CN106840587A - Six degree of freedom wind tunnel test end position and attitude error compensation method based on six-dimensional force measurement - Google Patents
Six degree of freedom wind tunnel test end position and attitude error compensation method based on six-dimensional force measurement Download PDFInfo
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- CN106840587A CN106840587A CN201611268345.0A CN201611268345A CN106840587A CN 106840587 A CN106840587 A CN 106840587A CN 201611268345 A CN201611268345 A CN 201611268345A CN 106840587 A CN106840587 A CN 106840587A
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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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- 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
- G01M9/08—Aerodynamic models
Abstract
A kind of six degree of freedom wind tunnel test end position and attitude error compensation method based on six-dimensional force measurement, its bag step includes an end elastic deformation database for setting up execution end elastic deformation on the execution end of different positions and pose in the presence of the component force of unit six of mechanism in six degree of freedom；According to end elastic deformation database, an end position and attitude error compensation database on six motors moving the anglec of rotation of the execution end under different positions and pose is set up；And when the mechanism in six degree of freedom carries out wind tunnel test, the error of the execution end of the mechanism in six degree of freedom is compensated according to the end position and attitude error compensation database.
Description
Technical field
The present invention relates to a kind of space mechanism in six degree of freedom for the experiment of wind-tunnel Multi-bodies Separation, belong to hypersonic wind tunnel
Experiment field, more particularly, to a kind of six degree of freedom wind tunnel test end position and attitude error compensation method based on six-dimensional force measurement.
Background technology
Hypersonic wind tunnel Multi-bodies Separation is tested, be hypersonic wind tunnel carry out all kinds of hypersonic aircraft main bodys with
Safe separating characteristic and aerodynamic characteristic simulated test research between chorista.In the experiment of wind-tunnel mechanism in six degree of freedom, due to
Mechanism is not absolute rigid, and performing end effect loaded can produce elastic deformation.In the effect of unsteady aerodynamic loading
Under, the elastic deformation for performing end in different positions and pose produces very important elastic deformation error, influences the precision of mechanism, uses
Life-span, the accuracy and authenticity of experimental data, even if in the processing of mechanism part, the installation of mechanism, assembling can expire well
Sufficient condition, it is still necessary to carrying out error compensation to the elastic deformation of the execution end of mechanism.Therefore, the present invention provides a kind of base
In the six degree of freedom wind tunnel test end position and attitude error compensation method of six-dimensional force measurement, to solve the above problems.
The content of the invention
The technical problem to be solved in the present invention is：Carrying out the wind-tunnel six degree of freedom of hypersonic wind tunnel Multi-bodies Separation experiment
In mechanism, because the mechanism in six degree of freedom is not absolute rigid, the execution end work loaded of the mechanism in six degree of freedom
With that can produce elastic deformation, the mechanism in six degree of freedom performs bullet of the end in different positions and pose under the effect of unsteady aerodynamic loading
Property deformation produce very important elastic deformation error so that the accuracy and reliability of influence wind tunnel test.
Therefore, it is an object of the invention to provide a kind of six degree of freedom wind tunnel test end pose based on six-dimensional force measurement
Error compensating method is of the invention to be based on the six degree of freedom wind tunnel test end pose that six-dimensional force is measured to solve the above problems
The technical scheme that error compensating method is used is to comprise the following steps：
1st, in wind tunnel test system, the execution terminal model for setting up the mechanism in six degree of freedom is acted in the component force of unit six
The elastic deformation error table that the elastic deformation of lower different positions and pose is constituted, i.e. the execution end of the mechanism in six degree of freedom are in different positions
Corresponding to the transition matrix of end elastic deformation error amount under appearance；
2nd, based on above-mentioned transition matrix, by Inverse Kinematics Solution, by the execution terminal model of the mechanism in six degree of freedom in list
The anti-solution of elastic deformation error table that the elastic deformation of the lower different positions and pose of position six component forces effect is constituted is obtained and sets up different positions and pose
Six end position and attitude error compensation tables of the anglec of rotation；
3rd, when at a time the execution end of the mechanism in six degree of freedom is in a certain pose, elastic deformation error is retrieved
Table, obtains the elastic deformation error amount for performing end of the lower mechanism in six degree of freedom of the component force of unit six effect under the pose.Root
According to the component dynamic force of end six of terminal model inside balance measurement in real time, the end that sextuple dynamic force elastic deformation is produced is obtained
Position and attitude error, corrects six anglecs of rotation, so that total travel dynamically compensates pneumatic load in real time based on end position and attitude error compensation table
The elastic deformation error that lotus effect is produced, making the elastic deformation error of aerodynamic loading reduces.
The present invention further provides a kind of six degree of freedom wind tunnel test end position and attitude error compensation based on six-dimensional force measurement
Method, it includes：
Step 1, sets up execution end different positions and pose in the presence of the component force of unit six of mechanism in six degree of freedom
One end elastic deformation database of the elastic deformation on the execution end；
Step 2, according to end elastic deformation database, sets up the execution end being driven on six under different positions and pose
One end position and attitude error compensation database of the motion anglec of rotation of motor；And
Step 3, when the mechanism in six degree of freedom carries out wind tunnel test, according to the end position and attitude error compensation database to this
The error of the execution end of mechanism in six degree of freedom is compensated.
The six degree of freedom wind tunnel test end position and attitude error compensation method that six-dimensional force is measured should be based on as to of the invention
Further preferred embodiment, in the step 3, further include step：
Step 3.1, when the execution end of the mechanism in six degree of freedom is at a time in a certain pose, based on performing end
Hold real-time six component forces stand under load to measure, the execution end is obtained under the moment pose by the end elastic deformation database
Deflection；
Step 3.2, according to deflection and the end position and attitude error offset data under execution end moment pose
Storehouse, obtains the compensation rate for needing to compensate the execution end；And
Step 3.3, the deformation according to the compensation rate to the execution end of the mechanism in six degree of freedom is compensated.
The six degree of freedom wind tunnel test end position and attitude error compensation method that six-dimensional force is measured should be based on as to of the invention
Further preferred embodiment, in the step 3.3, by the servo electricity of each different free degree of the mechanism in six degree of freedom
Deformation of the machine according to the compensation rate to the execution end of the mechanism in six degree of freedom is compensated.
The six degree of freedom wind tunnel test end position and attitude error compensation method that six-dimensional force is measured should be based on as to of the invention
Further preferred embodiment, in the step 1, the end entire motion space, complete is set up by spline curve interpolation method
Elastic deformation database under the appearance of position.
It is of the invention to be based on the beneficial of the six degree of freedom wind tunnel test end position and attitude error compensation method that six-dimensional force is measured
Effect is：
1st, the six degree of freedom wind tunnel test end position and attitude error compensation method that should be based on six-dimensional force measurement is based on this six freely
Degree mechanism perform end measurement elastic error compensation, reduce intermediate link, can efficiently and conveniently reduce this six from
By spending the elastic deformation error of the execution end of mechanism, the authenticity of test data is improve, preferably simulate engineering reality
Situation.
2nd, execution wind load distributed force suffered by end of the mechanism in six degree of freedom is transformed into the survey of the concentrated force for concentrating on end
Amount, it is convenient to carry out.
3rd, by testing, setting up database, experiment in database bar each step, clear logic reduces data
Processing links, have saved the time, improve efficiency, reduce wind tunnel test cost.
Brief description of the drawings
In order to obtain above and other advantage of the invention and feature, hereinafter with reference to the tool of the invention shown in accompanying drawing
Body embodiment carries out more specific description to the present invention outlined above.It should be understood that these accompanying drawings illustrate only the present invention
Exemplary embodiments, therefore be not construed as limiting the scope of the present invention, by using accompanying drawing, the present invention will be carried out more
Specific and more detailed description and elaboration.In the accompanying drawings：
Fig. 1 is the schematic diagram of mechanism in six degree of freedom.
Fig. 2 is the control flow that this is based on the six degree of freedom wind tunnel test end position and attitude error compensation method that six-dimensional force is measured
Schematic diagram.
Fig. 3 is that the flow of the six degree of freedom wind tunnel test end position and attitude error compensation method for being based on six-dimensional force measurement is illustrated
Figure.
Specific embodiment
Hereinafter describe for disclosing the present invention so that those skilled in the art can realize the present invention.It is excellent in below describing
Embodiment is selected to be only used as citing, it may occur to persons skilled in the art that other obvious modifications.Define in the following description
General principle of the invention can apply to other embodiments, deformation program, improvement project, equivalent and without the back of the body
From the other technologies scheme of the spirit and scope of the present invention.
As shown in figure 1, one be used for pneumatic experiment mechanism in six degree of freedom include 1, X of a Z-direction motion to
3, one, the yawing rotation mechanism of motion 2, Y-direction moves 4, elevating movement mechanism 5 of the mechanism and a rolling
Motion 6, wherein the Z-direction motion 1, the X to motion 2, the yawing rotation mechanism 3, the Y-direction motion 4, should
It is together with elevating movement mechanism 5 is serially connected with the rolling movement mechanism 6 and non-coupled, to realize the mechanism in six degree of freedom
The independently moving of each free degree.The execution end of the rolling movement mechanism 6 sets a balance, to realize that real-time six-dimensional force is surveyed
Amount, can measure six component aerodynamic loadings, have the characteristic of non-absolute rigidity and in proving ring due to the mechanism in six degree of freedom
The effect of unsteady amount aerodynamic loading mechanism end is so as to produce elastic error in border.
It will be appreciated by those skilled in the art that be：
First, inertia force is distributed force, and without considering the time that power is transmitted, inertia force acts on the moment of object, object
Deformation, i.e. deformation is produced not to need the time immediately.
Second, the deformation caused by inertia force is elastic deformation, and coefficient of elasticity is constant, it then follows Hooke's law.
3rd, it is sliding block the reason for the end position and attitude error of the execution end of the mechanism in six degree of freedom that inertia force is caused
Deformation and two parts of model deformation.
4th, the deformation of the execution end of the mechanism in six degree of freedom is continuous, can be integrated.
5th, the displacement with the name motion of the mechanism in six degree of freedom obtained using the method for motion analysis of rigid member
Compare, the elastic displacement very little caused by component elastic deformation.
6th, this elastic displacement does not interfere with the name motion of the mechanism in six degree of freedom.
By the 5th point and the 6th point it is recognised that the displacement of the real motion of the mechanism in six degree of freedom is considered as nominal fortune
Dynamic displacement and the superposition of elastic displacement, and elastic displacement is considered as the elastic error of the mechanism in six degree of freedom.
The execution end of the mechanism in six degree of freedom is allowed to bear aerodynamic loading and adjust to the component force measured value of balance six to distinguish
It is unit load Fx(e), Fy(e), Fz(e), Mx(e), My(e), Mz(e), and the execution end of the mechanism in six degree of freedom is measured in difference
Elastic deformation error under pose, so as to six points of unit is born in the execution end for drawing the mechanism in six degree of freedom under a certain pose
Loading gage lotus and the transition matrix T of elastic deformation error amount that produces, wherein formula (1) is its calculating formula：
What is finally given is somebody's turn to do the execution end for mechanism in six degree of freedom in a certain pose (Xi, Yj, Zk, αl, βm, γn) place an order
The lower elastic deformation error table of position six component forces effect, it is as shown in the table：
Because the position and posture of the execution end of the mechanism in six degree of freedom is more, if end elastic error table is all built
It is vertical, data can be caused huge, table look-up time-consuming more long, therefore the processing method when table is built is to be well positioned to meet the six degree of freedom
In the case of mechanism kinematic performance and precision, interval amount δ x, δ y, δ z, δ α, δ β, the δ γ of certain pose are chosen, read measurement
Each two pose between be spaced the interval amount of the pose.Due in actual motion, the execution end of the mechanism in six degree of freedom
End movement track be it is continuous, displacement, speed can derivation, integrable, elastic error deformation be also gradual change, so right
When certain pose is not in upper table, the end elastic error deformation under the pose is drawn using spline curve interpolation method
Amount.
Calculate and look into upper table by formula (1) and obtain end distortion inaccuracy amount Δ x, Δ y, Δ z, Δ α, Δ β, after Δ γ, warp
Inverse kinematic draws six displacement of the lines margin of error Δ L of driving sliding block1, Δ L2, Δ L3, Δ L4, Δ L5, Δ L6, and final
To six moving angular displacement error compensation amount Δ θ of motorx, Δ θy, Δ θz, Δ θα, Δ θβ, Δ θγ, in its calculating process
Inverse kinematic matrix by matrix H, it is its calculating formula that K provides wherein formula (2) and formula (3)：
The end elastic deformation for finally giving be based on inverse kinematic must under motor angular displacement compensation scale it is as follows
Shown in table：
Equally, draw the end elastic error deflection under a certain pose in table (2) by spline curve interpolation method
One-to-one series therewith cannot be found, based drive continuity equally takes spline curve interpolation method to obtain the position
End elastic error under appearance deforms corresponding motor angular displacement compensation rate.
When an end pose is (Xr, Yr, Zr, αr, βr, γr), corresponding pose lower end elastic deformation amount is (Δ xr,
Δyr, Δ zr, Δ αr, Δ βr, Δ γr), corresponding motor angular displacement compensation rate is (Δ θx (r), Δ θy (r), Δ θz (r), Δ θα (r),
Δθβ (r), Δ θγ (r)).When the component force load of end six is (aFx(e) (r), bFy(e) (r), cFz(e) (r), dMx(e) (r), eMy(e) (r),
fMz(e) (r)), then motor angular displacement compensation rate is (a Δs θx (r), b Δs θy (r), c Δs θz (r), d Δs θα (r), e Δs θβ (r), f Δs θγ (r))。
By correcting repeatedly, until Inner of the error in mechanism's allowed band.
