A method for calculating an attitude angle of a wind tunnel test model, an electronic device, and a storage medium

Abstract

The application provides a wind tunnel test model attitude angle calculation method, electronic equipment and a storage medium, and belongs to the technical field of attitude angle calculation. The method comprises the following steps: S1, calibrating a double-shaft angle sensor by using a double-shaft indexing head; S2, installing the double-shaft angle sensor in a model, and measuring the pitch installation angle, the yaw installation angle and the roll installation angle of the angle sensor relative to a model reference shaft system; S3, changing the attitude angle of the model according to the wind tunnel test requirement, and measuring the pitch angle and the roll angle of the angle sensor relative to a ground shaft system by using the double-shaft angle sensor; S4, iteratively calculating the yaw installation angle of the angle sensor relative to the ground shaft system and the pitch angle, the roll angle and the yaw angle of the model reference shaft system relative to the ground shaft system, so as to obtain the pitch angle, the roll angle and the yaw angle of the model reference shaft system relative to the ground shaft system; and S5, calculating the model attitude angle under a wind shaft system. The technical problem that only the pitch angle and the roll angle can be measured, and the yaw angle cannot be measured in the prior art is solved.

Description

TECHNICAL FIELD

[0001] The application relates to a posture angle calculation method, in particular to a wind tunnel test model posture angle calculation method, an electronic device and a storage medium, and belongs to the technical field of posture angle calculation. BACKGROUND

[0002] The model posture angle is one of the main measurement parameters of the wind tunnel test, and is a key parameter affecting the accuracy of the model aerodynamic force. The lift and drag of the model are obtained by projecting the model body axis normal force and axial force on the wind axis system, so the model posture angle is crucial to the accuracy of the lift and drag calculation. The accuracy of the model posture angle also relates to the accuracy of the aerodynamic force coefficient polar curve.

[0003] There are many ways to measure the model posture angle, including indirectly obtaining the model posture angle by superimposing the mechanism angle, the elastic angle and the installation angle, directly measuring the model posture angle by the angle sensor, measuring the model posture angle by the video, and measuring the model posture angle by the optical tracker. Among the four model posture angle measurement methods, the accuracy of the method of indirectly obtaining the model posture angle by angle superposition is low. NASA Langley Research Center carried out a comparative study on the angle superposition indirect angle measurement method and the built-in angle sensor direct angle measurement method in the 16-foot wind tunnel, and found that the angle of attack measurement values of the two angle sensors were very consistent, while the deviation of the angle of attack obtained by the angle superposition increased with the increase of the angle of attack, and the maximum deviation reached 0.15°. This deviation is mainly caused by the inaccuracy of the elastic deformation calculation, including the model and support assembly deformation caused by the aerodynamic load, the imperfect connection mode of the support rod and the balance, and the pipeline connected with the balance bridge. Due to the inaccuracy of the indirect measurement method, the practical significance of other angle measurement systems is more prominent.

[0004] NASA Langley Research Center believes that the model built-in angle sensor is still the model posture measurement method with the highest precision and the best reliability. However, the angle sensor has a prominent problem, because the angle sensor works on the principle of gravity pendulum accelerometer, so it can only measure the pitch angle and the roll angle, and cannot measure the yaw angle. SUMMARY

[0005] A brief summary of the application is given in the following text in order to provide a basic understanding of some aspects of the application. It should be understood that this summary is not an exhaustive summary of the application. It is not intended to determine the key or important parts of the application, nor is it intended to limit the scope of the application. Its purpose is only to give some concepts in a simplified form as a prelude to the more detailed description discussed later.

[0006] In view of this, in order to solve the technical problem in the prior art that only the pitch angle and the roll angle can be measured, and the yaw angle cannot be measured, the present application provides a wind tunnel test model attitude angle calculation method, an electronic device and a storage medium.

[0007] Scheme one: a wind tunnel test model attitude angle calculation method, comprising the following steps:

[0008] S1. Calibrate the dual-axis angle sensor using the dual-axis indexing head, and determine the zero point voltage of the two sensitive axes of the dual-axis angle sensor , the sensitivity coefficient , the roll angle of the sensitive axis relative to the reference axis system , and the maximum yaw angle of the sensitive axis relative to the reference axis .

[0009] S2. Install the dual-axis angle sensor in the model, and measure the pitch installation angle , the yaw installation angle , and the roll installation angle of the angle sensor relative to the model reference axis system.

[0010] S3. According to the change of the model attitude angle required by the wind tunnel test, measure the pitch angle and the roll angle of the angle sensor relative to the ground axis system using the dual-axis angle sensor.

[0011] S4. Iteratively calculate the yaw installation angle of the angle sensor relative to the ground axis system, and the pitch angle , the roll angle , and the yaw angle of the model reference axis system relative to the ground axis system, to obtain the pitch angle , the roll angle , and the yaw angle of the model reference axis system relative to the ground axis system.

[0012] S5. Calculate the model attitude angle under the wind axis system.

[0013] Preferably, the pitch angle , the roll angle , and the yaw angle of the model reference axis system relative to the ground axis system are measured and calculated using the angle superposition method, and the specific method comprises the following steps:

[0014] S41. Measure the support mechanism angle: level the model according to the reference plane, measure the pitch angle and the roll angle of the support mechanism reference plane using the quadrant instrument, and measure the yaw angle of the support mechanism using the laser tracker., to get the Euler rotation matrix of the support mechanism axis system relative to the ground axis system ;

[0015] S42. Measure the mounting angles of the strut relative to the support mechanism: use the laser tracker to measure the pitch mounting angle , yaw mounting angle and roll mounting angle of the strut relative to the support mechanism, to get the Euler rotation matrix of the strut axis system relative to the support mechanism axis system ;

[0016] S43. Measure the misalignment angles of the axes of the front and rear ends of the strut: the axes of the front and rear ends of the strut are misaligned according to the test requirements or the misalignment angles caused by the machining, use the laser tracker or the quadrant to measure the misalignment angles of the front and rear ends of the strut, including the pitch misalignment angle , roll misalignment angle and yaw misalignment angle , the rotation matrix of the strut front end axis system relative to the strut rear end axis system ;

