CN107121256A - A kind of six degree of freedom captive trajectory testing method of continuous in-orbit motion - Google Patents
A kind of six degree of freedom captive trajectory testing method of continuous in-orbit motion Download PDFInfo
- Publication number
- CN107121256A CN107121256A CN201710298838.7A CN201710298838A CN107121256A CN 107121256 A CN107121256 A CN 107121256A CN 201710298838 A CN201710298838 A CN 201710298838A CN 107121256 A CN107121256 A CN 107121256A
- Authority
- CN
- China
- Prior art keywords
- degree
- motor
- freedom
- speed
- chorista
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Physics & Mathematics (AREA)
- Aerodynamic Tests, Hydrodynamic Tests, Wind Tunnels, And Water Tanks (AREA)
Abstract
The invention discloses a kind of six degree of freedom captive trajectory testing method of continuous in-orbit motion, the separation body Model aerodynamic force that the test method is measured using force balance, solve full-scale chorista kinetics equation group, obtain the flight path of full-scale chorista, changed again by the world, speed contracting ratio, obtain separating the movement locus of body Model under wind tunnel axis system, finally the track motion of separation body Model on demand is driven using mechanism in six degree of freedom, during chorista model sport, balance data are measured in advance, solve full-scale chorista kinetics equation group, and plan next section of movement locus.The test method carries out signal measurement without pause motion and data are calculated, so that entirely separating the movement locus Non-intermittent of body Model, and can ensure that separation body Model is remained in real trace, improve test accuracy, increase test data amount, the captive trajectory testing time is shortened, experimentation cost is reduced.
Description
Technical field
The invention belongs to hypersonic wind tunnel experiment technical field, and in particular to a kind of six degree of freedom of continuous in-orbit motion
Captive trajectory testing method.
Background technology
Wind-tunnel captive trajectory testing technology（Abbreviation CTS）It is a kind of electromechanical integrated device being used in wind tunnel test,
For simulating the movement locus after chorista is separated from main frame, it is suitable layout of the chorista on its main frame and delivers parameter
Control provides reliable basis.It is cooperated using computer, six degree of freedom device and wind-tunnel, and body Model is separated by measuring
Aerodynamic loading solves chorista model space six-freedom motion equation group to obtain the movement position or speed of separation body Model,
And then realize that dropping trajectory is simulated.
At present, CTS control mode is mainly based upon the position control mode of closed loop, and separation body Model is in constant speed interval
Formula motor pattern, is primarily present following deficiency：
1）Separation body Model suspends after target location is moved to, and carries out signal measurement and data are calculated, then carry out again next
The motion of step, and need to correct position repeatedly, therefore the time for obtaining a chorista track is longer, its test efficiency
It is low, high energy consumption；
2）Chorista model sport is noncontinuity, and the subsequent point position of tracing point is that prediction is produced, might not and chorista
Model six-degree-of-freedom dynamics equation assigned position is overlapped all the time, and model center of gravity can not be continuously held in real motion track
On.
In addition, there is CTS method for control speed both at home and abroad, solve the kinematics six degree of freedom side of chorista flight
Journey, calculates preset time step-lengthThe centroid velocity of chorista afterwardsWith the angular speed of rotation around center of mass, reuse slotting
Value method obtains continuous speedWith angular speed, then control mechanism in six degree of freedom to drive separation body Model to press
According toMovement locus withAthletic posture is moved, and iterative method completes the measurement of a separated track, but solves
Speed between use the polynomial method of quadratic interpolation, the position of motion may be calculated with the six-freedom motion differential equation
The position difference gone out is larger.
Because the track that CTS system mechanism in six degree of freedom is moved can not be determined before the test, so traditional industry six is freely
The ripe control strategy of degree manipulator is difficult to directly apply in the control of CTS experiments.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of six degree of freedom captive trajectory testing of continuous in-orbit motion
Method.
