CN113418674B - Wind tunnel track capture test method with three-degree-of-freedom motion of primary model - Google Patents

Wind tunnel track capture test method with three-degree-of-freedom motion of primary model Download PDF

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CN113418674B
CN113418674B CN202110712136.5A CN202110712136A CN113418674B CN 113418674 B CN113418674 B CN 113418674B CN 202110712136 A CN202110712136 A CN 202110712136A CN 113418674 B CN113418674 B CN 113418674B
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CN113418674A (en
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祝令谱
谢峰
李广良
闫欢欢
张江
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China Academy of Aerospace Aerodynamics CAAA
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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
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    • G—PHYSICS
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Abstract

The invention relates to a wind tunnel track capture test method with a primary model capable of moving in three degrees of freedom. The method is characterized in that a double-rotating-shaft mechanism is designed and added on the basis of an original half-arm attack angle mechanism, a first-stage model three-degree-of-freedom motion mechanism in a CTS test is formed together, and high-precision synchronous motion of a second-stage model in the CTS test with six degrees of freedom can be realized, and high-precision synchronous change of an attack angle, a sideslip angle and a roll angle of the first-stage model can be realized. The process is as follows: the wind tunnel test starts, three attitude angles of a primary model and six motor strokes of a parallel mechanism of a secondary model are respectively given, the primary model is enabled to reach the three given attitude angles by adopting a nonlinear dynamic inverse control method, the secondary model and the primary model move synchronously, a plurality of positions are completed in each test to obtain a track of the secondary model, and the test proves that the method can play a good control effect.

Description

Wind tunnel track capture test method with three-degree-of-freedom motion of primary model
Technical Field
The invention belongs to the field of special tests of wind tunnels, and relates to a CTS (clear to send) test method with a primary model capable of moving in three degrees of freedom, in particular to a design method of an aircraft attitude loop controller.
Background
A wind tunnel trajectory Capture (CTS) test is a main means for researching the multi-body separation problem, can obtain a test result equivalent to full-size flight data, and can effectively evaluate the separation safety characteristic. The existing capture trajectory testing technology only studies the separation characteristics of a small and light separating body in the separation process, and the influence of pneumatic interference on a large and heavy separated body is considered to be negligible, so that the separated body is always kept still in the test process. The parallel interstage separation process of the aerospace craft has great influence on the motion of the aerospace craft, the motion process of the separated body is not ignored, and therefore the parallel interstage separation problem of the aerospace craft can be accurately researched only by simulating two-stage simultaneous motion in a capture track test. The capture track test of two-stage simultaneous movement has no mature test technology and experience in China for reference. Therefore, the three-degree-of-freedom motion control system of the primary aircraft model is established and developed, the synchronous resolving control of two-stage motion tracks in the high-speed wind tunnel is realized, reliable ground simulation test data are obtained, and the method is a key problem which needs to be solved urgently in the research of parallel interstage safety separation of aerospace aircraft.
At home and abroad, a plurality of researches on the attitude control method of the aircraft exist, and the currently widely used control methods are summarized as follows:
(1) the linear control method comprises the following steps: by simplifying the aircraft model, an approximately linearized model is obtained, which is then controlled using a linear control method. Including multi-loop PID methods, distributed PID methods, simplified PID methods, etc. The method is simple and convenient, has small calculation amount and is easy to realize, but can not effectively control the uncertainty existing on the structure of the aircraft and the interference factors brought by the environment;
(2) the nonlinear control method comprises the following steps: the attitude of the aircraft is controlled by adopting a nonlinear control method, the method needs to accurately model the aircraft, and comprises a control method based on four decoupling rings, a tracking control method based on nonlinear model prediction, a method based on a size controller and the like, the nonlinear control method has small calculation amount and has good effects on interference suppression and uncertainty processing, but the requirement on the modeling accuracy of a control object is high in order to achieve good control effect;
(3) the intelligent control method comprises the following steps: and an intelligent algorithm is adopted for control, and the control method does not need to be based on a system model and comprises robust control, H-infinity control, fuzzy control and the like. In the flight process of the aircraft, the influence of external interference and other uncertain factors is inevitable, and robust control and fuzzy control can play a good role in inhibiting in this respect, but the two methods have large calculation amount and long operation time, and are not beneficial to real-time control.
