CN106768797A - A kind of linkage frequency plot sync control device of wind-tunnel dynamic multiple degrees of freedom test mechanism - Google Patents
A kind of linkage frequency plot sync control device of wind-tunnel dynamic multiple degrees of freedom test mechanism Download PDFInfo
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- CN106768797A CN106768797A CN201611044456.3A CN201611044456A CN106768797A CN 106768797 A CN106768797 A CN 106768797A CN 201611044456 A CN201611044456 A CN 201611044456A CN 106768797 A CN106768797 A CN 106768797A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M9/00—Aerodynamic testing; Arrangements in or on wind tunnels
- G01M9/02—Wind tunnels
- G01M9/04—Details
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- Fluid Mechanics (AREA)
- General Physics & Mathematics (AREA)
- Aerodynamic Tests, Hydrodynamic Tests, Wind Tunnels, And Water Tanks (AREA)
Abstract
The invention provides a kind of linkage frequency plot sync control device of wind-tunnel dynamic multiple degrees of freedom test mechanism, the program includes main control computer, multi-axis motion controller, driving power supply, encoder interfaces module, axle driver, brake module, executing agency, angular encoder；Main control computer is connected with multi-axis motion controller；Multi-axis motion controller is connected with axle driver, angular encoder and executing agency's built-in encoder respectively；Axle driver is connected with driving power supply, brake module and executing agency；Executing agency and angular encoder are connected, and its built-in encoder accesses multi-axis motion controller；Angular encoder is connected by encoder interfaces module with multi-axis motion controller.The program can not only exactly control the quick pull-up of the angle of pitch and large-amplitude vibration, roll angle ground forced movement, and can realize the frequency plot Synchronization Control of the quick pull-up of the angle of pitch and large-amplitude vibration and roll angle forced movement.
Description
Technical field
The present invention relates to Aero-Space wind tunnel test field, especially a kind of wind-tunnel dynamic multiple degrees of freedom test mechanism
Linkage frequency plot sync control device.
Background technology
In motor-driven, the quick flight high of height, its aerodynamic data is presented stronger non-linear dynamic characteristic to advanced aircraft
It is accurately to grasp its dynamic characteristic and coupling mechanism with multiple degrees of freedom coupled characteristic, carries out and be based on the quick pull-up of aircraft, pitching
Vibrate and force the multivariant ground dynamic aerodynamics simulated test such as rolling, it is necessary to a kind of dynamic is set up in wind-tunnel
Multivariant linkage test mechanism.
The type test mechanism not only needs possess the quick pull-up of the aircraft angle of pitch, the large-amplitude vibration of the angle of pitch and rolling
The forced movement of corner, also needs possess the quick pull-up of the angle of pitch and large-amplitude vibration and the synchronization control function for forcing rolling, by
Large inertia and high-frequency, the rapidity of quick pull-up and big load in large-amplitude vibration and with the frequency plot for forcing rolling
The particular/special requirements such as Synchronization Control so that the linkage frequency plot sync control device design difficulty of mechanism is larger, in order to meet this
The linkage frequency plot Synchronization Control demand of type multiple degrees of freedom experimental rig, we have carried out based on motor servo and multiaxial motion
The linkage frequency plot sync control device development work of controller, has successfully developed a kind of wind-tunnel dynamic multiple degrees of freedom experiment
The linkage frequency plot sync control device of mechanism, in transonic wind tunnel test field, type linkage frequency plot Synchronization Control
The development of device still belongs to the first time.
The content of the invention
The purpose of the present invention, aiming at the deficiency existing for prior art, and provides a kind of wind-tunnel dynamic multiple degrees of freedom
The technical scheme of the linkage frequency plot sync control device of test mechanism, the program can not only exactly control the angle of pitch quick
Pull-up and large-amplitude vibration, roll angle ground forced movement, and the quick pull-up of the angle of pitch and large-amplitude vibration and roll angle can be realized
The frequency plot Synchronization Control of forced movement.
