Method for calculating workspace of hybrid drive CTS wind tunnel test motion system

Abstract

The application discloses a kind of hybrid drive's CTS wind tunnel test motion system's missile model workspace calculation method, comprising the following steps: (1) establish the coordinate system of hybrid drive's CTS wind tunnel test motion system;(2) establish the kinematics model of hybrid drive's CTS wind tunnel test motion system, establish the mapping relationship of each drive quantity in hybrid drive's CTS wind tunnel test motion system and the pose of missile model;(3) establish the constraint condition of hybrid drive's CTS wind tunnel test motion system;(4) pose assignment rule is formulated, and the working space of missile model is synthesized using the method of attitude traversal, pose superposition.It can be determined that the working space of missile model in wind tunnel through the above steps, the calculation efficiency of the motion space of missile model in CTS test is greatly improved, and the basis for the determination of CTS test trajectory boundary is laid.

Description

Technical Field

[0001] This application relates to the technical field of CTS wind tunnel testing technology and equipment, and in particular to a method for calculating the workspace of a missile model in a hybrid-driven CTS wind tunnel testing motion system. Background Technology

[0002] In a conventional CTS wind tunnel test motion system, the six degrees of freedom motion of the missile model is controlled by a multi-degree-of-freedom cascaded mechanism. The motion system consists of X-line displacement, Y-line displacement, Z-line displacement, pitch rotation, yaw rotation, and roll mechanisms. Each mechanism has an actuation, control, and measurement system, all mounted within a cantilever beam. For a CTS wind tunnel test motion system with a multi-degree-of-freedom cascaded mechanism, the workspace of the missile model can generally be obtained through spatial scanning based on the forward kinematic equations of the mechanism.

[0003] When designing motion systems for supersonic and hypersonic CTS wind tunnel tests, the performance disadvantages of multi-degree-of-freedom tandem mechanisms, such as high blockage and low stiffness, are quite prominent. Therefore, multi-degree-of-freedom tandem mechanisms are generally not used alone as motion systems for supersonic and hypersonic CTS wind tunnel tests. Parallel mechanisms, on the other hand, have high stiffness. Combined with the advantage of large linear displacement space of tandem mechanisms, hybrid mechanisms composed of parallel and tandem mechanisms are an ideal choice for motion systems in supersonic and hypersonic CTS wind tunnel tests.

[0004] The hybrid-driven CTS wind tunnel test motion system of this invention consists of XYZ series linear guides, a Z3-type parallel mechanism, and a rolling mechanism. It possesses numerous advantages in test performance, such as low blockage and high stiffness. However, due to the lack of explicit equations for direct overall forward or inverse solutions, it is difficult to obtain the missile model's workspace through the forward or inverse solutions of the hybrid mechanism. Therefore, solving for the missile model's workspace in the hybrid-driven CTS wind tunnel test motion system is quite complex. For the hybrid-driven CTS wind tunnel test motion system, there is an urgent need to propose a missile model workspace allocation strategy and a method for synthesizing the sub-drive workspaces to calculate the missile model's workspace in the wind tunnel coordinate system. Summary of the Invention

[0005] To overcome the shortcomings of existing technologies, this invention proposes a method for calculating the working space of a missile model in a hybrid-driven CTS wind tunnel test motion system. This method can solve for the working space of the missile model in the hybrid-driven CTS wind tunnel test motion system, significantly improving the calculation efficiency of the motion space of the missile model in CTS tests and laying the foundation for determining the trajectory boundaries of CTS tests.

[0006] In a first aspect, a method for calculating the workspace of a hybrid-driven CTS wind tunnel test motion system is provided. The hybrid-driven CTS wind tunnel test motion system includes an XYZ series linear guide rail, a Z3-type parallel mechanism, and a rolling mechanism. The XYZ series linear guide rail is used to realize the movement of the missile model, the Z3-type parallel mechanism is used to realize the attitude deflection and movement of the missile model, and the rolling mechanism is used to realize the axial roll of the missile model. The method includes:

[0007] The working space of the Z3-type parallel mechanism in the wind tunnel coordinate system, the first displacement working space of the XYZ series linear guide rail in the wind tunnel coordinate system, and the first attitude angle working space of the rolling mechanism in the wind tunnel coordinate system are determined. The working space of the Z3-type parallel mechanism in the wind tunnel coordinate system includes a second attitude angle working space and a second displacement working space. The reachable displacement in the second displacement space corresponds to the reachable attitude angle in the second attitude angle working space.

[0008] The working space of the hybrid-driven CTS wind tunnel test motion system is determined based on the first displacement working space, the second displacement working space, the first attitude angle working space, and the second attitude angle working space.

[0009] In conjunction with the first aspect, in certain implementations of the first aspect, determining the workspace of the Z3-type parallel mechanism in the wind tunnel coordinate system includes:

[0010] Determine the workspace of the Z3 type parallel mechanism in the static platform coordinate system;

[0011] The workspace of the Z3 type parallel mechanism in the static platform coordinate system is mapped to the wind tunnel coordinate system to obtain the workspace of the Z3 type parallel mechanism in the wind tunnel coordinate system.

[0012] In conjunction with the first aspect, in some implementations of the first aspect, determining the workspace of the Z3-type parallel mechanism in the static platform coordinate system includes:

[0013] Set the first axis displacement Z d0 Traverse the attitude angle θ of the moving platform d and ψ d The range of values ​​is determined, and the guide rail drive, rotational joint angle, and ball joint angle of the Z3 type parallel mechanism are solved according to the inverse solution relationship of the Z3 type parallel mechanism.