Disclosure of Invention
The technical problem solved by the invention is as follows: the aircraft attitude control method based on the nonlinear dynamic inverse is provided, a double-rotating-shaft mechanism with three degrees of freedom and high-precision motion of a first-stage model is introduced into a capture trajectory test system for the first time, and a capture trajectory test with simultaneous motion of two stages of models is successfully developed.
The technical scheme of the invention is as follows:
in a first aspect, a wind tunnel trajectory capture test method with a primary model capable of three-degree-of-freedom motion comprises the following steps:
1) respectively obtaining the actual three-axis angular velocity [ p, q, r ] of the output quantity primary model of the slow loop]TOutput of fast loop first order model expected three-axis angular velocity [ p ]c,qc,rc]T；
2) According to the actual triaxial angular velocity [ p, q, r ] of the primary model in the step 1)]TThree-axis angular velocity [ p ] expected from the first-order modelc,qc,rc]TEstablishing an expected angular velocity tracking model v in the form of a first-order inertia link1；
3) Actual triaxial angular velocity [ p, q, r ] of the primary model]TFor state variables, according to the expected angular velocity tracking model v in the form of the first-order inertial element in step 2)1Meanwhile, according to a moment equation, a fast loop dynamic inverse control law is obtained, and therefore the triaxial moment of the primary model is obtained
Figure BDA0003134167330000021
The three-axis moment of the primary model
Figure BDA0003134167330000022
Inputting the three-axis actual attitude angle and the actual angular velocity of the primary model into a motor model;
4) command [ phi ] for desired anglec,θc,ψc]TUsing the three-axis actual attitude angle [ phi, theta, phi ] of the primary model obtained in the step 3) as an input signal of a slow loop]TAs a feedback signal at the input of the slow loop;
5) according to the expected angle instruction [ phi ] in the step 4)c,θc,ψc]TThree-axis actual attitude angle [ phi, theta, psi ] with the primary model]TEstablishing an expected attitude angle tracking model v in the form of a first-order inertia link2；
6) Tracking the model according to the expected attitude angle in the form of the first-order inertia link in the step 5), and simultaneously, taking the three-axis actual attitude angles [ phi, theta, psi ] of the first-order model]TObtaining a dynamic inverse control law of a slow loop according to a conversion relation between a three-axis actual attitude angle and a three-axis angular velocity of the primary model for state variables, thereby obtaining an expected three-axis angular velocity [ p ] of the primary modelc,qc,rc]T；
7) Repeating the steps until the primary model moves to the target attitude angle phi, theta, psi]TSecond-order model movement to three-axis target displacement and three-axis target attitude angle
Figure BDA0003134167330000031
And finishing a secondary model track capture test.
Optionally, the expected angular velocity tracking model v in the form of the first-order inertia element of step 2)1The method specifically comprises the following steps:
Figure BDA0003134167330000032
wherein the content of the first and second substances,
Figure BDA0003134167330000033
is the frequency domain bandwidth of each channel of the fast loop.
Alternatively, K1The value range of each element in the matrix is (0, 1).
Optionally, the three-axis moment of the primary model in step 3)
Figure BDA0003134167330000034
The method specifically comprises the following steps:
Figure BDA0003134167330000035
Figure BDA0003134167330000036
wherein [ I ]x,Iy,Iz]Is the moment of inertia of the primary model about three axes.
Optionally, the expected attitude angle tracking model v in the form of the first-order inertia element of step 5)2The method specifically comprises the following steps:
Figure BDA0003134167330000041
wherein the content of the first and second substances,
Figure BDA0003134167330000042
is the bandwidth of each channel of the slow loop.
Alternatively, K2The value range of each element in the matrix is (0, 1).
Optionally, step 6) the primary model expects a three-axis angular velocity [ p ]c,qc,rc]TThe method specifically comprises the following steps:
Figure BDA0003134167330000043
wherein the conversion matrix
Figure BDA0003134167330000044
State variable x2＝[φ,θ,ψ]T。
In a second aspect, a processing apparatus comprises:
a memory for storing a computer program;
a processor for calling and running the computer program from the memory to perform the method of the first aspect.
