Method for compensating pose error of decoupling six-degree-of-freedom mechanism external store caused by pneumatic load

Abstract

The invention provides a method for compensating the pose error of a decoupling six-degree-of-freedom mechanism external store caused by a pneumatic load. The method comprises the following steps: constructing a database corresponding to unit force and elastic deformation under different poses related to a decoupling six-degree-of-freedom device; detecting force and torque acting on the decoupling six-degree-of-freedom device in X, Y and Z directions under a specific pose; acquiring the theoretic pose at the tail end of the decoupling six-degree-of-freedom device through the motor parameter of the decoupling six-degree-of-freedom device; acquiring the elastic deformation corresponding to the force and torque acting on the decoupling six-degree-of-freedom device in X, Y and Z directions under the specific pose according to the elastic deformation database to obtain the actual pose at the tail end of the decoupling six-degree-of-freedom device; and carrying out inverse solution on the actual pose at the tail end to obtain a driving parameter A, and driving the decoupling six-degree-of-freedom device to compensate the tail end pose by taking the difference of the driving parameter A and the actual driving parameter B (B-A) as a tail end pose compensating error driving parameter compensation dosage. Therefore, the tail end pose error of the decoupling six-degree-of-freedom device can be compensated in real time.

Description

technical field [0001] The invention relates to a terminal pose error compensation method of a six-degree-of-freedom device, in particular to a method for compensating the pose error of an external object of a decoupled six-degree-of-freedom mechanism caused by an aerodynamic load. Background technique [0002] The strength of a country is closely related to its military strength, so the country has always attached great importance to the research of high-tech in the military. When studying the law of air flow, studying the aerodynamic characteristics of aerospace vehicles and other objects, it is often necessary to obtain the most authentic and reliable aerodynamic data through experiments, and the most commonly used method is to conduct wind tunnel experiments. The wind tunnel test is to use the fan, compressor or high-pressure air source to drive the air to form a controllable artificial airflow in the wind tunnel duct. The test aircraft model is placed in the wind tunnel...

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Problems solved by technology

[0004] When the external object model is tested in the wind tunnel, it is necessary to obtain various test parameters for determining the pose of the external object model. No mechanism can be an absolute rigid body, and there will be large or small deformations under load. If you want to get a certain The test parameters in one pose are collected from the parameters in another pose due to deformation. The results obtained in this way contain certain errors, which will have a very serious impact on the reliability of the wind tunnel test.

[0005] There are many factors that cause the pose error of the external storage model in the wind tunnel test. In the current research work, there are not many studies on the influence of wind load on the elastic deformation of the mechanism, and most of the research work is only on the tail strut or the main machine. Deformation of struts

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