The six degree of freedom captive trajectory testing method of the continuous in-orbit motion of the present invention, is characterized in：Described experiment side
The testing equipment that method is used includes host computer, next bit computer, motor driver, motor, mechanism in six degree of freedom, position biography
Sensor, velocity sensor and force balance；Described motor driver includes X1 spindle motors driver, X2 spindle motors driver, Y
Spindle motor driver, Z1 spindle motors driver, Z2 spindle motors driver, α spindle motors driver, β spindle motors driver and γ axles
Motor driver；Described motor includes X1 spindle motors corresponding with motor driver, X2 spindle motors, y-axis motor, Z1 axles electricity
Machine, Z2 spindle motors, α spindle motors, β spindle motors and γ spindle motors；Absolute type encoder, absolute type are installed on described motor shaft
The data of collection are processed into position and velocity information by encoder, and absolute type encoder has position sensor and velocity sensor
Dual-use function；
Its annexation is that described host computer, next bit computer and motor driver is connected by netting twine, motor driving
Device and motor are connected by signal wire and power line, and position sensor, velocity sensor and next bit computer are connected by signal wire
Connect, force balance and next bit computer are connected by signal wire；Force balance is installed inside separation body Model, force balance
Pole is fixedly connected with mechanism in six degree of freedom；Described motor driver motor control mechanism in six degree of freedom passes through dynamometry day
Flat pole drives chorista model sport；
Described host computer is provided with human-computer interaction program, and human-computer interaction program is used to read test parameters and preserves number
According to, triggering experiment, display present speed and position, display balance signal；
Described next bit computer is provided with PLC softwares, for the motion of real-time controlled motor, and writes in PLC softwares capture
The program of trajectory tests；
The run location signal of described position sensor detection separation body Model, and it is sent to next bit computer；
The running speed signal of described velocity sensor detection separation body Model, and it is sent to next bit computer；
The aerodynamic force of described force balance measurement separation body Model, and it is sent to next bit computer；
The six degree of freedom captive trajectory testing method of described continuous in-orbit motion comprises the following steps：
1a. inputs the force balance coefficient related to experiment, pneumatic resolving parameter, rail by host computer human-computer interaction interface
Chi is compared in track points n in mark operation hop count m, every section of track, model geometric contracting, velocity transformation yardstick, single hop track fortune
The dynamic deadline, resolving time in advance, balance delay time, read balance data time；Input six degree of freedom machine
Structure Inverse Kinematics dematrix R1, the speed in input mechanism in six degree of freedom space is mapped to the Jacobian matrix R of joint space2；
1b. is moved by slave computer computer PLC softwares controlled motor, by chorista model sport to initial pose（）, and track hop count i=0 of resolving is set；
1c. judges whether the track hop count i currently resolved is 0, if i=0, the measurement of slave computer computer acquisition force balance
Power and torque that chorista model is received；If i ≠ 0, i-th section of track of slave computer computer acquisition exists（t-t2-t3）Extremely（t-t2）
Balance measurement chorista model is received in time range power and torque, and computing power and the average value of torque；
1d. slave computers computer calculates the power and torque suffered by full-scale chorista；
1e. resolves full-scale chorista kinetics equation group by differential equation group numerical algorithm, obtains the（i+1）On section track
The pose and speed of n tracing point；
1f. obtains the pose of the separation corresponding n tracing point of body Model and speed under wind tunnel axis system by world conversion method
Degree；
1g. by speed contract than and Inverse Kinematics Solution method, obtain separation body Model this n tracing point pose of correspondence and speed
Each motor corner and rotating speed；
1h. utilizes each motor corner and rotating speed, by motor movement curve planing method, plans the curve movement of each motor；
Track hop count i=i+1 that 1i. has been resolved；
1j. judges now whether i is 1, if i=1, is moved by i-th section of track, if i ≠ 1, waits the（i-1）Section rail
After the completion of mark motion, then by i-th section of track motion；
1k. is when i-th section of track run duration, meetWhen, judge whether i is less than track and runs hop count
M, returns to step 1c if i≤m, and output trajectory after the completion of i-th section of track motion is waited if i ＞ m, terminates experiment.
Described differential equation group numerical algorithm includes one kind in single order or second order differential equations numerical algorithm.
Described world conversion method is as follows：
The center of mass motion of full-scale chorista by full-scale n tracing point of chorista pose（
）With speed（）It is described；
Model geometric scaling factor is, start to test the initial pose of time-division isolated model（）, wind
Under the coordinate system of hole separate body Model correspondence tracing point pose () and speed(), specific formula for calculation is as follows：
Described speed contracting ratio comprises the following steps with Inverse Kinematics Solution method：
4a. gathers way the chorista model sport time change of scaleTimes, separation body Model is each subtracted simultaneously by degree speed
Few velocity transformation yardstickTimes, then separate speed during body Model actual motion（）For
4b. is according to the pose for separating some tracing point of body Model（）With mechanism in six degree of freedom kinematics
Inverse dematrix R1, calculate the corresponding corner of each motor（）, specific formula for calculation is as follows：
Speed during actual motion（）Joint is mapped to the speed in mechanism in six degree of freedom space
The Jacobian matrix R in space2, rotating speed（）, specific formula for calculation is as follows：
Described motor movement curve planing method is as follows：
The corresponding angle of motor of two neighboring tracing point in known single hop track,And angular speed,（）, the two neighboring tracing point run duration in single hop trackAfterwards, using cubic algebraic curves,
The equation for obtaining curve movement is as follows：
Wherein：
。
The world conversion method being related in the six degree of freedom captive trajectory testing method of the continuous in-orbit motion of the present invention
Principle is：The center of mass motion of full-scale chorista is actual track in the sky, when being converted to the situation in wind-tunnel, chorista mould
The barycenter displacement of type is reduced by geometry scaling factor, similarly, and the linear velocity of separation body Model presses the linear speed of full-scale chorista barycenter
Geometry scaling factor is spent to reduce.Because the relative attitude of the separation body Model in full-scale chorista and wind-tunnel in the sky is constant, institute
Do not reduced with chorista model attitude angle by geometry scaling factor, separate the angular speed of body Model and the angular speed of full-scale chorista
It is identical.
