一种混联驱动CTS风洞试验运动系统的运动学反解方法
By using a hybrid drive system for the CTS wind tunnel test motion system, combining XYZ series linear guides, Z3 parallel mechanism and rolling mechanism, and employing analytical methods for inverse kinematics, the problems of cantilever beam deformation and high blockage in traditional CTS wind tunnel tests were solved, achieving efficient and accurate motion control of the missile model.
CN116465406BActive Publication Date: 2026-07-17CHINA ACAD OF AEROSPACE AERODYNAMICS
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CHINA ACAD OF AEROSPACE AERODYNAMICS
- Filing Date
- 2023-03-27
- Publication Date
- 2026-07-17
AI Technical Summary
Technical Problem
Traditional CTS wind tunnel testing systems suffer from large cantilever beam deformation and reduced structural stiffness, leading to high wind tunnel blockage, long equipment installation and commissioning times, and reduced testing efficiency.
Method used
A hybrid-driven CTS wind tunnel test motion system was adopted, including XYZ series linear guides, Z3 type parallel mechanism and rolling mechanism. The kinematic inverse solution was performed by analytical method to ensure the accuracy and speed of attitude control of the missile model.
Benefits of technology
It reduced wind tunnel blockage, improved test preparation efficiency, enabled accurate and efficient motion control of missile models, and enhanced the automation level of CTS wind tunnel testing.
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Abstract
本发明公开了一种混联驱动的CTS风洞试验运动系统的运动学反解方法，包括：在混联驱动的CTS风洞试验运动系统中，建立风洞坐标系、XYZ串联直线导轨坐标系、Z3型并联机构静平台坐标系、Z3型并联机构动平台坐标系、导弹模型坐标系；对混联驱动的CTS风洞试验运动机构作运动学分析，建立正向运动学模型；根据导弹模型目标位姿和正向运动学模型，提出一种线位移和角位移分离求解的反解策略，建立各驱动部件的行程量方程组，采用解析法求解各驱动部件行程，以得到其逆向运动学模型，该方法可以实现对CTS风洞试验运动机构的运动学反解，保证CTS风洞试验运动机构控制的准确性，以实现CTS风洞试验中导弹模型的自动化定位。
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