CN106802225B - Six-degree-of-freedom non-decoupling mechanism end pose error compensation method in time-varying temperature field - Google Patents

Six-degree-of-freedom non-decoupling mechanism end pose error compensation method in time-varying temperature field Download PDF

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CN106802225B
CN106802225B CN201611268360.5A CN201611268360A CN106802225B CN 106802225 B CN106802225 B CN 106802225B CN 201611268360 A CN201611268360 A CN 201611268360A CN 106802225 B CN106802225 B CN 106802225B
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tail end
degree
decoupling mechanism
external
freedom non
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CN106802225A (en
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朱小龙
宋代平
郑万国
谢志江
范乃吉
袁晓东
王凡
陈远斌
牟力胜
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Chongqing University
Laser Fusion Research Center China Academy of Engineering Physics
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Laser Fusion Research Center China Academy of Engineering Physics
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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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft

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Abstract

A six-degree-of-freedom non-decoupling mechanism end pose error compensation method in a time-varying temperature field comprises the following steps: establishing a deformation error database related to the plug-in; determining the actual position of the tail end of the external store after the temperature of the temperature field is changed; comparing the actual position and the ideal position of the tail end of the plug-in to determine a position deviation value for changing the tail end of the plug-in; determining an adjusting value of the tail end of the external hanging object, which needs to be adjusted, according to the deviation value of the external hanging object and the deformation error database; and adjusting the position of the tail end of the external hanger by the six-degree-of-freedom non-decoupling mechanism according to an adjusting value required to be adjusted by the position of the tail end of the external hanger, wherein the compensation method for the model error of the external hanger of the six-degree-of-freedom non-decoupling mechanism compensates the fine change of the tail end position of the six-degree-of-freedom non-decoupling mechanism caused by expansion with heat and contraction with cold in a stable and inconstant state, so that the motion pose precision of the external hanger can be improved.