[0014] Under the condition that the guide rail drive amount, rotary joint angle and ball joint angle of the Z3 type parallel mechanism all satisfy the constraint conditions of the Z3 type parallel mechanism, the achievable displacement and achievable attitude angle of the Z3 type parallel mechanism in the static platform coordinate system are obtained.

[0015] By merging all reachable attitude angles, the attitude angle workspace of the Z3 type parallel mechanism in the static platform coordinate system is obtained;

[0016] Based on the reachable displacements corresponding to all reachable attitude angles, the displacement working space of the Z3 type parallel mechanism in the static platform coordinate system is obtained.

[0017] In conjunction with the first aspect, in certain implementations of the first aspect, the inverse solution relationship of the Z3 type parallel mechanism satisfies:

[0018] (d 1i d 2i d 3i γ 1i γ 2i γ 3i g 1i g 2i g 3i )=f1(θ di ,ψ di Z d0 )

[0019] The guide rail drive, revolute joint angle, and ball joint angle of the Z3 type parallel mechanism all satisfy the constraint conditions of the Z3 type parallel mechanism, and conform to:

[0020]

[0021]

[0022] (d 1i d 2i d 3i ) is with (θ di ψ di Z d0 The guide rail drive amount corresponding to the Z3 type parallel mechanism, (γ) 1i γ 2i γ 3i ) is with (θ di ψ di Z d0 The angle of the rotating pair of the Z3 type parallel mechanism corresponding to (g) 1i g 2i g 3i ) is with (θ di ψ di Z d0 The angle of the ball joint corresponding to the Z3 type parallel mechanism, Let Euler angles be the angles of the moving platform in the coordinate system of the static platform. Let X be the Euler angle of the missile model in the static platform coordinate system, and X be the displacement of the missile model in the static platform coordinate system. Si Y SiZ Si ) and the three displacements (X, Y, F, Z) of the moving platform in the coordinate system of the static platform. di Y di Z di The difference in translation distance Let X be the transformation matrix from the moving platform coordinate system to the static platform coordinate system. p Y p Z p ) represents the coordinates of the missile model in the moving platform coordinate system.

[0023] In conjunction with the first aspect, in some implementations of the first aspect, mapping the workspace of the Z3-type parallel mechanism in the static platform coordinate system to the wind tunnel coordinate system satisfies:

[0024]

[0025] This is the transformation matrix from the static platform coordinate system to the wind tunnel coordinate system. The static platform represents the three Euler angles around the YZX axes of the wind tunnel coordinate system, R(α). M2 β M2 γ M2 ) is the transformation matrix from the missile model coordinate system to the wind tunnel coordinate system, (α) M2 β M2 γ M2 These are the three Euler angles of the missile model around the YZX axes of the wind tunnel coordinate system.

[0026] In conjunction with the first aspect, in some implementations of the first aspect, the displacement Z of the first axis is... d0 The minimum displacement Z of the axis dmin Maximum displacement Z of the axis dmax The middle value between.

[0027] In conjunction with the first aspect, in some implementations of the first aspect, the displacement Z of the first axis is... d0 Corresponding to the first workspace, the method further includes:

[0028] Based on the axial displacement Z of the Z3 type parallel mechanism d Available routes, in Z dmin To Z dmax Set M axis displacements Z between them di Z d1 Z d2 ... Z dM ;

[0029] Determine the displacement Z of the M axes di M workspaces with one-to-one correspondence;

[0030] The first workspace and the M workspaces are merged to obtain the workspace of the Z3 type parallel mechanism in the static platform coordinate system.

[0031] In conjunction with the first aspect, in some implementations of the first aspect, the first workspace and the M workspaces are merged according to at least one of the following conditions:

[0032] If the union of workspace j and workspace k equals workspace j, then workspace j is retained and workspace k is discarded.

[0033] Workspace a1 is the portion of workspace a minus the portion belonging to the first workspace. Workspace b1 is the portion of workspace b minus the portion belonging to the first workspace. Workspace c1 is the portion of workspace c minus the portion belonging to the first workspace. If workspace a1 is the union of workspace b1 and workspace c1, then workspace b and workspace c are retained, and workspace a is discarded.

[0034] In conjunction with the first aspect, in some implementations of the first aspect, the workspace of the hybrid-driven CTS wind tunnel test motion system satisfies:

[0035]

[0036] in

[0037] γ M3i =γ Gi

[0038] (d xi d yi d zi ) represents the drive stroke of the XYZ series linear guide, γ Gi The roll stroke of the rolling mechanism is (X) P0 Y P0 Z P0 Let ) be the coordinates of the origin of the static platform coordinate system of the Z3 type parallel mechanism in the wind tunnel coordinate system when the driving amount of the XYZ series linear guide is 0.

[0039] Secondly, a kinematic inverse kinematics method is provided for a hybrid-driven CTS wind tunnel test motion system. The hybrid-driven CTS wind tunnel test motion system includes an XYZ series linear guide rail, a Z3-type parallel mechanism, and a rolling mechanism. The XYZ series linear guide rail is used to realize the movement of the missile model, the Z3-type parallel mechanism is used to realize the attitude deflection and movement of the missile model, and the rolling mechanism is used to realize the axial roll of the missile model. The method includes:

[0040] Based on the target position and attitude of the missile model, its orientation within the workspace of the hybrid-driven CTS wind tunnel test motion system is determined from multiple axis displacements Z... d The axial displacement Z of the corresponding Z3 type parallel mechanism is determined in the middle. d The multiple axial displacements Z d Each workspace corresponds to one of the multiple workspaces.

[0041] Based on the target attitude and the axial displacement Z of the Z3 type parallel mechanism d Determine the guide rail drive quantity (d) of the Z3 type parallel mechanism. 1i d 2i d 3i );

[0042] Based on the target attitude and the guide rail drive amount (d) of the Z3 type parallel mechanism 1i d 2i d 3i The attitude of the rolling mechanism is determined.

[0043] Based on the target position and the guide rail drive amount (d) of the Z3 type parallel mechanism 1i d 2i d 3i Determine the driving amount of the XYZ series linear guide rail.

[0044] Thirdly, a test method for a hybrid-driven CTS wind tunnel test motion system is provided. The hybrid-driven CTS wind tunnel test motion system includes an XYZ series linear guide rail, a Z3-type parallel mechanism, and a rolling mechanism. The XYZ series linear guide rail is used to realize the movement of the missile model, the Z3-type parallel mechanism is used to realize the attitude deflection and movement of the missile model, and the rolling mechanism is used to realize the axial roll of the missile model. The method includes:

[0045] Based on the target position and attitude of the missile model, control the driving amount of the XYZ series linear guide rail, the guide rail driving amount of the Z3 parallel mechanism, and the rolling amount of the rolling mechanism.

[0046] Among them, the guide rail drive amount (d) of the Z3 type parallel mechanism 1i d 2i d 3i Based on the target attitude and the axial displacement Z of the Z3 type parallel mechanism d It is determined that the roll amount of the rolling mechanism is based on the target posture and the guide rail drive amount (d) of the Z3 type parallel mechanism. 1i d 2i d 3i The driving amount of the XYZ series linear guide rails is determined based on the target position and the guide rail driving amount (d) of the Z3 type parallel mechanism.1i d 2i d 3i It is determined that the axial displacement Z of the Z3 type parallel mechanism is... d The working space orientation of the target position and the target attitude in the wind tunnel coordinate system corresponds to the target position and the target attitude.

[0047] Compared with the prior art, the solution provided in this application has at least the following beneficial technical effects:

[0048] 1. For the hybrid-driven CTS test motion system, a missile model workspace solution allocation strategy and a method for synthesizing the workspace of each drive are proposed. Based on the spatial advantages of each drive, the angle of attack space and sideslip angle space are allocated to the Z3 parallel mechanism, the X-line displacement, Y-line displacement and Z-line displacement space are allocated to the XYZ series linear guide rail, and the roll angle space is allocated to the roll mechanism. This realizes the planning and solution of the missile model workspace and determines the motion space boundary of the hybrid-driven CTS test motion system.

[0049] 2. In view of the structural characteristics of the CTS wind tunnel test motion system with hybrid drive, the method of forward solution of XYZ series linear guide rail, rolling mechanism and inverse solution of Z3 parallel mechanism is adopted to find the motion boundary of missile model, and realize the rapid solution of the motion workspace of missile model under hybrid drive.

[0050] 3. The working space of the missile model of the CTS wind tunnel test motion system with hybrid drive was solved, laying the foundation for the determination of the CTS test trajectory boundary. Attached Figure Description

[0051] Figure 1 Schematic diagram of the hybrid-driven CTS wind tunnel test motion system

[0052] Figure 2 A coordinate system definition diagram for the hybrid-driven CTS wind tunnel test motion system;

[0053] Figure 3 Flowchart of workspace calculation for missile model of CTS wind tunnel test motion system with hybrid drive;

[0054] Figure 4 Mapping of the range of motion of the missile model relative to the origin of the static platform coordinate system under the Z3 parallel hybrid drive in the wind tunnel coordinate system. Detailed Implementation

[0055] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0056] The following is in conjunction with the appendix Figure 1 ~Attached Figure 3The present invention will be further described in detail so that those skilled in the art can implement it based on the description.

[0057] This invention provides a method for calculating the workspace of a missile model in a hybrid-driven CTS test motion system.

[0058] like Figure 1 As shown, the hybrid-driven CTS wind tunnel test motion system of the present invention includes an XYZ series linear guide rail, a Z3-type parallel mechanism, and a rolling mechanism. The XYZ series linear guide rail can be used to realize the movement of the missile model in the X, Y, and Z directions. The Z3-type parallel mechanism can be used to realize the attitude deflection and movement of the missile model. The rolling mechanism can be used to realize the axial roll of the missile model. The XYZ series linear guide rail is fixedly installed on the wind tunnel base. The static platform of the Z3-type parallel mechanism is rigidly connected to the output shaft of the XYZ series linear guide rail, the moving platform of the Z3-type parallel mechanism is rigidly connected to the rolling mechanism, and the rolling mechanism is rigidly connected to the missile model.

[0059] exist Figure 1 In the illustrated embodiment, the XYZ series linear guide rails can be installed outside the wind tunnel test section, specifically on the wind tunnel base. The ends of the XYZ series linear guide rails can be fixed to the wind tunnel base to avoid forming a cantilever beam structure.

[0060] exist Figure 1 In the illustrated embodiment, the Z3-type parallel mechanism can be suspended below the XYZ series linear guide rails. The Z3-type parallel mechanism includes a stationary platform, a moving platform, and three support rods. The stationary platform has three parallel guide rails. One end of each of the three support rods is fixed to one of the three guide rails, and the other end is fixed to the moving platform. By adjusting the different strokes of the ends of the three support rods on the guide rails, the attitude deflection and movement of the moving platform can be achieved.