User is man-machine by host computer in the six degree of freedom captive trajectory testing method of the continuous in-orbit motion of the present invention
Interactive interface input experiment and Parameters in Mathematical Model, next bit computer solve full-scale chorista flight six-freedom motion side
Journey, calculates the pose and speed of full-scale chorista after preset time step-length；According to solve come data, carry out the world turn
Change, obtain separating the tracing point of body Model under wind tunnel axis system, by speed contracting than obtaining each electricity against solution with mechanism in six degree of freedom
The corresponding corner of machine and rotating speed, using the corner and rotating speed of each motor, cook up the full curve of a motor movement.Plan
Cheng Hou, notifies next bit computer controlled motor CTS mechanism in six degree of freedom is driven chorista model sport, it has been moved in track
Before, it is considered to balance signal delay and chorista flight six-degree-of-freedom dynamics equation solution time, resolve and plan down in advance
One track, it is ensured that separation body Model is transitioned into next track from a smooth trajectory.
The six degree of freedom captive trajectory testing method of the continuous in-orbit motion of the present invention is that a kind of separation body Model that improves is transported
The CTS test methods of dynamic path accuracy, the test method proposes continuous in-orbit control mode, it is ensured that separation body Model according to
Moved the track that chorista flight six-degree-of-freedom dynamics equation solver comes out.The test method can control to be counted simultaneously
The pose and speed of tracing point are calculated, balance data are measured in advance during model sport, full-scale chorista six is solved
The free degree equation of motion, and next section of movement locus is planned, carry out signal measurement without pause motion and data are calculated so that be whole
Individual chorista model sport track Non-intermittent, it is ensured that separation body Model is maintained in real trace, improves test accuracy, is increased
Test data amount, shortens CTS test periods, reduces experimentation cost.
Brief description of the drawings
Fig. 1 is the separation body Model mechanism in six degree of freedom control system schematic diagram in the present invention；
Fig. 2 is the captive trajectory testing flow chart in the present invention.
Embodiment
Describe the present invention in detail with reference to the accompanying drawings and examples.
As shown in figure 1, the experiment that the six degree of freedom captive trajectory testing method of the continuous in-orbit motion of the present invention is used is set
It is standby to include host computer, next bit computer, motor driver, motor, mechanism in six degree of freedom, position sensor, velocity pick-up
Device and force balance；Described motor driver include X1 spindle motors driver, X2 spindle motors driver, y-axis motor driver,
Z1 spindle motors driver, Z2 spindle motors driver, α spindle motors driver, β spindle motors driver and γ spindle motor drivers；Institute
The motor stated includes X1 spindle motors corresponding with motor driver, X2 spindle motors, y-axis motor, Z1 spindle motors, Z2 spindle motors, α axles
Motor, β spindle motors and γ spindle motors；Absolute type encoder is installed, absolute type encoder is by collection on described motor shaft
Data are processed into position and velocity information, and absolute type encoder has the dual-use function of position sensor and velocity sensor；
Its annexation is that described host computer, next bit computer and motor driver is connected by netting twine, motor driving
Device and motor are connected by signal wire and power line, and position sensor, velocity sensor and next bit computer are connected by signal wire
Connect, force balance and next bit computer are connected by signal wire；Force balance is installed inside separation body Model, force balance
Pole is fixedly connected with mechanism in six degree of freedom；Described motor driver motor control mechanism in six degree of freedom passes through dynamometry day
Flat pole drives chorista model sport；
Described host computer is provided with human-computer interaction program, and human-computer interaction program is used to read test parameters and preserves number
According to, triggering experiment, display present speed and position, display balance signal；
Described next bit computer is provided with PLC softwares, for the motion of real-time controlled motor, and writes in PLC softwares capture
The program of trajectory tests；
The run location signal of described position sensor detection separation body Model, and it is sent to next bit computer；
The running speed signal of described velocity sensor detection separation body Model, and it is sent to next bit computer；
The aerodynamic force of described force balance measurement separation body Model, and it is sent to next bit computer；
As shown in Fig. 2 the six degree of freedom captive trajectory testing method of described continuous in-orbit motion comprises the following steps：
1a. inputs the force balance coefficient related to experiment, pneumatic resolving parameter, rail by host computer human-computer interaction interface
Chi is compared in track points n in mark operation hop count m, every section of track, model geometric contracting, velocity transformation yardstick, single hop track fortune
The dynamic deadline, resolving time in advance, balance delay time, read balance data time；Input six degree of freedom machine
Structure Inverse Kinematics dematrix R1, the speed in input mechanism in six degree of freedom space is mapped to the Jacobian matrix R of joint space2；