This programme is achieved by the following technical measures：
A kind of linkage frequency plot sync control device of wind-tunnel dynamic multiple degrees of freedom test mechanism, include main control computer,
Multi-axis motion controller, driving power supply, encoder interfaces module, axle driver, brake module, executing agency, angular encoder；
Main control computer is connected with multi-axis motion controller；Multi-axis motion controller respectively with axle driver, angular encoder and hold
Row mechanism built encoder is connected；Axle driver is connected with driving power supply, brake module and executing agency；Executing agency and
Angular encoder is connected, and its built-in encoder accesses multi-axis motion controller；Angular encoder by encoder interfaces module with
Multi-axis motion controller is connected.
As the preferred of this programme：Master control is calculated and connected by ICP/IP protocol and multi-axis motion controller.
As the preferred of this programme：Executing agency's built-in encoder, angular encoder and axle driver pass through Drive-
CliQ buses and multi-axis motion controller configuration.
As the preferred of this programme：Multi-axis motion controller controls number of axle 4-8 axles, and servo period is 0.5ms-1ms.
As the preferred of this programme：By servomotor or Induction Motor-Driven, wherein A axles executing agency can be by for executing agency
Two servomotors synchronously drive or separate unit servomotor drives, and B axle executing agency can be by servomotor or phase asynchronous electricity
Machine is driven, and C axles executing agency can be driven by servomotor, and A axles and B axle only have axle work in the same time.
As the preferred of this programme：Angular encoder individual pen resolution ratio is 14-17.
As the preferred of this programme：Driving power supply rated power is 50kW-160kW；A axles perform machine under synchronous driving mode
Structure motor and driver rated power are 20kW-80kW, and motor and driver rated power are under single motor type of drive
30kW-120kW；B axle executing agency motor and driver rated power are 20kW-50kW；C axles executing agency's motor and driver
Rated power is 0.5kW-5kW.
The beneficial effect of this programme can be learnt according to the narration to such scheme, due to using multiaxial motion in this scenario
Controller, Drive-CliQ fieldbus configurations, successfully solve the quick pull-up of the angle of pitch and large-amplitude vibration is forced with roll angle
Frequency plot Synchronization Control between motion, also two meters of magnitude transonic wind tunnels are succeeded application at home first, are met winged
The active demand of row device wind-tunnel dynamic test.
As can be seen here, the present invention compared with prior art, with substantive distinguishing features and progress, its beneficial effect implemented
It is obvious.
Brief description of the drawings
Fig. 1 is structural representation of the invention.
Specific embodiment
For the technical characterstic for illustrating this programme can be understood, below by a specific embodiment, and its accompanying drawing is combined, it is right
This programme is illustrated.
By accompanying drawing as can be seen that this programme includes main control computer, multi-axis motion controller, driving power supply, coding
Device interface module, axle driver, brake module, executing agency, angular encoder；Main control computer and multi-axis motion controller phase
Even；Multi-axis motion controller is connected with axle driver, angular encoder and executing agency's built-in encoder respectively；Axle driver
It is connected with driving power supply, brake module and executing agency；Executing agency and angular encoder are connected, and its built-in encoder connects
Enter multi-axis motion controller；Angular encoder is connected by encoder interfaces module with multi-axis motion controller.Master control calculates logical
Cross ICP/IP protocol and multi-axis motion controller connection.Executing agency's built-in encoder, angular encoder and axle driver lead to
Cross Drive-CliQ buses and multi-axis motion controller configuration.Multi-axis motion controller controls number of axle 4-8 axles, and servo period is
0.5ms-1ms.Executing agency can be same by two servomotors by servomotor or Induction Motor-Driven, wherein A axles executing agency
Step is driven or separate unit servomotor drives, and B axle executing agency can be driven by servomotor or threephase asynchronous machine, and C axles are performed
Mechanism can be driven by servomotor, and A axles and B axle only have axle work in the same time.Angular encoder individual pen resolution ratio is
14-17.Driving power supply rated power is 50kW-160kW；A axles executing agency's motor and driver volume under synchronous driving mode
Power is determined for 20kW-80kW, and motor and driver rated power are 30kW-120kW under single motor type of drive；B axle is performed
Mechanism motor and driver rated power are 20kW-50kW；C axles executing agency's motor and driver rated power are 0.5kW-
5kW。
Wherein, multi-axis motion controller is Siemens's SIMOTION D425-2 type controllers；Driving power supply selects Siemens
The active power modules of ALM, its rated output power 120kW；A axles executing agency is synchronously driven by 1FT6 servomotors, specified
Power 70.7kW, the kW of adapted drive rated output 107；B axle executing agency is driven by threephase asynchronous machine, rated power 22
KW, the kW of adapted drive rated output 24；C axles executing agency is driven by 1FK series of servo motor, rated power 0.82KW, is fitted
With driver rated output 1.6KW；Encoder interfaces module uses Siemens SMC type SSI/Drive-CliQ modular converters；A axles
Angular encoder uses 17 shafting encoders of AC58 types, B axle angular encoder to use 14 shafting encoders of AC58 types.