[0017] S44. Measure and calculate the mounting angles of the balance and the strut, including the pitch mounting angle , roll mounting angle and yaw mounting angle ; the rotation matrix of the balance axis system relative to the strut front end axis system ;

[0018] The method for calculating the mounting angles of the balance and the strut is:

[0019] At the 0° roll angle position of the strut, calculate the roll mounting angle of the balance and the strut according to the following formula :

[0020]

[0021] Calculate according to the following formula

[0022]

[0023] At the 180° roll angle position of the strut, calculate according to the following formula

[0024]

[0025] At the 90° roll angle position of the strut, calculate according to the following formula

[0026]

[0027] At the -90° roll angle position of the strut, calculate :

[0028]

[0029] The pitch installation angle of the balance and the strut is calculated according to the following formula :

[0030]

[0031] The yaw installation angle of the balance and the strut is calculated according to the following formula :

[0032]

[0033] S45. The elastic angles of the balance, the strut and the support are measured and calculated, including the pitch elastic angle , the roll elastic angle and the yaw elastic angle ; the rotation matrix of the balance shaft system after elastic deformation relative to the balance shaft system before deformation ;

[0034] The method for calculating the elastic angles of the balance, the strut and the support is: the elastic deformation coefficients of each component force and moment are determined by step loading weight linear regression, and the elastic angles are calculated according to the following formula:

[0035] ;

[0036] ;

[0037] ;

[0038] wherein, , , , , are the elastic deformation constants corresponding to each component force and moment;

[0039] S46. The installation angles of the model and the balance are measured and calculated, including the pitch installation angle , the roll installation angle and the yaw installation angle ; the rotation matrix of the model shaft system relative to the balance shaft system ;

[0040] The method for calculating the installation angles of the model and the balance is: at the model roll angle 0° position, the roll installation angle of the model and the balance is calculated according to the following formula :

[0041]

[0042] The pitch installation angle of the model and the balance is calculated according to the following formula :

[0043]

[0044] At the model's roll angle of 180°, calculate according to the following formula. :

[0045]

[0046] At the 90° roll angle of the model, calculate according to the following formula. :

[0047]

[0048] At the model roll angle of -90°, calculate according to the following formula. :

[0049]

[0050] The calculation model is based on the following formula and the pitch angle of the balance. :

[0051]

[0052] The calculation model is based on the following formula and the yaw angle of the balance. :

[0053]

[0054] Step 4.7: Calculate the model attitude angles in the Earth-axis system. The model attitude angles in the Earth-axis system are expressed as pitch angles. Roll angle and yaw angle Rotation matrix from the ground axis to the model axis It satisfies the following relationship:

[0055]

[0056] From the above formula, the model attitude angles in the Earth axis system can be obtained. , , .

[0057] Preferably, S1 specifically includes the following steps:

[0058] S11. Install and level the angle sensor on the dual-axis indexing head: Fix the dual-axis angle sensor on the indexing head so that the nominal X-axis and nominal Z-axis of the angle sensor are parallel to the X-axis and Z-axis of the indexing head, respectively; level the indexing head;

[0059] S12. Zero-point voltage of the X-axis sensing axis of the calibration angle sensor. : Rotate angle sensor around X axis of indexing head, record voltage value of X axis of angle sensor at 0°, ±90°, 180° position , , , ;

[0060] Get zero voltage of X axis of angle sensor The method is as follows:

[0061]

[0062] S13. Calibrate sensitivity coefficient of X axis of angle sensor :

[0063] Rotate angle sensor around X axis of indexing head; adjust angle range of indexing head-50°-50°, angle interval 10°, record voltage value of angle sensor at each angle; use least square linear fitting for indexing head angle and voltage value, calculate sensitivity coefficient of X axis of angle sensor when angle sensor is 0° with horizontal plane ;

[0064] Rotate angle sensor around X axis of indexing head; adjust angle range of indexing head-50°-50°, angle interval 10°, record voltage value of angle sensor at each angle; use least square linear fitting for indexing head angle and voltage value, calculate sensitivity coefficient of X axis of angle sensor when angle sensor is 90° with horizontal plane ;

[0065] S14. Calculate roll angle of X axis of angle sensor relative to reference axis system , maximum deviation angle of X axis of angle sensor relative to reference axis , the specific method is as follows:

[0066] When angle sensor is 0° with horizontal plane, calculate roll angle of sensitive axis relative to reference axis system according to the following formula :

[0067]

[0068] When angle sensor is 0° with horizontal plane, calculate maximum deviation angle of sensitive axis relative to reference axis according to the following formula :

[0069]

[0070] When angle sensor is 90° with horizontal plane, calculate roll angle of sensitive axis relative to reference axis system according to the following formula :

[0071]

[0072] The maximum angle of deviation of the Z-axis sensitive axis from the reference axis is calculated according to the following formula :

[0073]

[0074] S15. Calibrating the zero voltage of the Z-axis sensitive axis of the angle sensor : Rotate the angle sensor around the Z-axis of the indexing head, record the voltage value of the Z-axis sensitive axis of the angle sensor at 0°, ±90°, 180° 、 、 、 ;

[0075] The zero voltage of the Z-axis sensitive axis of the angle sensor is obtained The method is as follows:

[0076]

[0077] S16. Calibrating the sensitivity coefficient of the Z-axis sensitive axis of the angle sensor :

[0078] Rotate the angle sensor around the Z-axis of the indexing head; adjust the angle range of the indexing head to -50°-50°, the angle interval is 10°, record the voltage value of the angle sensor at each angle; use least square linear fitting on the indexing head angle and the voltage value, calculate the sensitivity coefficient of the X-axis sensitive axis of the angle sensor when the angle between the angle sensor and the horizontal plane is 0° ;

[0079] Rotate the angle sensor around the Z-axis of the indexing head; adjust the angle range of the indexing head to -50°-50°, the angle interval is 10°, record the voltage value of the angle sensor at each angle; use least square linear fitting on the indexing head angle and the voltage value, calculate the sensitivity coefficient of the X-axis sensitive axis of the angle sensor when the angle between the angle sensor and the horizontal plane is 90° ;