1b. is moved by slave computer computer PLC softwares controlled motor, by chorista model sport to initial pose（）, and track hop count i=0 of resolving is set；
1c. judges whether the track hop count i currently resolved is 0, if i=0, the measurement of slave computer computer acquisition force balance
Power and torque that chorista model is received；If i ≠ 0, i-th section of track of slave computer computer acquisition exists（t-t2-t3）Extremely（t-t2）
Balance measurement chorista model is received in time range power and torque, and computing power and the average value of torque；
1d. slave computers computer calculates the power and torque suffered by full-scale chorista；
1e. resolves full-scale chorista kinetics equation group by differential equation group numerical algorithm, obtains the（i+1）On section track
The pose and speed of n tracing point；
1f. obtains the pose of the separation corresponding n tracing point of body Model and speed under wind tunnel axis system by world conversion method
Degree；
1g. by speed contract than and Inverse Kinematics Solution method, obtain separation body Model this n tracing point pose of correspondence and speed
Each motor corner and rotating speed；
1h. utilizes each motor corner and rotating speed, by motor movement curve planing method, plans the curve movement of each motor；
Track hop count i=i+1 that 1i. has been resolved；
1j. judges now whether i is 1, if i=1, is moved by i-th section of track, if i ≠ 1, waits the（i-1）Section rail
After the completion of mark motion, then by i-th section of track motion；
1k. is when i-th section of track run duration, meetWhen, judge whether i is less than track and runs hop count
M, returns to step 1c if i≤m, and output trajectory after the completion of i-th section of track motion is waited if i ＞ m, terminates experiment.
Described differential equation group numerical algorithm includes one kind in single order or second order differential equations numerical algorithm.
Described world conversion method is as follows：
The center of mass motion of full-scale chorista by full-scale n tracing point of chorista pose（
）With speed（）It is described；
Model geometric scaling factor is, start to test the initial pose of time-division isolated model（）, wind
Under the coordinate system of hole separate body Model correspondence tracing point pose () and speed
(), specific formula for calculation is as follows：
。
Described speed contracting ratio comprises the following steps with Inverse Kinematics Solution method：
4a. gathers way the chorista model sport time change of scaleTimes, separation body Model is each subtracted simultaneously by degree speed
Few velocity transformation yardstickTimes, then separate speed during body Model actual motion（）For
；
4b. is according to the pose for separating some tracing point of body Model（）With mechanism in six degree of freedom kinematics
Inverse dematrix R1, calculate the corresponding corner of each motor（）, specific formula for calculation is as follows：
Speed during actual motion（）Pass is mapped to the speed in mechanism in six degree of freedom space
Save the Jacobian matrix R in space2, rotating speed（）, specific formula for calculation is as follows：
。
Described motor movement curve planing method is as follows：
The corresponding angle of motor of two neighboring tracing point in known single hop track,And angular speed,（）, the two neighboring tracing point run duration in single hop trackAfterwards, using cubic algebraic curves,
The equation for obtaining curve movement is as follows：
Wherein：
。
Embodiment 1
The present embodiment is implemented according to above-mentioned embodiment, it should be noted that differential equation group numerical algorithm uses first differential side
Journey group numerical algorithm.Differential equation group formula is as follows：
Wherein,The making a concerted effort along X to, Y-direction and Z-direction for being followed successively by that full-scale chorista is subject to；
Be followed successively by that full-scale chorista is subject to around X-axis, the resultant moment of Y-axis and Z axis；
To be followed successively by component of speed of the full-scale chorista with respect to main body along its body axle x to, Y-direction and Z-direction,
Unit；
To be followed successively by component of speed of the full-scale chorista with respect to main body along its body axle x to, Y-direction and Z-direction
Rate of change, unit；
To be followed successively by throwing of the angular speed of the relative body rotation of full-scale separation along its body axle X-axis, Y-axis and Z axis
Shadow, unit；
Hung down to be followed successively by the full-scale angular acceleration for separating relative body rotation along its body axle X-axis, Y-axis and Z
The projection of axle, unit；
To be followed successively by the moment of inertia that full-scale chorista is rotated around its body axle X-axis, Y-axis and Z axis, unit；
It is that full-scale chorista is accumulated on the rotator inertia in its longitudinally asymmetric face, unit
For the quality of full-scale chorista, unit。
Above equation group is full-scale chorista kinetics equation group, solves above equation group classical using quadravalence
RungeKutta methods, by the full-scale chorista speed and angular speed of last moment and full-scale chorista be subject to make a concerted effort and
Resultant moment, substitutes into quadravalence classics RungeKutta formula, solves the chorista speed of subsequent time（）With
Angular speed（）Rate of change.The speed and angular speed that increment after rate of change is integrated brings last moment into can be obtained
To the speed and angular speed at current time, then integrate and can obtain position（）And angle（）, obtain
The pose of each tracing point on to every section of track（）And speed（）.
