Wind tunnel multi-body linkage support follow-up compensation method based on elastic angle

Abstract

The application discloses a wind tunnel multi-body linkage support follow-up compensation method based on elastic angles, and belongs to the technical field of follow-up control related to wind tunnel tests. The method solves the problem that the traditional wind tunnel follow-up control method in the prior art is difficult to correct due to errors in multi-body follow-up tests, and is prone to model collision accidents; the elastic angle model of a test model and a support system thereof is established, a pitching elastic angle is calculated, a reference follow-up relationship is established under a windless condition, an attitude angle change and a reference position change are calculated, an attitude compensation value and a spatial position compensation value are calculated, a compensation instruction generated by the support system is executed, an updated spatial pose is obtained, whether the model attitude angle control error and the model reference position deviation meet the set requirements is judged, and the cycle is ended until the test is ended. The application improves the follow-up control precision and can be applied to multi-body linkage support follow-up control.

Description

Technical Field

[0001] The present invention relates to the technical field of follow-up control related to wind tunnel tests, in particular to an elastic angle-based follow-up compensation method for multi-body linkage support in wind tunnel. Background Art

[0002] Wind tunnel test is a key means for studying the aerodynamic characteristics of aircraft. With the development of technology, the scenarios of wind tunnel tests are becoming increasingly complex, and there arises a situation where two or more models are required to simulate relative motion in the wind tunnel; to achieve the above function, special test mechanisms (referred to as master mechanism and slave mechanism for short) are required in the wind tunnel, which can realize linkage. The traditional follow-up control method is specifically as follows: when the master mechanism changes the angle of attack α and sideslip angle β, the target position and attitude of the slave mechanism in space are calculated according to a preset geometric relationship, and then the slave mechanism is driven to reach the calculated position and attitude.

[0003] However, the traditional follow-up control method assumes that the model and the support system are absolutely rigid. In fact, under the action of high-speed airflow, elastic deformation occurs to the model itself and its strut, which results in a deviation between the actual angle of attack of the model and the nominal angle of attack measured by the mechanism, that is the elastic angle; in a single-model test, this deviation can be corrected through data post-processing, but in a multi-body follow-up test, the elastic angle of the master model will change the actual shape of its wake field and interference flow field, and the elastic angle of the slave model will change its real attitude relative to the incoming flow and the flow field of the master model; if the follow-up system only tracks the nominal position and attitude and ignores the elastic angles of the master model and the slave model, the real relative position and attitude between the two models will deviate from the expected value, leading to distortion of the obtained test data, and even possible collision between the models.

[0004] In summary, there is an urgent need for an elastic angle-based follow-up compensation method for multi-body linkage support in wind tunnel. Summary of the Invention

[0005] A brief summary of the present invention is given below to provide a basic understanding of certain aspects of the present invention. It should be understood that this summary is not an exhaustive overview of the present invention. It is not intended to identify key or important parts of the present invention, nor is it intended to limit the scope of the present invention. Its purpose is only to present some concepts in a simplified form as a preamble to the more detailed description that will be given later.

[0006] In view of this, in order to solve the problem in the prior art that the traditional wind tunnel follow-up control method is difficult to correct errors in multi-body follow-up tests, which easily leads to model collision accidents, the present invention provides an elastic angle-based follow-up control compensation method for multi-body linkage support in wind tunnel.

[0007] The technical solution is as follows: an elastic angle-based follow-up control compensation method for multi-body linkage support in wind tunnel, comprising the following steps:

[0008] S1. Connect and wire the components in the wind tunnel test, establish the test model and its support system elastic angle model, and calculate the pitch elastic angle;

[0009] S2. Under windless conditions, calibrate and establish the rigid kinematic relationship between the motion parameters of the master mechanism and the target pose of the slave mechanism, and complete the establishment of the reference follower relationship;

[0010] Specifically: the main mechanism's motion parameters, i.e., the main angle of attack. From the target pose of the mechanism, i.e., from the target position of the model and target angle of attack ;

[0011] S3. Conduct wind tunnel tests according to the settings in steps S1-S2. Calculate the attitude angle change and reference position change by collecting the balance force and combining it with the pitch elastic angle.