[0080] S17. Calculate the roll deviation angle of the Z-axis sensitive axis relative to the reference axis system , the maximum angle of deviation of the Z-axis sensitive axis from the reference axis , the specific method is as follows:

[0081] The roll deviation angle of the Z-axis sensitive axis relative to the reference axis system is calculated according to the following formula when the angle between the angle sensor and the horizontal plane is 0° :

[0082]

[0083] The maximum yaw angle of the Z-axis sensitive axis with respect to the reference axis system is calculated according to the following formula when the angle sensor is at 90° with the horizontal plane :

[0084]

[0085] The roll angle of the Z-axis sensitive axis with respect to the reference axis system is calculated according to the following formula when the angle sensor is at 90° with the horizontal plane :

[0086]

[0087] The maximum yaw angle of the Z-axis sensitive axis with respect to the reference axis system is calculated according to the following formula when the angle sensor is at 90° with the horizontal plane :

[0088] .

[0089] Preferably, S2 specifically comprises the following steps:

[0090] S21. The model is leveled according to the reference plane, and the voltage at 0° is collected by the angle sensor and The pitch installation angle of the angle sensor with respect to the model reference axis system is calculated according to the following formula by iteration and the roll installation angle :

[0091] ;

[0092] ;

[0093] The initial value of is given by the following formula:

[0094]

[0095] The initial value of is given by the following formula:

[0096]

[0097] S22. The model reference plane is rotated 90 degrees around the model axis and is perpendicular to the horizontal plane, and the voltage at 90° is collected by the angle sensor and The yaw installation angle of the angle sensor with respect to the model reference axis system is calculated according to the following formula by iteration :

[0098] ;

[0099]

[0100] the initial value of is given by the following formula:

[0101]

[0102] the initial value of is given by the following formula:

[0103]

[0104] S23. According to the pitch installation angle , roll installation angle and yaw installation angle of the angle sensor relative to the model reference axis system, the pitch installation angle , roll installation angle and yaw installation angle of the model reference axis system relative to the angle sensor are obtained.

[0105] Preferably, S3 specifically comprises the following steps:

[0106] S31. Measure the voltage value of the angle sensor during the wind tunnel test;

[0107] During the step change model attitude angle test, the angle sensor collects voltage values for ≥3 seconds; the voltage values are filtered by fast Fourier transform, and the filtered voltage values are taken as the voltage values of the current angle;

[0108] During the continuous attitude angle test, the angle sensor collects voltage values in real time, and according to the angle change speed, the average value is taken as the current voltage value;

[0109] S32. Obtain the pitch angle and roll angle of the angle sensor relative to the ground axis system by iterative calculation, which are obtained by the following formula:

[0110] ;

[0111] ;

[0112] the initial value of is given by the following formula:

[0113]

[0114] the initial value of is given by the following formula:

[0115] .

[0116] Preferably, S4 is specifically that the angle sensor axis system, the model reference axis system and the ground axis system satisfy the following matrix relationship:

[0117]

[0118] That is:

[0119]

[0120] Wherein, is the Euler rotation matrix of the angle sensor relative to the ground axis system, is the Euler rotation matrix of the angle sensor relative to the model reference axis system, is the Euler rotation matrix of the model reference axis system relative to the ground axis system.

[0121] Thus, the calculation formula of the yaw installation angle of the angle sensor relative to the ground axis system is as follows:

[0122]

[0123] As initial values, the pitch angle , the roll angle and the yaw angle of the model reference axis system relative to the ground axis system are re-calculated;

[0124]

[0125] Wherein, is the Euler rotation matrix of the model reference axis system relative to the angle sensor;

[0126] The solution is:

[0127]

[0128] The pitch angle , the roll angle and the yaw angle are brought into the formula for solving to re-calculate the yaw installation angle of the angle sensor relative to the ground axis system ;

[0129] Iterative calculation is performed until the deviation of the new and old pitch angle , the roll angle and the yaw angle is within 0.005°.

[0130] Preferably, S5 specifically comprises the following steps:

[0131] S51. Measuring the average airflow angle, including the pitch angle and the yaw angle ; the rotation matrix of the ground axis system relative to the wind tunnel inflow axis system ; obtaining the average airflow angle and by model positive and negative force test, specifically as follows:

[0132] Obtaining the longitudinal force coefficient curve by model horizontal positive and negative test, respectively obtaining the zero-lift angle of attack when positive and the zero-lift angle of attack when negative , then the longitudinal average airflow angle is as follows:

[0133]

[0134] Rolling the model by 90°, measuring the lift coefficient at the current angle of attack, using the slope of the longitudinal force coefficient curve obtained by the model horizontal positive and negative test , calculating the zero-angle lift coefficient and , calculating the lateral average airflow angle according to the following formula :

[0135]

[0136] S52. Calculating the model angle of attack α and sideslip angle β under the wind axis system, the rotation matrix of the wind axis system to the model axis system is represented as ;

[0137] When considering the airflow angle, the following relationship is satisfied:

[0138] ;

[0139] ;

[0140] wherein, is the longitudinal average airflow angle, is the heading airflow angle.

[0141] Scheme II, an electronic device comprising a memory and a processor, the memory stores a computer program, and the processor executes the computer program to realize the steps of the attitude angle calculation method of the wind tunnel test model in scheme I.

[0142] Scheme III, a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the wind tunnel test model attitude angle calculation method in scheme I.