Embodiment 2
The present embodiment and the embodiment of embodiment 1 are essentially identical, and the main distinction is：Differential equation group numerical algorithm uses two
Rank differential equation group numerical algorithm.Differential equation group formula is as follows：
Wherein,For the quality of full-scale chorista；
It is that full-scale chorista is vectorial in fixed coordinate system bottom offset,, it is it
Second dervative vector；
Roll angle,Yaw angleFor the angle of pitch,For correspondence appearance
State angle first derivative vector,For correspondence attitude angle second dervative vector；
The direction cosine matrix of coordinate system is relatively fixed for separation body Model；Its calculation formula is as follows：
For body shafting angular speed,For body shafting angular speed
Rate of change；
ForWithTransformed matrix, its formula is：
For the vector of making a concerted effort suffered by full-scale chorista；
The resultant moment vector suffered by full-scale chorista；
Moment of inertia matrix for chorista on chorista body shafting；
For body shafting angular speed coordinate square formation, wherein square formation expression way is as follows：
Obtain after above second order differential equations formula, with numerical solutions such as Newmark β-methods, calculate、 And its single order is led
Number.
The present invention is not limited to above-mentioned embodiment, person of ordinary skill in the field from above-mentioned design,
Without performing creative labour, made a variety of conversion are within the scope of the present invention.
Claims (5)
1. a kind of six degree of freedom captive trajectory testing method of continuous in-orbit motion, it is characterised in that：Described test method makes
Testing equipment includes host computer, next bit computer, motor driver, motor, mechanism in six degree of freedom, position sensing
Device, velocity sensor and force balance；Described motor driver includes X1 spindle motors driver, X2 spindle motors driver, Y-axis
Motor driver, Z1 spindle motors driver, Z2 spindle motors driver, α spindle motors driver, β spindle motors driver and γ axles electricity
Machine driver；Described motor include X1 spindle motors corresponding with motor driver, X2 spindle motors, y-axis motor, Z1 spindle motors,
Z2 spindle motors, α spindle motors, β spindle motors and γ spindle motors；Absolute type encoder is installed, absolute type is compiled on described motor shaft
The data of collection are processed into position and velocity information by code device, and absolute type encoder has position sensor and velocity sensor
Dual-use function；
Its annexation is that described host computer, next bit computer and motor driver is connected by netting twine, motor driving
Device and motor are connected by signal wire and power line, and position sensor, velocity sensor and next bit computer are connected by signal wire
Connect, force balance and next bit computer are connected by signal wire；Force balance is installed inside separation body Model, force balance
Pole is fixedly connected with mechanism in six degree of freedom；Described motor driver motor control mechanism in six degree of freedom passes through dynamometry day
Flat pole drives chorista model sport；
Described host computer is provided with human-computer interaction program, and human-computer interaction program is used to read test parameters and preserves number
According to, triggering experiment, display present speed and position, display balance signal；
Described next bit computer is provided with PLC softwares, for the motion of real-time controlled motor, and writes in PLC softwares capture
The program of trajectory tests；
The run location signal of described position sensor detection separation body Model, and it is sent to next bit computer；
The running speed signal of described velocity sensor detection separation body Model, and it is sent to next bit computer；
The aerodynamic force of described force balance measurement separation body Model, and it is sent to next bit computer；
The six degree of freedom captive trajectory testing method of described continuous in-orbit motion comprises the following steps：
1a. inputs the force balance coefficient related to experiment, pneumatic resolving parameter, rail by host computer human-computer interaction interface
Chi is compared in track points n in mark operation hop count m, every section of track, model geometric contracting, velocity transformation yardstick, single hop track fortune
The dynamic deadline, resolving time in advance, balance delay time, read balance data time；Input six degree of freedom machine
Structure Inverse Kinematics dematrix R1, the speed in input mechanism in six degree of freedom space is mapped to the Jacobian matrix R of joint space2；
1b. is moved by slave computer computer PLC softwares controlled motor, by chorista model sport to initial pose（）, and track hop count i=0 of resolving is set；
1c. judges whether the track hop count i currently resolved is 0, if i=0, the measurement of slave computer computer acquisition force balance
Power and torque that chorista model is received；If i ≠ 0, i-th section of track of slave computer computer acquisition exists（t-t2-t3）Extremely（t-t2）
Balance measurement chorista model is received in time range power and torque, and computing power and the average value of torque；
1d. slave computers computer calculates the power and torque suffered by full-scale chorista；
1e. resolves full-scale chorista kinetics equation group by differential equation group numerical algorithm, obtains the（i+1）On section track
The pose and speed of n tracing point；
1f. obtains the pose of the separation corresponding n tracing point of body Model and speed under wind tunnel axis system by world conversion method
Degree；
1g. by speed contract than and Inverse Kinematics Solution method, obtain separation body Model this n tracing point pose of correspondence and speed
Each motor corner and rotating speed；
1h. utilizes each motor corner and rotating speed, by motor movement curve planing method, plans the curve movement of each motor；
Track hop count i=i+1 that 1i. has been resolved；
1j. judges now whether i is 1, if i=1, is moved by i-th section of track, if i ≠ 1, waits the（i-1）Section rail
After the completion of mark motion, then by i-th section of track motion；
1k. is when i-th section of track run duration, meetWhen, judge whether i is less than track and runs hop count m, such as
Fruit i≤m then returns to step 1c, and output trajectory after the completion of i-th section of track motion is waited if i ＞ m, terminates experiment.
