Wind tunnel model path planning method based on multiple motion mechanisms

Abstract

The invention discloses a wind tunnel model path planning method based on multiple motion mechanisms, is used for designing operation paths of an airplane model and an external store model in a grid force measurement test of the multiple motion mechanisms, realizes that the airplane model and the external store model efficiently and safely complete all grid points, and belongs to the technical field of grid force measurement wind tunnel tests. Comprising the following steps: (1) establishing a motion simulation model of a motion mechanism, a test model and a wind tunnel; (2) designing a plurality of paths with different motion sequences according to the distribution of test grid points of each test model; (3) setting the movement mode of the movement mechanism to be simultaneous movement at the maximum running speed, then carrying out analogue simulation on a plurality of paths, selecting a path A and a path B which consume less time in the first two as to-be-selected paths, and assuming that the path A is the path which consumes the shortest time; and (4) carrying out collision detection simulation on the path A and the path B, and determining a final test implementation path.

Description

Technical Field

[0001] The present invention relates to a wind tunnel model path planning method based on a multi-motion mechanism, which is used for designing the running paths of an aircraft model and an external attachment model in a multi-motion mechanism grid force measurement test, so as to enable the aircraft model and the external attachment model to complete all grid points efficiently and safely, and belongs to the technical field of grid force measurement wind tunnel test. Background Art

[0002] At present, there are situations in which multiple motion mechanisms and multiple test models move in coordination in grid force measurement tests. For example, an angle of attack-dual-axis mechanism is used to support and control an aircraft model, and a six-degree-of-freedom motion mechanism is used to support and control an external attachment model, so as to coordinately complete the position control and measurement of grid points in the multi-body separation interference space.

[0003] The grid points of the grid force measurement test include multiple displacement and attitude variables, aircraft pitch angle, aircraft yaw angle, aircraft roll angle, external load relative to the aircraft X displacement, external load relative to the aircraft Y displacement, external load relative to the aircraft Z displacement, external load relative to the aircraft pitch angle, external load relative to the aircraft yaw angle, external load relative to the aircraft roll angle, etc. With so many variables, there can be many paths for the grid point space to complete the movement of all grid points. Therefore, it is necessary to select the path with the highest test efficiency and no collision from all these paths. The time required to walk through all grid points is affected by the operation sequence and operation speed of multiple mechanisms; whether collisions will occur in the operation path, that is, whether collisions will occur at the grid point positions and during the walking process between grid points (including whether collisions will occur between mechanisms, mechanisms and models, models and models, mechanisms and wind tunnels, and models and wind tunnels). The prediction of collisions involves multiple factors such as the relationship between the forward solution and the inverse solution of the mechanism, the form of the mechanism's speed operation curve, the operation sequence of the mechanism, the contours of the mechanism and model, and the position of the mechanism and model in the wind tunnel. Therefore, it is necessary to establish an operation model of the wind tunnel, mechanism, and model, and to detect the collision of the mechanism, model, and wind tunnel.

[0004] At present, the path design of grid force measurement test often does not take into account the test efficiency and path collision situation. Before the establishment of the mechanism, model and wind tunnel motion simulation model, collision detection can only be performed on a few feature points. It is difficult to perform comprehensive collision detection during the increase in the number of mechanisms and coordinated motion. Therefore, the designed path is often tried before the wind tunnel test. This method is relatively blind and cannot find the test implementation path. If a collision occurs during the attempt, there is a risk of damaging the equipment. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and propose an effective grid force measurement test path design method to achieve efficient and safe completion of the test content.

[0006] The purpose of the present invention is achieved through the following technical solutions:

[0007] A wind tunnel model path planning method based on multiple motion mechanisms comprises the following steps:

[0008] (1) Establish motion simulation models of motion mechanisms, test models, and wind tunnels;

[0009] (2) Design multiple paths with different motion sequences based on the test grid point distribution of each test model;

[0010] (3) The motion mode of the motion mechanism is set to move simultaneously at the maximum running speed, and then multiple paths are simulated, and the paths A and B with the shortest time are selected as candidate paths. It is assumed that path A is the path with the shortest time.

