A method for measuring delay time of a simulation wind tunnel test cooperative action system

Abstract

The application relates to a method for measuring the delay time of a simulation wind tunnel test cooperative action system, which comprises the following steps: step one, installing a plurality of reflective marker balls on the hardware surface of a target action system A and a tracking action system B; step two, installing a plurality of high-precision infrared cameras on the wall surface of a wind tunnel; step three, connecting each high-precision infrared camera to a monitor, the monitor capturing the positions of the reflective marker balls through each high-precision infrared camera, and constructing virtual rigid bodies of the target action system A and the tracking action system B; step four, starting the target action system A and the tracking action system B, and recording the motion trajectories of the virtual rigid bodies by the monitor; and step five, aligning the horizontal coordinates of the monitor with the time stamps of the virtual rigid bodies of the target action system A and the tracking action system B, drawing a single-axis action change curve, marking the action start time of the virtual rigid bodies of the target action system A and the tracking action system B, and calculating the delay time of the tracking action system B following the target action system A.

Description

Technical Field

[0001] This application belongs to the field of simulated wind tunnel testing technology, specifically relating to a method for measuring the delay time of a cooperative actuation system in a simulated wind tunnel test. Background Technology

[0002] In simulated wind tunnel tests, multiple actuation systems need to work collaboratively, including situations where a tracking actuation system B follows a target actuation system A. The time delay is a crucial criterion for evaluating the tracking performance of the tracking actuation system B in following the target actuation system A. It refers to the time difference between the moment the target actuation system A receives the instruction to begin actuation and the moment the tracking actuation system B judges the state of the target actuation system A and begins its own actuation. For example... Figure 1 As shown.

[0003] Accurate measurement of the delay time of a coordinated actuation system is fundamental to optimizing its tracking performance and ensuring the accuracy of simulated wind tunnel tests. Currently, the measurement of the delay time of a coordinated actuation system faces the following challenges:

[0004] The time delay between high-precision coordinated actuation systems is typically in the millisecond range, which places extremely high demands on the timing accuracy and sampling rate of the measuring equipment.

[0005] The simulated wind tunnel test environment is complex, with severe airflow disturbances, which can seriously interfere with the measurement of time delay.

[0006] The lack of an integrated standard measurement process makes measurement operations cumbersome, data analysis inefficient, and makes it difficult to obtain reliable delay times quickly and intuitively.

[0007] This application is made in view of the aforementioned technical deficiencies. Summary of the Invention

[0008] The purpose of this application is to provide a method for measuring the delay time of a cooperative actuation system in a simulated wind tunnel test, so as to overcome or mitigate at least one of the known technical defects.

[0009] The technical solution of this application is:

[0010] A method for measuring the delay time of a cooperative actuation system in a simulated wind tunnel test, comprising:

[0011] Step 1: Install multiple reflective marker balls on the hardware surfaces of the target actuation system A and the tracking actuation system B;

[0012] Step 2: Install multiple high-precision infrared cameras on the wind tunnel wall;

[0013] Step 3: Connect each high-precision infrared camera to the monitor. The monitor captures the position of each reflective marker ball through each high-precision infrared camera, and constructs a virtual rigid body for the target actuation system A and the tracking actuation system B.

[0014] Step 4: Start the target actuation system A and the tracking actuation system B, and record the motion trajectory of the virtual rigid bodies of the target actuation system A and the tracking actuation system B with a monitor;

[0015] Step 5: Align the timestamps of the virtual rigid bodies of target actuation system A and tracking actuation system B with the horizontal axis of the monitor, plot the single-axis actuation change curve, mark the time when the virtual rigid bodies of target actuation system A and tracking actuation system B start actuation, and calculate the delay time of tracking actuation system B following target actuation system A.

[0016] According to at least one embodiment of this application, in the above-described method for measuring the delay time of a simulated wind tunnel test cooperative actuation system, in step one, at least four reflective marker balls are installed on the hardware surfaces of the target actuation system A and the tracking actuation system B.

[0017] According to at least one embodiment of this application, in the above-described method for measuring the delay time of a simulated wind tunnel test cooperative actuation system, in step one, the positions of the reflective marker balls installed on the hardware surfaces of the target actuation system A and the tracking actuation system B are irregular and not completely symmetrical.

[0018] According to at least one embodiment of this application, in the above-described method for measuring the delay time of a simulated wind tunnel test cooperative actuation system, in step one, a screw-drilling installation method is selected on the hardware surface of the target actuation system A and the tracking actuation system B to install a reflective marker ball.