[0143] The beneficial effects of the present application are as follows: the present application uses an angle sensor in combination with other measurement methods, for a force test, the yaw angle can be given by angle superposition, and the angle sensor provides the pitch angle and roll angle; the model attitude angle measurement method of the present application is effective and accurate, effectively exerting the precision advantage of the angle sensor in pitch angle and roll angle measurement, measuring the yaw angle by angle superposition and video angle measurement, realizing the integrity of attitude angle measurement; the present application is suitable for wind tunnel test of step variable model attitude angle and wind tunnel test of continuous variable model attitude angle, has a wide range of application, and has good application prospect. BRIEF DESCRIPTION OF DRAWINGS

[0144] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the present application and serve to explain the present application, and do not constitute improper limitations on the present application. In the drawings:

[0145] Figure 1 It is a flowchart of a wind tunnel test model attitude angle calculation method;

[0146] Figure 2 It is a flowchart of S1;

[0147] Figure 3 It is a flowchart of S2;

[0148] Figure 4 It is a flowchart of S3;

[0149] Figure 5 It is a flowchart of S5. DETAILED DESCRIPTION

[0150] In order to make the technical solutions and advantages in the embodiments of the present application clearer, the following will further describe the exemplary embodiments of the present application with reference to the drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0151] Embodiment 1, reference Figures 1-5 The present embodiment is a wind tunnel test model attitude angle calculation method, comprising the following steps:

[0152] S1. Calibrate the dual-axis angle sensor using the dual-axis indexing head, determine the zero voltage of the two sensitive axes of the dual-axis angle sensor , sensitivity coefficient , roll angle of the sensitive axis relative to the reference axis system , maximum angle of the sensitive axis and the reference axis ;

[0153] The sensitive axis of the angle sensor measures the angle according to the following formula:

[0154]

[0155] where A is the calculated output angle, E is the measured voltage, B is the zero voltage, Sens is the sensitivity coefficient of the sensitive axis, is the maximum deviation angle of the sensitive axis from the reference axis, AO is the roll deviation angle of the sensitive axis relative to the reference axis system, and R is the roll angle of the reference axis system.

[0156] Before the dual-axis angle sensor is installed on the test model, it needs to be calibrated on a high-precision dual-axis indexing head to determine the zero voltage B, sensitivity coefficient Sens, roll deviation angle AO of the two sensitive axes of the angle sensor relative to the reference axis system, and the maximum deviation angle Omax of the sensitive axis from the reference axis.

[0157] The axis system of the dual-axis indexing head serves as the reference axis system of the angle sensor. The rotation axes of the dual-axis indexing head are the X-axis and the Z-axis, which correspond to the rotation axes of the angle sensor. The angle adjustment range of each axis is ±180°, and the angle accuracy is ≤10.

[0158] Specifically, the following steps are included:

[0159] S11. Install the angle sensor on the dual-axis indexing head and level it: fix the dual-axis angle sensor on the indexing head so that the nominal X-axis and the nominal Z-axis of the angle sensor are parallel to the X-axis and the Z-axis of the indexing head; level the indexing head, i.e. the X-axis and the Z-axis of the indexing head are parallel to the horizontal plane.

[0160] S12. Calibrate the zero voltage of the X-axis sensitive axis of the angle sensor : rotate the angle sensor around the X-axis of the indexing head, and record the voltage values of the X-axis sensitive axis of the angle sensor at 0° (horizontal), ±90° (vertical), and 180° (inverted horizontal) , , ,

[0161] The method for obtaining the zero voltage of the X-axis sensitive axis of the angle sensor is as follows:

[0162]

[0163] S13. Calibrate the sensitivity coefficient of the X-axis sensitive axis of the angle sensor ​​: Rotate the angle sensor around the X axis of the indexing head. Adjust the angle of the indexing head in the range -50°-50° with an interval of 10°, and record the voltage value of the angle sensor at each angle. Use least square linear fitting on the angle of the indexing head and the voltage value to calculate the sensitivity coefficient of the X axis sensitive axis of the angle sensor when the angle between the angle sensor and the horizontal plane is 0° ;

[0164] Rotate the angle sensor around the X axis of the indexing head. Adjust the angle of the indexing head in the range -50°-50° with an interval of 10°, and record the voltage value of the angle sensor at each angle. Use least square linear fitting on the angle of the indexing head and the voltage value to calculate the sensitivity coefficient of the X axis sensitive axis of the angle sensor when the angle between the angle sensor and the horizontal plane is 90° ;

[0165] S14. Calculate the roll bias angle of the X axis sensitive axis relative to the reference axis system , the maximum bias angle of the X axis sensitive axis and the reference axis , the specific method is as follows:

[0166] When the angle between the angle sensor and the horizontal plane is 0°, calculate the roll bias angle of the sensitive axis relative to the reference axis system according to the following formula :

[0167]

[0168] When the angle between the angle sensor and the horizontal plane is 0°, calculate the maximum bias angle of the sensitive axis and the reference axis according to the following formula :

[0169]

[0170] When the angle between the angle sensor and the horizontal plane is 90°, calculate the roll bias angle of the sensitive axis relative to the reference axis system according to the following formula :

[0171]

[0172] When the angle between the angle sensor and the horizontal plane is 90°, calculate the maximum bias angle of the sensitive axis and the reference axis according to the following formula :

[0173]

[0174] S15. Calibrate the zero voltage of the Z axis sensitive axis of the angle sensor : Rotate the angle sensor around the Z axis of the indexing head, and record the voltage value of the Z axis sensitive axis of the angle sensor at 0°, ±90°, 180° 、 、 、 ;

[0175] Obtain the zero-point voltage of the Z-axis sensing axis of the angle sensor. The method is as follows:

[0176]

[0177] S16. Calibrate the sensitivity coefficient of the Z-axis sensitive axis of the angle sensor. :

[0178] A Z-axis rotation angle sensor is used around the indexing head; the indexing head is adjusted to an angle range of -50° to 50°, with 10° intervals, and the voltage value of the angle sensor is recorded at each angle; least-squares linear fitting is used on the indexing head angle and voltage value to calculate the sensitivity coefficient of the X-axis sensing axis when the angle sensor is at a 0° angle to the horizontal plane. ;

[0179] A Z-axis rotation angle sensor is used around the indexing head; the indexing head is adjusted to an angle range of -50° to 50°, with 10° intervals, and the voltage value of the angle sensor is recorded at each angle; the sensitivity coefficient of the X-axis sensing axis is calculated by using least-squares linear fitting on the indexing head angle and voltage value when the angle sensor is at a 90° angle to the horizontal plane. ;

[0180] S17. Calculate the roll angle of the Z-axis sensitive axis relative to the reference axis system. The maximum deflection angle between the Z-axis sensitive axis and the reference axis The specific method is as follows:

[0181] When the angle sensor makes a 0° angle with the horizontal plane, the roll angle of the Z-axis sensing axis relative to the reference axis system is calculated using the following formula. :

[0182]

[0183] When the angle sensor is at a 0° angle to the horizontal plane, the maximum deviation angle between the Z-axis sensing axis and the reference axis is calculated using the following formula. :

[0184]

[0185] When the angle sensor makes a 90° angle with the horizontal plane, the roll angle of the Z-axis sensing axis relative to the reference axis system is calculated using the following formula. :

[0186]

[0187] When the angle sensor is at 0° and the angle between it and the horizontal plane is 90°, the maximum deviation angle between the Z-axis sensing axis and the reference axis is calculated according to the following formula. :

[0188] .