[0061] Generally, inverse kinematics (IK) can be solved analytically or numerically. Analytical methods offer faster computation and higher accuracy, and are suitable for IK of mutually perpendicular axes of motion intersecting at a single point, as well as parallel mechanisms. Numerical methods are applicable to a wider range of serial mechanisms, but their computational speed and accuracy are limited. In this invention's hybrid-driven CTS wind tunnel test motion system, to ensure the accuracy, stability, and computational speed of the IK, an analytical method is suitable. However, the hybrid-driven mechanism configuration can have cross-influences on the missile model's pose, easily leading to inaccurate solutions. Furthermore, the missile model's pose IK can have multiple solutions. For example, the drive of the XYZ serial linear guide rails and the Z3-type parallel mechanism can both cause linear displacement motion of the missile model.

[0062] This invention provides an inverse kinematics method for a hybrid-driven CTS experimental motion system. The principle of the inverse kinematics method is described below.

[0063] In the hybrid-driven CTS wind tunnel test motion system, the wind tunnel coordinate system, the XYZ series linear guide coordinate system, the Z3 parallel mechanism static platform coordinate system, the Z3 parallel mechanism moving platform coordinate system, and the missile model coordinate system can be established, as shown in the appendix. Figure 2 As shown.

[0064] Establishment of the wind tunnel coordinate system: Origin of the wind tunnel coordinate system W Located at the center of the wind tunnel test section exit, O W X W The axis is positively oriented with the direction opposite to the airflow. W Y W The axis is positive with the vertical direction upward, O W Z W The axis is determined according to the right-hand rule.

[0065] Establishment of the XYZ series linear guide coordinate system: The axes of the XYZ series linear guide coordinate system are parallel to the wind tunnel coordinate system, with the origin O. XYZ Located at the center of the XYZ series linear guide rails.

[0066] Establishment of the coordinate system for the static platform of the Z3 type parallel mechanism: The origin O of the coordinate system for the static platform of the Z3 type parallel mechanism S Located at the center of the Z3 type parallel mechanism base, O S Z S The axis is parallel to the linear guide rail of the Z3 type parallel mechanism, O S X S The axis is perpendicular to O in the vertical plane. S Z S The axis is positive downwards, O S Y S The axis is determined according to the right-hand rule.

[0067] Establishment of the coordinate system for the Z3 type parallel mechanism moving platform: O of the coordinate system for the Z3 type parallel mechanism moving platform D Located at the center of the Z3 type parallel mechanism moving platform, O D Z D The axis is perpendicular to the plane of the moving platform, with the direction from the stationary platform to the moving platform as positive. D X D The axis is perpendicular to O within the longitudinal symmetry plane of the moving platform. D Z D The axis is positive downwards, O D Y D The axis is determined according to the right-hand rule.

[0068] Establishing the missile model coordinate system: The origin O of the missile model coordinate system M Located at the nominal center of mass of the missile model, O M X MThe axis is aligned with the missile model's axis, with the tail pointing towards the warhead as positive. M Y M The axis is perpendicular to O within the longitudinal symmetry plane of the missile model. M X M Axis, upward is positive, O M Z M The axis is determined according to the right-hand rule.

[0069] By performing kinematic analysis on the CTS wind tunnel test motion system driven by hybrid transmission, a positive kinematic model can be established.

[0070] First, the relationship between the drive stroke of the XYZ series linear guide rail and the attitude of the missile model can be established.

[0071] The XYZ series linear guide rails are parallel to the three directions of the wind tunnel coordinate system in the X, Y, and Z directions, and their driving force (d) x d y d z Independently control the displacement motion of the missile model in three directions (X, Y, F, Z) in the wind tunnel coordinate system. M1 Y M1 Z M1 The expression is as follows:

[0072] X M1 =d x

[0073] X M1 =d y

[0074] X M1 =d z

[0075] Secondly, the relationship between the linear guide drive stroke of the Z3 parallel mechanism and the missile model attitude is established.

[0076] The linear guide drive quantities (d1, d2, d3) of the Z3 parallel mechanism control the pose (X) of the moving platform of the Z3 parallel mechanism. d Y d Z d θ d ψ d , ), where (X) d Y d Z d () represents the displacement of the center of the moving platform in the coordinate system of the static platform. Let d1, d2, and d3 be the three Euler angles of the moving platform about the Y, X, and Z axes of the stationary platform. Their relationship can be expressed using the inverse relationship of the Z3 type parallel mechanism, a common technique in the field of parallel mechanisms. Here, (d1, d2, d3) are used. This represents the inverse solution relationship of the Z3 type parallel mechanism. The moving platform is rigidly connected to the missile model, and the three Euler angles of the missile model in the static platform coordinate system are... The three Euler angles of the moving platform in the coordinate system of the static platform Equal to the three displacements (X, Y, F, Z) of the missile model in the static platform coordinate system. S Y S Z S ) and the three displacements (X, Y, F, Z) of the moving platform in the coordinate system of the static platform. d Y d Z d The difference is a fixed translation distance (X) p Y p Z p ),Right now:

[0077]

[0078] [X S Y S Z S ] = [X d Y d Z d ]+[X p Y p Z p ]

[0079] The missile's displacement in the wind tunnel coordinate system is (X) M2 Y M2 Z M2 ) and attitude angle (α) M2 β M2 γ M2 The driving quantities (d1, d2, d3) of the parallel mechanism with the Z3 type can be expressed as:

[0080]

[0081] in, This is the transformation matrix from the static platform coordinate system to the wind tunnel coordinate system. The static platform is defined by the three Euler angles around the Y, Z, and X axes of the wind tunnel coordinate system. R(α) is the transformation matrix from the missile model coordinate system to the static platform coordinate system. M2 β M2 γ M2 ) is the transformation matrix from the missile model coordinate system to the wind tunnel coordinate system, (α) M2 β M2 γ M2 These are the three Euler angles of the missile model around the YZX axes of the wind tunnel coordinate system.

[0082] Then, the relationship between the roll angle of the roll mechanism and the attitude of the missile model is established.

[0083] The rolling mechanism is rigidly connected to the missile model, and the rolling stroke γ of the rolling mechanism... G Independently control the roll angle γ of the missile model M3 The expression is as follows:

[0084] γ M3 =γ G

[0085] Based on the above information, as well as the driving stroke and geometric constraints of each mechanism, the constraint conditions of each mechanism can be determined, thereby obtaining the working space of the missile model of the CTS wind tunnel test motion system.

[0086] First, the constraint conditions of the XYZ linear guide are determined based on the drive stroke of the XYZ series linear guide.

[0087] The motion range of the XYZ series linear guide is constrained by the travel of the X-direction guide, Y-direction guide, and Z-direction guide. Therefore, the constraint condition of the XYZ series linear guide can be expressed as:

[0088]

[0089] In one embodiment, d xmin =-545,d xmax =320, d ymin =-420,d ymax =850,d zmin =-480,d zmax =560.

[0090] Secondly, the constraints of the Z3 parallel mechanism are determined based on the driving stroke of the Z3 parallel mechanism.

[0091] The motion range of the Z3 parallel mechanism is constrained by the stroke of the three linear guides. Therefore, the constraint condition of the Z3 parallel mechanism can be expressed as:

[0092]

[0093]

[0094]

[0095] Wherein, d1, d2, and d3 represent the driving forces of the three linear guides, γ1, γ2, and γ3 represent the rotation angles of the three rotating shafts, and g1, g2, and g3 represent the rotation angles of the three ball joints. The rotating shaft is the connecting component between the support rod and the linear guide. The ball joint is the connecting component between the support rod and the moving platform.

[0096] In one embodiment, d1min =d 2min =d 3min =145.5, d 1max =d 2max =d 3max =338.5, γ 1min =γ 2min =γ 3min =0°, γ 1max =γ 2max =γ 3max =90°, g 1min =g 2min =g 3min = -60°, g 1max =g 2max =g 3max = -60°.

[0097] Then, the constraints of the rolling mechanism are determined based on the driving stroke of the rolling mechanism.

[0098] The range of motion of the rolling mechanism is constrained by the driving stroke of the rolling mechanism; therefore, the constraint condition of the rolling mechanism can be expressed as:

[0099] γ Gmin ≤γ G ≤γ Gmax

[0100] In one embodiment, γ Gmin = -180°, γ Gmax =180°.

[0101] Therefore, a workspace allocation strategy can be formulated, and the workspace of the missile model can be synthesized by using the pose superposition method.

[0102] The six degrees of freedom motion of the missile model are jointly driven and synthesized by the XYZ series linear guide rails, the Z3 parallel mechanism, and the roll mechanism. The workspace calculation strategy is as follows: the angle of attack and sideslip angle motion spaces of the missile model are solved by the inverse kinematics of the Z3 parallel mechanism, generating additional displacements of other degrees of freedom of the missile model; the X, Y, and Z displacement motion spaces of the missile model are calculated by the forward kinematics of the XYZ series linear guide rails; the roll motion space of the missile model is solved by the forward kinematics of the roll mechanism; and finally, the workspace of the missile model is synthesized by the pose superposition method, as shown in the attached figure. Figure 3 As shown, the specific steps are as follows.

[0103] First, the motion range of the missile model relative to the origin of the static platform coordinate system under the Z3 parallel hybrid drive is obtained by using the dynamic platform attitude angle traversal method, as shown in the wind tunnel coordinate system.

[0104] In the Z3 type parallel mechanism, the axial displacement Z of the moving platform is maintained.d Traverse the attitude angle θ of the moving platform d and ψ d The range of values ​​for θ is determined by the inverse solution relationship of the Z3 type parallel mechanism. di ψ di Z di The calculated value corresponds to the guide rail drive quantity (d) of the Z3 type parallel mechanism. 1i d 2i d 3i ), the angles of the three revolute joints (γ) 1i γ 2i γ 3i ) and the angles of the three ball pairs (g 1i g 2i g 3i ), determine the guide rail drive amount and rotation angle (d) for each. 1i d 2i d 3i γ 1i γ 2i γ 3i g 1i g 2i g 3i Whether the constraints of the Z3 type parallel mechanism are satisfied is determined. The poses of all moving platforms that satisfy the constraints constitute the working space of the Z3 type parallel mechanism's moving platform. Since the moving platform is rigidly connected to the missile model, the three Euler angles of the missile model in the static platform coordinate system are... The three Euler angles of the moving platform in the coordinate system of the static platform Equal to the three displacements (X, Y, F, Z) of the missile model in the static platform coordinate system. Si Y Si Z Si ) and the three displacements (X, Y, F, Z) of the moving platform in the coordinate system of the static platform. di Y di Z di Phase difference translation distance Let X be the transformation matrix from the moving platform coordinate system to the static platform coordinate system. p Y p Z p (X) represents the coordinates of the missile model in the moving platform coordinate system. Since the missile model is rigidly connected to the moving platform, (X) p Y p Z p ) is a fixed value, that is:

[0105] (d 1i d 2i d 3i γ 1i γ 2i γ 3ig 1i g 2i g 3i )=f1(θ di ,ψ di Z di )

[0106]

[0107]

[0108] Therefore, based on the pose relationship between the moving platform and the missile model, as well as the working space of the moving platform of the Z3 parallel mechanism, the working space of the missile model driven by the Z3 parallel mechanism in the static platform coordinate system is obtained.

