Double-closed loop speed control captive trajectory simulation (CTS) test method based on time and space transformation

Abstract

The invention discloses a double closed loop speed control captive trajectory simulation (CTS)CTS test method based on time and space transformation. On the one hand, an error model of CTS speed control is established by a load discreet value calculation method based on speed second order interpolation polynomials, the self adaption of time step length of the movement of external models is realized, and the optimal time and space transformation scale is dynamically produced by combining dynamic response parameters of CTS hardware and errors of trajectory control; and on the other hand, the movement speed of a support mechanism for a six-freedom degree model is precisely controlled in a conventional speed closed loop control mode formed by a lower computer and a speed sensor, signal measurement and data calculation can be performed without suspension, the center of gravity of the model is ensured to be continuously kept on a real movement track, false collision of the external models and a master is avoided, and the CTS time is shorten and the test cost is reduced possibly under the condition of ensuring test precision.

Description

technical field [0001] The invention relates to a speed control-based test method for the capture trajectory (CTS) of external objects in a high-speed wind tunnel. Background technique [0002] After the external store is launched / released from the aircraft, it is in the disturbance flow field of the aircraft at the initial stage of leaving the aircraft, and may sharply raise or lower its head or even roll over to collide with the aircraft. These poor release separation characteristics not only affect the weapon system hit More seriously, it will endanger the safety of the aircraft and pilots. [0003] For this reason, it is necessary to evaluate the separation characteristics of the external stores before actual combat, and grasp the implementation conditions of drop / launch, the dynamic characteristics of the aircraft after launch / launch, the aerodynamic interference between the aircraft and the external stores, and the separation of the aircraft and external stores. The t...

AI Technical Summary

Problems solved by technology

[0006]1) The movement of the store model is intermittent, and it pauses after each movement to the target position, performs signal measurement and data calculation, and then proceeds to the next movement , and the position needs to be corrected repeatedly, so it takes a long time to obtain a separation trajectory of the external store, for example, the actual flight trajectory of 0.5-2 seconds, the system needs about 2-4 minutes of wind tunnel running time, and its test efficiency is low , high energy consumption, especially in my country's high-speed main wind tunnel is a temporary flushing operation mode, this shortcoming is even more obvious

[0007]2) The movement of the store model is discontinuous, and the position of the next point of the track point (ie time) is generated by prediction, and does not always coincide with the position stipulated in the six-degree-of-freedom dynamic equation of the external store model, and the center of gravity of the model cannot be continuously maintained on the real trajectory, which may easily lead to the external store model and its support. The rod collided with the model of the parent machine, forcing the generation of the trajectory to stop halfway, which became a safety hazard in the experiment

[0008]3) Solving the six-degree-of-freedom motion equation to solve the position coordinates of the external object model requires a second integral operation, compared to the speed (only one integral operation is required to solve the external object Model speed) control test accuracy is low

[0011] The resultant force and resultant moment is derived from ejection force, thrust, gravity and aerodynamic force , Among them, the thrust, gravity and ejection force are all known, and the aerodynamic force of the external store is related to the center of mass of the external store. The position in the coordinate system is related to the attitude, that is, the movement position of the external object is determined by the attitude angle , and in turn changes the movement position and attitude angle of the external storage , forming the coupling effect of the force and the movement position and attitude of the external object, resulting in the speed control of the six-degree-of-freedom manipulator of the CTS system and the traditional The speed control of the industrial six-degree-of-freedom manipulator is different, that is, the trajectory or speed of the six-degree-of-freedom manipulator in the CTS system cannot be determined before the test. Therefore, it is difficult to directly apply the mature control strategy of the traditional industrial six-degree-of-freedom manipulator to the CTS test system

Images