The course of work is：If control instruction is single axis angular and speed control, during wind tunnel test, main control computer is to multiaxis
Motion controller sends single shaft control instruction.By control instruction multi-axis motion controller to A axles driver or B axle driver or C
Axle driver sends control signal, drives correspondence single axial movement, including the reciprocal pull-up in quick -15 ° of pull-up mechanism~75 ° interval,
Pitch vibration mechanism forces rotation mechanism for wind in -90 °~90 ° interval sinusoidal motions in -45 °~45 ° interval sinusoidal motions.Experiment
After the completion of mechanism stop；If control instruction is the quick pull-up of the angle of pitch and large-amplitude vibration and the linkage frequency plot for forcing rolling
Synchronization Control, during wind tunnel test, first starts the quick pull-up of the angle of pitch or large-amplitude vibration mechanism, after stable, starts strong
Compel rotation mechanism for wind, control synchronous with the frequency plot of quick pull-up or large-amplitude vibration mechanism is realized by the synchronization control algorithm that links
System, each axle motion stops after the completion of experiment.
Embodiment 2
A kind of linkage frequency plot sync control device of wind-tunnel dynamic multiple degrees of freedom test mechanism, its A axles executing agency is by two
Platform 1FT6 servomotors synchronously drive, separate unit rated power 45.5kW, the kW of adapted drive rated output 71.Control device
Remaining part is same as Example 1.
Embodiment 3
A kind of linkage frequency plot sync control device of wind-tunnel dynamic multiple degrees of freedom test mechanism, its B axle executing agency by
1FT6 servomotors synchronously drive, separate unit rated power 24.5kW, the kW of adapted drive rated output 32.Control device its
Remaining part part is same as Example 1.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, it is noted that be all
Any modification, equivalent and improvement for being made within the spirit and principles in the present invention etc., should be included in guarantor of the invention
Within the scope of shield.
Claims (7)
1. the linkage frequency plot sync control device of a kind of wind-tunnel dynamic multiple degrees of freedom test mechanism, it is characterized in that：Include
Main control computer, multi-axis motion controller, driving power supply, encoder interfaces module, axle driver, brake module, executing agency,
Angular encoder；Described main control computer is connected with multi-axis motion controller；Described multi-axis motion controller respectively with axle
Driver, angular encoder and executing agency's built-in encoder connection；Described axle driver with driving power supply, braking mould
Block and executing agency connect；Described executing agency and angular encoder are connected, and its built-in encoder accesses multiaxial motion control
Device processed；Described angular encoder is connected by encoder interfaces module with multi-axis motion controller.
2. a kind of linkage frequency plot Synchronization Control of wind-tunnel dynamic multiple degrees of freedom test mechanism according to claim 1 is filled
Put, it is characterized in that：Described master control is calculated and connected by ICP/IP protocol and multi-axis motion controller.
3. a kind of linkage frequency plot Synchronization Control of wind-tunnel dynamic multiple degrees of freedom test mechanism according to claim 1 is filled
Put, it is characterized in that：Executing agency's built-in encoder, angular encoder and axle driver by Drive-CliQ buses with
Multi-axis motion controller configuration.