[0189] By the above steps, the calibration of the dual-axis angle sensor is completed.

[0190] S2. Install the dual-axis angle sensor in the model and measure the pitch installation angle , the yaw installation angle and the roll installation angle of the angle sensor relative to the model reference axis system;

[0191] S21. Level the model according to the reference plane, and the angle sensor collects the voltage at 0° and According to the following formula, the pitch installation angle and the roll installation angle of the angle sensor relative to the model reference axis system are calculated by iteration:

[0192] ;

[0193] ;

[0194] The initial value of is given by the following formula:

[0195]

[0196] The initial value of is given by the following formula:

[0197]

[0198] S22. The model reference plane is rotated 90 degrees around the model axis and perpendicular to the horizontal plane, and the angle sensor collects the voltage at 90° and According to the following formula, the yaw installation angle of the angle sensor relative to the model reference axis system is calculated by iteration:

[0199] ;

[0200]

[0201] The initial value of is given by the following formula:

[0202]

[0203] The initial value of are given by:

[0204]

[0205] S23. According to the pitch installation angle of the angle sensor relative to the model reference axis system , roll installation angle and yaw installation angle , the pitch installation angle of the model reference axis system relative to the angle sensor , roll installation angle and yaw installation angle are obtained; the Euler rotation matrix of the model reference body axis system relative to the angle sensor is as follows:

[0206]

[0207] S3. According to the change of the model's attitude angle in the wind tunnel test, the pitch angle and roll angle of the angle sensor relative to the ground axis system are measured using a two-axis angle sensor;

[0208] S31. The voltage value of the angle sensor during the wind tunnel test is measured;

[0209] During the step-variable model attitude angle test, the angle sensor collects voltage values for ≥3 seconds; the filtered voltage value after fast Fourier transform is taken as the current voltage value of the angle;

[0210] During the continuous attitude angle test, the voltage value of the angle sensor is collected in real time, and the average value is taken as the current voltage value according to the angle change speed;

[0211] For example, 0.2° / s, the average voltage value within 100 ms is taken as the current voltage value.

[0212] S32. The pitch angle and roll angle of the angle sensor relative to the ground axis system are obtained by iterative calculation, and are obtained by the following formula:

[0213]

[0214]

[0215] The initial value of is given by:

[0216]

[0217] The initial value of is given by:

[0218]

[0219] The Euler rotation matrix of the angle sensor axis system relative to the ground axis system is as follows:

[0220]

[0221] where the yaw installation angle of the angle sensor relative to the ground axis system is Cannot be directly measured by the angle sensor.

[0222] S4. Iterative calculation of the yaw installation angle of the angle sensor relative to the ground axis system and the pitch angle of the model reference axis system relative to the ground axis system , the roll angle , and the yaw angle , to obtain the pitch angle of the model reference axis system relative to the ground axis system , the roll angle , and the yaw angle ;

[0223] Specifically, the pitch angle of the model reference axis system relative to the ground axis system , the roll angle , and the yaw angle may be obtained by angle superposition or video angle measurement.

[0224] The angle sensor axis system, the model reference axis system, and the ground axis system satisfy the following matrix relationship:

[0225]

[0226] That is:

[0227]

[0228] where, is the Euler rotation matrix of the angle sensor relative to the ground axis system, is the Euler rotation matrix of the angle sensor relative to the model reference axis system, is the Euler rotation matrix of the model reference axis system relative to the ground axis system.

[0229] Therefore, the calculation formula of the yaw installation angle of the angle sensor relative to the ground axis system is as follows:

[0230]

[0231] As the initial value, the pitch angle of the model reference axis system relative to the ground axis system , the roll angle and yaw angle ;

[0232]

[0233] wherein, is the Euler rotation matrix of the model reference axis system with respect to the angle sensor;

[0234] Solving the equation gives:

[0235]

[0236] The pitch angle , roll angle and yaw angle are brought into the above solving equation to recalculate the yaw installation angle of the angle sensor with respect to the ground axis system;

[0237] Iterative calculation is performed until the deviation of the new and old pitch angle , roll angle and yaw angle is within 0.005°.

[0238] S5. Calculate the model attitude angle under the wind axis system.

[0239] S51. Measure the average airflow deviation angle, there is a certain angle between the wind tunnel inflow and the ground axis system, i.e. the airflow deviation angle, including the pitch deviation angle and yaw deviation angle ; the rotation matrix of the ground axis system with respect to the wind tunnel inflow axis system ; the average airflow deviation angle and are obtained respectively through the model positive and negative loading test, and the specific method is as follows:

[0240] The longitudinal force coefficient curve obtained through the model horizontal positive and negative loading test gives the zero-lift angle of attack at positive loading and the zero-lift angle of attack at negative loading , then the average longitudinal airflow deviation angle is as follows:

[0241]

[0242] The model is rolled by 90°, the lift coefficient at the current angle of attack is measured, the slope of the longitudinal force coefficient curve obtained through the model horizontal positive and negative loading test is used to calculate the zero-angle lift coefficient and , and the average lateral airflow deviation angle is calculated according to the following formula:

[0243] ​​

[0244] S52. Calculate the model angle of attack a and sideslip angle b under the wind axis, the rotation matrix of the wind axis to the model axis is expressed as ;

[0245] When the airflow deflection angle is considered, the following relationship is satisfied:

[0246] ;

[0247] ;

[0248] Wherein, is the longitudinal average airflow deflection angle, is the heading airflow deflection angle.