A computer readable storage medium having stored thereon a computer program or instructions which, when executed, implement the method of the first aspect.
A computer program product comprising instructions for causing a computer to perform the method of the first aspect when the computer program product is run on a computer.
Compared with the prior art, the invention has the following breakthrough and advantages:
1) a wind tunnel capture track test with two-stage models moving simultaneously is developed for the first time, and a more intuitive, accurate and reliable simulation technology is provided for the research of two-stage parallel interstage separation;
2) the high-precision synchronous change of three attitude angles of the primary model is creatively controlled by adopting a nonlinear dynamic inverse method;
3) compared with the traditional PID controller, the motion control method has the advantages of smaller overshoot, quicker response, capability of effectively tracking a given position and superior dynamic performance.
Drawings
FIG. 1 is a schematic diagram of the general layout structure of a transient sub-transonic wind tunnel;
FIG. 2 is a flowchart of a trajectory test of simultaneous motion of two stages of models;
FIG. 3 is a schematic diagram of a dynamic inversion system;
FIG. 4 is a three-degree-of-freedom motion mechanism carrying a primary model;
FIG. 5 is a diagram of the mutual positions of the primary and secondary models;
FIG. 6 is a first-order model attitude angle dynamic inverse control loop used in the present invention.
Detailed Description
The invention relates to a wind tunnel track capture test method with a primary model capable of moving in three degrees of freedom, which specifically comprises the following steps:
1) respectively obtaining the actual three-axis angular velocity [ p, q, r ] of the output quantity primary model of the slow loop]TOutput of fast loop first order model expected three-axis angular velocity [ p ]c,qc,rc]T；
2) According to the actual triaxial angular velocity [ p, q, r ] of the primary model in the step 1)]TThree-axis angular velocity expected from the first-order model[pc,qc,rc]TEstablishing an expected angular velocity tracking model v in the form of a first-order inertia link1：
Figure BDA0003134167330000051
Wherein the content of the first and second substances,
Figure BDA0003134167330000052
the frequency domain bandwidth of each channel of the fast loop;
3) actual triaxial angular velocity [ p, q, r ] of the primary model]TFor state variables, according to the expected angular velocity tracking model v in the form of the first-order inertial element in step 2)1Meanwhile, according to a moment equation, a fast loop dynamic inverse control law is obtained, and therefore the triaxial moment of the primary model is obtained
Figure BDA0003134167330000053
Figure BDA0003134167330000054
Wherein the content of the first and second substances,
Figure BDA0003134167330000061
[Ix,Iy,Iz]the moment of inertia of the primary model around the three axes;
the three-axis moment of the primary model
Figure BDA0003134167330000062
Inputting the three-axis actual attitude angle and the actual angular velocity of the primary model into a motor model;
4) command [ phi ] for desired anglec,θc,ψc]TUsing the three-axis actual attitude angle [ phi, theta, phi ] of the primary model obtained in the step 3) as an input signal of a slow loop]TAs a feedback signal at the input of the slow loop;
5) according to the description in step 4)Desired angle command [ phi ]c,θc,ψc]TThree-axis actual attitude angle [ phi, theta, psi ] with the primary model]TEstablishing an expected attitude angle tracking model in a first-order inertia link form:
Figure BDA0003134167330000063
wherein the content of the first and second substances,
Figure BDA0003134167330000064
the bandwidth of each channel of the slow loop;
6) tracking the model according to the expected attitude angle in the form of the first-order inertia link in the step 5), and simultaneously, taking the three-axis actual attitude angles [ phi, theta, psi ] of the first-order model]TObtaining a dynamic inverse control law of a slow loop for a state variable according to a conversion relation between a three-axis actual attitude angle and a three-axis angular velocity of a primary model, so as to obtain an expected three-axis angular velocity of the primary model;
Figure BDA0003134167330000065
wherein the conversion matrix
Figure BDA0003134167330000071
State variable x2＝[φ,θ,ψ]TControlling the variable u2＝[p,q,r]；
Since the dynamic response of the attitude angle loop is slower than that of the angular velocity loop, the bandwidth matrix K1And K2The difference is at least three times, and the value ranges of matrix elements are (0, 1).
