CN110470449A - A kind of the captive trajectory testing method and test measuring and controlling equipment of continuous control mode - Google Patents
A kind of the captive trajectory testing method and test measuring and controlling equipment of continuous control mode Download PDFInfo
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- CN110470449A CN110470449A CN201910784001.2A CN201910784001A CN110470449A CN 110470449 A CN110470449 A CN 110470449A CN 201910784001 A CN201910784001 A CN 201910784001A CN 110470449 A CN110470449 A CN 110470449A
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- G—PHYSICS
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- 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
Abstract
The captive trajectory testing method and test measuring and controlling equipment of a kind of continuous control mode, belong to wind-tunnel technique field, solve in the prior art that movement velocity fluctuation is larger, influence mechanism running stability, influence accuracy of measurement, low efficiency, the problem of algorithm complexity.Technical essential: advanced reasonable TT&C system structure is utilized, is tested according to the experiment process of continuous captive trajectory testing.According to test input parameter and boundary condition starting test, the round-the-clock movement of mechanism during test, by holding mechanism uniform motion when testing site, and balance signal acquisition, trace predicating calculating are completed interior in short-term, and current test point is completed to the trajectory planning between next testing site using the method for planning track of quintic algebra curve in joint space, guarantee the stationarity and rapidity of mechanism continuous operation.The present invention significantly improves test efficiency under the premise of guarantee test precision, saves blow-time and 55% or more gas source energy consumption.
Description
Technical field
The present invention relates to a kind of captive trajectory testing method and test measuring and controlling equipments, and in particular to a kind of continuous control mode
Captive trajectory testing method and test measuring and controlling equipment, belong to wind-tunnel technique field.
Background technique
Captive trajectory testing (CTS test) technology mainly study store Combinations extrapolated state and separation when motion state and
Track analyzes the various angles of attack of machine tool, yaw angle, flying speed, flying height, the shape of store Combinations, helps and throw power and plug-in
Influence of the factors such as position to store Combinations disengaging movement track, posture etc. determines store Combinations safety dispensing/transmitting parameter model
It encloses, provides foundation for the layout designs and separation parameter of aircraft external store.In wind tunnel experiment, by the balance in the store Combinations,
Real-time measurement goes out aerodynamic load suffered by store Combinations, further according to the original state and relevant parameter of store Combinations, by trace predicating journey
Sequence solves the equation of motion of store Combinations, according to the support machine of the six degree of freedom of the result closed-loop control store Combinations model of solution
Structure makes it make to move accordingly in the flow field of machine tool, gradually determines the flight path of store Combinations.
Various countries develop initial stage in CTS system, are all made of " start-stop " control mode based on position control and are tested.Mechanism
Each freedom degree is run with fixed speed, and the position control of point-to-point is carried out along tracing point.After reaching each target point, CTS machine
Structure is out of service, starts to move to next point again after obtaining new data.This technology causes store Combinations model along track
Route carries out intermittent, uncoordinated movement.This test model needs the stop motion when obtaining data, wastes a large amount of
Blow-time, this is totally unfavorable for the CTS test in intermittent wind tunnel；Moreover, uncoordinated movement can not make in model
The heart is maintained near motion profile, will cause the collision not being inconsistent with actual path sometimes, to cause the missing of track.
For this purpose, utilizing different technology paths both at home and abroad, the captive trajectory testing method of continuous control mode is researched and developed, so as to
Improve test efficiency.
U.S. AEDC (United States Air Force Arnold Engineerring Development center) published continuous captive trajectory testing method is 20
The exploitation eighties in century, the disadvantage is that computer performance is insufficient, can not the planning of real-time perfoming position, only progress speed planning.Though
So speed command is integrated using microcontroller, makes motion controller work under the follow the mode of position, but its movement essence
Degree can not still compare favourably with location following.
Also about the research of continuous captive trajectory testing method, some schemes still use the motor of speed follower for the country
Control mode, position precision is not ideal enough in place.Some schemes, which are divided into mechanism kinematic process, to move synchronously and kicking motion
In two stages, movement velocity larger fluctuation is inevitably caused, influences mechanism running stability, and then it is accurate to influence measurement
Degree, and buffering course needs to carry out time scale optimization, low efficiency, algorithm complexity.Such as: Chinese air is dynamic
Power Research and Development Center wishes your pine etc., publishes in publication " system engineering and electronic technology " in October, 2014
Entitled " captive trajectory mechanism continuous synchronization Control experiment mode is studied " article in the test method that refers to there is as
Upper problem.
Summary of the invention
It has been given below about brief overview of the invention, in order to provide about the basic of certain aspects of the invention
Understand.It should be appreciated that this summary is not an exhaustive overview of the invention.It is not intended to determine pass of the invention
Key or pith, nor is it intended to limit the scope of the present invention.Its purpose only provides certain concepts in simplified form,
Taking this as a prelude to a more detailed description discussed later.
In consideration of it, the present invention moves synchronously and kicking motion to solve in the prior art to be divided into mechanism kinematic process
In two stages, movement velocity larger fluctuation is inevitably caused, influences mechanism running stability, and then it is accurate to influence measurement
Degree, and buffering course needs to carry out time scale optimization, low efficiency, the problem of algorithm complexity, and then designs
A kind of captive trajectory testing method and device of continuous control mode, under the premise of guarantee test precision, continuously to move
Mode complete captive trajectory testing, to be obviously improved test efficiency, reduce test energy consumption.
A kind of captive trajectory testing method of continuous control mode,
Step 1: test parameters is inputted in TT&C system host computer, and generates experiment process, control and collecting computer connect
Process is received, and in real-time system, executes test procedure by process；
Step 2: control and collecting computer according to trajectory planning as a result, by EtherCAT real-time bus control six
Servo-driver, and then six degree of freedom store Combinations supporting mechanism is driven by six servo motors, when six degree of freedom store Combinations branch
When support mechanism passes through testing site position, each servo motor continues to keep current movement velocity uniform motion (100ms), adopts simultaneously
Collect balance power and torque, by trace predicating algorithm, obtain next testing site estimates position；
Step 3: with the position of each freedom degree current test point of six degree of freedom store Combinations supporting mechanism and speed, acceleration,
The position of next testing site and speed, acceleration, the runing time between two testing sites is input condition, quasi- using 5 order polynomials
The method of conjunction carries out trajectory planning between current test point and next testing site；Namely obtain between two testing sites six freely
The function that position, speed, acceleration and the acceleration of each freedom degree operation of degree store Combinations supporting mechanism change over time；
Step 4: on the basis of Minimum-time interval delta T (1ms or 2ms), respectively by six degree of freedom store Combinations supporting mechanism
N number of point is turned to the location track between targeted test point is discrete by degree current test point；
Step 5: control and collecting computer with the cycle period of Δ T (1ms or 2ms) by each freedom degree track it is discrete after
N number of point be issued to six servo-drivers one by one, servo-driver completes six degree of freedom store Combinations with the mode of position follower
The position following control of each freedom degree of supporting mechanism；
Step 6: completing after all n times positions issue, and six degree of freedom store Combinations supporting mechanism has been servo-actuated to estimating point
Set, keep each freedom degree movement velocity of six degree of freedom store Combinations supporting mechanism it is constant, continue uniform motion, using this period into
Conditioning, acquisition and the trace predicating of row balance data calculate, and obtain next testing site estimates position；
Step 7: repeating step 2~step 6, until all tracing points of completion estimate calculating and movement, stores simultaneously defeated
Test result out.
Further: in step 3, the specific method is as follows for the trajectory planning between two testing sites:
Trajectory planning between two testing sites, using 5 order polynomial method for planning track of joint space, to each freedom motor
Position carries out trajectory planning respectively；Give the whole story point condition of each freedom degree, position, speed, acceleration including this testing site
And position, the speed, acceleration of next testing site, totally 6 boundary conditions；Fitting result, the single order of 5 order polynomials lead letter
Number, second order derived function, three order derivative functions respectively as the position of each freedom degree, speed, acceleration, impact the function of time,
It is continuous with superior function, it ensure that the smooth of movement；
Further: in step 3, the velocity and acceleration of each freedom degree testing site of six degree of freedom store Combinations supporting mechanism
With the upper limit, run duration is not equal to true store Combinations point-to-point transmission run duration between two testing sites in test, when introducing in test
Between scale factor, extend the run duration of store Combinations in test, the slowing mechanism speed of service, and test it is whole using it is unified when
Between scale factor, in the reasonable scope the control of the velocity and acceleration of mechanism.
Further: the scale factor is suitable under normal circumstances between 1:20~1:50；Or scale factor is adopted
With 1:50, suitable for the store Combinations violent in magazine class angle change, using 1:50 this than more gentle time scale；
Or scale factor uses 1:20, it, can this be more fast using 1:20 suitable for symmetrical shape and stable plug-in of aerodynamic force
The time scale of speed.The selection of time scale can also be adjusted according to actual tests situation.
Further: the given method of 6 boundary conditions are as follows: the current test point position of every section of track, adds speed
Speed (being zero) is it is known that next testing site position, acceleration (being zero) are known, it is also necessary to provide the speed of next testing site, 5
The equation of order polynomial fitting can just solve；Next test spot speed is according to average speed known to each axis (when displacement is divided by movement
Between) and current test spot speed, provide speed of the value close to average speed as next testing site.In this way
Given boundary condition, so that next test spot speed is very close to average speed, motion process is more steady, trajectory planning algorithm
Adaptability greatly improve.
In addition, the present invention devises a kind of captive trajectory testing measuring and controlling equipment of continuous control mode, the test measuring and controlling equipment
Equipment Foundations are provided for above-mentioned test method.
The captive trajectory testing measuring and controlling equipment of continuous control mode, including TT&C system host computer, real time system control and
Collecting computer, six motor servo drivers, six servo motors, six degree of freedom store Combinations supporting mechanism, hexa-atomic day are gentle
Signal conditioner, real time system control and collecting computer are real time system control and collecting computer based on PXI bus；Its
In, it is connected between TT&C system host computer and control and collecting computer by Ethernet；Control and collecting computer are watched with six
It takes and is connected by EtherCAT real-time bus between motor driver；Pass through between six motor servo drivers and six servo motors
Power cable and the connection of encoder cable；Six servo motors are mounted on six degree of freedom store Combinations supporting mechanism, are controlled respectively
The axial of mechanism, transverse direction, normal direction, pitching, yaw, roll freedom are moved, and then control position and the posture of store Combinations；
Store Combinations are provided with six COMPONENT BALANCEs；Six COMPONENT BALANCEs are connect by analog signals line with signal conditioner；Signal conditioner
It is connect between control and collecting computer by analog signals line.
Present invention effect achieved are as follows:
Firstly, a kind of captive trajectory testing method for continuous control mode that the present invention provides, utilizes advanced reasonable survey
System structure is controlled, is executed according to the experiment process of continuous captive trajectory testing, and utilize the quintic algebra curve track of joint space
Planing method can significantly improve test efficiency under the premise of guarantee test precision, save blow-time, save gas source energy
55% or more consumption；
Secondly, the position of each freedom degree, speed, acceleration, the function of time of impact are continuous, the flat of movement ensure that
It is suitable；
Furthermore time scale is introduced during test, extends the run duration of store Combinations in test, slowing mechanism fortune
Scanning frequency degree controls the velocity and acceleration of mechanism in the reasonable scope；
Finally, the given method of boundary condition, so that next test spot speed is very close to average speed, motion process is more
Add steadily, the adaptability of trajectory planning algorithm greatly improves.
Detailed description of the invention
Fig. 1 is experiment process figure of the invention；
Fig. 2 is TT&C system structure chart of the present invention.
Specific embodiment
Exemplary embodiment of the invention is described hereinafter in connection with attached drawing.For clarity and conciseness,
All features of actual implementation mode are not described in the description.It should be understood, however, that developing any this actual implementation
Much decisions specific to embodiment must be made during example, to realize the objectives of developer, for example, symbol
Restrictive condition those of related to system and business is closed, and these restrictive conditions may have with the difference of embodiment
Changed.In addition, it will also be appreciated that although development is likely to be extremely complex and time-consuming, to having benefited from the present invention
For those skilled in the art of disclosure, this development is only routine task.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, which should be understood that, to be had and the meaning in the context of the prior art
The consistent meaning of justice, and unless defined as here, it will not be explained in an idealized or overly formal meaning.
The meaning of heretofore described " inside and outside " refers to relative to equipment itself, the side inside sensing equipment
To in, on the contrary is outer, rather than the specific restriction to the device of the invention mechanism.
When the meaning of heretofore described " left and right " refers to reader's face attached drawing, the left side of reader is a left side,
The right of reader is the right side, rather than the specific restriction to the device of the invention mechanism.
The meaning of heretofore described " connection " can be between component be directly connected to be also possible to pass through between component
Other components are indirectly connected with.
Here, and also it should be noted is that, in order to avoid having obscured the present invention because of unnecessary details, in the accompanying drawings
Illustrate only with closely related apparatus structure and/or processing step according to the solution of the present invention, and be omitted and the present invention
The little other details of relationship.The preferred embodiment of the present invention is elaborated below according to attached drawing.
As shown in Fig. 2, the measuring and controlling equipment that the present embodiment uses includes TT&C system host computer, based on the real-time of PXI bus
System control and collecting computer, six motor servo drivers, six servo motors, six degree of freedom store Combinations supporting mechanism,
Hexa-atomic balance, signal conditioner etc.；Wherein, it is connected between TT&C system host computer and control and collecting computer by Ethernet；
It is connected between control and collecting computer and six motor servo drivers by EtherCAT real-time bus；Six servo motors drive
It is connected between dynamic device and six servo motors by power cable and encoder cable；Six servo motors are mounted on outside six degree of freedom
It hangs on object supporting mechanism, the axial of control mechanism, transverse direction, normal direction, pitching, yaw, roll freedom are moved respectively, in turn
Control position and the posture of store Combinations；Store Combinations are provided with six COMPONENT BALANCEs；Six COMPONENT BALANCEs pass through analog signals line and letter
The connection of number conditioner；It is connected between signal conditioner and control and collecting computer by analog signals line.
As shown in Figure 1, continuous captive trajectory testing process is as follows:
(1) test parameters is inputted in TT&C system host computer, and generates experiment process, control and collecting computer receiving stream
Journey, and in real-time system, test procedure is executed by process；
(2) control and collecting computer according to trajectory planning as a result, by EtherCAT real-time bus control six servos
Driver, and then six degree of freedom store Combinations supporting mechanism is driven by six servo motors, when mechanism passes through testing site position,
Each servo motor continues to keep current movement velocity uniform motion 100ms, while acquiring balance power and torque, pre- by track
Estimation algorithm, obtain next testing site estimates position；
(3) with the position of each freedom degree current test point of mechanism and speed, the position of next testing site and speed, two tests
Runing time between point is input condition, the method being fitted using 5 order polynomials, between current test point and next testing site
Carry out trajectory planning；Namely obtain position, speed, acceleration and the acceleration of each freedom degree operation of mechanism between two testing sites
The function changed over time；
(4) on the basis of Minimum-time interval delta T (1ms or 2ms), each freedom degree current test point of mechanism to target is tried
Location track between testing a little is discrete to turn to N number of point；
(5) control and collecting computer are N number of after discrete by each freedom degree track with the cycle period of Δ T (1ms or 2ms)
Point is issued to six servo-drivers one by one, and servo-driver completes the position of each freedom degree of mechanism with the mode of position follower
Servo antrol；
(6) after all n times positions of completion issue, mechanism has been servo-actuated to a position is estimated, and each freedom degree of holding mechanism is transported
Dynamic speed is constant, continues uniform motion, is calculated, is obtained using the conditioning, acquisition and trace predicating that carry out balance data this period
Obtain next testing site estimates position；
(7) (2)~(6) are repeated, until all tracing points of completion estimate calculating and movement, store simultaneously output test knot
Fruit.
Specifically: the method for planning track between two testing sites is as follows:
Trajectory planning between two testing sites, using the quintic algebra curve method for planning track of joint space, to each freedom degree electricity
Seat in the plane is set carries out trajectory planning respectively；Give the whole story point condition of each freedom degree, position, speed including this testing site, acceleration
Position, the speed, acceleration of degree and next testing site, totally 6 boundary conditions；Fitting result, the single order of quintic algebra curve are led
Function, second order derived function, three order derivative functions respectively as the position of each freedom degree, speed, acceleration, impact time letter
Number, it is continuous with superior function, it ensure that the smooth of movement；Quintic algebra curve is as follows:
In formula, θ is motor position,For motor speed,For motor acceleration, t is run duration, a0~a5To be wait solve
Number, after bringing 6 boundary conditions into, equation group is as follows:
In formula, θ0For current test point position,For current test spot speed,For current test point acceleration, θfFor under
One testing site position,For next test spot speed,For next testing site acceleration, t is run duration；
To stablize model sport at target point, so that more stable balance signal is collected, by adding at next point
Speed is set as zero, solution of equations are as follows:
In formula, T moves total time between two testing sites；
The velocity and acceleration of mechanism operation has the upper limit, and run duration cannot be equal to outside true between two testing sites in test
Object point-to-point transmission run duration is hung, needs to introduce time scale, extends the run duration of store Combinations in test, slowing mechanism fortune
Scanning frequency degree tests whole process and uses unified time scale, and the velocity and acceleration of mechanism is controlled in the reasonable scope；One
As in the case of scale factor between 1:20~1:50, the violent store Combinations of magazine class angle change, can using 1:50 this
Than more gentle time scale；Symmetrical shape and aerodynamic force it is stable it is plug-in can using 1:20 this it is more quick when
Between scale factor；The selection of time scale can also be adjusted according to actual tests situation；
The current test point position of every section of track, speed, acceleration (being zero) are equal it is known that next testing site position, acceleration
It is known to spend (being zero), it is also necessary to provide the speed of next testing site, the equation of 5 order polynomials fitting can just solve；Next testing site
Speed is calculated by formula according to average speed known to each axis (displacement is divided by run duration) and current test spot speed
One reasonable value:
Boundary condition is given in this way, so that next test spot speed is very close to average speed, motion process
More steady, the adaptability of trajectory planning algorithm greatly improves.
The present embodiment is come using advanced reasonable TT&C system structure according to the experiment process of continuous captive trajectory testing
It is tested.Pass through according to test input parameter and boundary condition starting test, the round-the-clock movement of mechanism during test
Holding mechanism uniform motion when testing site, and balance signal acquisition, trace predicating calculating are completed in 100ms, and utilize joint
The method for planning track of quintic algebra curve completes current test point to the trajectory planning between next testing site in space, guarantees mechanism
The stationarity and rapidity of continuous operation.This kind of method can significantly improve test efficiency under the premise of guarantee test precision,
Blow-time is saved, 55% or more gas source energy consumption is saved.
The above examples are only used to illustrate the technical scheme of the present invention, rather than its limitations；Although referring to above-mentioned each implementation
Invention is explained in detail for example, those skilled in the art should understand that: it still can be to aforementioned each reality
It applies technical solution documented by example to modify, or equivalent substitution of some or all of the technical features；And this
It modifies or replaces, the range for technical solution of the embodiment of the present invention that it does not separate the essence of the corresponding technical solution.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (8)
1. a kind of captive trajectory testing method of continuous control mode, which is characterized in that step 1: defeated in TT&C system host computer
Enter test parameters, and generate experiment process, control and collecting computer receive process, and in real-time system, execute by process
Test procedure；
Step 2: control and collecting computer according to trajectory planning as a result, by EtherCAT real-time bus control six servos
Driver, and then six degree of freedom store Combinations supporting mechanism is driven by six servo motors, when six degree of freedom store Combinations support machine
Structure pass through testing site position when, each servo motor continues to keep current movement velocity uniform motion, at the same acquire balance power and
Torque, by trace predicating algorithm, obtain next testing site estimates position；
Step 3: next with the position of each freedom degree current test point of six degree of freedom store Combinations supporting mechanism and speed, acceleration
The position of testing site and speed, acceleration, the runing time between two testing sites are input condition, obtain between two testing sites six freely
The function that position, speed, acceleration and the acceleration of each freedom degree operation of degree store Combinations supporting mechanism change over time；
Step 4: on the basis of Minimum-time interval delta T, by each freedom degree current test point of six degree of freedom store Combinations supporting mechanism
N number of point is turned to the location track between targeted test point is discrete；
Step 5: control and collecting computer are issued N number of point of each freedom degree track after discrete with the cycle period of Δ T one by one
To six servo-drivers, servo-driver completes each freedom of six degree of freedom store Combinations supporting mechanism with the mode of position follower
The position following control of degree；
Step 6: completing after all n times positions issue, and six degree of freedom store Combinations supporting mechanism has been servo-actuated to estimating a position,
It keeps each freedom degree movement velocity of six degree of freedom store Combinations supporting mechanism constant, continues uniform motion, carried out using this period
Conditioning, acquisition and the trace predicating of balance data calculate, and obtain next testing site estimates position；
Step 7: repeating step 2~step 6, until all tracing points of completion estimate calculating and movement, stores and exports examination
Test result.
2. a kind of captive trajectory testing method of continuous control mode according to claim 1, which is characterized in that step 2
In, each servo motor a length of 100ms when continuing to keep current movement velocity uniform motion.
3. a kind of captive trajectory testing method of continuous control mode according to claim 2, which is characterized in that step 4
In, Minimum-time interval delta T is equal to 1ms or 2ms.
4. a kind of captive trajectory testing method of continuous control mode according to claim 3, which is characterized in that in step 3,
The specific method is as follows for trajectory planning between two testing sites:
Trajectory planning between two testing sites, using 5 order polynomial method for planning track of joint space, to each freedom degree motor position
Trajectory planning is carried out respectively；The whole story point condition for giving each freedom degree, position, speed, acceleration including this testing site and
The position of next testing site, speed, acceleration, totally 6 boundary conditions；The fitting result of 5 order polynomials, single order derived function, two
Rank derived function, three order derivative functions respectively as the position of each freedom degree, speed, acceleration, impact the function of time, the above letter
Number is continuous.
5. a kind of captive trajectory testing method of continuous control mode according to claim 4, which is characterized in that step 3
In, the velocity and acceleration of each freedom degree testing site of six degree of freedom store Combinations supporting mechanism has the upper limit, two testing sites in test
Between run duration be not equal to true store Combinations point-to-point transmission run duration, time scale is introduced in test, and test whole process and adopt
With unified time scale.
6. a kind of captive trajectory testing method of continuous control mode according to claim 5, which is characterized in that the ratio
The factor is between 1:20~1:50；Or scale factor uses 1:50；Or scale factor uses 1:20.
7. a kind of captive trajectory testing method of continuous control mode according to claim 6, which is characterized in that described 6
The given method of boundary condition are as follows: the current test point position of every section of track, speed, acceleration are equal it is known that next test point
It sets, acceleration is it is known that next test spot speed provides one and connect according to average speed known to each axis and current test spot speed
Speed of the value of nearly average speed as next testing site.
8. a kind of captive trajectory testing measuring and controlling equipment of continuous control mode, which is used to be claim 1-7
The test method provides infrastructure device, which is characterized in that including TT&C system host computer, real time system control and acquisition meter
Calculation machine, six motor servo drivers, six servo motors, six degree of freedom store Combinations supporting mechanism, the gentle signal tune in hexa-atomic day
Device is managed, real time system control and collecting computer are real time system control and collecting computer based on PXI bus；Wherein, it surveys
It is connected between control system host computer and control and collecting computer by Ethernet；Control and collecting computer and six servo motors
It is connected between driver by EtherCAT real-time bus；Pass through power line between six motor servo drivers and six servo motors
Cable and the connection of encoder cable；Six servo motors are mounted on six degree of freedom store Combinations supporting mechanism, difference control mechanism
Axial direction, transverse direction, normal direction, pitching, yaw, roll freedom are moved, and then control position and the posture of store Combinations；Store Combinations
It is provided with six COMPONENT BALANCEs；Six COMPONENT BALANCEs are connect by analog signals line with signal conditioner；Signal conditioner and control
And it is connected between collecting computer by analog signals line.
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| 刘宽: "风洞捕获轨迹试验系统试验方法研究", 《中国优秀硕士论文全文数据库 基础科技辑》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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Application publication date: 20191119 |