Description

Six-degree-of-freedom non-decoupling mechanism end pose error compensation method in time-varying temperature field
Technical Field
The invention relates to an error compensation method, in particular to a six-degree-of-freedom non-decoupling mechanism tail end pose error compensation method in a time-varying temperature field.
Background
The existing industrial and military technical development fields have higher and higher requirements on the space motion precision of an object, and the change of the environmental temperature can change the original position of the object more or less. The expansion with heat and contraction with cold has a great influence on occasions with high requirements on position accuracy, so that the research on temperature change has a considerable significance on error compensation of the model.
The wind tunnel is an important technical device for aerodynamic research, and particularly plays a vital role in the development of the national aerospace industry. The state needs to develop an airplane and an aircraft, and a whole set of aerodynamic test facilities capable of carrying out verification are required.
In the internal space of the wind tunnel test, a plug-in (such as an airplane, a missile and the like) is fixed on a spatial six-degree-of-freedom mechanism and is used for simulating plug-in position posture adjustment under a real condition. The temperature of the interior space of the wind tunnel test is not constant and varies over a considerable range. According to the principle of expansion with heat and contraction with cold, the central point of the external hanging object can be slightly changed at different temperatures, the initial position of the central point of the external hanging object can be directly influenced, unexpected differences can be generated on subsequent measurement results, the military industry is more sensitive to data, and very large errors can be caused by small data errors. In view of the above, it is of great significance and value to study the error compensation of the model end by the temperature field change under the non-decoupling condition. Therefore, the invention provides a six-degree-of-freedom non-decoupling mechanism end pose error compensation method in a time-varying temperature field, so as to solve the problems.
Disclosure of Invention
The invention aims to provide a reliable six-degree-of-freedom non-decoupling mechanism end pose error compensation method in a time-varying temperature field.
In order to achieve the above object, the present invention provides a method for compensating for an end pose error of a six-degree-of-freedom non-decoupling mechanism in a time-varying temperature field, wherein the method for compensating for the end pose error of the six-degree-of-freedom non-decoupling mechanism in the time-varying temperature field comprises the following steps:
step 1, importing a model through analysis software, setting different environmental temperatures under different poses (theoretical poses) set at the tail end of a pendant model, detecting the change amount of the tail end pose of the pendant model through analysis, and establishing a deformation error database based on temperature change;
step 2, checking a deformation error database through an interpolation method according to any pose and interval temperature of the model to determine the deformation error of the plug-in model;
step 3, according to the deformation error and the pose of the plug-in model, inversely solving a mechanism motion equation, and determining an adjustment value of the tail end position of the plug-in model, which needs to be corrected;
and 4, adjusting the tail end position of the plug-in model by the six-degree-of-freedom non-decoupling mechanism according to an adjustment value required to be adjusted by the tail end position of the plug-in model.
As a further preferred embodiment of the method for compensating the end pose error of the six-degree-of-freedom non-decoupling mechanism in the time-varying temperature field, in step 1, a model is imported through finite element software, different environmental temperatures are set under different poses (theoretical poses) set at the end of the pendant model, the change amount of the end pose of the pendant model is detected through analysis, and a deformation error database based on temperature change is established.
As a further preferred embodiment of the method for compensating the end pose error of the six-degree-of-freedom non-decoupling mechanism in the time-varying temperature field, in the step 2, the deformation error of the plug-in model is determined by checking a deformation error database through an interpolation method according to any pose and interval temperature of the model.
The six-degree-of-freedom non-decoupling mechanism end pose error compensation method in the time-varying temperature field has the advantages that:
the method for compensating the end pose error of the six-degree-of-freedom non-decoupling mechanism in the time-varying temperature field comprises the following steps: establishing a deformation error database related to the plug-in; determining the actual position of the tail end of the external store after the temperature of the temperature field is changed; comparing the actual position and the ideal position of the tail end of the plug-in to determine a position deviation value for changing the tail end of the plug-in; determining an adjusting value of the tail end of the external hanging object, which needs to be adjusted, according to the deviation value of the external hanging object and the deformation error database; and adjusting the position of the tail end of the external hanger by the six-degree-of-freedom non-decoupling mechanism according to an adjusting value required to be adjusted by the position of the tail end of the external hanger, wherein the terminal pose error compensation method of the six-degree-of-freedom non-decoupling mechanism in the time-varying temperature field is used for compensating the fine change of the terminal position of the six-degree-of-freedom non-decoupling mechanism caused by expansion with heat and contraction with cold in a stable and inconstant state, so that the motion pose accuracy of the external hanger, such as an aircraft model, can be improved, and a foundation is laid for the accuracy of a wind tunnel test. By means of establishing the deformation error database, the compensation speed of the six-degree-of-freedom non-decoupling mechanism end pose error compensation method in the time-varying temperature field is higher.
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To achieve the above and other advantages and features of the present invention, a more particular description of the invention briefly described above will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. Understanding that these drawings depict only typical embodiments of the invention and are not therefore to be considered to be limiting of its scope, the invention will be described and explained with additional specificity and detail through the use of the accompanying drawings. In the drawings:
fig. 1 is a perspective view of the six-degree-of-freedom non-decoupling mechanism.
FIG. 2 is a schematic flow chart of a six-degree-of-freedom non-decoupling mechanism end pose error compensation method in the time-varying temperature field.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
As shown in fig. 1, a six-degree-of-freedom non-decoupling mechanism includes a base 1, a Z-direction motion mechanism 2, a yaw motion mechanism 3, a Y-direction motion mechanism 4, an X-direction motion mechanism 5, a pitch motion mechanism 6, a curved knife motion mechanism 7, and a tail strut 8, wherein the base 1, the Z-direction motion mechanism 2, the yaw motion mechanism 3, the Y-direction motion mechanism 4, the X-direction motion mechanism 5, the pitch motion mechanism 6, the curved knife motion mechanism 7, and the tail strut 8 are structurally connected in series and functionally combined in a hybrid manner, so that the six-degree-of-freedom non-decoupling mechanism is simple and reliable in function, and is spatially multiplexed and compact in structure. The Z-direction movement mechanism 2 is driven by a motor and a lead screw nut and is realized by guiding linear guide rails on two sides. The yaw movement mechanism 3 realizes yaw movement through an arc-shaped guide rail arranged on the X-direction movement mechanism 5, wherein the X-direction movement mechanism 5 is driven by a motor and a screw nut, linear guide rails on two sides are used for guiding, and the pitching movement mechanism 6 realizes Y-direction movement through two linear guide rails arranged on the inner wall of the Y-direction movement mechanism 4. The curved knife motion mechanism 7 can reduce the windward side and reduce the wind resistance, and the curved knife motion mechanism 7 can be driven by the pitching motion mechanism 6 to perform pitching motion. The tail strut 8 can be connected to a foreign object, for example an aircraft model, wherein the tail strut 8 is set into rolling motion by a central control motor. When the center of the tail end of the tail strut 8 is not three-center coincident with the pitching motion center and the yawing motion center, the six-degree-of-freedom non-decoupling mechanism is formed, wherein the angle changes of alpha and beta need the matching of X-direction, Y-direction and Z-direction movement, the rolling gamma motion is realized independently, the coordinate system of the tail end in the space is shown in figure 1, and O is a tail end point.
Inside the test space, the temperature of the temperature field is assumed to be from c0To c1Making the change, since temperature transfer is a process, tryThe temperature of the model in the test space can not be suddenly changed, a certain time delta t is needed for transmission, after the temperature is stable, the temperature in the test space is consistent with the temperature of the model, and the center of the tail end of the model deviates from the principle due to the principle of expansion with heat and contraction with cold to generate errors.
In one embodiment of the present invention, finite element analysis software may be used to build the error analysis table. In finite element analysis software, model is imported, and c is established0The model analysis of time is carried out, and the pose of the model end at the moment is (X)0Y0Z0α0β0γ0) The same principle establishes c1Model analysis of time, and pose of model end becomes (X)1Y1Z1α1β1γ1) Thus, it can be found that0To c1Within this temperature difference, the overall pose of the change of the model end center is (Δ X Δ Y Δ Z Δ β Δ γ), specifically:
ΔX＝X1-X0,ΔY＝Y1-Y0,ΔZ＝Z1-Z0
Δα＝α1-α0,Δβ＝β1-β0,Δγ＝γ1-γ0
in the above, X represents an X-axis coordinate of the model end, Y represents a Y-axis coordinate of the model end, Z represents a Z-axis coordinate of the model end, α represents a rotation angle around the Z-axis of the model end coordinate system, β represents a rotation angle around the Y-axis of the model end coordinate system, and γ represents a rotation angle around the X-axis of the model end coordinate system.
The central pose of the tail end of the model can be changed due to the influence of temperature, but if the temperature difference is too small, the error caused by the temperature is very small, a standard value is set for the situation, the temperature difference of 10 degrees is set as a step, the changed pose is (delta X delta Y delta Z delta alpha delta beta delta gamma) when the temperature difference is between c0And c1And during temperature measurement, calculating the pose of the center of the tail end of the model by adopting a difference method, namely considering that errors caused by temperature change are linear.
Based on such an algorithm, c can be established0To c1The error analysis table between the six-degree-of-freedom non-decoupling mechanism and the six-degree-of-freedom non-decoupling mechanism can know the error of the tail end of the model deviating from the ideal center at the moment according to the measured temperature, the establishment of the deformation error table is briefly described by taking a certain pose of the pendant model as an example, and the actual pose of the tail end of the six-degree-of-freedom non-decoupling mechanism at different temperatures is shown in the following table, wherein delta t is 10 ℃.
Figure BDA0001201060570000061
In addition, the pose difference of a certain pose at the tail end of the six-degree-of-freedom non-decoupling mechanism at different temperatures is shown in the following table, wherein Δ t is 10 ℃.
t0 t0+Δt t0+2·Δt t0+3·Δt t0+4·Δt ……
ΔX 0 ΔX1 ΔX2 ΔX3 ΔX4 ……
ΔY 0 ΔY1 ΔY2 ΔY3 ΔY4 ……
ΔZ 0 ΔZ1 ΔZ2 ΔZ3 ΔZ4 ……
Δα 0 Δα1 Δα2 Δα3 Δα4 ……
Δβ 0 Δβ1 Δβ2 Δβ3 Δβ4 ……
Δγ 0 Δγ1 Δγ2 Δγ3 Δγ4 ……
Further, as shown in fig. 2, the present invention provides a method for compensating for an end pose error of a six-degree-of-freedom non-decoupling mechanism in a time-varying temperature field, which comprises the following steps:
step 1, establishing a deformation error database related to the plug-in;
step 2, after the temperature of the temperature field is changed, determining the actual central position of the tail end of the external hanging object;
step 3, comparing the actual position and the ideal position of the tail end of the plug-in to determine a position deviation value for changing the tail end of the plug-in;
step 4, determining an adjusting value of the position of the tail end of the external hanging object to be adjusted according to the deviation value of the external hanging object and the deformation error database;
and 5, adjusting the position of the tail end of the plug-in by the six-degree-of-freedom non-decoupling mechanism according to an adjustment value required to be adjusted by the position of the tail end of the plug-in.
Further, in the step 1, the deformation error database related to the external stores is established by counting the deformation of the external stores at different temperatures.
Further, in the step 2, the actual position of the end of the store is determined by interpolation.
While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention and should not be construed as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.

Claims (3)

1. The method for compensating the tail end pose error of the six-degree-of-freedom non-decoupling mechanism in the time-varying temperature field is characterized by comprising the following steps of:
step 1, establishing a deformation error database related to the outer hanging object;
step 2, determining the actual position of the tail end of the external hanging object after the temperature of the temperature field is changed; determining the actual position of the tail end of the plug-in by an interpolation method;
step 3, comparing the actual position and the ideal position of the tail end of the plug-in to determine a position deviation value for changing the tail end of the plug-in;
step 4, determining an adjusting value of the tail end position of the external hanging object to be adjusted according to the deviation value of the external hanging object and the deformation error database;
and 5, adjusting the position of the tail end of the external hanging object by the six-degree-of-freedom non-decoupling mechanism according to an adjusting value required to be adjusted by the position of the tail end of the external hanging object.
2. The method for compensating for the end pose error of the six-degree-of-freedom non-decoupling mechanism in the time-varying temperature field as claimed in claim 1, wherein in the step 1, a deformation error database related to the external store is established by counting the deformation of the external store at different temperatures.
3. The method for compensating the pose error of the tail end of the six-degree-of-freedom non-decoupling mechanism in the time-varying temperature field as claimed in claim 1, wherein in the step 2, the actual position of the tail end of the external store is determined by interpolation.
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