7) Repeating the steps until the primary model moves to the target attitude angle phi, theta, psi]TSecond-order model movement to three-axis target displacement and three-axis target attitude angle
Figure BDA0003134167330000072
And finishing a secondary model track capture test.
In the specific embodiment of the invention, the method comprises the following steps:
step 1: the first-level model refers to a carrier such as an airplane, a core-level rocket and the like which are required to complete separation tasks, and the second-level model refers to a small aircraft such as a missile, a fairing and the like which are separated from the carrier. The two structures and the position relation are shown in figure 5, the three-degree-of-freedom motion mechanism of the first-level model adopts a half-arm attack angle and double-rotating-shaft series connection mode, and the six-degree-of-freedom motion mechanism of the second-level model adopts a six-connecting-rod parallel connection mode as shown in figure 4. Given before the test: target roll angle, target pitch angle, target sideslip angle [ phi, theta, psi ] of the primary model]TThree-axis target displacement and three target attitude angles of two-level model
Figure BDA0003134167330000073
The three-degree-of-freedom movement mechanism is fixedly arranged at the top of the wind tunnel test section, one end of a rod piece in the six-connecting-rod structure is arranged on a sliding block of a sliding rail on the side wall of the wind tunnel test section, the other end of the rod piece is fixed on a Hooke hinge, and the Hooke hinge is fixedly connected with the secondary model; in an initial state, the secondary model is arranged at the bottom of the primary model;
step 2: starting a wind tunnel test in the sub-span hypersonic wind tunnel shown in FIG. 1, after a flow field is stabilized, starting the primary model to move according to the attitude angle given in the step 1, and simultaneously, driving the secondary model to move towards the three-axis displacement and the three attitude angles given in the step 1 by a motor, thereby simulating the separation process of the secondary model from the primary model;
and controlling the three attitude angles of the primary model to be in place by a nonlinear dynamic inverse method. In the control method, the three-axis angular velocity [ p, q, r ] of the primary model]TThe three-axis attitude angles [ phi, theta, phi ] of the primary model are the output quantity of the fast loop]TAnd respectively solving the dynamic inverse control laws of the two loops for the output quantity of the slow loop to complete the high-precision position control of the primary model. Fig. 6 shows a functional block diagram of the control method, which is specifically organized as follows:
21) respectively obtaining the actual triaxial angular velocity [ p ] of the output quantity primary model of the slow loopc,qc,rc]TQuick returnOutput quantity first-order model expected three-axis angular velocity [ p, q, r ] of road]T；
22) According to [ p, q, r ] obtained in step 21)]TAnd [ p ]c,qc,rc]TEstablishing an expected angular velocity tracking model v in the form of a first-order inertia link1：
Figure BDA0003134167330000081
Wherein the content of the first and second substances,
Figure BDA0003134167330000082
obtaining appropriate parameters for the frequency domain bandwidth of each channel of the fast loop through adjustment;
23) using three-axis angular velocity [ p, q, r ] of the primary model]TFor the state variable, the expected angular velocity tracking model v in the form of the first-order inertial element according to step 22)1While, at the same time, according to the moment equation
Figure BDA0003134167330000083
Obtaining a fast loop dynamic inverse control law:
Figure BDA0003134167330000084
wherein the content of the first and second substances,
Figure BDA0003134167330000085
[Ix,Iy,Iz]the moment of inertia of the primary model around the three axes;
v obtained in step 22)1Substitution into
Figure BDA0003134167330000086
To obtain three-axis moment
Figure BDA0003134167330000087
Inputting the three-axis actual attitude angle and the actual angular velocity of the primary model into a motor model;
24) command [ phi ] for desired anglec,θc,ψc]TAs an input signal of the slow loop, the three-axis actual attitude angles [ phi, theta, psi ] obtained in the step 23) are used]TAs a feedback signal at the input of the slow loop;
25) according to [ phi ] described in step 24)c,θc,ψc]TAnd [ phi, theta, psi]TEstablishing an expected attitude angle tracking model in a first-order inertia link form:
