equation solution store Combinations model needs quadratic integral computing, low compared with speed (only needing 1 integral operation can solve store Combinations model velocity) Control experiment precision.
Although proposed the method for control speed of CTS abroad, in wind tunnel test, still by balance, record the aerodynamic force that store Combinations model bears, in six-degree-of-freedom dynamics equation by this aerodynamic force together with the parameter substitution store Combinations flights such as quality, center of gravity and moment of inertia of store Combinations, can calculate step-length preset time
Figure DEST_PATH_IMAGE004
the centroid velocity of rear store Combinations angular velocity with rotation around center of mass
Figure DEST_PATH_IMAGE008
, the six degree of freedom mechanical arm of then controlling CTS system according to
Figure 52715DEST_PATH_IMAGE006
movement locus with
Figure 379310DEST_PATH_IMAGE008
athletic posture moves, and iterative method completes the measurement of a separated track, but not Time Created step-length
Figure 362310DEST_PATH_IMAGE004
and the relation between CTS test error,
Figure 164044DEST_PATH_IMAGE004
value rationality and the experience of testing crew relevant, cannot realize the self-adaptation of time step.
But the ripe strategy of speed control of traditional industry six degree of freedom mechanical arm is difficult to directly apply in the speed control of CTS test, and reason is as follows:
What store Combinations bore makes a concerted effort with resultant moment
Figure DEST_PATH_IMAGE012
come from ejection force, thrust, gravity and aerodynamic force
Figure DEST_PATH_IMAGE014
, wherein thrust, gravity and ejection force be known, and the aerodynamic force that store Combinations bears
Figure 742530DEST_PATH_IMAGE014
take with store Combinations the coordinate system that machine tool barycenter is initial point
Figure DEST_PATH_IMAGE016
in position relevant to attitude, the movement position of store Combinations and attitude angle determine
Figure 643621DEST_PATH_IMAGE014
, and
Figure 777232DEST_PATH_IMAGE014
the movement position and the attitude angle that change again conversely store Combinations, formed power with the movement position of store Combinations and the coupling of attitude; cause the speed of CTS system six degree of freedom mechanical arm to control different from the speed control of traditional industry six degree of freedom mechanical arm; the track or the speed that are CTS system six degree of freedom robot movement can not be determined before test; therefore, the ripe control strategy of traditional industry six degree of freedom mechanical arm is difficult to directly apply in CTS pilot system.
On the other hand, CTS system six degree of freedom mechanical arm, because being subject to the restriction of its operation maximal rate and peak acceleration, may not reach the movement velocity of store Combinations Live Flying
Figure DEST_PATH_IMAGE018
, certainly also there will be CTS system six degree of freedom mechanical arm travelling speed to be greater than
Figure 802268DEST_PATH_IMAGE018
situation, therefore, need to find out and be applicable to the change in time and space yardstick of CTS system in optimum Working
Figure DEST_PATH_IMAGE020
(being used for describing movement velocity that CTS system six degree of freedom mechanical arm can realize and the ratio of store Combinations model flight actual speed) could efficiently complete the separated track of controlling based on speed and measure in wind tunnel test.
Summary of the invention
In order to overcome the above-mentioned shortcoming of prior art, the invention provides a kind of two closed-loop speeds based on space-time transformation and control CTS test method, two closed-loop speed control modes are proposed, be the conventional speed close-loop control mode that next bit computer and speed pickup form, and the originality close-loop control mode of balance measurement store Combinations Model load and load discreet value composition.
The technical solution adopted for the present invention to solve the technical problems is: a kind of two closed-loop speeds based on space-time transformation are controlled CTS test method, comprise main control computer, next bit computer, six-freedom motion controller and motor, CTS six degrees of freedom model supporting mechanism, and the position transducer and the speed pickup that are respectively used to detect store Combinations model running Position And Velocity, for measuring the force balance of store Combinations model bearing load; Described speed pickup is sent to next bit computer by the rate signal of the store Combinations model detecting, to guarantee the precision of store Combinations model running speed, described position transducer is sent to next bit computer by the run location signal of the store Combinations model detecting, with the position of guaranteeing store Combinations model running in CTS six degrees of freedom model supporting mechanism range of movement; Meanwhile, speed pickup, position transducer and force balance are sent to main control computer by data acquisition system (DAS) by data; Main control computer is according to given control accuracy
Figure DEST_PATH_IMAGE022
, carry out load discreet value calculating and speed control time adaptive step, and in conjunction with the dynamic response parameter of CTS hardware, the space-time transformation yardstick of Dynamic Generation optimum obtain the travelling speed of store Combinations model, and notify next bit computer control motor to make the motion of CTS six degrees of freedom model supporting mechanism.
