Method for compensating transmission chain errors of aircraft model of decoupling mechanism in captive trajectory tests

Abstract

The invention provides a method for compensating transmission chain errors of an aircraft model of a decoupling mechanism in captive trajectory tests. The method comprises the steps that mechanism kinematic positive solution analysis is conducted to determine a theoretical relation matrix between tail end poses of the decoupling mechanism and motor rotating angles; actual joint parameters of the decoupling mechanism are determined through a portable measuring arm and compared with theoretical values to obtain joint parameter errors of all freedom degrees; a corresponding relation table between expected tail end poses and the actual transmission chain pose errors is established; a motor angle compensation table corresponding to the transmission chain pose errors is established; and a pose error is found out by checking the relation table between the expected tail end poses and the actual transmission chain pose errors according to a given expected pose, and further a motor angle compensation amount is found out by checking the motor angle compensation table corresponding to the transmission chain pose errors, and a motor input angle is adjusted to achieve the purpose of error compensation so as to ensure the precision of the decoupling mechanism participating in the captive trajectory tests. By adoption of the method, the precision of the six-freedom-degree mechanism participating in the captive trajectory tests is ensured, and errors of detached body mechanisms in all freedom degree transmission parts can be accurately compensated.

Description

technical field [0001] The invention relates to an error compensation method for a multi-body separation mechanism system in a wind tunnel test, belonging to the field of precision technology, in particular to an error compensation method for an aircraft model transmission chain of a decoupling mechanism in a capture track test. Background technique [0002] To carry out the multi-body separation test in the wind tunnel, a set of separation body model mechanism installed inside the wind tunnel and controlled by the computer is required to support the separation body test model and provide six degrees of freedom (axial X, normal Y, lateral Z, pitch angle α, yaw angle β and roll angle γ) motion function. [0003] In order to meet the requirements of the multi-body separation test, the separation body model mechanism needs to have a large range of motion, high bearing capacity and motion accuracy, and can reach the designated position at the fastest speed. anywhere. In order ...

AI Technical Summary

Problems solved by technology

It can be understood that the six degrees of freedom include: three-degree-of-freedom motion displacement axial X, normal Y, lateral Z and three-degree-of-freedom motion angle pitch angle α, yaw angle β and roll angle γ, due to mechanism processing, There are errors in the installation and transmission parts, so there is a certain error in the trajectory of each degree of freedom at the end of the mechanism

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