Figure BDA0003134167330000091
wherein the content of the first and second substances,
Figure BDA0003134167330000092
the bandwidth of each channel of the slow loop needs to be adjusted to obtain appropriate parameters;
26) tracking the model according to the first-order inertial element form of the desired attitude angle of step 25), while tracking the model with the three-axis attitude angles [ phi, theta, psi ] of the first-order model]TAnd (3) as a state variable, according to the conversion relation between the three-axis attitude angle and the three-axis angular velocity of the primary model:
Figure BDA0003134167330000093
obtaining a dynamic inverse control law of the slow loop:
Figure BDA0003134167330000094
wherein the conversion matrix
Figure BDA0003134167330000095
State variable x2＝[φ,θ,ψ]TControlling the variable u2＝[p,q,r]；
V obtained in step 25)2Substitution into
Figure BDA0003134167330000096
Obtaining fast loops in step 21)Desired input signal [ p ]c,qc,rc]T；
27) Since the dynamic response of the attitude angle loop is slower than that of the angular velocity loop, the bandwidth matrix K1And K2The difference is at least three times, and the value ranges of matrix elements are (0, 1). In the experiment, the bandwidth matrix selected by debugging is
Figure BDA0003134167330000097
A better positioning effect can be obtained.
Repeating the steps until the primary model moves to the target attitude angle phi, theta, psi]TSecond-order model movement to three-axis target displacement and three-axis target attitude angle
Figure BDA0003134167330000101
And finishing a secondary model track capture test.
In the step 2, the primary model can complete high-precision three-axis synchronous motion by applying a nonlinear dynamic inverse control method. As shown in the schematic diagram of the dynamic inverse system in fig. 3, the nonlinear dynamic inverse control method includes the following 5 implementation steps:
a. the state equation of the nonlinear system is shown as follows
Figure BDA0003134167330000102
Wherein x ∈ RnThree attitude angles [ phi, theta, phi ] representing the primary model in the present invention are system state vectors]T，u∈RlFor the input vector to be calculated, y ∈ RmThe relationship between the output vector and the system state vector is a nonlinear control function h (x), and f (x) is a nonlinear dynamic function.
b. The inverse system of the system is obtained, firstly, the original equation is transformed to a certain degree to obtain the explicit relation between the output quantity and the input quantity. Derivative y up to the explicit position of u in the n-th derivative expression of y. Derived from y in the equation of state above
Figure BDA0003134167330000103
c. U is shown in the above formula, if in the above formula
Figure BDA0003134167330000104
If the right inverse exists, the 1 st order inverse system of the original system can be obtained
Figure BDA0003134167330000105
It should be noted here that the dimension of the input vector must be greater than or equal to the dimension of the output vector, i.e., l ≧ m, in order to achieve complete decoupling of the original system
d. It is known that
Figure BDA00031341673300001010
Is the rate of change of the state quantity of the system and is represented by the state equation
Figure BDA0003134167330000106
Selecting a desired rate of change of state quantity
Figure BDA0003134167330000107
Substituted in the original form
Figure BDA0003134167330000108
The ideal input quantity of the original system can be obtained
Figure BDA0003134167330000109
e. It can be seen from the above transformation that the nonlinear dynamic inverse method skillfully cancels out the nonlinear link in the original system, and obtains rational input quantity through the expected dynamic response, and the principle of the dynamic inverse system is shown in fig. 6.
Examples
The invention relates to a wind tunnel track capture test method with a primary model capable of moving in three degrees of freedom, and a flow chart of the system is shown in figure 2. The method specifically comprises the following steps:
step 1: the first set of primary and secondary models are given their positions prior to the CTS test.
Step 2: and when the wind tunnel test is started, the flow field is stable, and the primary model and the secondary model start to move to the first group of positions simultaneously.
And step 3: the secondary model can be run accurately to a given position by the siemens Simotion actuation system.
And 4, step 4: the primary model controls the three attitude angles to be in place through a nonlinear dynamic inverse method. The control method is specifically summarized as the following detailed description:
the half-arm attack angle-double-rotating shaft mechanism is a highly nonlinear and strongly coupled driving system, and six state variables are totally contained in a six-degree-of-freedom mathematical model of a primary model
Figure BDA0003134167330000111
Because of being directly influenced by the three-axis moment, the angular velocity is the fastest, and then the change of the attitude angle is influenced by the change of the angular velocity, so that the attitude loop can be divided into a fast loop and a slow loop, which respectively correspond to the three-axis angular velocity loop and the attitude angle loop. Likewise, the nonlinear dynamic inverse controllers of the two loops can also be designed separately, and the state variables are divided as follows:
the variable in the fast loop is the three-axis angular velocity, which is directly influenced by the three-axis moment.
The variable in the slow loop is the attitude angle, and is in integral relation with the angular speed.
In the angular velocity loop, the control variables are roll moment, pitch moment and yaw moment, and the output is triaxial angular velocity. In the attitude angle loop, the control variable is the three-axis angular velocity, and the output quantity is the attitude angle.
(1) Fast loop
The angular velocity loop is used as a fast loop in the attitude loop and corresponds to a triaxial moment balance equation:
Figure BDA0003134167330000112
wherein: x is the number of1＝[p,q,r]T，
Figure BDA0003134167330000113
The mathematical model of the three-degree-of-freedom motion mechanism can be used for obtaining:
Figure BDA0003134167330000121
from the above formula, g1Is a constant term and is reversible, so the system can be inverted by a dynamic inversion method. The desired angular acceleration is to the left of the equilibrium equation. Because the first order inertial element is able to track a given command well, the first order inertial element is selected as the desired angular velocity tracking model. Its dynamic response characteristic and frequency domain bandwidth K1Correlation
Figure BDA0003134167330000122
Wherein the content of the first and second substances,
Figure BDA0003134167330000123
for the bandwidth of each channel of the fast loop, [ p ]c qc rc]The angular speed instruction is output for the fast loop, so that a fast loop dynamic inverse control law is obtained:
Figure BDA0003134167330000124
(2) slow loop
The slow loop corresponds to an attitude angle loop, and describes the relationship between an attitude angle and an angular velocity, and the conversion relationship between the attitude angle and the triaxial acceleration:
x2＝g2(x2)u2
wherein the content of the first and second substances,
Figure BDA0003134167330000125
x2＝[φ,θ,ψ]，u2＝[p,q,r]
Figure BDA0003134167330000126
the attitude angle instruction is output by a position loop for the change rate of the attitude angle, a first-order inertia link is also selected as an expected tracking model of the attitude angle loop, and the method is obtained
Figure BDA0003134167330000131
Figure BDA0003134167330000132
For the bandwidth of each channel of the faster loop, the bandwidth matrix K is a slower dynamic response of the attitude angle loop than that of the angular velocity loop1And K2Should differ by at least three times.
As can be seen from the transformation matrix, when
Figure BDA0003134167330000133
When g is2(x) And the method is reversible, meets the requirement of dynamic inverse design, and can obtain the dynamic inverse control law of the slow loop:
Figure BDA0003134167330000134
the above formula is the dynamic inverse slow loop controller structure.
And 5: and in the test process, calculating in real time to obtain the next position and starting to move after the model is in place.
Step 6: and (5) completing the track capture of the secondary model, returning the model to a safe position, and completing the wind tunnel test.
It should be noted that, the algorithm-related parameters in the foregoing implementation process may be modified as appropriate according to actual situations, and are not limited by the embodiments of the present invention. The relevant algorithm parameters may be modified as appropriate for the practitioner skilled in the art to which the invention pertains based on the foregoing description.
The core of the invention is to adopt a nonlinear dynamic inverse control theory, realize the high-precision control of the attitude angle of the primary model in the wind tunnel test process, and complete the parallel interstage separation CTS test together with the six-degree-of-freedom synchronous motion of the secondary model.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Those skilled in the art will appreciate that the details of the invention not described in detail in the specification are within the skill of those skilled in the art.

Claims (7)

1. A wind tunnel track capture test method with a primary model capable of moving in three degrees of freedom is characterized by comprising the following steps:
1) respectively obtaining the actual three-axis angular velocity [ p, q, r ] of the output quantity primary model of the slow loop]TOutput of fast loop first order model expected three-axis angular velocity [ p ]c,qc,rc]T；
2) According to the actual triaxial angular velocity [ p, q, r ] of the primary model in the step 1)]TThree-axis angular velocity [ p ] expected from the first-order modelc,qc,rc]TEstablishing an expected angular velocity tracking model v in the form of a first-order inertia link1；
3) Actual triaxial angular velocity [ p, q, r ] of the primary model]TFor state variables, according to the expected angular velocity tracking model v in the form of the first-order inertial element in step 2)1Meanwhile, according to a moment equation, the fast loop dynamic is obtainedInverse control law, so as to obtain the three-axis moment of the primary model
Figure FDA0003475875230000011
The three-axis moment of the primary model
Figure FDA0003475875230000012
Inputting the three-axis actual attitude angle and the actual angular velocity of the primary model into a motor model;
4) command [ phi ] for desired anglec,θc,ψc]TUsing the three-axis actual attitude angle [ phi, theta, phi ] of the primary model obtained in the step 3) as an input signal of a slow loop]TAs a feedback signal at the input of the slow loop;
5) according to the expected angle instruction [ phi ] in the step 4)c,θc,ψc]TThree-axis actual attitude angle [ phi, theta, psi ] with the primary model]TEstablishing an expected attitude angle tracking model v in the form of a first-order inertia link2；
6) The expected attitude angle tracking model v in the form of the first-order inertia link according to the step 5)2At the same time, the three-axis actual attitude angles [ phi, theta, phi ] of the primary model]TObtaining a dynamic inverse control law of a slow loop according to a conversion relation between a three-axis actual attitude angle and a three-axis angular velocity of the primary model for state variables, thereby obtaining an expected three-axis angular velocity [ p ] of the primary modelc,qc,rc]T；
7) Repeating the steps until the primary model moves to the expected angle instruction [ phi ]c,θc,ψc]TSecond-order model movement to three-axis target displacement and three-axis target attitude angle
Figure FDA0003475875230000013
And finishing a secondary model track capture test.
2. The wind tunnel of claim 1, wherein the primary model has three degrees of freedomThe track capture test method is characterized in that the expected angular velocity tracking model v in the form of the first-order inertia link in the step 2)1The method specifically comprises the following steps:
Figure FDA0003475875230000021
wherein the content of the first and second substances,
Figure FDA0003475875230000022
the frequency domain bandwidth of each channel of the fast loop;
K1the value range of each element in the matrix is (0, 1).
3. The wind tunnel trajectory capture test method with three degrees of freedom motion of primary model according to claim 2, characterized in that step 3) is implemented by using three-axis moment of the primary model
Figure FDA0003475875230000023
The method specifically comprises the following steps:
Figure FDA0003475875230000024
Figure FDA0003475875230000025
wherein [ I ]x,Iy,Iz]Is the moment of inertia of the primary model about three axes.
4. The wind tunnel trajectory capture test method with three degrees of freedom motion of primary model as claimed in claim 3, characterized in that step 5) the expected attitude angle tracking model v in the form of first-order inertial link2The method specifically comprises the following steps:
Figure FDA0003475875230000026
wherein the content of the first and second substances,
Figure FDA0003475875230000031
the bandwidth of each channel of the slow loop; k2The value range of each element in the matrix is (0, 1).
5. The wind tunnel trajectory capture test method with three degrees of freedom motion of primary model according to claim 4, characterized in that step 6) is implemented by using expected three-axis angular velocity [ p ] of the primary modelc,qc,rc]TThe method specifically comprises the following steps:
Figure FDA0003475875230000032
wherein the conversion matrix
Figure FDA0003475875230000033
State variable x2＝[φ,θ,ψ]T。
6. A processing apparatus, comprising:
a memory for storing a computer program;
a processor for calling and running the computer program from the memory to perform the method of any of claims 2 to 5.
7. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when executed, implements the method of any of claims 2 to 5.
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