Described load discreet value computing method are to adopt
Figure DEST_PATH_IMAGE026
with quadratic interpolation polynomial expression, and
Figure DEST_PATH_IMAGE030
,
Figure DEST_PATH_IMAGE032
,
Figure DEST_PATH_IMAGE034
,
Figure DEST_PATH_IMAGE036
with scheduled time step-length
Figure 673927DEST_PATH_IMAGE004
obtain
Figure DEST_PATH_IMAGE038
with
Figure DEST_PATH_IMAGE040
error, thereby obtain timing node
Figure DEST_PATH_IMAGE042
store Combinations model bears makes a concerted effort and the estimator of resultant moment.
Described speed control time adaptive step method is, for node preset time , by execution time step-length
Figure 426594DEST_PATH_IMAGE004
after at timing node
Figure 38972DEST_PATH_IMAGE044
estimate
Figure DEST_PATH_IMAGE046
with
Figure DEST_PATH_IMAGE048
with timing node balance measurement value
Figure DEST_PATH_IMAGE052
with
Figure DEST_PATH_IMAGE054
difference carry out convergent-divergent time step
Figure DEST_PATH_IMAGE056
.
Compared with prior art, good effect of the present invention is: domestic existing CTS adopts the position control mode of closed loop, have the following disadvantages: the motion of store Combinations model is step, after moving to destination locations, suspend at every turn, carrying out signal measurement and data calculates, and then carry out next step motion, and need to repeatedly revise position, therefore it is low to obtain the test efficiency of a store Combinations separated track, cost is high, for example, the Live Flying track of 0.5～2 second, this system approximately needs the wind tunnel operation time of 2～4 minutes, its test efficiency is low, energy consumption is high, especially China's high speed main force wind-tunnel is for rushing temporarily the formula method of operation, this shortcoming seems more obvious.On the other hand, because controlling target, be the movement node pose of store Combinations model, its movement locus has larger randomness, thus at the separated leading portion of track, easy and machine tool produces " false collision ", and experiment precision is low.
The present invention, on the one hand, the close-loop control mode that original creation balance measurement store Combinations Model load and load discreet value form, utilization is based on the polynomial load discreet value of speed second order interpolation computing method, set up the error model that CTS speed is controlled, realize the self-adaptation of the time step of store Combinations model sport, in conjunction with the dynamic response parameter of CTS hardware, the error of TRAJECTORY CONTROL, the space-time transformation yardstick of Dynamic Generation optimum
Figure 424341DEST_PATH_IMAGE020
; On the other hand, the conventional speed close-loop control mode that utilizes next bit computer and speed pickup to form, accurately control the movement velocity of six degrees of freedom model supporting mechanism, without time-out, carry out signal measurement and data calculating, guarantee that model center of gravity can remain on real motion track continuously, avoided store Combinations model and machine tool to produce " false collision ", guaranteed under the condition of test accuracy, shortened as far as possible the CTS time, reduce experimentation cost.
Accompanying drawing explanation
Examples of the present invention will be described by way of reference to the accompanying drawings, wherein:
Fig. 1 is systematic schematic diagram of the present invention;
Fig. 2 is the process flow diagram of the inventive method.
Embodiment
As shown in Figure 1, the two closed-loop speeds based on space-time transformation control CTS mainly by main control computer, next bit computer and six-freedom motion controller thereof (X-axis, Y-axis, Z axis,
Figure DEST_PATH_IMAGE058
angle,
Figure DEST_PATH_IMAGE060
angle, angular motion controller) with motor (X-axis, Y-axis, Z axis,
Figure 149458DEST_PATH_IMAGE058
angle, angle,
Figure 948098DEST_PATH_IMAGE062
angle motor), motor is combined and is driven CTS six degrees of freedom model supporting mechanism (six degree of freedom mechanical arm), and for detection of the Position And Velocity sensor of store Combinations modal position and travelling speed, for measuring the force balance of store Combinations model bearing load; Speed pickup is sent to next bit computer by data, and to guarantee the precision of store Combinations model running speed, position transducer is sent to next bit computer by data, with the position of guaranteeing store Combinations model running in CTS mechanism in six degree of freedom range of movement; Meanwhile, speed pickup, position transducer and force balance are sent to main control computer by data acquisition system (DAS) by data, and main control computer is according to given control accuracy
Figure 254884DEST_PATH_IMAGE022
, carry out load discreet value calculating and speed control time step-length
Figure DEST_PATH_IMAGE064
self-adaptation, and in conjunction with the dynamic response parameter of CTS hardware, the space-time transformation yardstick of Dynamic Generation optimum
Figure 75204DEST_PATH_IMAGE024
obtain the travelling speed of store Combinations model, notice next bit computer is controlled motor and is made CTS six degree of freedom robot movement.Wherein:
one, load discreet value computing method are:
For node preset time
Figure 476229DEST_PATH_IMAGE044
(
Figure DEST_PATH_IMAGE066
), by store Combinations linear velocity and angular velocity with disengaging time
Figure DEST_PATH_IMAGE068
the relation changing, uses respectively function
Figure 443792DEST_PATH_IMAGE026
with
Figure 613873DEST_PATH_IMAGE028
represent the power that store Combinations is born
Figure 260886DEST_PATH_IMAGE010
with resultant moment
Figure 89820DEST_PATH_IMAGE012
with disengaging time
Figure 582113DEST_PATH_IMAGE068
the relation changing, uses respectively function
Figure 606701DEST_PATH_IMAGE038
with
Figure 159036DEST_PATH_IMAGE040
represent; Consider scheduled time step-length
Figure 269074DEST_PATH_IMAGE004
efficiency and precision, the present invention adopts with
Figure 910064DEST_PATH_IMAGE028
quadratic interpolation polynomial expression, and
Figure 633300DEST_PATH_IMAGE030
,
Figure 230635DEST_PATH_IMAGE032
,
Figure 344957DEST_PATH_IMAGE034
with
Figure 281820DEST_PATH_IMAGE036
scheduled time step-length obtain
Figure 932693DEST_PATH_IMAGE038
with
Figure 98707DEST_PATH_IMAGE040
error, wherein quadratic interpolation polynomial computation method as follows
Figure DEST_PATH_IMAGE072
So
Figure DEST_PATH_IMAGE074
Figure DEST_PATH_IMAGE076
Figure DEST_PATH_IMAGE078
Timing node the estimator of making a concerted effort that store Combinations model bears
Figure DEST_PATH_IMAGE080
（1）
In like manner, timing node
Figure 44819DEST_PATH_IMAGE042
the estimator of the resultant moment that store Combinations model bears
（2）
In formula
Figure DEST_PATH_IMAGE084
,
Figure DEST_PATH_IMAGE086
with
Figure DEST_PATH_IMAGE088
for
Figure DEST_PATH_IMAGE090
at the component of xyz coordinate axis,
Figure DEST_PATH_IMAGE092
,
Figure DEST_PATH_IMAGE094
with
Figure DEST_PATH_IMAGE096
for at the component of xyz coordinate axis,
Figure DEST_PATH_IMAGE100
,
Figure DEST_PATH_IMAGE102
with for
Figure DEST_PATH_IMAGE106
at the component of xyz coordinate axis,
Figure DEST_PATH_IMAGE108
,
Figure DEST_PATH_IMAGE110
with
Figure DEST_PATH_IMAGE112
for
Figure DEST_PATH_IMAGE114
at the component of xyz coordinate axis,
Figure DEST_PATH_IMAGE116
,
Figure DEST_PATH_IMAGE118
,
Figure DEST_PATH_IMAGE120
for store Combinations right respectively
Figure DEST_PATH_IMAGE122
axle,
Figure DEST_PATH_IMAGE124
axle,
Figure DEST_PATH_IMAGE126
the product of inertia of axle;
Figure DEST_PATH_IMAGE128
,
Figure DEST_PATH_IMAGE130
,
Figure DEST_PATH_IMAGE132
for store Combinations right respectively
Figure 514327DEST_PATH_IMAGE122
axle with
Figure 222520DEST_PATH_IMAGE124
axle,
Figure 458460DEST_PATH_IMAGE124
axle with
Figure 720945DEST_PATH_IMAGE126
axle,
Figure 697604DEST_PATH_IMAGE122
axle with
Figure 260303DEST_PATH_IMAGE126
the product of inertia of axle.
two, adaptive step method is the CTS speed control time:
For node preset time
Figure 667145DEST_PATH_IMAGE044
(
Figure 948085DEST_PATH_IMAGE066
), the present invention is by carrying out step-length
Figure 731364DEST_PATH_IMAGE004
after at timing node
Figure 608623DEST_PATH_IMAGE044
estimate
Figure 451945DEST_PATH_IMAGE046
with
Figure 220181DEST_PATH_IMAGE048
with timing node
Figure 275993DEST_PATH_IMAGE050
balance measurement value
Figure 748038DEST_PATH_IMAGE052
with
Figure 558999DEST_PATH_IMAGE054
difference carry out convergent-divergent time step
Figure 752214DEST_PATH_IMAGE056
, concrete grammar is as follows:
Figure DEST_PATH_IMAGE134
（3）
In formula:
Figure 80558DEST_PATH_IMAGE046
with
Figure 147390DEST_PATH_IMAGE048
represent respectively timing node
Figure DEST_PATH_IMAGE136
make a concerted effort discreet value and resultant moment discreet value,
Figure DEST_PATH_IMAGE138
represent the poor of discreet value and balance measurement value of making a concerted effort,
Figure DEST_PATH_IMAGE140
represent the poor of resultant moment discreet value and balance measurement value.
If
Figure 18001DEST_PATH_IMAGE138
with
Figure 964091DEST_PATH_IMAGE140
larger explanation:
Figure 689602DEST_PATH_IMAGE004
load and its discreet value that interior plug-in object model bears while moving by predetermined speed have sudden change, and flow field structure has large variation,
Figure 139169DEST_PATH_IMAGE056
need to shorten;
If
Figure 306581DEST_PATH_IMAGE138
with
Figure 208809DEST_PATH_IMAGE140
less explanation:
Figure 472431DEST_PATH_IMAGE004
the load that interior plug-in object model bears and its discreet value are without sudden change, and flow field structure does not have significant change,
Figure 275040DEST_PATH_IMAGE056
without convergent-divergent;
If
Figure 414684DEST_PATH_IMAGE138
with
Figure 866525DEST_PATH_IMAGE140
approach zero explanation:
Figure 464997DEST_PATH_IMAGE004
the load that interior plug-in object model bears and its discreet value change very little,
Figure 420314DEST_PATH_IMAGE056
can amplify, with lifting test efficiency.
As shown in Figure 2, the two closed-loop speeds control CTS test methods based on space-time transformation specifically comprise the following steps:
the first step,setup times step-length
Figure 649301DEST_PATH_IMAGE004
precision with speed control
Figure 319930DEST_PATH_IMAGE022
, store Combinations model is adjusted to given initial position with attitude
Figure DEST_PATH_IMAGE144
;
second step,the load that balance measurement store Combinations model bears, comprises power with
Figure 141703DEST_PATH_IMAGE034
, moment
Figure 338329DEST_PATH_IMAGE032
with
Figure 295921DEST_PATH_IMAGE036
;
the 3rd step,according to given control accuracy
Figure 165089DEST_PATH_IMAGE022
computing time step-length
Figure 891737DEST_PATH_IMAGE064
, concrete grammar is as follows:
Due to
Figure 259264DEST_PATH_IMAGE030
, , with
Figure 701375DEST_PATH_IMAGE036
by balance, record, therefore meet given speed control accuracy
Figure 174557DEST_PATH_IMAGE022
maximum time step-length
Figure 106741DEST_PATH_IMAGE004
calculating formula be:
Figure DEST_PATH_IMAGE146
（4）