2. the six degree of freedom captive trajectory testing method of continuous in-orbit motion according to claim 1, it is characterised in that：Institute
The differential equation group numerical algorithm stated includes one kind in single order or second order differential equations numerical algorithm.
3. the six degree of freedom captive trajectory testing method of continuous in-orbit motion according to claim 1, it is characterised in that：Institute
The world conversion method stated is as follows：
The center of mass motion of full-scale chorista by full-scale n tracing point of chorista pose（）
With speed（）It is described；
Model geometric scaling factor is, start to test the initial pose of time-division isolated model（）, wind-tunnel
Under coordinate system separate body Model correspondence tracing point pose () and speed(), specific formula for calculation is as follows：
。
4. the six degree of freedom captive trajectory testing method of continuous in-orbit motion according to claim 1, it is characterised in that：Institute
The speed contracting ratio stated comprises the following steps with Inverse Kinematics Solution method：
4a. gathers way the chorista model sport time change of scaleTimes, separation body Model is each reduced simultaneously by degree speed
Velocity transformation yardstickTimes, then separate speed during body Model actual motion（）For
；
4b. is according to the pose for separating some tracing point of body Model（）With mechanism in six degree of freedom kinematics
Inverse dematrix R1, calculate the corresponding corner of each motor（）, specific formula for calculation is as follows：
Speed during actual motion（）Pass is mapped to the speed in mechanism in six degree of freedom space
Save the Jacobian matrix R in space2, rotating speed（）, specific formula for calculation is as follows：
。
5. the six degree of freedom captive trajectory testing method of continuous in-orbit motion according to claim 1, it is characterised in that：Institute
The motor movement curve planing method stated is as follows：
The corresponding angle of motor of two neighboring tracing point in known single hop track,And angular speed,（）, the two neighboring tracing point run duration in single hop trackAfterwards, using cubic algebraic curves,
The equation for obtaining curve movement is as follows：
Wherein：
。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710298838.7A CN107121256B (en) | 2017-05-02 | 2017-05-02 | A kind of six degree of freedom captive trajectory testing method of continuous in-orbit movement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710298838.7A CN107121256B (en) | 2017-05-02 | 2017-05-02 | A kind of six degree of freedom captive trajectory testing method of continuous in-orbit movement |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107121256A true CN107121256A (en) | 2017-09-01 |
| CN107121256B CN107121256B (en) | 2018-10-09 |
Family
ID=59725059
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710298838.7A Active CN107121256B (en) | 2017-05-02 | 2017-05-02 | A kind of six degree of freedom captive trajectory testing method of continuous in-orbit movement |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107121256B (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107480402A (en) * | 2017-08-31 | 2017-12-15 | 北京理工大学 | A kind of plane pneumatically captures SOT state of termination coverage and determines method |
| CN107860545A (en) * | 2017-12-04 | 2018-03-30 | 中国航空工业集团公司沈阳空气动力研究所 | The six degree of freedom system of large-scale transonic wind tunnel big load model captive trajectory testing |
| CN107991054A (en) * | 2017-11-08 | 2018-05-04 | 江西洪都航空工业集团有限责任公司 | A kind of captive trajectory experimental method |
| CN108318217A (en) * | 2018-03-22 | 2018-07-24 | 中国航空工业集团公司沈阳空气动力研究所 | A kind of six component multi-disc beam balances for hanger CTS experiments in parallel |
| CN108414188A (en) * | 2018-03-22 | 2018-08-17 | 中国航空工业集团公司沈阳空气动力研究所 | It is a kind of to be used for and hang together the six component strain balance of double struts for playing CTS experiments |
| CN110470449A (en) * | 2019-08-23 | 2019-11-19 | 中国航空工业集团公司沈阳空气动力研究所 | A kind of the captive trajectory testing method and test measuring and controlling equipment of continuous control mode |