[0249] Example 2, replace S4 in Example 1 with measuring and calculating the pitch angle , roll angle and yaw angle of the model reference axis system relative to the ground axis system using the angle superposition method, the specific method includes the following steps:

[0250] S41. Measure the support mechanism angle: the model is leveled according to the reference plane, use the quadrant instrument to measure the pitch angle and roll angle of the support mechanism reference plane, use the laser tracker to measure the yaw angle of the support mechanism, get the Euler rotation matrix of the support mechanism axis system relative to the ground axis system;

[0251] S42. Measure the installation angle of the strut relative to the support mechanism: use the laser tracker to measure the pitch installation angle , yaw installation angle and roll installation angle of the strut relative to the strut, get the Euler rotation matrix of the strut axis system relative to the support mechanism axis system;

[0252] S43. Measure the deflection angle of the axis of the front and rear ends of the strut: the axis of the front end of the strut and the rear end of the strut needs to be pre-deflected or manufactured with a deflection angle according to the test requirements, measure the front and rear end deflection angle of the strut by laser tracker or quadrant instrument, including pitch deflection angle , roll deflection angle and yaw deflection angle , the rotation matrix of the strut front end axis system relative to the strut rear end axis system;

[0253] S44. Measure and calculate the installation angle of the balance and the strut, including pitch installation angle , roll installation angle and yaw installation angles ; rotation matrix of the balance shaft train relative to the strut front end shaft train ;

[0254] The method of calculating the installation angles of the balance and strut is:

[0255] At the strut roll angle 0° position, the roll installation angles of the balance and strut are calculated according to the following formula :

[0256]

[0257] The are calculated according to the following formula:

[0258]

[0259] At the strut roll angle 180° position, the roll installation angles of the balance and strut are calculated according to the following formula :

[0260]

[0261] At the strut roll angle 90° position, the roll installation angles of the balance and strut are calculated according to the following formula :

[0262]

[0263] At the strut roll angle -90° position, the roll installation angles of the balance and strut are calculated according to the following formula :

[0264]

[0265] The pitch installation angles of the balance and strut are calculated according to the following formula :

[0266]

[0267] The yaw installation angles of the balance and strut are calculated according to the following formula :

[0268]

[0269] S45. Measuring and calculating the elastic angles of the balance, strut, support, including the pitch elastic angle , the roll elastic angle and the yaw elastic angle ; rotation matrix of the balance shaft train after elastic deformation relative to the undeformed balance shaft train ;

[0270] The method for calculating the elastic angle of the balance, the supporting rod and the support is: determining the elastic deformation coefficient of each component force and moment by linear regression of step loading weight, and calculating the elastic angle according to the following formula:

[0271] ;

[0272] ;

[0273] ;

[0274] wherein, , , , , are the elastic deformation constants corresponding to each component force and moment;

[0275] S46. Measuring and calculating the installation angle of the model and the balance, including the pitch installation angle , the roll installation angle and the yaw installation angle ; the rotation matrix of the model shaft system relative to the balance shaft system ;

[0276] The method for calculating the installation angle of the model and the balance is: at the model roll angle 0° position, calculating the roll installation angle of the model and the balance according to the following formula :

[0277]

[0278] calculating according to the following formula:

[0279]

[0280] at the model roll angle 180° position, calculating according to the following formula:

[0281]

[0282] at the model roll angle 90° position, calculating according to the following formula:

[0283]

[0284] at the model roll angle -90° position, calculating according to the following formula:

[0285]

[0286] calculating the pitch installation angle of the model and the balance according to the following formula :

[0287]

[0288] The yaw installation angle of the model and the balance is calculated according to the following formula :

[0289]

[0290] S47. The model attitude angle under the earth axis system is calculated, and the model attitude angle under the earth axis system is expressed as a pitch angle , a roll angle and a yaw angle ; the rotation matrix of the earth axis system to the model axis system , satisfying the following relationship:

[0291]

[0292] From the above formula, the model attitude angle under the earth axis system , , is obtained.

[0293] In embodiment 3, the computer device of the application can be a device comprising a processor and a memory, such as a single-chip microcomputer comprising a central processing unit, and the processor is used to implement the steps of the wind tunnel test model attitude angle calculation method described above when executing the computer program stored in the memory.

[0294] The processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0295] The memory can mainly include a program storage area and a data storage area. The program storage area can store an operating system, application programs required by at least one function (such as a sound playing function, an image playing function, etc.), and the like. The data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), and the like. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state memory devices.

[0296] Embodiment 4, computer readable storage medium embodiment.

[0297] The computer readable storage medium of the present application can be any form of storage medium readable by the processor of the computer device, including but not limited to non-volatile memory, volatile memory, ferroelectric memory, etc., and the computer readable storage medium stores a computer program. When the processor of the computer device reads and executes the computer program stored in the memory, the steps of the above-mentioned wind tunnel test model attitude angle calculation method can be realized.

[0298] The computer program includes computer program code, which can be in the form of source code, object code, executable files, or some intermediate forms, etc. The computer readable medium can include any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.

[0299] While the application has been described in accordance with the various embodiments shown and described, it is to be understood that the application is not limited to those precise embodiments, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the present application. Furthermore, the language used in this specification has been principally selected for readability and instructional purposes and can not have been selected to delineate or circumscribe the patent rights to which it refers. Accordingly, the present application is intended to be illustrative, but not limiting, of the scope of the application, which is set forth with particularity in the claims that follow.

