A Method for Eliminating Synchronization Deviation of a Wind Tunnel Double Swing Arm Mechanism

Abstract

The present invention discloses a method for eliminating synchronous deviation of a wind tunnel double swing arm mechanism, which includes steps such as synchronous motion preparation, synchronous deviation elimination motion, and synchronous motion positioning. By enabling and starting synchronization in the synchronous motion preparation, the motion axes enter the position closed-loop and synchronous control modes. On this basis, the elimination of motion parameter settings is completed through the synchronous deviation elimination motion process, and the master and slave axes are respectively moved to the set synchronous positions, enabling the master and slave axes to enter the synchronous coupling state, thereby eliminating the synchronous deviation generated during the enabling process of the motion axes. Then, through normal motion positioning, the function of deviation-free synchronous motion between the master and slave motion axes is achieved; the present invention can achieve the function of eliminating synchronous deviation without changing the existing motion control parameters and motion control processes, and has no impact on the motion process itself.

Description

Technical Field

[0001] The present invention relates to the field of wind tunnel tests, and particularly to a method for eliminating synchronous deviation of a double swing arm mechanism in a wind tunnel. Background Art

[0002] The double swing arm mechanism of the wind tunnel drives the middle support rod and the test model to perform angular motion through the rigid connection between the swing arm mechanisms on both sides. Its mechanism composition and motion direction are as shown in Figure 1 and Figure 2 To ensure the accuracy of angle of attack positioning and the continuity of angle of attack change, and to avoid generating roll angles, it is necessary to ensure that the angular positions of the swing arm mechanisms on both sides are as consistent as possible and move synchronously. Generally speaking, the structural transmission parameters of the swing arm mechanisms on both sides are the same, and it is relatively easy to achieve synchronous control during the motion process. However, during the motion preparation process such as start enabling, due to problems such as structural coupling, mechanism clearance, and structural parameter matching, a small amount of deviation is likely to occur in the mechanism during the motor brake release process, resulting in a double-axis synchronous deviation. This deviation will not disappear by itself and accumulates with the increase in the number of enabling operations. Therefore, measures must be taken to eliminate the generated synchronous deviation.

[0003] The prior art can effectively reduce the synchronous deviation generated by a single enabling operation by adjusting the adjustment parameters, but it cannot solve the problem of deviation accumulation. After multiple switch enabling operations, a large amount of deviation will still accumulate, and the changed adjustment parameters affect the continuity of the change in motion speed, bringing an adverse impact on the motion control process. Using the method of adjusting the position of the single swing arm mechanism to eliminate the deviation can only eliminate the current deviation, and new displacement deviations will still be generated due to the re-enabling operation caused by the control mode switch. Summary of the Invention

[0004] The object of the present invention is to design a method for eliminating synchronous deviation on the basis of the prior art to ensure the elimination of synchronous deviation without changing the existing motion control parameters and motion control process.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A method for eliminating synchronous deviation of a double swing arm mechanism in a wind tunnel includes the following steps:

[0007] Step 1: Set the absolute value of the relative motion amount corresponding to the synchronous position of the two axes, and set the absolute value of the relative motion amount corresponding to the target position of the motion;

[0008] Step 2: Based on Step 1, determine that during the synchronous deviation elimination motion process, the synchronous coupling position can be entered before reaching the target position;

[0009] Step 3: Enable each motion axis. After the angle value is stable, determine the deviation elimination motion direction and set the relative motion amount according to the current position size relationship between the master axis and the slave axis;

[0010] Step 4: Input the deviation elimination motion parameters to calculate the double-axis synchronous position and target position of the deviation elimination motion;

[0011] Step 5: Set the acceleration and acceleration / deceleration time during the deviation elimination motion of the master and slave axes according to the relative motion amount required by the set deviation elimination motion synchronous angle and target angle;

[0012] Step 6: Start the deviation elimination motion of the master and slave axes. The master and slave axes reach the set synchronous position according to the motion relationship respectively, the two axes enter the synchronous coupling state, and synchronously move to the set target angle to complete the synchronous deviation elimination process.

[0013] In the above technical solution, the double-axis target position set for the deviation elimination motion is the same position. After completing the synchronous deviation elimination motion, the position deviation between the two axes will be close to 0°.

[0014] In the above technical solution, the absolute value of the motion amount corresponding to the synchronous position is less than the absolute value of the relative motion amount corresponding to the target position.

[0015] In the above technical solution, in Step 3, the determination rule is:

[0016] When the spindle angle is greater than the slave axis angle, the deviation elimination motion direction is positive, and the relative angle motion amount involved in the double-axis synchronous position and target position of the deviation elimination motion is positive;

[0017] When the spindle angle is less than the slave axis angle, the deviation elimination motion direction is negative, and the relative angle motion amount involved in the double-axis synchronous position and target position of the deviation elimination motion is negative.

[0018] In the above technical solution, the expression for the double-axis synchronous position or target position of the deviation elimination motion is: ,

[0019] Where: is the angle value of the deviation elimination motion, is the relative motion amount of the deviation elimination motion, is the spindle angle position at enabling. When n is the subscript value of 1, it represents the synchronous angle value, and when it is 2, it represents the target angle value.

[0020] In the above technical solution, the motion relationship expression for the deviation elimination motion of the spindle and the slave axis is:

[0021]

[0022] Where: is the relative motion amount of the deviation elimination motion synchronization position, is the spindle angular acceleration, is the time for the master and slave shafts to reach the synchronization angle, is the speed of the spindle when it reaches the synchronization angle, is the angle value of the deviation elimination motion, is the slave shaft angle position when enabled, is the slave shaft angular acceleration, is the maximum speed reached by the slave shaft, is the time for the slave shaft to reach the maximum speed.

[0023] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0024] It can achieve that the dual-axis target positions set by the deviation elimination motion are the same position. After the synchronization deviation elimination motion, the position deviation between the two axes will be close to 0;

[0025] It can achieve that both the dual-axis synchronization position and the target position set by the synchronization deviation elimination motion only need to superimpose a very small offset (less than the positioning accuracy requirement value) on the basis of the angle at the time of enabling, and can meet the requirement that the angular displacement generated during the elimination process is as small as possible;

[0026] It can achieve that both the dual-axis synchronization position and the target position set by the synchronization deviation elimination motion are superimposed and set on the basis of the current angle, meeting the deviation elimination requirements at any angle point;

[0027] It can achieve that the synchronization deviation elimination motion dynamically determines the direction of the error elimination motion according to the current dual-axis deviation situation, and can meet the elimination requirements for different deviation values and deviation directions;

[0028] It can achieve that each synchronization enabling operation will execute the dual-axis deviation elimination process again, and there will be no situation of deviation accumulation;

[0029] It can achieve that without changing the existing motion control parameters and motion control process, there is no impact on the motion process itself. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The present invention will be described by way of examples with reference to the accompanying drawings, where:

[0031] Figure 1 is a schematic diagram of the side view of the mechanism and the change of the angle of attack;

[0032] Figure 2 is a schematic diagram of the composition and motion of the double swing arm mechanism;

[0033] Figure 3 is a flow chart of the synchronization deviation elimination;

[0034] Figure 4It is a graph showing the relationship between the biaxial speed and time during the error elimination movement process;

[0035] Figure 5 It is a schematic diagram of the biaxial synchronization deviation of the existing method for enabling synchronous operation of a certain mechanism;

[0036] Figure 6 It is a schematic diagram of the biaxial synchronization deviation of this embodiment;

[0037] In the figure: 1 is the driving motor, 2 is the reducer, 3 is the angle of attack change, 4 is the strut mechanism, 5 is the rotation center, and 6 is the test model. Detailed implementation manners

[0038] All features disclosed in this specification, or all steps in the disclosed methods or processes, except for mutually exclusive features and / or steps, can be combined in any manner.

[0039] Any feature disclosed in this specification (including any additional claims, abstract, and drawings), unless specifically stated, can be replaced by other equivalent or similar-purpose alternative features. That is, unless specifically stated, each feature is only an example of a series of equivalent or similar features.

[0040] The mechanism targeted in this embodiment is as Figure 1 and Figure 2 shown in the structure, specifically including a driving motor 1, a reducer 2, a strut mechanism 4, and a test model 6; the output shaft of the driving motor 1 is the rotation center 5, and the test model 6 has an angle of attack change 3 under the drive of the strut mechanism 4.

[0041] The solution of this embodiment is as Figure 3 shown, including steps such as synchronous movement preparation, synchronous deviation elimination movement (including biaxial deviation calculation, movement direction determination, target / synchronous position setting, movement parameter calculation and setting, movement positioning, and entering synchronous coupling), and synchronous movement positioning. By enabling synchronous movement preparation and starting synchronization, the movement axes enter the position closed-loop and synchronous control modes. On this basis, through the synchronous deviation elimination movement process, the elimination movement parameters are set, and the master and slave axes are respectively moved to the set synchronous positions, so that the master and slave axes enter the synchronous coupling state, thereby eliminating the synchronous deviation generated during the enabling process of the movement axes. Then, through normal movement positioning, the function of deviation-free synchronous movement between the master and slave movement axes is realized; specifically:

[0042] In the mechanism control software, set the absolute value of the relative movement amount corresponding to the biaxial synchronous position and the movement target position related to the synchronous deviation elimination movement. Let the absolute value of the relative movement amount of the synchronous position be , and the absolute value of the relative movement amount of the target position be , and ensure that it satisfies , to ensure that the synchronous coupling position can be entered before reaching the target position during the error elimination movement. Click the preparation button on the main software interface, and the system starts the preparation for motion synchronization control.

[0043] The system enables each motion axis and starts the synchronization function. After the angle value is stable, the system determines the direction of the error elimination movement and sets the relative motion amount according to the current position size relationship between the master and slave axes of the swing arm mechanism. The determination criterion is specifically based on the magnitudes of the master axis angle and the slave axis angle, thereby establishing the motion relationship of the error elimination movement.

[0044] The set parameters in this embodiment are:

[0045] is the master axis angle position when enabled, is the slave axis angle position when enabled, is the angle value of the error elimination movement, is the relative motion amount of the error elimination movement, is the master axis angular acceleration, is the slave axis angular acceleration, is the time for the master and slave axes to reach the synchronous angle, is the speed of the master axis when reaching the synchronous angle, is the angle value of the error elimination movement, is the slave axis angular acceleration, is the maximum speed reached by the slave axis, is the time for the slave axis to reach the maximum speed, where n is the subscript value. When it is 1, it represents the synchronous angle value, and when it is 2, it represents the target angle value;

[0046] Therefore, is the two-axis synchronous position of the error elimination movement (unit: °), is the target position of the error elimination movement (unit: °), is the relative angle motion amount of the two-axis synchronous position of the error elimination movement (unit: °), is the relative angle motion amount of the target position of the error elimination movement (unit: °).

[0047] When , the direction of the error elimination movement is positive, and the relative angle motion amounts involving the two-axis synchronous position and the target position , are positive;

[0048] When , the direction of the error elimination movement is negative, and the relative angle motion amounts involving the two-axis synchronous position and the target position , are negative;

[0049] The system calculates the double-axis synchronous position of the error elimination motion and the target position according to the input error elimination motion parameters. The calculation relationship is shown in the formula: and the target position . The calculation relationship is shown in the formula:

[0050] .

[0051] The system sets the relevant acceleration and acceleration / deceleration time when completing the master-slave axis error elimination motion according to the set error elimination motion synchronization angle and the target angle and the required relative motion amount according to the planned motion relationship.

[0052] In this embodiment, taking the spindle angle being greater than the slave axis angle as an example, the relationship between the speed and time of the motion curve is shown in Figure 4 .

[0053] The motion trajectory is as follows:

[0054]

[0055] Among them, 、 、 、 Based on the system setting value as a known parameter, calculate the value of 、 、 、 、 . As shown in Figure 4 , is the time for the error elimination motion to reach the target position, generally taking .

[0056] Start the error elimination motion of the master-slave axis. The master-slave axis reaches the set synchronous position respectively according to the planned motion relationship. The two axes enter the synchronous coupling state, and the positions of the two axes are consistent, and they move synchronously to the set target angle to complete the synchronous deviation elimination process.

[0057] At this time, input the motion target angle at the control end for positioning, and start the deviation-free synchronous motion positioning between the master-slave axes. The results are shown in Figure 5 、 Figure 6 , showing obvious effects compared with the prior art.

[0058] The present invention is not limited to the foregoing specific embodiments. The present invention extends to any new feature or any new combination disclosed in this specification, as well as to any new method or process step or any new combination disclosed.

Claims

1. A method for eliminating synchronization deviation of a double swing arm mechanism in a wind tunnel, characterized in that It includes the following steps: Step 1: Set the absolute value of the relative movement amount corresponding to the synchronous position of the two axes, and set the absolute value of the relative movement amount corresponding to the target position of the two axes. The target positions of the two axes set for the synchronous deviation elimination movement are the same position. After the synchronous deviation elimination movement is completed, the synchronous deviation between the two axes will be close to 0°. The absolute value of the relative movement amount corresponding to the synchronous position is less than the absolute value of the relative movement amount corresponding to the target position. Step 2: Based on Step 1, determine that the synchronous position can be entered before reaching the target position during the synchronous deviation elimination movement. Step 3: Enable each motion axis. After the angle value is stable, based on the size relationship between the current positions of the main axis and the slave axis, complete the determination of the direction of the synchronous deviation elimination movement and the setting of the relative movement amount. The determination rule is as follows: When the angle of the main axis is greater than the angle of the slave axis, the direction of the synchronous deviation elimination movement is positive, and the relative angular movement amounts involved in the synchronous position and the target position of the two axes for the synchronous deviation elimination movement are positive. When the angle of the main axis is less than the angle of the slave axis, the direction of the synchronous deviation elimination movement is negative, and the relative angular movement amounts involved in the synchronous position and the target position of the two axes for the synchronous deviation elimination movement are negative. Step 4: Input the parameters of the synchronous deviation elimination movement to complete the calculation of the synchronous position and the target position of the two axes for the synchronous deviation elimination movement. Step 5: Based on the relative movement amounts required for the set synchronous deviation elimination movement synchronous angle and target angle, complete the setting of the acceleration and acceleration / deceleration time during the synchronous deviation elimination movement of the main axis and the slave axis. Step 6: Start the synchronous deviation elimination movement of the main axis and the slave axis. The main axis and the slave axis respectively reach the set synchronous position according to the motion relationship, the two axes enter the synchronous state, and synchronously move to the set target angle to complete the synchronous deviation elimination process.

2. The method for eliminating synchronization deviation of a double swing arm mechanism in a wind tunnel according to claim 1, characterized in that: The expression of the synchronous position or target position of the two axes in the synchronous deviation elimination motion is: ,in: The angle value of the movement for synchronous deviation elimination, To eliminate the relative motion of the movement for synchronization deviation, The spindle angle position when enabled. When n is the subscript value, it indicates the synchronous angle value when it is 1, and the target angle value when it is 2.

3. A method for eliminating synchronization deviation of a wind tunnel double swing arm mechanism according to claim 1 or 2, characterized in that: The motion relationship expression of the synchronous deviation elimination movement between the main axis and the slave axis is: ， Wherein: is the relative motion amount of the synchronous deviation elimination motion synchronous position, is the spindle angular acceleration, is the time for the spindle and the slave axis to reach the synchronous angle, is the speed of the spindle when it reaches the synchronous angle, is the angle value of the synchronous deviation elimination motion, is the slave axis angle position when enabled, is the slave axis angular acceleration, is the maximum speed reached by the slave axis, is the time for the slave axis to reach the maximum speed.

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