[0012] S4. Calculate the attitude compensation value based on the changes in the main angle of attack, target angle of attack, and attitude angle; calculate the spatial position compensation value based on the changes in the reference position; and generate a compensation command.

[0013] S5. Execute compensation instructions through the support system, obtain the updated spatial pose through step S3, and determine whether the calculated model attitude angle control error and model reference position deviation meet the preset threshold. If not, repeat steps S4-S5. If they meet, end the loop.

[0014] S6. Determine if the current test outline is fully completed. If fully completed, end the test. If not completed, adjust the attitude angles of the main mechanism and the slave mechanism to ( ). Repeat steps S3-S5 until the experiment ends.

[0015] Furthermore, step S1 includes the following steps:

[0016] S11. Connect the balance to the support system, perform preliminary leveling of the balance, install the test model on the balance and perform secondary leveling, connect the test model and the balance to the data acquisition system respectively, and complete the device assembly in the wind tunnel test;

[0017] In S11, the balance includes a master balance and a slave balance, the test model includes a master model and a slave model, the support system includes a master mechanism and a slave mechanism, the master model is installed on the master mechanism and connected to the master balance, the slave model is installed on the slave mechanism and connected to the slave balance, and the master balance and the slave balance are connected to the data acquisition system.

[0018] S13. Apply standard weights to different loading points on the test model to obtain the elastic angle model of the test model and its support system. Calculate the pitch elastic angle using the balance force and the elastic angle coefficient. ;

[0019] In S13, the pitch elastic angle Including the principal elastic angle of the main model and from the model from the elastic angle ;

[0020] Principal elastic angle Represented as:

[0021] in, , The elastic angle coefficient of the main mechanism, The normal force acting on the main model, The pitching moment acting on the main model;

[0022] From the elastic angle Represented as:

[0023]

[0024] in, , To obtain the elastic angle coefficient of the mechanism, The normal force acting on the model, This represents the pitching moment received from the model.

[0025] Furthermore, step S3 includes the following steps:

[0026] S31. Conduct a wind tunnel test according to the settings of steps S1-S2, and collect the balance forces of the master balance and the slave balance respectively to obtain the master balance force and the slave balance force;

[0027] S32. Based on the main balance force and the elastic angle coefficient of the main mechanism, obtain the attitude angle change of the main model, and calculate the change in the reference position of the main model caused by the main elastic angle;

[0028] In S32, the main model's attitude angle changes Represented as:

[0029]

[0030] Variation of normal distance at the reference position of the main model Represented as:

[0031]

[0032] in, The axial distance between the refueling probe and the torque reference point of the main model;

[0033] S33. Based on the balance force and the elastic angle coefficient of the mechanism, obtain the change in the model's attitude angle, and calculate the change in the model's reference position caused by the elastic angle;

[0034] In S33, the model's attitude angle changes Represented as:

[0035]

[0036] Change in normal distance from the model reference position Represented as:

[0037]

[0038] in, The distance from the oil receiving probe to the axial distance from the model torque reference point is... This is the distance from the model moment reference point to the rear end of the support rod of the support system.

[0039] Furthermore, step S4 includes the following steps:

[0040] S41. Based on the changes in the main angle of attack, target angle of attack, and attitude angle, the attitude compensation value is calculated, which includes the attitude compensation of the main model and the attitude compensation of the slave model;

[0041] In S41, the main model pose compensation Represented as:

[0042]

[0043] in, Indicates the attitude angle of the main mechanism;

[0044] From model pose compensation Represented as:

[0045]

[0046] in, Represented as the attitude angle of the mechanism;

[0047] S42. Calculate the spatial position compensation value based on the changes in the reference position of the main model and the reference position of the secondary model;

[0048] In S42, the spatial position compensation value Represented as:

[0049]

[0050] S43. Generate compensation commands based on attitude compensation values ​​and spatial position compensation values;

[0051] In S43, the compensation command includes the main mechanism attitude adjustment command. , from mechanism attitude adjustment command and instructions for adjusting the location of the institution , = , = , = .