[0011] (4) Perform collision detection simulation on path A and path B and process them as follows:

[0012] (a) If there is no collision on path A, path A is selected as the test implementation path;

[0013] (b) If a collision occurs on path A and no collision occurs on path B, the running sequence and running speed of the motion mechanism of path A are adjusted. If no collision occurs on path A after adjustment, the path with the shortest time is selected as the test implementation path by comparison with path B. If a collision still occurs on path A after adjustment, path B is selected as the test implementation path.

[0014] (c) If both path A and path B collide, the operation sequence and speed of the two motion mechanisms are adjusted respectively, and the path that cannot avoid collision is eliminated. The candidate path is reselected from the paths that have not collided and the remaining paths in step (3) according to the principle of minimizing the time, and the process goes to step (4).

[0015] A wind tunnel model path planning device based on multiple motion mechanisms, comprising:

[0016] The first module is used to establish the motion simulation model of the motion mechanism, test model and wind tunnel;

[0017] In the second module, multiple paths with different motion sequences are designed according to the distribution of test grid points of each test model;

[0018] In the third module, the motion mode of the motion mechanism is set to move simultaneously at the maximum running speed, and then multiple paths are simulated, and the paths A and B with the shortest time are selected as candidate paths, assuming that path A is the path with the shortest time;

[0019] The fourth module performs collision detection simulation on path A and path B and processes them as follows:

[0020] (a) If there is no collision on path A, path A is selected as the test implementation path;

[0021] (b) If a collision occurs on path A and no collision occurs on path B, the running sequence and running speed of the motion mechanism of path A are adjusted. If no collision occurs on path A after adjustment, the path with the shortest time is selected as the test implementation path by comparison with path B. If a collision still occurs on path A after adjustment, path B is selected as the test implementation path.

[0022] (c) If both path A and path B collide, the operation sequence and speed of their motion mechanisms are adjusted respectively, and the path that still cannot avoid collision is eliminated. The candidate path is reselected from the paths that have not collided and the remaining paths of the third module according to the principle of minimum time, and the collision detection simulation is re-performed.

[0023] In one embodiment of the present invention, the plurality of mechanisms include a set of three-degree-of-freedom motion mechanisms and a set of six-degree-of-freedom motion mechanisms operating simultaneously in the wind tunnel.

[0024] In one embodiment of the present invention, the motion simulation model of multiple mechanisms, multiple models and wind tunnels needs to consider the freedom constraints of the connections between the mechanisms, models and wind tunnels.

[0025] In one embodiment of the present invention, the motion simulation model of multiple mechanisms, multiple models and wind tunnel needs to consider the true simulation of the operating speed curve of the driving components of each mechanism.

[0026] In one embodiment of the present invention, the motion simulation model of multiple mechanisms, multiple models and wind tunnels needs to consider whether collisions will occur between the components of the mechanisms themselves, between mechanisms, between mechanisms and models, between models, between mechanisms and wind tunnels, and between models and wind tunnels. If a collision occurs in any of these situations, the collision detection result is judged as "collision", otherwise the collision detection result is judged as "safe".

[0027] In one embodiment of the present invention, when selecting a test implementation path from among the candidate paths, the following situations are considered:

[0028] (a) When simulating the paths with the shortest time in the previous two modes in simultaneous motion and maximum running speed, if the path with the shortest time does not collide, the path with the shortest time is selected as the test implementation path;

[0029] (b) When simulating the paths with the shortest time in the simultaneous motion and maximum running speed modes, the path with the shortest time at the fastest speed collided, while the path with the second shortest time at the fastest speed did not collide. The following situations can be classified:

[0030] (b.1) Improve the mechanism operation mode of the shortest path at the highest speed, including changing the operation sequence and speed of each mechanism so that it will not collide, compare it with the second shortest path at the highest speed, select the shortest path as the test implementation path, and select the corresponding mechanism operation mode as the mechanism operation mode during the test;

[0031] (b.2) If improving the operation mode of the mechanism with the shortest maximum speed time, including changing the operation sequence and speed of each mechanism, still fails to prevent collision, then the path with the second shortest maximum speed time is selected as the test implementation path;

[0032] (c) Among the candidate paths, when simulating the top two paths with the shortest time in both simultaneous motion and maximum operating speed modes, collisions occur. In this case, the operation sequence and speed of the two motion mechanisms are adjusted respectively, and the paths that still cannot avoid collisions are eliminated. The candidate paths are reselected from the paths that have not collided and the remaining paths according to the principle of the shortest time, and the test implementation path is reselected according to situation (a) and situation (b).

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] (1) Conventional grid force measurement tests do not consider the contradiction between test efficiency and test collision conditions when designing the path of grid points. The method of the present invention can realize the calculation and prediction of the test efficiency and collision conditions of the path in the grid force measurement test, and select the test implementation path according to the path planning method, so as to realize the grid force measurement test to efficiently and safely complete the measurement of all grid points, taking into account both safety and efficiency.

[0035] (2) Currently, the grid force measurement test only performs collision detection on feature points, and the detection results cannot cover all moving objects in the wind tunnel. The present invention establishes a three-dimensional model of all objects in the wind tunnel and their kinematic model, strictly simulates the driving speed mode of the moving objects, and realizes accurate simulation of the position change of the objects in the wind tunnel, thereby more accurately predicting the collision situation of all moving objects in the wind tunnel during simultaneous movement, providing a safer protection technology for multi-mechanism and multi-model wind tunnel tests.

[0036] (3) Compared with the conventional method of judging whether a collision occurs in the selected grid path through trial and error, the present invention establishes a three-dimensional model and a kinematic simulation model of multiple mechanisms and models, and can accurately simulate the running trajectories of multiple mechanisms and models in a wind tunnel in a virtual environment, thereby realizing collision detection of multiple mechanisms and models in a virtual environment, avoiding equipment losses caused by physical trial and error collisions, improving the safety of the test system, and also improving the iterative efficiency of test grid path preparation. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A schematic diagram of the steps of the wind tunnel model path planning method of the present invention;

[0038] Figure 2 It is a schematic diagram of a dual-model wind tunnel test system with dual mechanisms (angle of attack-dual-rotation axis mechanism, six-degree-of-freedom mechanism);

[0039] Figure 3 is the driving speed curve of the motion mechanism, Figure 3 a is the driving speed curve of the attack angle-dual-shaft mechanism, Figure 3 b is the driving speed curve of the 6-PTRT spindle;

[0040] Figure 4 This is a schematic diagram of the grid point distribution of the dual model test;

[0041] Figure 5 This is a schematic diagram of the test grid point path. Figure 5 a is grid path 1, Figure 5 b is grid path 2. DETAILED DESCRIPTION

[0042] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0043] A path planning method for a wind tunnel model based on multiple motion mechanisms, such as Figure 1 As shown, including:

[0044] (1) Establish a motion simulation model of the motion mechanism, test model and wind tunnel, and detect whether there will be a collision between the mechanism, test model and wind tunnel according to the operating position of the motion mechanism, test model and wind tunnel;

[0045] like Figure 2 As shown, there is a set of three-degree-of-freedom motion mechanism and a set of six-degree-of-freedom motion mechanism. The three-degree-of-freedom motion mechanism is the angle-of-attack-dual-axis mechanism, and the six-degree-of-freedom motion mechanism is the 6-PTRT mechanism. The model includes a first-level aircraft model and a second-level aircraft model. The established motion simulation model considers the connection degree-of-freedom constraints between the angle-of-attack-dual-axis mechanism, the 6-PTRT mechanism, the first-level aircraft model, the second-level aircraft model, and the wind tunnel;

[0046] In the embodiment, the driving components of the angle of attack-dual-shaft mechanism include an angle of attack shaft drive, a main shaft drive, and a tail shaft drive. The maximum output rotation speed of the three drives is 16.615° / s, the speed curve is a trapezoidal curve, the acceleration time is 0.5s, and the deceleration time is 0.5s. Figure 3 As shown in a;

[0047] In the embodiment, 6-PTRT uses the axis with the largest running amount as the main axis of the six-axis synchronous motion (simultaneous start and stop), the maximum running speed of the main axis is 100mm / s, and the acceleration value of the acceleration and deceleration section is 1000mm / s 2 , the speed curve is a trapezoidal curve, such as Figure 3 As shown in b, the acceleration value of the acceleration and deceleration section is 1000mm / s 2 , acceleration time 0.1s, deceleration time 0.1s.

[0048] The maximum running speed and acceleration values ​​of other axes are converted according to the ratio w of the running amount to the maximum running amount. For example, the running amount S of axes 1 to 6 is i They are 1000, 900, 800, 700, 600, and 500 respectively. Let axis 1 be the main axis and the other axes be slave axes. The maximum operating speed and acceleration values ​​of each axis are shown in Table 1.

[0049] Table 1 Running speed and acceleration of each axis

[0050]

[0051] In the embodiment, if a collision occurs between the angle of attack-dual-axis mechanism, the 6-PTRT mechanism, the first-stage aircraft model, the second-stage aircraft model, and the wind tunnel, the collision detection result is determined to be "collision", otherwise the collision detection result is determined to be "safe".

[0052] (2) Design multiple paths based on the multiple point positions in the wind tunnel of multiple models in the wind tunnel test.

[0053] (3) According to the simultaneous motion and maximum operating speed modes of each motion mechanism, multiple paths are simulated, and the paths with the shortest time are selected as candidate paths.

[0054] like Figure 4 As shown, in the embodiment, the pitch angle range in the grid points of the first-level aircraft model is The displacement X range in the grid point of the secondary aircraft is The displacement Y range is The displacement Z range is Based on these grid points, the following two grid point paths are designed.

[0055] Path 1: If Figure 5 As shown in a, it is divided into 4 levels. The first level sequence is the pitch angle of the first-level aircraft model. The second-level sequence is the displacement x of the second-level aircraft model 2 , the third level sequence is the displacement z of the second level aircraft model 2 , the fourth level sequence is the displacement y of the second-level aircraft model 2; Traverse all grid points level by level in the order of "4th level sequence - 3rd level sequence - 2nd level sequence - 1st level sequence";

[0056] Path 2: If Figure 5 As shown in b, it is divided into 4 levels. The first level sequence is the pitch angle of the first-level aircraft model. The second-level sequence is the displacement x of the second-level aircraft model 2 , the third level sequence is the displacement y of the second level aircraft model 2 , the fourth level sequence is the displacement z of the second-level aircraft model 2 ; Traverse all grid points level by level in the order of "4th level sequence - 3rd level sequence - 2nd level sequence - 1st level sequence";

[0057] Using the simultaneous movement and maximum running speed mode of each motion mechanism, path 1 is the shortest path, and path 2 is the second shortest path;

[0058] (4) Perform collision detection simulation on the top two paths with the shortest time and select the path that has the shortest time and no collision.

[0059] In the embodiment, a collision detection simulation is performed on path 1 and path 2, and path 1 collides while path 2 does not. The collision condition of path 1 is: Sequence, first-level aircraft model from Towards Sports, secondary aircraft models from Towards During the movement, the first-level aircraft model collides with the second-level aircraft model. By reducing the speed of the first-level aircraft model, path 1 can be prevented from colliding. Comparing the time taken by path 1 and path 2 to reduce the speed of the first-level aircraft model, the time taken by path 1 to reduce the speed of the first-level aircraft model is less than that of path 2. Finally, path 1, which reduces the speed of the first-level aircraft model, is selected as the experimental implementation path.

[0060] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

[0061] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. A wind tunnel model path planning method based on multiple motion mechanisms, characterized in that: include: (1) Establish motion simulation models of motion mechanisms, test models, and wind tunnels; (2) Design multiple paths with different motion sequences based on the test grid point distribution of each test model; (3) The motion mode of the motion mechanism is set to move simultaneously at the maximum running speed, and then multiple paths are simulated, and the paths A and B with the shortest time are selected as candidate paths. It is assumed that path A is the path with the shortest time. (4) Perform collision detection simulation on path A and path B and process them as follows: (a) If there is no collision on path A, path A is selected as the test implementation path; (b) If a collision occurs on path A and no collision occurs on path B, the running sequence and running speed of the motion mechanism of path A are adjusted. If no collision occurs on path A after adjustment, the path with the shortest time is selected as the test implementation path by comparison with path B. If a collision still occurs on path A after adjustment, path B is selected as the test implementation path. (c) If both path A and path B collide, the operation sequence and speed of the two motion mechanisms are adjusted respectively, and the path that cannot avoid collision is eliminated. The candidate path is reselected from the paths that have not collided and the remaining paths in step (3) according to the principle of minimizing the time, and the process goes to step (4).

2. The wind tunnel model path planning method according to claim 1, characterized in that: The motion mechanism includes a set of three-degree-of-freedom motion mechanism and a set of six-degree-of-freedom motion mechanism which are operated in the wind tunnel at the same time.

3. The wind tunnel model path planning method according to claim 1, characterized in that: To establish the motion simulation model of the motion mechanism, test model and wind tunnel, it is necessary to consider the degree of freedom constraints of the connection between the motion mechanism, test model and wind tunnel.

4. The wind tunnel model path planning method according to claim 1, characterized in that: To establish motion simulation models of motion mechanisms, test models and wind tunnels, it is necessary to consider the realistic simulation of the operating speed curves of the driving components of each motion mechanism.

5. The wind tunnel model path planning method according to claim 1, characterized in that: Consider whether there will be collision between the various parts of the motion mechanism itself, between the motion mechanism and the motion mechanism, between the motion mechanism and the test model, between the test model and the test model, between the motion mechanism and the wind tunnel, and between the test model and the wind tunnel. If a collision occurs in any of these situations, the collision detection result is judged as "collision", otherwise the collision detection result is judged as "safe".

6. A wind tunnel model path planning device based on multiple motion mechanisms, characterized in that: include: The first module is used to establish the motion simulation model of the motion mechanism, test model and wind tunnel; In the second module, multiple paths with different motion sequences are designed according to the distribution of test grid points of each test model; In the third module, the motion mode of the motion mechanism is set to move simultaneously at the maximum running speed, and then multiple paths are simulated, and the paths A and B with the shortest time are selected as candidate paths, assuming that path A is the path with the shortest time; The fourth module performs collision detection simulation on path A and path B and processes them as follows: (a) If there is no collision on path A, path A is selected as the test implementation path; (b) If a collision occurs on path A and no collision occurs on path B, the running sequence and running speed of the motion mechanism of path A are adjusted. If no collision occurs on path A after adjustment, the path with the shortest time is selected as the test implementation path by comparison with path B. If a collision still occurs on path A after adjustment, path B is selected as the test implementation path. (c) If both path A and path B collide, the operation sequence and speed of their motion mechanisms are adjusted respectively, and the path that still cannot avoid collision is eliminated. The candidate path is reselected from the paths that have not collided and the remaining paths of the third module according to the principle of minimum time, and the collision detection simulation is re-performed.

7. The wind tunnel model path planning device according to claim 6, characterized in that: The motion mechanism includes a set of three-degree-of-freedom motion mechanism and a set of six-degree-of-freedom motion mechanism which are operated in the wind tunnel at the same time.

8. The wind tunnel model path planning device according to claim 6, characterized in that: To establish the motion simulation model of the motion mechanism, test model and wind tunnel, it is necessary to consider the degree of freedom constraints of the connection between the motion mechanism, test model and wind tunnel.

9. The wind tunnel model path planning device according to claim 6, characterized in that: To establish motion simulation models of motion mechanisms, test models and wind tunnels, it is necessary to consider the realistic simulation of the operating speed curves of the driving components of each motion mechanism.

10. The wind tunnel model path planning device according to claim 6, characterized in that: Consider whether there will be collision between the various parts of the motion mechanism itself, between the motion mechanism and the motion mechanism, between the motion mechanism and the test model, between the test model and the test model, between the motion mechanism and the wind tunnel, and between the test model and the wind tunnel. If a collision occurs in any of these situations, the collision detection result is judged as "collision", otherwise the collision detection result is judged as "safe".

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