[0019] According to at least one embodiment of this application, in the above-described method for measuring the delay time of a simulated wind tunnel test cooperative actuation system, in step two, the angles of each high-precision infrared camera are adjusted so that each high-precision infrared camera can illuminate and capture each reflective marker ball from multiple angles.

[0020] According to at least one embodiment of this application, in the above-mentioned method for measuring the delay time of a simulated wind tunnel test cooperative actuation system, in step three, a monitor captures the 2D reflective points of each reflective marker ball through each high-precision infrared camera, and reconstructs the 3D position of each reflective marker ball through triangulation, thereby constructing a virtual rigid body of the target actuation system A and the tracking actuation system B.

[0021] According to at least one embodiment of this application, in the above-described method for measuring the delay time of a simulated wind tunnel test cooperative actuation system, in step three, the monitor displays the virtual rigid bodies of the target actuation system A and the tracking actuation system B.

[0022] According to at least one embodiment of this application, in the above-described method for measuring the delay time of a simulated wind tunnel test cooperative actuation system, step four involves synchronizing the time between the switch and each high-precision infrared camera.

[0023] According to at least one embodiment of this application, in the above-described method for measuring the delay time of a simulated wind tunnel test cooperative actuation system, in step four, the monitor records the motion trajectory and timestamp of the virtual rigid bodies of the target actuation system A and the tracking actuation system B at a frame rate not exceeding 180 Hz.

[0024] According to at least one embodiment of this application, in the above-described method for measuring the delay time of a simulated wind tunnel test cooperative actuation system, in step four, the monitor saves the motion trajectories and timestamps of the virtual rigid bodies of the target actuation system A and the tracking actuation system B as CMA format files.

[0025] According to at least one embodiment of this application, in the above-described method for measuring the delay time of a simulated wind tunnel test cooperative actuation system, in step five, based on the motion of the target actuation system A and the tracking actuation system B, the direction of significant actuation change is selected, and actuation change curves of the X, Y, or Z axes are plotted.

[0026] According to at least one embodiment of this application, in the above-described method for measuring the delay time of a simulated wind tunnel test cooperative actuation system, in step five, three actuation segments are selected to plot the single-axis actuation change curves of the virtual rigid bodies of the target actuation system A and the tracking actuation system B, and the average delay time of the tracking actuation system B following the target actuation system A is calculated.

[0027] According to at least one embodiment of this application, in the above-described method for measuring the delay time of a simulated wind tunnel test cooperative actuation system, step five is performed automatically using Python code. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the tracking actuation system B following the target actuation system A.

[0029] Figure 2 This is a schematic diagram of the method for measuring the delay time of a simulated wind tunnel test cooperative actuation system provided in an embodiment of this application;

[0030] Figure 3 This is a schematic diagram provided in an embodiment of this application;

[0031] Figure 4 This is a schematic diagram of a virtual rigid body constructed based on six reflective marker spheres, provided in an embodiment of this application.

[0032] Figure 5 This is a graph showing the motion change curves of the target actuation system A and the tracking actuation system B virtual rigid bodies along the X-axis, as provided in the embodiments of this application.

[0033] To better illustrate this embodiment, some content in the accompanying drawings may be omitted, enlarged, or reduced. They are for illustrative purposes only and should not be construed as limiting the scope of this application. Detailed Implementation

[0034] To make the technical solution and advantages of this application clearer, the technical solution of this application will be described in a clearer and more complete manner below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only some embodiments of this application, and are only used to explain this application, not to limit this application. It should be noted that, for ease of description, only the parts related to this application are shown in the accompanying drawings, and other related parts can be referred to the general design.

[0035] Furthermore, unless otherwise defined, the technical or scientific terms used in this application description shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The word "comprising" as used in this application description indicates that the concept preceding the word encompasses the concepts listed following the word and their equivalents, without excluding other related concepts.

[0036] Furthermore, the terms indicating location used in the description of this application are only used to indicate relative directions or positional relationships. When the absolute position of the described object changes, its relative positional relationship may also change accordingly. It should also be noted that, unless otherwise explicitly specified and limited, terms such as "installation" and "connection" used in the description of this application should be interpreted broadly. For example, a connection can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand its specific meaning in this application according to the specific circumstances.

[0037] A method for measuring the delay time of a simulated wind tunnel cooperative actuation system, such as Figure 2 As shown, by deploying positioning tools on the surface of the cooperative actuation system, the motion state of the cooperative actuation system is followed and captured. The delay time of the cooperative actuation system is decoded using motion positioning data. It has the advantages of intuitive and analyzable data, fast and high precision, and integrated process. It can adapt to the complex dynamic environment of the wind tunnel, has strong anti-interference ability, and can achieve millisecond-level precision delay measurement. It can effectively improve the delay measurement accuracy of the actuation system in the wind tunnel test environment.