[0052] Furthermore, step S5 includes the following steps:

[0053] S51. Recalculate the principal elastic angle and the slave elastic angle according to step S3, and obtain the updated spatial poses of the principal model and the slave model;

[0054] S52. Based on the updated master model attitude angle change obtained in step S51, further calculate the master model attitude angle control error;

[0055] In S52, the main model attitude angle control error Represented as:

[0056]

[0057] S53. Based on the updated model attitude angle change obtained in step S51, further calculate the model attitude angle control error;

[0058] In S53, the error is controlled from the model attitude angle. Represented as:

[0059]

[0060] S54. Based on the updated reference position change obtained in step S51, obtain the model reference position deviation. ;

[0061] S55. Determine if the main model satisfies... Does the model satisfy... Does the reference position meet the requirements? If one or more requirements are not met, steps S4-S5 are executed repeatedly. If all three requirements are met, the loop ends.

[0062] The beneficial effects of this invention are as follows: This invention introduces real-time correction of the elastic angle in the servo control, which fundamentally eliminates the influence of aeroelastic deformation on the pose accuracy of multibody tests, resulting in a significant increase in servo control accuracy; This invention avoids the risk of model collisions caused by pose deviations through precise compensation, thereby comprehensively improving the safety of wind tunnel tests. Attached Figure Description

[0063] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0064] Figure 1 This is a flowchart illustrating a wind tunnel multi-body linkage support follow-up compensation method based on elastic angle. Detailed Implementation

[0065] To make the technical solutions and advantages of the embodiments of the present invention clearer, the exemplary embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not an exhaustive list of all embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0066] refer to Figure 1 This embodiment describes a wind tunnel multi-body linkage support follow-up compensation method based on elastic angle, specifically including the following steps:

[0067] S1. Connect and wire the components (balance, data acquisition system, etc.) in the wind tunnel test, establish the test model and its support system elastic angle model, and calculate the pitch elastic angle;

[0068] S2. Under windless conditions, calibrate and establish the rigid kinematic relationship between the motion parameters of the master mechanism and the target pose of the slave mechanism, and complete the establishment of the reference follower relationship;

[0069] Specifically: the main mechanism's motion parameters, i.e., the main angle of attack. From the target pose of the mechanism, i.e., from the target position of the model and target angle of attack ;

[0070] S3. Conduct wind tunnel tests according to the settings in steps S1-S2. Calculate the attitude angle change and reference position change by collecting the balance force and combining it with the pitch elastic angle.

[0071] S4. Calculate the attitude compensation value based on the changes in the main angle of attack, target angle of attack, and attitude angle; calculate the spatial position compensation value based on the changes in the reference position; and generate a compensation command.

[0072] S5. Execute compensation instructions through the support system, obtain the updated spatial pose through step S3, and determine whether the calculated model attitude angle control error and model reference position deviation meet the preset threshold. If not, repeat steps S4-S5. If they meet, end the loop.

[0073] S6. Determine if the current test outline is fully completed. If fully completed, end the test. If not completed, adjust the attitude angles of the main mechanism and the slave mechanism to ( ). Repeat steps S3-S5 until the experiment ends.

[0074] Furthermore, step S1 includes the following steps:

[0075] S11. Connect the balance to the support system, perform preliminary leveling of the balance, install the test model on the balance and perform secondary leveling, connect the test model and the balance to the data acquisition system respectively, and complete the device assembly in the wind tunnel test;

[0076] In S11, the balance includes a master balance and a slave balance, the test model includes a master model and a slave model, the support system includes a master mechanism and a slave mechanism, the master model is installed on the master mechanism and connected to the master balance, the slave model is installed on the slave mechanism and connected to the slave balance, and the master balance and the slave balance are connected to the data acquisition system.

[0077] S13. Apply standard weights to different loading points on the test model to obtain the elastic angle model of the test model and its support system. Calculate the pitch elastic angle using the balance force and the elastic angle coefficient. ;

[0078] In S13, the pitch elastic angle Including the principal elastic angle of the main model and from the model from the elastic angle ;

[0079] Principal elastic angle Represented as:

[0080] in, , The elastic angle coefficient of the main mechanism, The normal force acting on the main model, The pitching moment acting on the main model;

[0081] From the elastic angle Represented as:

[0082]

[0083] in, , To obtain the elastic angle coefficient of the mechanism, The normal force acting on the model, This represents the pitching moment received from the model.