| CN110928239A (en) * | 2019-12-12 | 2020-03-27 | 山东大学 | Control method and system for feeding system of numerical control machine tool with time delay |
| CN111693245A (en) * | 2020-06-23 | 2020-09-22 | 中国空气动力研究与发展中心超高速空气动力研究所 | Non-decoupling motion allocation method for continuous on-orbit linkage track capture experiment |
| CN111693246A (en) * | 2020-06-23 | 2020-09-22 | 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 distributing motion of main body and separating body track capture experiment of continuous on-orbit motion |
| CN112067248A (en) * | 2020-07-27 | 2020-12-11 | 中国航天空气动力技术研究院 | Nine-degree-of-freedom capture track test device and method for two-stage motion |
| 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 |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060254380A1 (en) * | 2004-06-24 | 2006-11-16 | Dlr Deutsches Zentrum Fur Luft-Und Raumfahrt E.V. | Movement device |
| CN201653679U (en) * | 2010-04-29 | 2010-11-24 | 中国空气动力研究与发展中心高速空气动力研究所 | Real-time control device for capturing continuous motion of external store model in track wind tunnel test |
| CN101907893A (en) * | 2010-07-02 | 2010-12-08 | 北京航空航天大学 | Aircraft component attitude adjusting assembly system based on parallel mechanism with six degrees of freedom and debugging method |
| WO2010150506A1 (en) * | 2009-06-22 | 2010-12-29 | 川崎重工業株式会社 | Wind tunnel balance calibrator |
| CN104964807A (en) * | 2015-04-22 | 2015-10-07 | 中国航天空气动力技术研究院 | Model pose continuous change collision detection method used for wind tunnel test |
| CN105469406A (en) * | 2015-11-30 | 2016-04-06 | 东北大学 | Bounding box and space partitioning-based virtual object collision detection method |
| CN106289708A (en) * | 2016-07-26 | 2017-01-04 | 中国航天空气动力技术研究院 | Pose scaling method for the motion of captive trajectory wind tunnel test |
| CN106584464A (en) * | 2016-12-31 | 2017-04-26 | 重庆大学 | Method for compensating transmission chain errors of aircraft model of decoupling mechanism in captive trajectory tests |
-
2017
- 2017-05-02 CN CN201710298838.7A patent/CN107121256B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060254380A1 (en) * | 2004-06-24 | 2006-11-16 | Dlr Deutsches Zentrum Fur Luft-Und Raumfahrt E.V. | Movement device |
| WO2010150506A1 (en) * | 2009-06-22 | 2010-12-29 | 川崎重工業株式会社 | Wind tunnel balance calibrator |
| CN201653679U (en) * | 2010-04-29 | 2010-11-24 | 中国空气动力研究与发展中心高速空气动力研究所 | Real-time control device for capturing continuous motion of external store model in track wind tunnel test |
| CN101907893A (en) * | 2010-07-02 | 2010-12-08 | 北京航空航天大学 | Aircraft component attitude adjusting assembly system based on parallel mechanism with six degrees of freedom and debugging method |
| CN104964807A (en) * | 2015-04-22 | 2015-10-07 | 中国航天空气动力技术研究院 | Model pose continuous change collision detection method used for wind tunnel test |
| CN105469406A (en) * | 2015-11-30 | 2016-04-06 | 东北大学 | Bounding box and space partitioning-based virtual object collision detection method |
| CN106289708A (en) * | 2016-07-26 | 2017-01-04 | 中国航天空气动力技术研究院 | Pose scaling method for the motion of captive trajectory wind tunnel test |
| CN106584464A (en) * | 2016-12-31 | 2017-04-26 | 重庆大学 | Method for compensating transmission chain errors of aircraft model of decoupling mechanism in captive trajectory tests |
Non-Patent Citations (2)
| Title |
|---|
| 周润 等: "基于双闭环速度控制的捕获轨迹系统", 《航空学报》 * |
| 周润 等: "风洞CTS试验并联装置的速度控制方法", 《兵工自动化》 * |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107480402B (en) * | 2017-08-31 | 2019-07-16 | 北京理工大学 | A kind of plane pneumatically captures SOT state of termination coverage and determines method |
| CN107480402A (en) * | 2017-08-31 | 2017-12-15 | 北京理工大学 | A kind of plane pneumatically captures SOT state of termination coverage and determines method |
| CN107991054A (en) * | 2017-11-08 | 2018-05-04 | 江西洪都航空工业集团有限责任公司 | A kind of captive trajectory experimental method |
| CN107991054B (en) * | 2017-11-08 | 2019-10-18 | 江西洪都航空工业集团有限责任公司 | A kind of captive trajectory experimental method |
| CN107860545B (en) * | 2017-12-04 | 2024-04-12 | 中国航空工业集团公司沈阳空气动力研究所 | Six-degree-of-freedom system for large transonic wind tunnel large load model capture track test |
| CN107860545A (en) * | 2017-12-04 | 2018-03-30 | 中国航空工业集团公司沈阳空气动力研究所 | The six degree of freedom system of large-scale transonic wind tunnel big load model captive trajectory testing |