As shown in figure 3, the present invention further provides a kind of six degree of freedom wind tunnel test end position based on six-dimensional force measurement
Appearance error compensating method, it includes step：
Step 1, sets up execution end different positions and pose in the presence of the component force of unit six of mechanism in six degree of freedom
One end elastic deformation database of the elastic deformation on the execution end；
Step 2, according to end elastic deformation database, sets up the execution end being rotated on six under different positions and pose
One end position and attitude error compensation database of angle；And
Step 3, when the mechanism in six degree of freedom carries out wind tunnel test, according to the end position and attitude error compensation database to this
The error of the execution end of mechanism in six degree of freedom is compensated.
Preferably, in the step 3, step is further included：
Step 3.1, when the execution end of the mechanism in six degree of freedom is at a time in a certain pose, by the end
Elastic deformation database obtains the deflection of the execution end；
Step 3.2, deflection and the end position and attitude error compensation database according to the execution end, obtains needing to this
Perform the compensation rate that end compensates；And
Step 3.3, the deformation according to the compensation rate to the execution end of the mechanism in six degree of freedom is compensated.
Preferably, in the step 3.3, by the servomotor of each different free degree of the mechanism in six degree of freedom according to
Deformation of the compensation rate to the execution end of the mechanism in six degree of freedom is compensated.
Preferably, in the step 1, execution end entire motion space, the whole is set up by spline curve interpolation method
Elastic deformation database under pose.
One embodiment of the present of invention has been described in detail above, but the content is only preferable implementation of the invention
Example, it is impossible to be considered as limiting practical range of the invention.All impartial changes made according to the present patent application scope and improvement
Deng all should still belong within patent covering scope of the invention.
Claims (4)
1. a kind of six degree of freedom wind tunnel test end position and attitude error compensation method based on six-dimensional force measurement, it is characterised in that should
Six degree of freedom wind tunnel test end position and attitude error compensation method based on six-dimensional force measurement includes：
Step 1, set up an execution end for mechanism in six degree of freedom in the presence of the component force of unit six different positions and pose on
One end elastic deformation database of the elastic deformation of the execution end；
Step 2, according to end elastic deformation database, set up the execution end under different positions and pose on six motors
The motion anglec of rotation an end position and attitude error compensation database；And
Step 3, when the mechanism in six degree of freedom carries out wind tunnel test, according to the end position and attitude error compensation database to this six from
Compensated by the error for spending the execution end of mechanism.
2. a kind of six degree of freedom wind tunnel test end position and attitude error compensation side based on six-dimensional force measurement as claimed in claim 1
Method, it is characterised in that in the step 3, further includes step：
Step 3.1, when the execution end of the mechanism in six degree of freedom is at a time in a certain pose, based on execution end reality
When the measurement of six component force stands under load, change of the execution end under the moment pose is obtained by the end elastic deformation database
Shape amount；
Step 3.2, deflection and end error compensation under the pose according to the execution end under the moment pose
Database, obtains the compensation rate for needing to compensate the execution end；And
Step 3.3, the deformation according to the compensation rate to the execution end of the mechanism in six degree of freedom is compensated.
3. a kind of six degree of freedom wind tunnel test end position and attitude error compensation side based on six-dimensional force measurement as claimed in claim 2
Method, it is characterised in that in the step 3.3, by the servomotor of each different free degree of the mechanism in six degree of freedom according to
Deformation of the compensation rate to the execution end of the mechanism in six degree of freedom is compensated.
4. a kind of six degree of freedom wind tunnel test end position and attitude error compensation side based on six-dimensional force measurement as claimed in claim 1
Method, it is characterised in that in the step 1, the execution end entire motion space, whole positions are set up by spline curve interpolation method
Elastic deformation database under appearance.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108225712A (en) * | 2017-12-29 | 2018-06-29 | 重庆大学 | Half soft wall larynx block of continous way transonic wind tunnel nozzle section and adagio control method for coordinating |
| CN112964450A (en) * | 2021-02-07 | 2021-06-15 | 中国空气动力研究与发展中心超高速空气动力研究所 | Method for predicting trajectory of wind tunnel multi-body separation test model |
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| JPH0631462A (en) * | 1992-07-17 | 1994-02-08 | Nissan Motor Co Ltd | Positioning controller for spot welding robot |
| CN103600354A (en) * | 2013-11-08 | 2014-02-26 | 北京卫星环境工程研究所 | Spacecraft mechanical arm flexible follow-up control gravity compensation method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108225712A (en) * | 2017-12-29 | 2018-06-29 | 重庆大学 | Half soft wall larynx block of continous way transonic wind tunnel nozzle section and adagio control method for coordinating |
| CN112964450A (en) * | 2021-02-07 | 2021-06-15 | 中国空气动力研究与发展中心超高速空气动力研究所 | Method for predicting trajectory of wind tunnel multi-body separation test model |
| CN112964450B (en) * | 2021-02-07 | 2022-05-10 | 中国空气动力研究与发展中心超高速空气动力研究所 | Method for predicting trajectory of wind tunnel multi-body separation test model |
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