Claims

1. A method of calculating an attitude angle of a wind tunnel test model, characterized by, The method comprises the following steps: In S1. Calibrating the dual-axis angle sensor using a dual-axis indexing head to determine the zero voltage of the two sensitive axes of the dual-axis angle sensor , sensitivity coefficients , roll angle of the sensitive axes relative to the reference axis system , maximum angle of the sensitive axes relative to the reference axis ; S2. Install a dual-axis angle sensor in the model and measure the pitch mounting angle of the angle sensor relative to the model reference axis system , the yaw mounting angle , and the roll mounting angle ; S3. Measure the pitch angle of the angle sensor relative to the earth axis system using a two-axis angle sensor according to the change in the attitude angle of the wind tunnel test requirement model and roll angle ; S4. Iteratively calculating the yaw angle of the angle sensor relative to the earth axis system and the pitch angle of the model reference axis system relative to the earth axis system , the roll angle , the yaw angle , the pitch angle , the roll angle and the yaw angle of the model reference axis system relative to the earth axis system; S5. Calculate the model attitude angle under the wind axis system.

2. The method of claim 1, wherein Measuring and calculating the pitch angle of a model shafting relative to a ground shafting using an angle superposition method , roll angle and yaw angle , the method comprising the steps of: S41. Measure support mechanism angles: Model leveled to reference plane, measure pitch angle of support mechanism reference plane using quadrant and roll angle , measure yaw angle of support mechanism using laser tracker , obtain Euler rotation matrix of support mechanism shafting relative to ground shafting ; S42. Measure the mounting angles of the strut with respect to the support mechanism: measure the pitch mounting angle of the strut with respect to the strut using a laser tracker , the yaw mounting angle , and the roll mounting angle of the strut axis system with respect to the support mechanism axis system ; S43. Measure the deflection angle of the axis of the front and rear ends of the strut: the axis of the front end of the strut and the rear end of the strut needs to be pre-deflected or processed to bring the deflection angle according to the test requirements, and the deflection angle of the front and rear ends of the strut is measured by a laser tracker or a quadrant instrument, including the pitch deflection angle , the roll deflection angle and the yaw deflection angle , the rotation matrix of the shaft system of the front end of the strut relative to the shaft system of the rear end of the strut ; S44. Measure and calculate the mounting angles of the gimbals and struts, including the pitch mounting angle , the roll mounting angle , and the yaw mounting angle ; the rotation matrix of the gimbals axis system relative to the strut forward end axis system ; The method for calculating the installation angle of the balance and the strut is: At the 0° position of the strut roll angle, the roll mounting angle of the balance and strut is calculated according to the following formula : ； The following equation was used to calculate the % inhibition : ； At the 180° position of the strut roll angle, the following is calculated : ； At the 90° roll position of the strut, the roll angle 90 is calculated according to the following equation : ； At the -90° position of the strut roll angle, the following is calculated : ； The pitch mounting angle of the balance and the strut is calculated according to the following formula : ； The yaw mounting angle of the balance and the strut is calculated according to the following formula : ； S45. Measure and calculate the elastic angles of the balance, the boom, the support, including the pitch elastic angle , the roll elastic angle and the yaw elastic angle ; the rotation matrix of the elastic deformed balance axis system with respect to the undeformed balance axis system ; The method for calculating the elastic angle of the balance, the strut and the support is: determine the elastic deformation coefficient of each force and moment by linear regression of step loading weights, and calculate the elastic angle according to the following formula: ； ； ； wherein , , , , are elastic deformation constants corresponding to each of the forces and moments. S46. Measure and calculate model and gimbal mounting angles, including pitch mounting angle , roll mounting angle , and yaw mounting angle ; rotation matrix of model shafting relative to gimbal shafting ; The method of calculating the installation angle of the model and the balance is: at the model roll angle 0° position, the roll installation angle of the model and the balance is calculated according to the following formula : ； The following formula was used to calculate the % inhibition : ； At model roll angle 180° position, calculate according to the following formula : ； At the model roll angle 90° position, calculate according to the following formula : ； At model roll angle -90° position, calculate according to the following formula : ； The model and the tilt mounting angle of the balance are calculated according to the following formula : ； The yaw mounting angle of the model and the balance is calculated according to the following formula : ； S47. Calculate the model attitude angles under the earth axis system, which are expressed as a pitch angle , a roll angle , and a yaw angle ; a rotation matrix from the earth axis system to the model axis system , satisfying the following relationship: ； From the above equation, the model attitude angle under the ground axis is obtained , , .