| CN108318217A (en) * | 2018-03-22 | 2018-07-24 | 中国航空工业集团公司沈阳空气动力研究所 | A kind of six component multi-disc beam balances for hanger CTS experiments in parallel |
| CN108414188A (en) * | 2018-03-22 | 2018-08-17 | 中国航空工业集团公司沈阳空气动力研究所 | It is a kind of to be used for and hang together the six component strain balance of double struts for playing CTS experiments |
| CN110470449A (en) * | 2019-08-23 | 2019-11-19 | 中国航空工业集团公司沈阳空气动力研究所 | A kind of the captive trajectory testing method and test measuring and controlling equipment of continuous control mode |
| CN110928239A (en) * | 2019-12-12 | 2020-03-27 | 山东大学 | Control method and system for feeding system of numerical control machine tool with time delay |
| CN111693246A (en) * | 2020-06-23 | 2020-09-22 | 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 distributing motion of main body and separating body track capture experiment of continuous on-orbit motion |
| CN111693245A (en) * | 2020-06-23 | 2020-09-22 | 中国空气动力研究与发展中心超高速空气动力研究所 | Non-decoupling motion allocation method for continuous on-orbit linkage track capture experiment |
| CN112067248A (en) * | 2020-07-27 | 2020-12-11 | 中国航天空气动力技术研究院 | Nine-degree-of-freedom capture track test device and method for two-stage motion |
| CN112067248B (en) * | 2020-07-27 | 2022-09-23 | 中国航天空气动力技术研究院 | Nine-degree-of-freedom capture track test device and method for two-stage motion |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107121256B (en) | 2018-10-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107121256A (en) | A kind of six degree of freedom captive trajectory testing method of continuous in-orbit motion | |
| CN103495977B (en) | 6R-type industrial robot load identification method | |
| CN104924313B (en) | There is teach-by-doing teaching mechanical arm system and the method for learning by imitation mechanism | |
| CN101793582B (en) | Measuring system and measuring method of mass, center of mass and moment of inertia of rigid body | |
| CN109676607A (en) | A kind of zero-g control method of non-moment sensing | |
| CN201653679U (en) | Real-time control device for capturing continuous motion of external store model in track wind tunnel test | |
| CN107309872A (en) | A kind of flying robot and its control method with mechanical arm | |
| CN107457762A (en) | Robot arm control device, robot arm system including the same, and robot arm control method | |
| CN106774362A (en) | The tank test control method and system of a kind of flexible six-degree-of-freedom wire saws | |
| CN108656112A (en) | A kind of mechanical arm zero-force control experimental system towards direct teaching | |
| CN103832504B (en) | Bionic foot-type robot comprehensive simulation method | |
| CN102538598A (en) | Movement simulation system for infrared targets | |
| CN105404744B (en) | A kind of space manipulator total state dynamics semi-physical system | |
| CN105630048B (en) | 3-axis acceleration and temperature synchronisation control means | |
| CN105459114B (en) | Redundant drive parallel mechanism driving force optimization method and shaft set control verification platform | |
| Chen et al. | Dynamic model based ball trajectory prediction for a robot ping-pong player | |
| CN107457783A (en) | Sixdegree-of-freedom simulation self-adapting intelligent detection method based on PD control device | |
| CN104809276A (en) | Multi-finger robot dynamic analytical model and modeling method thereof | |
| CN107121940A (en) | A kind of parafoil four-degree-of-freedom semi-physical emulation platform | |
| CN111638654A (en) | Fault-adaptive intelligent control semi-physical simulation method for carrier rocket | |
| CN111459188A (en) | Multi-rotor nonlinear flight control method based on quaternion | |
| CN100435050C (en) | Control method for acrobatic motion of pendulums of under-actuated double pendulum system | |
| CN109900157B (en) | Semi-physical simulation platform and method for guidance ammunition terminal guidance law | |
| CN104651909B (en) | Synchronous coordinated control method of series-parallel automobile electrophoretic painting conveying mechanism | |
| CN103862458A (en) | Six-degree-of-freedom parallel platform for airborne servo system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |