CN114441133B - Pose calibration method and equipment for attack angle-double-rotating-shaft mechanism for wind tunnel test - Google Patents
Pose calibration method and equipment for attack angle-double-rotating-shaft mechanism for wind tunnel test Download PDFInfo
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Abstract
The invention relates to a pose calibration method and equipment for an attack angle-double-rotating-shaft mechanism in a wind tunnel test. Firstly, determining an inverse solution motion mathematical model of an attack angle-double-rotating-shaft mechanism according to theoretical deduction, then setting initial zero values of rotation values of three rotating shafts, measuring attitude angles in a calibration attitude angle sequence by using a ROMER absolute measuring machine, and acquiring undetermined error parameters in a parameterized model by adopting a nonlinear least square method to realize attitude angle calibration work of the attack angle-double-rotating-shaft mechanism; the invention is suitable for calibrating the gesture of the attack angle-double-rotating-shaft mechanism, and the positioning accuracy of the gesture is high.
Description
Technical Field
The invention relates to a gesture calibration method for an attack angle-double-rotating-shaft mechanism in a wind tunnel test and electronic equipment, which are used for acquiring undetermined error parameters of the attack angle-double-rotating-shaft mechanism so as to achieve the aim of accurately controlling the gesture of a wind tunnel model, and belong to the technical fields of wind tunnel tests and motion mechanisms.
Background
Wind tunnel test is the main means of aerodynamic research, and the model is installed in the wind tunnel test section through a support system when wind tunnel test is carried out. The model support has two functions: firstly, carrying out a blowing test on a support model; the two chambers change the pose of the model, such as angle of attack α, sideslip angle β, and roll angle γ. The common model support forms of the high-speed wind tunnel are tail support, side support, abdomen support, back support, wire support and the like, wherein an attack angle-double-rotating-shaft mechanism is an important form of the tail support.
The attack angle-double-rotating-shaft mechanism consists of an attack angle device, a main shaft and a tail shaft, wherein the attack angle device is arranged on a wind tunnel, the main shaft and the tail shaft are arranged on the attack angle device, and the model is formedIs arranged on the tail shaft. The attack angle device, the main shaft and the tail shaft can rotate around the respective rotation centers by a certain angle respectively, and an initial preset angle theta is arranged between the axis of the main shaft and the axis of the tail shaft m . When the wind tunnel test is carried out, the main shaft is driven by the attack angle device to rotate around the rotation center of the attack angle device in the longitudinal symmetry plane of the wind tunnel, the main shaft rotates around the self axis of the main shaft, and the model is driven around the self axis of the model to rotate around the back tail shaft, so that the attack angle alpha, the sideslip angle beta and the rolling angle gamma required by the wind tunnel test are realized.
Wind tunnel tests require that the model attitude angle be accurately positioned during the blowing process to accurately simulate the attitude angle of the aircraft. Positioning errors of the angle of attack-twin spindle mechanism are caused by a number of factors, including mainly machining and assembly errors of the components of the angle of attack-twin spindle mechanism, errors caused by temperature and load deformations, errors caused by vibrations, etc. The processing and assembling errors of the parts, the deformation of the components, the gaps among the kinematic pairs and the like can account for 60-70% of the total errors. The kinematic calibration is an effective means for reducing the positioning error of the attack angle-double-rotating-shaft mechanism. The kinematic calibration methods at home and abroad can be classified into a self calibration method and an external calibration method according to different measurement modes. The self-calibration method is to measure and calculate the model pose by an internal sensor, and the external calibration method is to measure the model pose by an external sensor.
If the attack angle-double-rotating-shaft mechanism of the wind tunnel test adopts a self-calibration method, the built-in sensor can increase the blocking degree of the mechanism, and the built-in sensor is easy to damage in the test process. In addition, in the prior art, the respective attitude angles are calibrated, and because the respective attitude angles are not independently realized by single-rotating-shaft movement, but are realized by coupling three rotating-shaft movements, the condition that one attitude angle is improved and the other attitude angle is reduced is difficult to calibrate one by one, so that overlarge positioning errors of certain attitude angles cannot be avoided.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a pose calibration method for an attack angle-double-rotating-shaft mechanism in a wind tunnel test.
The above object of the present invention is mainly achieved by the following technical solutions:
a pose calibration method for an attack angle-double-rotating-shaft mechanism of a wind tunnel test comprises the following steps:
s1, installing an attack angle-double-rotating-shaft mechanism in a wind tunnel;
s2, determining an inverse solution motion mathematical model of the attack angle-double-rotating-shaft mechanism in the wind tunnel test;
s3, establishing a wind tunnel reference coordinate system by using an absolute measuring arm;
s4, in the wind tunnel reference coordinate system, setting initial zero of rotation values of three rotating shafts in the attack angle-double rotating shaft mechanism, wherein the three rotating shafts are respectively an attack angle device rotating shaft, a main shaft and a tail shaft;
s5, selecting a group of semantic gesture sequences as a calibration gesture angle combination sequence, inputting the inverse solution motion mathematical model in the step 2 to obtain rotation values of three rotating shafts, controlling the rotation of a motor of an attack angle-double rotating shaft mechanism according to the rotation values, and measuring the gesture angle of a tail shaft by using an absolute measuring arm to obtain an actual measurement gesture angle sequence for calibration;
s6, taking the actual measurement attitude angle sequence obtained in the step S5 and the rotation values of the three rotating shafts obtained through the inverse solution motion mathematical model in the step S5 as inputs, obtaining undetermined error parameters of the attack angle-double rotating shaft mechanism by using a nonlinear least square method, and calibrating the inverse solution motion mathematical model in the step S2 through the undetermined error parameters;
s7, selecting a group of sense gesture sequences as a verification gesture angle sequence, inputting the inverse solution motion mathematical model calibrated in the step S6 to obtain rotation values of three rotating shafts, controlling the rotation of a motor of an attack angle-double rotating shaft mechanism according to the rotation values, measuring the gesture angle of a tail shaft by using an absolute measuring arm to obtain an actual measurement gesture angle sequence for verification, and comparing the actual measurement gesture angle sequence for verification with the nominal gesture sequence to obtain positioning accuracy;
s8, if the positioning accuracy does not meet the requirements of the attitude accuracy of the wind tunnel test, selecting a group of name attitude sequences, and repeating the steps S5-S7 until the positioning accuracy meets the requirements of the attitude accuracy of the wind tunnel test, and ending the calibration.
In the above-mentioned pose calibration method for wind tunnel test attack angle-double rotating shaft mechanism, in step S1, the attack angle device in the attack angle-double rotating shaft mechanism is fixedly installed with the upper wall of the wind tunnel, so as to ensure that the sector of the attack angle device is perpendicular to the plane of the upper wall of the wind tunnel, and the main shaft and the tail shaft of the double rotating shaft mechanism are fixedly connected with the attack angle device, so as to ensure that the axis of the main shaft is in the plane of the sector of the attack angle device.
In the above-mentioned pose calibration method for wind tunnel test attack angle-double-spindle mechanism, the inverse solution motion mathematical model of attack angle-double-spindle mechanism in step S2 is as follows:
wherein θ m Is a preset included angle alpha between the main shaft and the tail shaft 0 For angle of attack means rotation, gamma 1 For the rotation angle of the main shaft around the axis thereof, gamma 2 The angle of rotation of the tail shaft around the axis of the tail shaft is alpha, alpha is attack angle of the tail shaft, beta is sideslip angle of the tail shaft, and gamma is rolling angle of the tail shaft.
In the above-mentioned pose calibration method for wind tunnel test attack angle-dual spindle mechanism, the method for establishing a wind tunnel reference coordinate system by using an absolute measuring arm in step S3 includes:
the method comprises the steps of measuring a lower plane of a wind tunnel test section by using an absolute measuring arm, taking an obtained normal direction as a positive direction of a y axis, measuring a left plane of a reverse airflow direction of the wind tunnel test section by using the absolute measuring arm, taking the obtained normal direction as a positive direction of a z axis, determining an x axis by using a right hand rule, and selecting any point as an origin to establish a wind tunnel reference coordinate system.
In the above method for calibrating the pose of the attack angle-double rotation axis mechanism for wind tunnel test, the method for setting the initial zero of the rotation values of the three rotation axes in the attack angle-double rotation axis mechanism in the step S4 comprises the following steps:
in a wind tunnel reference coordinate system, an absolute measuring arm is used for measuring the attack angle and the roll angle of a main shaft, the attack angle of the main shaft is moved to 0 degree through the rotation of a rotating shaft of the attack angle device, the error is better than 0.05 degree, the rotating value of the rotating shaft of the attack angle device at the moment is set to 0 degree, the roll angle of the main shaft is adjusted to 0 degree through the rotation of the main shaft, the error is better than 0.05 degree, and the rotating value of the rotating shaft of the main shaft at the moment is set to 0 degree; on the basis of adjusting the roll angle of the main shaft to 0 degrees, the roll angle of the tail shaft is measured through an absolute measuring arm, the roll angle of the tail shaft is adjusted to 0 degrees through the rotation of the tail shaft, the error is better than 0.05 degrees, and the rotation value of the rotating shaft of the tail shaft is set to 0 degrees.
In the above-mentioned pose calibration method for wind tunnel test attack angle-dual spindle mechanism, the combined sequence of the marked pose angles in step S5 needs to satisfy: the number of attitude angle combinations must be at least 5, and the attitude angle combinations must undergo 3 degrees of freedom, namely pitch, yaw and roll motions, respectively.
In the above-mentioned pose calibration method for wind tunnel test attack angle-double rotation axis mechanism, the method for obtaining the undetermined error parameter of attack angle-double rotation axis mechanism by using nonlinear least square method in step S6 comprises:
the undetermined error parameters of the attack angle-double rotating shaft mechanism comprise: preset angle error delta theta between main shaft and tail shaft m The tailshaft attack angle calculation correction amount delta alpha, the tailshaft sideslip angle calculation correction amount delta beta and the tailshaft roll angle calculation correction amount delta gamma;
obtaining undetermined error parameters by the following objective functions:
where n is the number of attitude angle combinations,
for inputting the actual measurement attitude angle sequence into the rotation value h of the rotating shaft calculated by the calibrated inverse model j The rotation value of the rotating shaft is calculated for inputting the nominal gesture sequence into the inverse model before calibration;
solving for the target function using nonlinear least squaresError parameter combination { delta theta ] with minimum number m ,Δα,Δβ,Δγ}。
In the above-mentioned pose calibration method for wind tunnel test attack angle-double-spindle mechanism, the inverse solution motion mathematical model calibrated in step S6 is as follows: the method comprises the steps of carrying out a first treatment on the surface of the
In the above-mentioned pose calibration method for wind tunnel test attack angle-dual spindle mechanism, the positioning accuracy in step S7 is expressed by a limit error, and the formula is as follows:
ε i ＝max(x i -x inorm )
wherein x is i For checking the measured attitude angle sequence, x inorm For verification of nominal attitude angle sequence ε i For positioning accuracy, i=1, 2, 3, respectively represent attack angle, sideslip angle, and roll angle.
In the above-mentioned pose calibration method for wind tunnel test attack angle-dual spindle mechanism, the pose accuracy requirement of wind tunnel test in step S8 is attack angle error±0.05°, sideslip angle error±0.05°, roll angle error±0.05°.
An electronic device comprising a memory and a processor:
the memory is used for storing one or more computer instructions;
the processor is configured to execute the one or more computer instructions to:
determining an inverse solution motion mathematical model of an attack angle-double-rotating-shaft mechanism installed in a wind tunnel test;
in a wind tunnel reference coordinate system established by adopting an absolute measuring arm, performing initial zero setting of rotation values of three rotating shafts in the attack angle-double rotating shaft mechanism, wherein the three rotating shafts are respectively an attack angle device rotating shaft, a main shaft and a tail shaft;
selecting a group of semantic gesture sequences as a calibration gesture angle combination sequence, inputting the inverse solution motion mathematical model to obtain rotation values of three rotating shafts, controlling the motor of the attack angle-double rotating shaft mechanism to rotate according to the rotation values, and measuring the gesture angle of a tail shaft by using an absolute measuring arm to obtain an actual measurement gesture angle sequence for calibration;
the actual measurement attitude angle sequence and the rotation values of the three rotating shafts obtained through the inverse solution motion mathematical model are used as inputs, a nonlinear least square method is utilized to obtain undetermined error parameters of an attack angle-double rotating shaft mechanism, and the inverse solution motion mathematical model is calibrated through the undetermined error parameters;
selecting a group of sense gesture sequences as a verification gesture angle sequence, inputting the calibrated inverse solution motion mathematical model to obtain rotation values of three rotating shafts, controlling the motor of the attack angle-double rotating shaft mechanism to rotate according to the rotation values, measuring the gesture angle of a tail shaft by using an absolute measuring arm to obtain an actual measurement gesture angle sequence for verification, and comparing the actual measurement gesture angle sequence with the nominal gesture sequence to obtain positioning accuracy;
if the positioning accuracy does not meet the requirements of the attitude accuracy of the wind tunnel test, selecting a group of name attitude sequences, and repeating the steps until the positioning accuracy meets the requirements of the attitude accuracy of the wind tunnel test, and ending the calibration.
Compared with the prior art, the invention has the following beneficial effects:
(1) The invention aims at the problem that an angle of attack-double rotating shaft mechanism is used in a wind tunnel test, an inverse solution motion mathematical model of the angle of attack-double rotating shaft mechanism is established, undetermined error parameters in the angle of attack-double rotating shaft mechanism of the wind tunnel test are obtained through a nonlinear least square method, the angle of attack-double rotating shaft mechanism realizes three attitude angles of a tail shaft for coupling three rotating shaft motions, the positioning accuracy of the three attitude angles is comprehensively considered, the undetermined error parameters are provided from the inverse solution motion mathematical model, the three attitude angles are coupled by a selected calibration attitude angle sequence, and the three degrees of freedom are uniformly traversed, so that the undetermined error parameters of the three attitude angle positioning accuracy in a mechanism motion space can be obtained, and the positioning accuracy of the angle of attack-double rotating shaft mechanism meets the positioning accuracy requirement of the coupling condition of the three attitude angles of the wind tunnel test.
(2) The invention avoids the condition that in the prior art, the respective attitude angles are calibrated, and because the respective attitude angles are not independently realized by single-rotating-shaft movement but are realized by coupling three-rotating-shaft movements, the condition that one attitude angle is improved in accuracy and the other attitude angle is reduced in accuracy is difficult to calibrate one by one, so that the defect that the positioning error of certain attitude angles is overlarge is unavoidable, and the attitude angle positioning accuracy of an attack angle-double-rotating-shaft mechanism is improved.
(3) The invention adopts an external calibration method, takes an absolute measuring arm as a measuring tool, and measures the attitude angles of the absolute measuring arm and the main shaft and the tail shaft. Establishing a calibration model based on inverse solution based on the kinematic inverse solution relation, identifying undetermined error parameters of the attack angle-double-rotating-shaft mechanism by adopting a nonlinear least square method, and improving the attitude angle positioning accuracy of the attack angle-double-rotating-shaft mechanism; the invention can be used for calibrating the gesture of the attack angle-double-rotating-shaft mechanism in the wind tunnel test, and the calibrated gesture has high positioning accuracy.
Drawings
FIG. 1 is a flow chart of a pose calibration method for an attack angle-double-spindle mechanism for wind tunnel test according to the present invention;
FIG. 2 is a schematic view of the angle of attack-dual axis mechanism of the present invention.
Detailed Description
The invention is described in further detail below with reference to the attached drawings and to specific embodiments:
FIG. 1 is a flow chart of a pose calibration method for an attack angle-double-rotating-shaft mechanism for wind tunnel test according to the invention; fig. 2 is a schematic diagram of an attack angle-double-rotating-shaft mechanism, and the pose calibration method for the attack angle-double-rotating-shaft mechanism for wind tunnel test provided by the invention comprises the following steps:
(1) Installing an attack angle-double-rotating-shaft mechanism in the wind tunnel, wherein the attack angle device is fixedly installed with the upper wall of the wind tunnel; the double-rotating-shaft mechanism is fixedly arranged with the attack angle device. As shown in fig. 2. The attack angle-double-rotating-shaft mechanism consists of an attack angle device 1, a main shaft 2 and a tail shaft 3. The attack angle device is fixed with the upper wall of the wind tunnel through a locating pin and a screw, so that the sector of the attack angle device is vertical to the plane of the upper wall of the wind tunnel, and the double-rotating-shaft mechanism is fixed with the attack angle device through the locating pin and the screw, so that the axis of the main shaft is located in the plane of the sector of the attack angle device.
(2) And determining an inverse solution motion mathematical model of the attack angle-double-rotating-shaft mechanism of the wind tunnel test.
Selecting a set of coupling attitude angles (α, β, γ) can provide the equation of equation (1), i.e., inverse solution motion mathematical model:
wherein θ m Is a preset included angle alpha between the main shaft and the tail shaft 0 For angle of attack means rotation, gamma 1 For the rotation angle of the main shaft around the axis thereof, gamma 2 The angle of rotation of the tail shaft around the axis of the tail shaft is alpha, alpha is attack angle of the tail shaft, beta is sideslip angle of the tail shaft, and gamma is rolling angle of the tail shaft.
(3) Establishing a wind tunnel reference coordinate system using an absolute measuring arm
In the step (3), the absolute measuring arm is used for measuring the lower plane of the wind tunnel test section, the obtained normal direction is used as the positive direction of the y axis, the absolute measuring arm is used for measuring the left plane of the reverse airflow direction of the wind tunnel test section, the obtained normal direction is used as the positive direction of the z axis, the right hand rule is used for determining the x axis, and any point is selected as an origin point for establishing a wind tunnel reference coordinate system.
(4) And in the wind tunnel reference coordinate system, the initial zero setting of the rotation values of three rotating shafts (the rotating shaft of the attack angle device, the main shaft and the tail shaft) in the attack angle-double rotating shaft mechanism is carried out.
In a wind tunnel reference coordinate system, an absolute measuring arm is used for measuring the attack angle and the roll angle of a main shaft, the attack angle of the main shaft is moved to 0 degree through the rotation of a rotating shaft of the attack angle device, the error is better than 0.05 degree, the rotating value of the rotating shaft of the attack angle device at the moment is set to 0 degree, the roll angle of the main shaft is adjusted to 0 degree through the rotation of the main shaft, the error is better than 0.05 degree, and the rotating value of the rotating shaft of the main shaft at the moment is set to 0 degree; on the basis of adjusting the roll angle of the main shaft to 0 degrees, the roll angle of the tail shaft is measured through an absolute measuring arm, the roll angle of the tail shaft is adjusted to 0 degrees through the rotation of the tail shaft, the error is better than 0.05 degrees, and the rotation value of the rotating shaft of the tail shaft is set to 0 degrees.
(5) And (3) selecting a group of sense gesture sequences as a calibration gesture angle combination sequence, inputting the inverse solution motion mathematical model in the step (2) to obtain rotation values of three rotating shafts, controlling the motor of the attack angle-double rotating shaft mechanism to rotate according to the rotation values, enabling the attack angle-double rotating shaft mechanism to move according to the nominal gesture sequence, measuring the gesture angle of the tail shaft by using an absolute measuring arm, and obtaining an actual measurement gesture angle sequence for calibration.
The calibration gesture sequence needs to satisfy: the number of attitude angle combinations must be at least 5, and the attitude angle combinations must undergo 3 degrees of freedom, the 3 degrees of freedom being pitch, yaw and roll motions.
In an alternative embodiment, 60 sets of attitude angle sequences are selected, the attack angles are uniformly selected within the range of (-10 DEG to 10 DEG), the sideslip angles are uniformly selected within the range of (-10 DEG to 10 DEG), and the roll angles are uniformly selected within the range of (-60 DEG to 60 deg. According to the calibration attitude angle combination sequence, a rotating shaft rotating value A is solved according to a formula (1), and a motor is controlled according to the rotating shaft rotating value A to enable an attack angle-double-rotating-shaft mechanism to move according to the calibration attitude angle combination sequence, and an absolute measuring arm is used for measuring the attitude angles of a tail shaft one by one to obtain an actual measurement attitude angle sequence 1.
(6) Obtaining undetermined error parameters of an attack angle-double rotating shaft mechanism: and (3) taking the actual measurement attitude angle sequence obtained in the step (5) and the rotation values of the three rotating shafts obtained through the inverse solution motion mathematical model in the step (5) as inputs, obtaining undetermined error parameters of the attack angle-double rotating shaft mechanism by using a nonlinear least square method, and calibrating the inverse solution motion mathematical model in the step S2 through the undetermined error parameters.
The attack angle-double-rotating-shaft mechanism has 4 unknown parameters, namely: preset angle error delta theta between main shaft and tail shaft m The tailshaft attack angle calculation correction amount Δα, the tailshaft sideslip angle calculation correction amount Δβ, and the tailshaft roll angle calculation correction amount Δγ. ,
the method for obtaining the undetermined error parameter is a nonlinear least square method, takes the actually measured attitude angle sequence 1 and the rotating shaft rotating value A as inputs, and introduces an objective function, as shown in a formula (2).
Where n is the number of attitude angle combinations,
for inputting the actual measured attitude angle sequence into the rotation value of the rotation shaft calculated by the calibrated inverse model (the rotation value of the rotation shaft calculated according to the formula (3) is input by using the actual measured attitude angle sequence), h j The rotation value of the rotation shaft calculated for the inverse model before calibration (rotation value of the rotation shaft obtained for the inverse model before calibration) is input to the nominal posture sequence.
Solving for error parameter combinations { Δθ } that minimize the objective function using nonlinear least squares m ,Δα,Δβ,Δγ}。
The calibrated inverse solution motion mathematical model is as follows:
(7) Selecting a nominal attitude sequence for verification, inputting the inverse solution motion mathematical model calibrated in the step (6) to obtain rotation values of three rotating shafts, controlling the motor of the attack angle-double rotating shaft mechanism to rotate according to the rotation values, measuring the attitude angle of a tail shaft by using an absolute measuring arm to obtain an actual measurement attitude angle sequence for verification, and comparing the actual measurement attitude angle sequence for verification with the nominal verification attitude angle sequence to obtain positioning accuracy; i.e. errors.
The verification gesture sequence needs to undergo 3 degrees of freedom, 20 groups of gesture angle combinations are selected as the verification gesture sequence in the embodiment, attack angles are uniformly selected within a range of (-10 DEG to 10 DEG), sideslip angles are uniformly selected within a range of (-10 DEG to 10 DEG), and rolling angles are uniformly selected within a range of (-60 DEG to 60 DEG). Correcting { θ in the form (1) by using the error parameter combination obtained in the step (6) m Calculating a rotating value 2 of a rotating shaft corresponding to the checking gesture, controlling the motion of an attack angle-double rotating shaft mechanism according to the rotating value, measuring the gesture angle of a tail shaft by using an absolute measuring arm, and obtaining the actual measurement gesture angle sequenceColumn 2, positioning accuracy is expressed in terms of limit error, see formula (4).
ε i ＝max(x i -x inorm ) (4)
Wherein x is i For the measured attitude angle sequence 2, x for verification inorm Epsilon for a nominal attitude angle sequence for verification i For positioning accuracy, i=1, 2, 3, respectively represent attack angle, sideslip angle, and roll angle.
(8) And (3) according to the verification result, if the positioning accuracy (error) does not reach the attitude accuracy requirement of the wind tunnel test, selecting a group of nominal attitude sequences for calibration, and repeating the steps (5) - (7) until the positioning accuracy reaches the attitude accuracy requirement of the wind tunnel test, and ending the calibration operation, wherein the inverse solution motion mathematical model is the required model.
The attitude angle accuracy requirements of the wind tunnel test in the step (7) are shown in table 1.
Table 1 test attitude accuracy requirements
| Angle of attack error (°) | ±0.05 |
| Sideslip angle error (°) | ±0.05 |
| Roll angle error (°) | ±0.05 |
The invention also provides an electronic device, which comprises a memory and a processor:
the memory is used for storing one or more computer instructions;
the processor is configured to execute the one or more computer instructions to:
determining an inverse solution motion mathematical model of an attack angle-double-rotating-shaft mechanism installed in a wind tunnel test;
in a wind tunnel reference coordinate system established by adopting an absolute measuring arm, performing initial zero setting of rotation values of three rotating shafts in the attack angle-double rotating shaft mechanism, wherein the three rotating shafts are respectively an attack angle device rotating shaft, a main shaft and a tail shaft;
selecting a group of semantic gesture sequences as a calibration gesture angle combination sequence, inputting the inverse solution motion mathematical model to obtain rotation values of three rotating shafts, controlling the motor of the attack angle-double rotating shaft mechanism to rotate according to the rotation values, and measuring the gesture angle of a tail shaft by using an absolute measuring arm to obtain an actual measurement gesture angle sequence for calibration;
the actual measurement attitude angle sequence and the rotation values of the three rotating shafts obtained through the inverse solution motion mathematical model are used as inputs, a nonlinear least square method is utilized to obtain undetermined error parameters of an attack angle-double rotating shaft mechanism, and the inverse solution motion mathematical model is calibrated through the undetermined error parameters;
selecting a nominal attitude angle sequence for verification, inputting the calibrated inverse solution motion mathematical model to obtain rotation values of three rotating shafts, controlling the motor of the attack angle-double rotating shaft mechanism to rotate according to the rotation values, measuring the attitude angle of a tail shaft by using an absolute measuring arm to obtain an actual measurement attitude angle sequence for verification, and comparing the actual measurement attitude angle sequence with the nominal attitude angle sequence to obtain positioning accuracy;
if the positioning accuracy does not meet the attitude accuracy requirement of the wind tunnel test, selecting a group of nominal attitude angle sequences for calibration, and repeating the steps until the positioning accuracy meets the attitude accuracy requirement of the wind tunnel test, and ending the calibration.
The method establishes the relation between the attitude angle of the tail shaft and the rotation value of each rotating shaft aiming at the attack angle-double rotating shaft mechanism in the wind tunnel test, thereby obtaining undetermined error parameters in the attack angle-double rotating shaft mechanism. According to the invention, an inverse solution motion mathematical model of the attack angle-double-rotating-shaft mechanism is firstly determined according to theoretical deduction, then the initial zero value of the rotation values of the three rotating shafts is set, then the attitude angle in a calibration attitude angle sequence is measured by using a ROMER absolute measuring machine, and a nonlinear least square method is adopted to obtain undetermined error parameters in a parameterized model, so that the attitude angle calibration work of the attack angle-double-rotating-shaft mechanism is realized. The invention is suitable for calibrating the gesture of the attack angle-double-rotating-shaft mechanism, and the positioning accuracy of the gesture is high.
The foregoing is merely illustrative of the best embodiments of the present invention, and the present invention is not limited thereto, but any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be construed as falling within the scope of the present invention.
What is not described in detail in the present specification belongs to the known technology of those skilled in the art.
Claims (11)
1. The pose calibration method for the attack angle-double-rotating-shaft mechanism for the wind tunnel test is characterized by comprising the following steps of:
s1, installing an attack angle-double-rotating-shaft mechanism in a wind tunnel;
s2, determining an inverse solution motion mathematical model of the attack angle-double-rotating-shaft mechanism in the wind tunnel test;
s3, establishing a wind tunnel reference coordinate system by using an absolute measuring arm;
s4, in the wind tunnel reference coordinate system, setting initial zero of rotation values of three rotating shafts in the attack angle-double rotating shaft mechanism, wherein the three rotating shafts are respectively an attack angle device rotating shaft, a main shaft and a tail shaft;
s5, selecting a group of semantic gesture sequences as a calibration gesture angle combination sequence, inputting the inverse solution motion mathematical model in the step 2 to obtain rotation values of three rotating shafts, controlling the rotation of a motor of an attack angle-double rotating shaft mechanism according to the rotation values, and measuring the gesture angle of a tail shaft by using an absolute measuring arm to obtain an actual measurement gesture angle sequence for calibration;
s6, taking the actual measurement attitude angle sequence obtained in the step S5 and the rotation values of the three rotating shafts obtained through the inverse solution motion mathematical model in the step S5 as inputs, obtaining undetermined error parameters of the attack angle-double rotating shaft mechanism by using a nonlinear least square method, and calibrating the inverse solution motion mathematical model in the step S2 through the undetermined error parameters;
s7, selecting a group of sense gesture sequences as a verification gesture angle sequence, inputting the inverse solution motion mathematical model calibrated in the step S6 to obtain rotation values of three rotating shafts, controlling the rotation of a motor of an attack angle-double rotating shaft mechanism according to the rotation values, measuring the gesture angle of a tail shaft by using an absolute measuring arm to obtain an actual measurement gesture angle sequence for verification, and comparing the actual measurement gesture angle sequence for verification with the nominal gesture sequence to obtain positioning accuracy;
s8, if the positioning accuracy does not meet the requirements of the attitude accuracy of the wind tunnel test, selecting a group of name attitude sequences, and repeating the steps S5-S7 until the positioning accuracy meets the requirements of the attitude accuracy of the wind tunnel test, and ending the calibration.
2. The pose calibration method for the attack angle-double-rotating-shaft mechanism for the wind tunnel test according to claim 1, wherein in the step S1, an attack angle device in the attack angle-double-rotating-shaft mechanism is fixedly installed with the upper wall of the wind tunnel, the fan surface of the attack angle device is ensured to be perpendicular to the plane of the upper wall of the wind tunnel, and a main shaft, a tail shaft and the attack angle device of the double-rotating-shaft mechanism are fixedly connected, so that the axis of the main shaft is ensured to be in the plane of the fan surface of the attack angle device.
3. The pose calibration method for the attack angle-double-rotating-shaft mechanism for wind tunnel test according to claim 1, wherein the inverse solution motion mathematical model of the attack angle-double-rotating-shaft mechanism in the step S2 is as follows:
wherein θ m Is a preset included angle alpha between the main shaft and the tail shaft 0 For angle of attack means rotation, gamma 1 For the rotation angle of the main shaft around the axis thereof, gamma 2 The angle of rotation of the tail shaft around the axis of the tail shaft is alpha, alpha is attack angle of the tail shaft, beta is sideslip angle of the tail shaft, and gamma is rolling angle of the tail shaft.
4. The method for calibrating the pose of the attack angle-double rotation axis mechanism for wind tunnel test according to claim 1, wherein the method for establishing the wind tunnel reference coordinate system by using the absolute measuring arm in the step S3 is as follows:
the method comprises the steps of measuring a lower plane of a wind tunnel test section by using an absolute measuring arm, taking an obtained normal direction as a positive direction of a y axis, measuring a left plane of a reverse airflow direction of the wind tunnel test section by using the absolute measuring arm, taking the obtained normal direction as a positive direction of a z axis, determining an x axis by using a right hand rule, and selecting any point as an origin to establish a wind tunnel reference coordinate system.
5. The method for calibrating the pose of the attack angle-double rotating shaft mechanism for wind tunnel test according to claim 1, wherein the method for performing zero setting of the rotation values of three rotating shafts in the attack angle-double rotating shaft mechanism in the step S4 is as follows:
in a wind tunnel reference coordinate system, an absolute measuring arm is used for measuring the attack angle and the roll angle of a main shaft, the attack angle of the main shaft is moved to 0 degree through the rotation of a rotating shaft of the attack angle device, the error is better than 0.05 degree, the rotating value of the rotating shaft of the attack angle device at the moment is set to 0 degree, the roll angle of the main shaft is adjusted to 0 degree through the rotation of the main shaft, the error is better than 0.05 degree, and the rotating value of the rotating shaft of the main shaft at the moment is set to 0 degree; on the basis of adjusting the roll angle of the main shaft to 0 degrees, the roll angle of the tail shaft is measured through an absolute measuring arm, the roll angle of the tail shaft is adjusted to 0 degrees through the rotation of the tail shaft, the error is better than 0.05 degrees, and the rotation value of the rotating shaft of the tail shaft is set to 0 degrees.
6. The method for calibrating the pose of the attack angle-double-rotating-shaft mechanism for wind tunnel test according to claim 1, wherein the sequence of calibrating the pose angle combination in the step S5 is required to satisfy the following conditions: the number of attitude angle combinations must be at least 5, and the attitude angle combinations must undergo 3 degrees of freedom, namely pitch, yaw and roll motions, respectively.
7. The method for calibrating the pose of the attack angle-double rotating shaft mechanism for wind tunnel test according to claim 1, wherein the method for obtaining the undetermined error parameter of the attack angle-double rotating shaft mechanism by using the nonlinear least square method in the step S6 is as follows:
the undetermined error parameters of the attack angle-double rotating shaft mechanism comprise: preset angle error delta theta between main shaft and tail shaft m The tailshaft attack angle calculation correction amount delta alpha, the tailshaft sideslip angle calculation correction amount delta beta and the tailshaft roll angle calculation correction amount delta gamma;
obtaining undetermined error parameters by the following objective functions:
where n is the number of attitude angle combinations,
for inputting the actual measurement attitude angle sequence into the rotation value h of the rotating shaft calculated by the calibrated inverse model j The rotation value of the rotating shaft is calculated for inputting the nominal gesture sequence into the inverse model before calibration;
solving for error parameter combinations { Δθ } that minimize the objective function using nonlinear least squares m ,Δα,Δβ,Δγ}。
8. The pose calibration method for the attack angle-double rotation shaft mechanism for wind tunnel test according to claim 7, wherein the inverse solution motion mathematical model calibrated in the step S6 is as follows:
9. the method for calibrating the pose of the attack angle-double rotating shaft mechanism for wind tunnel test according to claim 1, wherein the positioning accuracy in the step S7 is expressed by a limit error, and the formula is as follows:
ε i ＝max(x i -x inorm )
wherein x is i For checking the measured attitude angle sequence, x inorm For verification of nominal attitude angle sequence ε i For positioning accuracy, i=1, 2, 3, respectively represent attack angle, sideslip angle, and roll angle.
10. The method for calibrating the pose of the attack angle-double-rotating-shaft mechanism for the wind tunnel test according to claim 1, wherein the pose accuracy requirement of the wind tunnel test in the step S8 is that the attack angle error is +/-0.05 °, the sideslip angle error is +/-0.05 °, and the roll angle error is +/-0.05 °.
11. An electronic device, characterized in that: comprises a memory and a processor:
the memory is used for storing one or more computer instructions;
the processor is configured to execute the one or more computer instructions to:
determining an inverse solution motion mathematical model of an attack angle-double-rotating-shaft mechanism installed in a wind tunnel test;
in a wind tunnel reference coordinate system established by adopting an absolute measuring arm, performing initial zero setting of rotation values of three rotating shafts in the attack angle-double rotating shaft mechanism, wherein the three rotating shafts are respectively an attack angle device rotating shaft, a main shaft and a tail shaft;
selecting a group of semantic gesture sequences as a calibration gesture angle combination sequence, inputting the inverse solution motion mathematical model to obtain rotation values of three rotating shafts, controlling the motor of the attack angle-double rotating shaft mechanism to rotate according to the rotation values, and measuring the gesture angle of a tail shaft by using an absolute measuring arm to obtain an actual measurement gesture angle sequence for calibration;
the actual measurement attitude angle sequence and the rotation values of the three rotating shafts obtained through the inverse solution motion mathematical model are used as inputs, a nonlinear least square method is utilized to obtain undetermined error parameters of an attack angle-double rotating shaft mechanism, and the inverse solution motion mathematical model is calibrated through the undetermined error parameters;
selecting a group of sense gesture sequences as a verification gesture angle sequence, inputting the calibrated inverse solution motion mathematical model to obtain rotation values of three rotating shafts, controlling the motor of the attack angle-double rotating shaft mechanism to rotate according to the rotation values, measuring the gesture angle of a tail shaft by using an absolute measuring arm to obtain an actual measurement gesture angle sequence for verification, and comparing the actual measurement gesture angle sequence with the nominal gesture sequence to obtain positioning accuracy;
if the positioning accuracy does not meet the requirements of the attitude accuracy of the wind tunnel test, selecting a group of name attitude sequences, and repeating the steps until the positioning accuracy meets the requirements of the attitude accuracy of the wind tunnel test, and ending the calibration.
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