3. The method of claim 2, wherein S1 specifically comprises the following steps: S11. Install an angle sensor on the biaxial indexing head and level it: fix the biaxial angle sensor on the indexing head, so that the nominal X-axis and the nominal Z-axis of the angle sensor are parallel to the X-axis and the Z-axis of the indexing head; level the indexing head; S12. Calibrate the zero voltage of the X-axis sensitive axis of the angle sensor : Rotate the angle sensor around the X-axis of the index head and record the voltage value of the X-axis sensitive axis of the angle sensor at 0°, ±90°, 180° positions 、 、 、 ; Obtaining a zero voltage of an X-axis sensitive axis of an angle sensor The method is as follows formula: ； S13. Calibrate the sensitivity coefficient of the X-axis sensitive axis of the angle sensor : X-axis rotation angle sensor around the index head; index head adjustment angle range -50°-50°, angle interval 10°, record the voltage value of the angle sensor at each angle; use least square linear fitting for the index head angle and voltage value, calculate the sensitivity coefficient of the X-axis sensitive axis when the angle sensor is 0° with the horizontal plane ; X-axis rotation angle sensor around the index head; the index head adjusts the angle range of -50°-50°, the angle interval is 10°, the voltage value of the angle sensor is recorded at each angle; the least square linear fitting is used for the index head angle and the voltage value, and the sensitivity coefficient of the X-axis sensitive axis when the angle sensor is 90° with the horizontal plane is calculated ; S14. Calculate the roll angle of the X-axis sensitive axis relative to the reference axis system , the maximum angle of the X-axis sensitive axis and the reference axis , the specific method is as follows: When the angle sensor is at an angle of 0° to the horizontal plane, the roll angle of the sensitive axis with respect to the reference axis system is calculated according to the following formula : ； The maximum angle of deviation of the sensitive axis from the reference axis is calculated according to the following formula when the angle sensor has an angle of 0° with the horizontal plane : ； When the angle sensor is at an angle of 90° to the horizontal plane, the roll angle of the sensitive axis with respect to the reference axis system is calculated according to the following formula : ； The maximum angle of deviation of the sensitive axis from the reference axis is calculated according to the following formula when the angle sensor is at 0° to the horizontal and 90° to the horizontal plane : ； S15. Calibrate the zero voltage of the Z-axis sensitive axis of the angle sensor : Rotate the angle sensor around the Z-axis of the index head and record the voltage value of the Z-axis sensitive axis of the angle sensor at 0°, ±90°, 180° positions , , , ; Obtaining the zero voltage of the Z-axis sensitive axis of the angle sensor The method is as follows: ； S16. Calibrate the sensitivity coefficient of the angle sensor Z-axis sensitive axis : Z-axis rotation angle sensor around the index head; the index head adjusts the angle range of -50°-50°, the angle interval is 10°, the voltage value of the angle sensor is recorded at each angle; the least square linear fitting is used for the index head angle and the voltage value, and the sensitivity coefficient of the X-axis sensitive axis when the angle sensor is 0° with the horizontal plane is calculated ; Z-axis rotation angle sensor around the index head; the index head adjusts the angle range of -50°-50°, the angle interval is 10°, the voltage value of the angle sensor is recorded at each angle; the least square linear fitting is used for the index head angle and the voltage value, and the sensitivity coefficient of the X-axis sensitive axis when the angle sensor is 90° with the horizontal plane is calculated ; S17. Calculate the roll misalignment angle of the Z-axis sensitive axis with respect to the reference axis system , the maximum misalignment angle of the Z-axis sensitive axis with the reference axis line , as follows: When the angle sensor is at 0° to the horizontal, the roll angle of the Z-axis sensitive axis with respect to the reference axis system is calculated according to the following formula : ； The maximum angle of deviation of the Z-axis sensitive axis from the reference axis is calculated according to the following formula when the angle sensor is at an angle of 0° to the horizontal plane : ； When the angle sensor is at an angle of 90° to the horizontal plane, the roll angle of the Z-axis sensitive axis with respect to the reference axis system is calculated according to the following formula : ； The maximum angle of deviation of the Z-axis sensitive axis from the reference axis is calculated according to the following formula when the angle sensor is at 0° to the horizontal and 90° to the horizontal plane : 。 4. The method of claim 3, wherein S2 specifically comprises the following steps: S21. The model is leveled according to the reference plane, the angle sensor acquires the voltage at 0° and The pitch and roll installation angles of the angle sensor with respect to the model reference axes are calculated by iteration according to the following formulas and : ； ； initial value of is given by the equation: ； initial value of is given by the equation: ； S22. The model reference plane is rotated 90 degrees about the model axis and is perpendicular to the horizontal plane, the angle sensor acquires the voltage at 90° and The yaw installation angle of the angle sensor relative to the model reference axis system is calculated by iteration according to the following formula : ； ； initial value of is given by the equation: ； initial value of is given by the equation: ； S23. Based on the pitch installation angle of the angle sensor relative to the model reference axis system. Rolling installation angle and yaw installation angle The pitch installation angle of the model's reference axis system relative to the angle sensor is obtained. Rolling installation angle and yaw installation angle .

5. The method of claim 4, wherein S3 specifically comprises the following steps: S31. Measure the voltage value of the angle sensor during the wind tunnel test; During the step-variable model attitude angle test, the angle sensor collects voltage values for ≥3 seconds; the voltage values are filtered through fast Fourier transform, and the filtered voltage values are taken as the voltage values of the current angle; During the continuous attitude angle test, the angle sensor collects voltage values in real time, and according to the angle change speed, the average value is taken as the current voltage value; S32. The pitch angle of the angle sensor with respect to the earth axis system is obtained by iterative calculation and roll angle by the following equation: ； ； initial value of is given by the formula: ； initial value of is given by the equation: 。 6. The method of claim 5, wherein S4 is specifically: the angle sensor axis system, the model reference axis system and the ground axis system satisfy the following matrix relationship: ； That is: ； wherein, is the Euler rotation matrix of the angle sensor with respect to the ground axis system, is the Euler rotation matrix of the angle sensor with respect to the model reference axis system, is the Euler rotation matrix of the model reference axis system with respect to the ground axis system; Thus, the yaw mounting angle of the angle sensor with respect to the earth axis system is calculated as follows: ； as initial values, recalculate the pitch angle , roll angle and yaw angle of the model reference shafting relative to the ground shafting ； wherein, is the Euler rotation matrix of the model reference shafting with respect to the angle sensor; Solve to obtain: ； The pitch angle , roll angle and yaw angle are brought into the aforementioned formula for solving , the yaw installation angle of the angle sensor relative to the earth axis system is recalculated ; The iterative calculation is stopped until the difference between the new and old pitch angle , roll angle , and yaw angle is within 0.005°.

7. The method of claim 6, wherein S5 specifically comprises the following steps: S51. Measure the average airflow deflection angle, including pitch deflection angle. and yaw angle Rotation matrix of the Earth axis system relative to the wind tunnel inflow axis system The average airflow deflection angle was obtained through force testing of the model in both forward and reverse orientations. and The specific method is as follows: The longitudinal force coefficient curve obtained by the model horizontal positive and negative test is shown in Fig.

2. The zero-lift angle of attack is 2.5° for the positive test and 4.5° for the negative test. The average longitudinal flow deflection angle is given by the following equation:​ ； The model is rolled 90°, the lift coefficient at the current angle of attack is measured, the slope of the longitudinal force coefficient curve obtained from the model horizontal positive and negative tests is used to calculate the zero angle lift coefficient , and the lateral average airflow deflection angle is calculated according to the following formula : ​ ； S52. Calculate the model angle of attack a and sideslip angle b in the wind axis, the rotation matrix from the model axis to the wind axis is represented as ; When the airflow deflection angle is considered, the following relationship is satisfied: ； ； wherein, is the longitudinal average wind angle, is the heading wind angle.

8. An electronic device, comprising: The computer program is stored in the memory and comprises a computer program, and the processor executes the computer program to realize the steps of the wind tunnel test model attitude angle calculation method according to any one of claims 1-7.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to realize the wind tunnel test model attitude angle calculation method according to any one of claims 1-7.

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