4. a kind of linkage frequency plot Synchronization Control of wind-tunnel dynamic multiple degrees of freedom test mechanism according to claim 1 is filled
Put, it is characterized in that：Described multi-axis motion controller control number of axle 4-8 axles, servo period is 0.5ms-1ms.
5. a kind of linkage frequency plot Synchronization Control of wind-tunnel dynamic multiple degrees of freedom test mechanism according to claim 1 is filled
Put, it is characterized in that：Described executing agency can be watched by servomotor or Induction Motor-Driven, wherein A axles executing agency by two
Take motor synchronously to drive or the driving of separate unit servomotor, B axle executing agency can be driven by servomotor or threephase asynchronous machine,
C axles executing agency can be driven by servomotor, and A axles and B axle only have axle work in the same time.
6. a kind of linkage frequency plot Synchronization Control of wind-tunnel dynamic multiple degrees of freedom test mechanism according to claim 1 is filled
Put, it is characterized in that：Described angular encoder individual pen resolution ratio is 14-17.
7. a kind of linkage frequency plot Synchronization Control of wind-tunnel dynamic multiple degrees of freedom test mechanism according to claim 1 is filled
Put, it is characterized in that：Described driving power supply rated power is 50kW-160kW；A axles executing agency motor under synchronous driving mode
It is 20kW-80kW with driver rated power, motor and driver rated power are 30kW- under single motor type of drive
120kW；B axle executing agency motor and driver rated power are 20kW-50kW；C axles executing agency's motor and driver are specified
Power is 0.5kW-5kW.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611044456.3A CN106768797A (en) | 2016-11-24 | 2016-11-24 | A kind of linkage frequency plot sync control device of wind-tunnel dynamic multiple degrees of freedom test mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611044456.3A CN106768797A (en) | 2016-11-24 | 2016-11-24 | A kind of linkage frequency plot sync control device of wind-tunnel dynamic multiple degrees of freedom test mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN106768797A true CN106768797A (en) | 2017-05-31 |
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|---|---|---|---|
| CN201611044456.3A Pending CN106768797A (en) | 2016-11-24 | 2016-11-24 | A kind of linkage frequency plot sync control device of wind-tunnel dynamic multiple degrees of freedom test mechanism |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05322692A (en) * | 1992-05-26 | 1993-12-07 | Mitsubishi Heavy Ind Ltd | Wind tunnel test device |
| CN102073302A (en) * | 2009-11-25 | 2011-05-25 | 北京诺信泰伺服科技有限公司 | Full digitalized distributed intelligent servo driver |
| CN203426617U (en) * | 2013-08-09 | 2014-02-12 | 江苏扬力集团有限公司 | Control system used for automatic welding production line |
| CN103576614A (en) * | 2013-11-13 | 2014-02-12 | 东华大学 | Multi-axis motion control system |
| CN105865818A (en) * | 2016-03-29 | 2016-08-17 | 南京航空航天大学 | Dual-channel linear steering engine electric loading system |
-
2016
- 2016-11-24 CN CN201611044456.3A patent/CN106768797A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05322692A (en) * | 1992-05-26 | 1993-12-07 | Mitsubishi Heavy Ind Ltd | Wind tunnel test device |
| CN102073302A (en) * | 2009-11-25 | 2011-05-25 | 北京诺信泰伺服科技有限公司 | Full digitalized distributed intelligent servo driver |
| CN203426617U (en) * | 2013-08-09 | 2014-02-12 | 江苏扬力集团有限公司 | Control system used for automatic welding production line |
| CN103576614A (en) * | 2013-11-13 | 2014-02-12 | 东华大学 | Multi-axis motion control system |
| CN105865818A (en) * | 2016-03-29 | 2016-08-17 | 南京航空航天大学 | Dual-channel linear steering engine electric loading system |
Non-Patent Citations (1)
| Title |
|---|
| 闫莎莎: "基于DSP+CPLD的多轴伺服运动控制器平台设计及单轴伺服运动控制算法研究", 《中国优秀硕士学位论文全文数据库（信息科技辑）》 * |
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Application publication date: 20170531 |