[0109] Based on the transformation matrix from the static platform coordinate system to the wind tunnel coordinate system This allows us to obtain the mapping of the missile model's range of motion relative to the origin of the static platform coordinate system in the wind tunnel coordinate system: (X M2i Y M2i Z M2i α M2i β M2i γ M2 The expression is as follows:

[0110]

[0111] In one embodiment, the Z3 type parallel mechanism has a static platform diameter of 110mm and a moving platform diameter of 80mm. di Take a fixed value of 425.8 mm, θ di The value range is [0, 180°], ψ di Value range [-50°, 50°], X p = -635.4mm, Y p =0, Z p =666.2mm, θ W =270°, ψ W =270°, Under the constraints, the working space of the missile model in the wind tunnel coordinate system is as follows: Figure 4 As shown, Figure 4 In this context, (a) represents the attitude angle space. Figure 4 (b) in the figure represents the displacement space.

[0112] Secondly, the displacement superposition method is used to obtain the displacement increment range of the missile model in the wind tunnel coordinate system under the drive of the XYZ series linear guide rails.

[0113] The directions of the X, Y, and Z displacements of the XYZ series linear guide rails are the same as the three displacements of the missile model in the wind tunnel coordinate system. Based on the driving stroke (d) of the XYZ series linear guide rails in the three directions... xi d yi d zi This allows for the calculation of the displacement increment range (X) of the missile model in the wind tunnel coordinate system. M1i Y M1i Z M1i ), expressed as follows:

[0114] in

[0115] In one embodiment, -545 ≤ X M1i ≤320, -420≤Y M1i ≤850, -480≤Z M1i ≤560, unit mm.

[0116] Then, the range of the missile model's roll increment under the drive of the roll mechanism is obtained.

[0117] The roll motor directly drives the roll angle motion of the missile model, which is determined by the roll stroke γ of the roll motor. Gi This allows us to calculate the roll increment range γ of the missile model. M3i The expression is as follows:

[0118] γ M3i =γ Gi , where γ Gmin ≤γ Gi ≤γ Gmax

[0119] In one embodiment, -180°≤γ M3i ≤180°.

[0120] Based on the above, the working space of the missile model in the wind tunnel coordinate system can be obtained.

[0121] The workspace of the missile model in the wind tunnel coordinate system is determined by the Z3 parallel mechanism, the XYZ series linear guides, and the rolling motor, and is influenced by the constraints of these components. From the above, the pose expression of the missile model relative to the origin of the Z3 parallel mechanism's static platform coordinate system has been obtained. After determining the displacement difference between the origin of the Z3 parallel mechanism's static platform coordinate system and the wind tunnel coordinate system, the pose expression of the missile model relative to the origin of the wind tunnel coordinate system can be determined, thus obtaining the workspace of the missile model in the wind tunnel coordinate system. When the drive of the XYZ series linear guides is 0, the coordinates of the origin of the Z3 parallel mechanism's static platform coordinate system in the wind tunnel coordinate system are (X... P0 YP0 Z P0 Therefore, the workspace of the missile model in the wind tunnel coordinate system can be expressed as:

[0122]

[0123] Among them, X M1i X M2i Y M1i Y M2i Z M1i Z M2i α M2i、 β M2i γ M2i γ M3i The range of values ​​for is determined by the formula above.

[0124] In one embodiment, X P0 = 918.87mm, Y P0 =900mm, Z P0 =0mm,X M1i X M2i Y M1i Y M2i Z M1i Z M2i α M2i、 β M2i γ M2i γ M3i The value can be determined by the numerical values ​​in the above embodiments, thereby obtaining the working space of the missile model in the wind tunnel coordinate system. This enables the calculation of the working space of the missile model in the hybrid-driven CTS wind tunnel test motion system.

[0125] In some embodiments provided in this application, the Z3 type parallel mechanism is used. di Always set to Z dmin To Z dmax The intermediate value between these two values ​​provides a relatively flexible working space when the conditions of missile model testing are unknown. Furthermore, the Z3 parallel mechanism's Z... di Setting it to a value outside the middle may not provide a significant increase in workspace. In other words, while setting the Z value of the Z3 type parallel mechanism... di The workspace calculated by always setting it to the median value is not the actual maximum workspace, but it is often the preferred workspace for a hybrid-driven CTS wind tunnel test motion system.

[0126] In other embodiments provided in this application, when the missile model is close to the boundary of the workspace in the hybrid-driven CTS wind tunnel test motion system, it is necessary to reasonably adjust the Z3 parallel mechanism. dThis allows the missile model to be further adjusted to a specified orientation. Therefore, embodiments of this application provide a method for controlling a missile model in a hybrid-driven CTS wind tunnel test motion system.

[0127] According to the Z3 type parallel mechanism, Z d The stroke is calculated, with each step increment, according to the above method for determining the workspace of the CTS wind tunnel test motion system. For example, based on the axial displacement Z of the Z3 type parallel mechanism... d Available routes, in Z dmin To Z dmax Set Z between d1 Z d2 ... Z d100 Among them, Z di-1 and Z di The step size between Z di+1 and Z di The step sizes between them are equal. Based on the following formula, 100 workspaces can be obtained, namely workspace 1, workspace 2, ..., workspace 100:

[0128] (d 1i ,d 2i ,d 3i )=f1(θ di ,ψ di Z di )

[0129]

[0130]

[0131]

[0132] Assume that when Z di Take Z dmin To Z dmax When the intermediate value is reached, the working space of the missile model driven by the Z3 parallel mechanism in the wind tunnel coordinate system is working space 0. The intersections of working spaces 1, 2, ..., 100 with working space 0 are taken respectively. Furthermore, assuming the union of working spaces j and k equals working space j (i.e., the range of working space j is greater than or equal to working space k), then working space k is discarded. Additionally, assuming working space a minus the portion belonging to working space 0 is working space a1, working space b minus the portion belonging to working space 0 is working space b1, and working space c minus the portion belonging to working space 0 is working space c1, if working space a1 is the union of working spaces b1 and c1, then working space a can be discarded. Thus, m working spaces can be obtained, and these m working spaces correspond to m axial displacements Z. dWhen the target position and attitude of the missile model are expected to be adjusted to exceed the workspace 0, a target workspace can be selected from m workspaces to make the target position and attitude fall into the target workspace, and then the displacement Z can be performed according to the axis corresponding to the target workspace. d Control the Z3 type parallel mechanism.