Utilize the calculating formula (3) of CTS speed control time adaptive step method to obtain
Figure 529763DEST_PATH_IMAGE004
;
the 4th step,calculate store Combinations speed , concrete grammar is as follows:
Adopt second order Adams method, by
Figure DEST_PATH_IMAGE150
with
Figure DEST_PATH_IMAGE152
the speed of timing node obtains
Figure 453507DEST_PATH_IMAGE044
the speed of timing node, calculating formula is as follows:
Figure DEST_PATH_IMAGE154
Also can adopt the classical Runge-Kutta(single-step process of quadravalence), quadravalence Adams-Moulton(multistep processes) calculate store Combinations speed
Figure 303782DEST_PATH_IMAGE148
;
the 5th step,computing velocity change of scale , being used for describing movement velocity that CTS system six degree of freedom mechanical arm can realize and the ratio of store Combinations model flight actual speed, computing method are as follows:
If the speed that six degree of freedom mechanical arm can reach is , maximal rate change of scale
Figure DEST_PATH_IMAGE160
calculating formula as follows:
Figure DEST_PATH_IMAGE162
Six degree of freedom mechanical arm is in the Live Flying time dtin, be actual working time:
Figure DEST_PATH_IMAGE164
Because six degree of freedom mechanical arm is identical with the real motion track of store Combinations model, have:
Figure DEST_PATH_IMAGE166
Known work as:
Figure DEST_PATH_IMAGE168
Be that six degree of freedom mechanical arm exists
Figure DEST_PATH_IMAGE170
in time, the real motion track in dt is identical with store Combinations model for movement locus, and its speed is store Combinations model real motion velocity contrast
Figure 159481DEST_PATH_IMAGE160
times, and time phase difference
Figure 182931DEST_PATH_IMAGE160
doubly, the present invention is referred to as the CTS space-time transformation of controlling based on speed;
the 6th step,calculate the speed of store Combinations model
Figure DEST_PATH_IMAGE172
, computing formula is as follows:
Figure DEST_PATH_IMAGE174
the 7th step,according to
Figure DEST_PATH_IMAGE176
produce transformation matrix of coordinates, concrete grammar is as follows:
Transformation matrix of coordinates comprises rotation matrix
Figure DEST_PATH_IMAGE178
and translation matrix , the calculating formula of 9 elements in rotation matrix R is
Figure DEST_PATH_IMAGE182
Translation matrix
Figure DEST_PATH_IMAGE184
;
the 8th step,will transform in wind tunnel axis system, concrete grammar is as follows:
Be located in wind tunnel axis system
Figure 210721DEST_PATH_IMAGE172
be designated as ,
Figure 258443DEST_PATH_IMAGE186
calculating formula is
Figure DEST_PATH_IMAGE188
=
Figure 760618DEST_PATH_IMAGE178
Figure DEST_PATH_IMAGE190
the 9th step,notice slave computer is controlled six degree of freedom robot movement, the load (comprising wind tunnel) that balance measurement store Combinations model bears;
the tenth step,judgement CTS operation step number
Figure DEST_PATH_IMAGE192
whether surpass designation number in advance
Figure DEST_PATH_IMAGE194
if stop output trajectory data; Otherwise,
Figure DEST_PATH_IMAGE196
, by position transducer, record position coordinates and the attitude of store Combinations model
Figure DEST_PATH_IMAGE198
, turn the 3rd step.