[0038] Step 1: Install multiple reflective marker balls on the hardware surfaces of the target actuation system A and the tracking actuation system B.

[0039] At least four reflective marker balls are installed on the hardware surfaces of the target actuation system A and the tracking actuation system B, and six can be installed in total. The installation positions of the reflective marker balls on the hardware surfaces of the target actuation system A and the tracking actuation system B are irregular and not completely symmetrical, in order to ensure the uniqueness of rigid body identification and to ensure that the hardware of the target actuation system A and the tracking actuation system B can be completely located.

[0040] Based on the smoothness of the hardware surfaces of the target actuation system A and the tracking actuation system B, the reflective marker balls are installed by either pasting or screw-drilling. Considering the significant airflow disturbance in the simulated wind tunnel test, the screw-drilling installation method is preferred.

[0041] Step 2: Install multiple high-precision infrared cameras on the wind tunnel wall.

[0042] A high-precision infrared camera is securely fixed to the wind tunnel wall using a connecting device. Specifically, this connecting device can be designed to include a fixing disc and an angle adjustment mechanism, such as... Figure 3 As shown, the fixed disk is used to connect to the wind tunnel wall, and the angle adjustment mechanism is connected to the fixed disk to install a high-precision infrared camera. It can realize the 180° angle adjustment of the high-precision infrared camera in the horizontal and vertical directions, and directly withstand the violent airflow disturbance in the wind tunnel without being affected.

[0043] Adjust the angles of each high-precision infrared camera so that each high-precision infrared camera can illuminate and capture each reflective marker ball from multiple angles.

[0044] Step 3: Connect each high-precision infrared camera to the monitor. The monitor captures the position of each reflective marker ball through each high-precision infrared camera, and constructs a virtual rigid body for the target actuation system A and the tracking actuation system B.

[0045] The monitor captures the 2D reflective points of each reflective marker ball using high-precision infrared cameras, reconstructs the 3D position of each marker ball using triangulation, and then constructs and displays a virtual rigid body for the target actuation system A and the tracking actuation system B. In a specific embodiment, a virtual rigid body cam_4682 is constructed based on six reflective marker balls, as shown below. Figure 4 As shown.

[0046] The angles of each high-precision infrared camera can be further adjusted visually based on the monitor display.

[0047] The time is synchronized between the switch and the monitor and each high-precision infrared camera.

[0048] Step 4: Start the target actuation system A and the tracking actuation system B, and use a monitor to record the motion trajectory of the virtual rigid bodies of the target actuation system A and the tracking actuation system B.

[0049] The monitor records the motion trajectories and timestamps of the virtual rigid bodies of the target actuation system A and the tracking actuation system B at a frame rate not exceeding 180Hz, specifically 120Hz, and saves them as CMA format files.

[0050] Step 5: Align the timestamps of the virtual rigid bodies of target actuation system A and tracking actuation system B with the horizontal axis of the monitor, plot the single-axis actuation change curve, mark the time when the virtual rigid bodies of target actuation system A and tracking actuation system B start to move, that is, the time when the vertical axis of the single-axis actuation change curve starts to change, and calculate the delay time of tracking actuation system B following target actuation system A.

[0051] Based on the motion of the target actuation system A and the tracking actuation system B, select the direction of significant actuation change and plot the actuation change curves on the X, Y, or Z axes.

[0052] In a specific example, the motion change curves of the target actuation system A and the tracking actuation system B virtual rigid bodies along the X-axis are plotted, such as... Figure 5 As shown.

[0053] To ensure the accuracy of the calculation results, three segments of motion can be selected to draw the single-axis motion change curves of the virtual rigid bodies of the target motion system A and the tracking motion system B, and the average delay time of the tracking motion system B following the target motion system A can be calculated.

[0054] Step five can be automated using Python code.

[0055] The method for measuring the delay time of a simulated wind tunnel cooperative actuation system disclosed in the above embodiments has the following advantages:

[0056] High precision and high reliability: Utilizing high frame rate optical motion capture technology, it can accurately capture the start time of motion at the millisecond level, achieving high measurement accuracy (up to 8.4ms). Simultaneously, the optical non-contact measurement method effectively avoids direct interference from wind tunnel airflow, ensuring the reliability of data acquisition.

[0057] Intuitive and integrated: It transforms complex system delays into intuitive motion curve comparisons, making data analysis clear and easy to understand. Furthermore, it integrates marker deployment, data acquisition, processing, and analysis into a complete workflow, achieving integrated measurement.

[0058] High efficiency: Through automated data processing scripts, the analysis of large amounts of data can be completed quickly, significantly improving measurement efficiency and meeting the needs of repeated experiments and rapid verification.

[0059] The technical solution of this application has been described in conjunction with the preferred embodiments shown in the accompanying drawings. Those skilled in the art should understand that the scope of protection of this application is obviously not limited to these specific embodiments. Without departing from the principles of this application, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of this application.

Claims

1. A method for measuring the delay time of a simulated wind tunnel cooperative actuation system, characterized in that, include: Step 1: Install multiple reflective marker balls on the hardware surfaces of the target actuation system A and the tracking actuation system B; Step 2: Install multiple high-precision infrared cameras on the wind tunnel wall; Step 3: Connect each high-precision infrared camera to the monitor. The monitor captures the position of each reflective marker ball through each high-precision infrared camera, and constructs a virtual rigid body for the target actuation system A and the tracking actuation system B. Step 4: Start the target actuation system A and the tracking actuation system B, and record the motion trajectory of the virtual rigid bodies of the target actuation system A and the tracking actuation system B with a monitor; Step 5: Align the timestamps of the virtual rigid bodies of target actuation system A and tracking actuation system B with the horizontal axis of the monitor, plot the single-axis actuation change curve, mark the time when the virtual rigid bodies of target actuation system A and tracking actuation system B start actuation, and calculate the delay time of tracking actuation system B following target actuation system A.

2. The method for measuring the delay time of a simulated wind tunnel test cooperative actuation system according to claim 1, characterized in that, In step one, at least four reflective marker balls are installed on the hardware surfaces of the target actuation system A and the tracking actuation system B.

3. The method for measuring the delay time of a simulated wind tunnel test cooperative actuation system according to claim 2, characterized in that, In step one, the positions of the reflective marker balls installed on the hardware surfaces of the target actuation system A and the tracking actuation system B are irregular and not completely symmetrical.

4. The method for measuring the delay time of a simulated wind tunnel test cooperative actuation system according to claim 3, characterized in that, In step one, a screw-drilling installation method is selected on the hardware surface of the target actuation system A and the tracking actuation system B to install the reflective marker ball.

5. The method for measuring the delay time of a simulated wind tunnel test cooperative actuation system according to claim 4, characterized in that, In step two, the angles of each high-precision infrared camera are adjusted so that each high-precision infrared camera can illuminate and capture each reflective marker ball from multiple angles.

6. The method for measuring the delay time of a simulated wind tunnel test cooperative actuation system according to claim 5, characterized in that, In step three, the monitor captures the 2D reflective points of each reflective marker ball through each high-precision infrared camera, and reconstructs the 3D position of each reflective marker ball through triangulation, thereby constructing a virtual rigid body for the target actuation system A and the tracking actuation system B.

7. The method for measuring the delay time of a simulated wind tunnel test cooperative actuation system according to claim 6, characterized in that, In step three, the monitor displays the virtual rigid bodies of the target actuation system A and the tracking actuation system B.

8. The method for measuring the delay time of a simulated wind tunnel test cooperative actuation system according to claim 7, characterized in that, In step four, the time of the switch is synchronized with that of each high-precision infrared camera.

9. The method for measuring the delay time of a simulated wind tunnel test cooperative actuation system according to claim 8, characterized in that, In step four, the monitor records the motion trajectories and timestamps of the virtual rigid bodies of the target actuation system A and the tracking actuation system B at a frame rate not exceeding 180Hz.

10. The method for measuring the delay time of a simulated wind tunnel test cooperative actuation system according to claim 9, characterized in that, In step four, the monitor saves the motion trajectories and timestamps of the virtual rigid bodies of the target actuation system A and the tracking actuation system B as CMA format files.

11. The method for measuring the delay time of a simulated wind tunnel test cooperative actuation system according to claim 10, characterized in that, In step five, based on the motion of the target actuation system A and the tracking actuation system B, select the direction of significant actuation change and plot the actuation change curves on the X, Y, or Z axes.

12. The method for measuring the delay time of a simulated wind tunnel test cooperative actuation system according to claim 11, characterized in that, In step five, three segments of motion are selected to draw the single-axis motion change curves of the virtual rigid bodies of the target motion system A and the tracking motion system B, and the average delay time of the tracking motion system B following the target motion system A is calculated.

13. The method for measuring the delay time of a simulated wind tunnel test cooperative actuation system according to claim 12, characterized in that, Step five is automated using Python code.

Images