[0133] The contents not described in detail in this specification are common knowledge to those skilled in the art. Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention, and other modifications can be easily made by those skilled in the art. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A method for calculating the workspace of a hybrid-driven CTS wind tunnel test motion system, characterized in that, The hybrid-drive CTS wind tunnel test motion system includes an XYZ series linear guide rail, a Z3-type parallel mechanism, and a rolling mechanism. The XYZ series linear guide rail is used to move the missile model, the Z3-type parallel mechanism is used to achieve attitude deflection and movement of the missile model, and the rolling mechanism is used to achieve axial roll of the missile model. The method includes: The working space of the Z3-type parallel mechanism in the wind tunnel coordinate system, the first displacement working space of the XYZ series linear guide rail in the wind tunnel coordinate system, and the first attitude angle working space of the rolling mechanism in the wind tunnel coordinate system are determined. The working space of the Z3-type parallel mechanism in the wind tunnel coordinate system includes a second attitude angle working space and a second displacement working space. The reachable displacement in the second displacement working space corresponds to the reachable attitude angle in the second attitude angle working space. The working space of the hybrid-driven CTS wind tunnel test motion system is determined based on the first displacement working space, the second displacement working space, the first attitude angle working space, and the second attitude angle working space. Determining the workspace of the Z3 type parallel mechanism in the wind tunnel coordinate system includes: Determine the workspace of the Z3 type parallel mechanism in the static platform coordinate system; The workspace of the Z3 parallel mechanism in the static platform coordinate system is mapped to the wind tunnel coordinate system to obtain the workspace of the Z3 parallel mechanism in the wind tunnel coordinate system. Determining the workspace of the Z3 type parallel mechanism in the static platform coordinate system includes: Set the first axis displacement Traversing the dynamic platform's attitude angle And based on the inverse solution relationship of the Z3 type parallel mechanism, the guide rail drive amount, the rotational joint angle and the ball joint angle of the Z3 type parallel mechanism are solved; Under the condition that the guide rail drive amount, rotary joint angle and ball joint angle of the Z3 type parallel mechanism all satisfy the constraint conditions of the Z3 type parallel mechanism, the achievable displacement and achievable attitude angle of the Z3 type parallel mechanism in the static platform coordinate system are obtained. By merging all reachable attitude angles, the attitude angle workspace of the Z3 type parallel mechanism in the static platform coordinate system is obtained; Based on the reachable displacements corresponding to all reachable attitude angles, the displacement working space of the Z3 type parallel mechanism in the static platform coordinate system is obtained; First axial displacement Corresponding to the first workspace, the method further includes: Based on the axial displacement of the Z3 type parallel mechanism Available routes, in to Set M axis displacements between , respectively , ... ; Determine the displacements of the M axes M workspaces with one-to-one correspondence; The first workspace and the M workspaces are merged to obtain the workspace of the Z3 type parallel mechanism in the static platform coordinate system; The workspace of the hybrid-driven CTS wind tunnel test motion system satisfies: ,in , This refers to the drive stroke of the XYZ series linear guides. The rolling stroke of the rolling mechanism is ( Let ) be the coordinates of the origin of the static platform coordinate system of the Z3 type parallel mechanism in the wind tunnel coordinate system when the driving amount of the XYZ series linear guide is 0; i Represents the traversal of the first i A combination.

2. The method according to claim 1, characterized in that, The inverse solution relationship of the Z3 type parallel mechanism satisfies: （ 、 、 、 、 、 、 、 、 ）= The guide rail drive, revolute joint angle, and ball joint angle of the Z3 type parallel mechanism all satisfy the constraint conditions of the Z3 type parallel mechanism, and conform to: If , , then ( , , ) for and The corresponding guide rail drive amount of the Z3 type parallel mechanism, ( , , ) for and The angle of the rotating pair of the corresponding Z3 type parallel mechanism, ( , , ) for and The angle of the ball joint in the corresponding Z3 type parallel mechanism, ( ( ) represents the Euler angles of the moving platform in the coordinate system of the static platform. ) represents the Euler angles of the missile model in the static platform coordinate system, and the displacement of the missile model in the static platform coordinate system. , ) and the three displacements of the moving platform in the coordinate system of the static platform ( , The difference in translation distance , The transformation matrix from the moving platform coordinate system to the static platform coordinate system is ( , () represents the coordinates of the missile model in the moving platform coordinate system.

3. The method according to claim 2, characterized in that, The mapping of the workspace of the Z3-type parallel mechanism in the static platform coordinate system to the wind tunnel coordinate system satisfies: This is the transformation matrix from the static platform coordinate system to the wind tunnel coordinate system. The static platform is defined by the three Euler angles around the Y, Z, and X axes of the wind tunnel coordinate system. This is the transformation matrix from the missile model coordinate system to the wind tunnel coordinate system. These are the three Euler angles of the missile model around the YZX axes of the wind tunnel coordinate system.

4. The method according to any one of claims 1 to 3, characterized in that, First axial displacement Minimum value of axial displacement To the maximum displacement of the axis The middle value between.

5. The method according to claim 1, characterized in that, The first workspace and the M workspaces shall be merged according to at least one of the following conditions: If the union of workspace j and workspace k equals workspace j, then workspace j is retained and workspace k is discarded. Workspace a1 is the portion of workspace a minus the portion belonging to the first workspace. Workspace b1 is the portion of workspace b minus the portion belonging to the first workspace. Workspace c1 is the portion of workspace c minus the portion belonging to the first workspace. If workspace a1 is the union of workspace b1 and workspace c1, then workspace b and workspace c are retained, and workspace a is discarded.

6. A method for inverse kinematics of a hybrid-driven CTS wind tunnel test system, characterized in that, The hybrid-drive CTS wind tunnel test motion system includes an XYZ series linear guide rail, a Z3-type parallel mechanism, and a rolling mechanism. The XYZ series linear guide rail is used to move the missile model, the Z3-type parallel mechanism is used to achieve attitude deflection and movement of the missile model, and the rolling mechanism is used to achieve axial roll of the missile model. The method includes: Based on the target position and attitude of the missile model, its displacement along multiple axes is determined within the working space of the hybrid-driven CTS wind tunnel test motion system. The axial displacement of the corresponding Z3 type parallel mechanism is determined in the middle. The multiple axial displacements Each workspace corresponds to one of the multiple workspaces. Based on the target attitude and the axial displacement of the Z3 type parallel mechanism Determine the guide rail drive quantity of the Z3 type parallel mechanism ( , , ); Based on the target attitude and the guide rail drive amount of the Z3 type parallel mechanism ( , , ), determine the attitude of the rolling mechanism; Based on the target position and the guide rail drive amount of the Z3 type parallel mechanism ( , , ), determine the driving amount of the XYZ series linear guide; Determining the workspace of the Z3 type parallel mechanism in the wind tunnel coordinate system includes: Determine the workspace of the Z3 type parallel mechanism in the static platform coordinate system; The workspace of the Z3 parallel mechanism in the static platform coordinate system is mapped to the wind tunnel coordinate system to obtain the workspace of the Z3 parallel mechanism in the wind tunnel coordinate system. Determining the workspace of the Z3 type parallel mechanism in the static platform coordinate system includes: Set the first axis displacement Traversing the dynamic platform's attitude angle And based on the inverse solution relationship of the Z3 type parallel mechanism, the guide rail drive amount, the rotational joint angle and the ball joint angle of the Z3 type parallel mechanism are solved; Under the condition that the guide rail drive amount, rotary joint angle and ball joint angle of the Z3 type parallel mechanism all satisfy the constraint conditions of the Z3 type parallel mechanism, the achievable displacement and achievable attitude angle of the Z3 type parallel mechanism in the static platform coordinate system are obtained. By merging all reachable attitude angles, the attitude angle workspace of the Z3 type parallel mechanism in the static platform coordinate system is obtained; Based on the reachable displacements corresponding to all reachable attitude angles, the displacement working space of the Z3 type parallel mechanism in the static platform coordinate system is obtained; First axial displacement Corresponding to the first workspace, the method further includes: Based on the axial displacement of the Z3 type parallel mechanism Available routes, in to Set M axis displacements between , respectively , ... ; Determine the displacements of the M axes M workspaces with one-to-one correspondence; The first workspace and the M workspaces are merged to obtain the workspace of the Z3 type parallel mechanism in the static platform coordinate system; The workspace of the hybrid-driven CTS wind tunnel test motion system satisfies: ,in , This refers to the drive stroke of the XYZ series linear guides. The rolling stroke of the rolling mechanism is ( Let ) be the coordinates of the origin of the static platform coordinate system of the Z3 type parallel mechanism in the wind tunnel coordinate system when the driving amount of the XYZ series linear guide is 0; i Represents the traversal of the first i A combination.

7. A test method for a hybrid-driven CTS wind tunnel test motion system, characterized in that, The hybrid-drive CTS wind tunnel test motion system includes an XYZ series linear guide rail, a Z3-type parallel mechanism, and a rolling mechanism. The XYZ series linear guide rail is used to move the missile model, the Z3-type parallel mechanism is used to achieve attitude deflection and movement of the missile model, and the rolling mechanism is used to achieve axial roll of the missile model. The method includes: Based on the target position and attitude of the missile model, control the driving amount of the XYZ series linear guide rail, the guide rail driving amount of the Z3 parallel mechanism, and the rolling amount of the rolling mechanism. Among them, the guide rail drive amount of the Z3 type parallel mechanism ( , , Based on the target attitude and the axial displacement of the Z3 type parallel mechanism It is determined that the roll amount of the rolling mechanism is based on the target posture and the guide rail drive amount of the Z3 type parallel mechanism. , , The driving amount of the XYZ series linear guide rails is determined based on the target position and the driving amount of the Z3 type parallel mechanism. , , The axial displacement of the Z3 type parallel mechanism is determined. The working space orientation of the target position and the target attitude corresponds to the working space orientation in the wind tunnel coordinate system; Determining the workspace of the Z3 type parallel mechanism in the wind tunnel coordinate system includes: Determine the workspace of the Z3 type parallel mechanism in the static platform coordinate system; The workspace of the Z3 parallel mechanism in the static platform coordinate system is mapped to the wind tunnel coordinate system to obtain the workspace of the Z3 parallel mechanism in the wind tunnel coordinate system. i Represents the traversal of the first i A combination.

Images