Claims (3)

1. the two closed-loop speeds based on space-time transformation are controlled CTS test method, it is characterized in that: comprise main control computer, next bit computer, six-freedom motion controller and motor, CTS six degrees of freedom model supporting mechanism, and the position transducer and the speed pickup that are respectively used to detect store Combinations model running Position And Velocity, for measuring the force balance of store Combinations model bearing load; Described speed pickup is sent to next bit computer by the rate signal of the store Combinations model detecting, to guarantee the precision of store Combinations model running speed, described position transducer is sent to next bit computer by the run location signal of the store Combinations model detecting, with the position of guaranteeing store Combinations model running in CTS six degrees of freedom model supporting mechanism range of movement; Meanwhile, speed pickup, position transducer and force balance are sent to main control computer by data acquisition system (DAS) by data; Main control computer, according to given control accuracy ε, carries out load discreet value calculating and speed control time adaptive step, and in conjunction with the dynamic response parameter of CTS hardware, the space-time transformation yardstick of Dynamic Generation optimum
Figure FDA0000406741650000016
obtain the travelling speed of store Combinations model, and notify next bit computer control motor to make the motion of CTS six degrees of freedom model supporting mechanism; Concrete steps are as follows:
The first step, setup times step delta t iprecision ε with speed is controlled, adjusts to given initial position (X by store Combinations model i, Y i, Z i) and attitude
Figure FDA0000406741650000015
The load that second step, balance measurement store Combinations model bear, comprises power F (t i) and F (t i-1) moment M (t i) and M (t i-1);
The 3rd step, according to given control accuracy ε step delta computing time t i:
maxΔt i
s . t . ϵ i Y = max { | F ^ ( t i - 1 ) - F ( t i - 1 ) | , | F ^ ( t i ) - F ( t i ) | } ≤ ϵ ϵ i M = max { | M ^ ( t i - 1 ) - M ( t i - 1 ) , | M ^ ( t i ) - M ( t i ) | } ≤ ϵ
According to following formula, calculate Δ t i:
μ i + 1 f = | F ^ ( t i ) fromi - F ( t i ) | μ i + 1 m = | M ^ ( t i ) fromi - M ( t i ) |
In formula:
Figure FDA0000406741650000013
with
Figure FDA0000406741650000014
represent respectively timing node t i+1make a concerted effort discreet value and resultant moment discreet value,
Figure FDA0000406741650000021
represent the poor of discreet value and balance measurement value of making a concerted effort,
Figure FDA0000406741650000022
represent the poor of resultant moment discreet value and balance measurement value;
The 4th step, calculating store Combinations speed (U i, V i, W i, P i, Q i, R i):
Adopt second order Adams method, pass through t i-2with t i-1the speed of timing node obtains t ithe speed of timing node, calculating formula is as follows:
U i = U i - 1 + ( 3 - U ‾ i - 1 - U ‾ i - 2 ) - Δ t i / 2 V i = V i - 1 + ( 3 - V ‾ i - 1 - V ‾ i - 2 ) - Δ t i / 2 W i = W i - 1 + ( 3 - W ‾ i - 1 - W ‾ i - 2 ) - Δ t i / 2 P i = P i - 1 + ( 3 - P ‾ i - 1 - P ‾ i - 2 ) - Δ t i / 2 Q i = Q i - 1 + ( 3 - Q ‾ i - 1 - Q ‾ i - 2 ) - Δ t i / 2 R i = R i - 1 + ( 3 - R ‾ i - 1 - R ‾ i - 2 ) - Δ t i / 2
The 5th step, computing velocity change of scale
Figure FDA0000406741650000023
If the speed that six degree of freedom mechanical arm can reach is U s, V s, W s, P s, Q s, R s) maximal rate change of scale
Figure FDA0000406741650000028
calculating formula as follows:
Figure FDA0000406741650000024
Six degree of freedom mechanical arm is in Live Flying time dt, and be actual working time:
Figure FDA0000406741650000029
Because six degree of freedom mechanical arm is identical with the real motion track of store Combinations model, meet:
∫ ( U + V + W ) dt = ∫ ( U s + V s + W s ) d t s ∫ ( P + Q + R ) dt = ∫ ( P s + Q s + R s ) dt s
When:
Time, six degree of freedom mechanical arm exists
Figure FDA0000406741650000035
in time, the real motion track in dt is identical with store Combinations model for movement locus, and its speed is store Combinations model real motion velocity contrast
Figure FDA0000406741650000036
times, and time phase difference
Figure FDA0000406741650000037
doubly;
The speed of the 6th step, calculating store Combinations model
Figure FDA0000406741650000031
computing formula is as follows:
2. the two closed-loop speeds based on space-time transformation according to claim 1 are controlled CTS test methods, it is characterized in that: described load discreet value computing method are, adopt the quadratic interpolation polynomial expression of v (t) and ω (t), and F (t i), M (t i), F (t i-4), M (t i-1) and scheduled time step delta t iobtain the error of F (t) and M (t), thereby obtain timing node t istore Combinations model bears makes a concerted effort and the estimator of resultant moment.
3. the two closed-loop speeds based on space-time transformation according to claim 1 are controlled CTS test method, it is characterized in that: described speed control time adaptive step method is, for node t preset time iby execution time step delta t iafter at timing node t i, estimate
Figure FDA0000406741650000033
with
Figure FDA0000406741650000034
with timing node t i+1balance measurement value F (t i+1) and M (t i+1) difference carry out convergent-divergent time step Δ t i+1.
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