[0084] Furthermore, step S3 includes the following steps:

[0085] S31. Conduct a wind tunnel test according to the settings of steps S1-S2, and collect the balance forces of the master balance and the slave balance respectively to obtain the master balance force and the slave balance force;

[0086] S32. Based on the main balance force and the elastic angle coefficient of the main mechanism, obtain the attitude angle change of the main model, and calculate the change in the reference position of the main model caused by the main elastic angle;

[0087] In S32, the main model's attitude angle changes Represented as:

[0088]

[0089] Changes in normal distance of the master model (fuel dispenser) reference position Represented as:

[0090]

[0091] in, The axial distance between the refueling probe and the torque reference point of the main model (negative in the direction of airflow);

[0092] S33. Based on the balance force and the elastic angle coefficient of the mechanism, obtain the change in the model's attitude angle, and calculate the change in the model's reference position caused by the elastic angle;

[0093] In S33, the model's attitude angle changes Represented as:

[0094]

[0095] Variation of normal distance from the model (receiving aircraft) reference position Represented as:

[0096]

[0097] in, The distance from the oil receiving probe to the model torque reference point is the axial distance (negative in the direction of airflow). The distance from the model torque reference point to the rear end of the support rod of the support system is given. Due to the small elastic angle, the change in axial distance is ignored.

[0098] Furthermore, step S4 includes the following steps:

[0099] S41. Based on the changes in the main angle of attack, target angle of attack, and attitude angle, the attitude compensation value is calculated, which includes the attitude compensation of the main model and the attitude compensation of the slave model;

[0100] In S41, the main model pose compensation Represented as:

[0101]

[0102] in, Indicates the attitude angle of the main mechanism;

[0103] From model pose compensation Represented as:

[0104]

[0105] in, Represented as the attitude angle of the mechanism;

[0106] S42. Calculate the spatial position compensation value based on the changes in the reference position of the main model and the reference position of the secondary model;

[0107] In S42, the spatial position compensation value Represented as:

[0108]

[0109] S43. Generate compensation commands based on attitude compensation values ​​and spatial position compensation values;

[0110] In S43, the compensation command includes the main mechanism attitude adjustment command. , from mechanism attitude adjustment command and instructions for adjusting the location of the institution , = , = , = .

[0111] Furthermore, step S5 includes the following steps:

[0112] S51. Recalculate the principal elastic angle and the slave elastic angle according to step S3, and obtain the updated spatial poses of the principal model and the slave model;

[0113] S52. Based on the updated master model attitude angle change obtained in step S51, further calculate the master model attitude angle control error;

[0114] In S52, the main model attitude angle control error Represented as:

[0115]

[0116] S53. Based on the updated model attitude angle change obtained in step S51, further calculate the model attitude angle control error;

[0117] In S53, the error is controlled from the model attitude angle. Represented as:

[0118]

[0119] S54. Based on the updated reference position change obtained in step S51, obtain the model reference position deviation. ;

[0120] S55. Determine if the main model satisfies... Does the model satisfy... Does the reference position meet the requirements? If one or more requirements are not met, steps S4-S5 are executed repeatedly. If all three requirements are met, the loop ends.

[0121] Although the invention has been described with reference to a limited number of embodiments, those skilled in the art will understand from the foregoing description that other embodiments are conceivable within the scope of the invention described herein. Furthermore, it should be noted that the language used in this specification has been chosen primarily for readability and instructional purposes, and not for the purpose of interpreting or limiting the subject matter of the invention. Therefore, many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the appended claims. The disclosure of the invention is illustrative and not restrictive, and the scope of the invention is defined by the appended claims.

Claims

1. A wind tunnel multi-body linkage support follow-up compensation method based on elastic angle, characterized in that, Includes the following steps: S1. Connect and wire the components in the wind tunnel test, establish the test model and its support system elastic angle model, and calculate the pitch elastic angle; S2. Under windless conditions, calibrate and establish the rigid kinematic relationship between the motion parameters of the master mechanism and the target pose of the slave mechanism, and complete the establishment of the reference follower relationship; Specifically: the main mechanism's motion parameters, i.e., the main angle of attack. From the target pose of the mechanism, i.e., from the target position of the model and target angle of attack ; S3. Conduct wind tunnel tests according to the settings in steps S1-S2. Calculate the attitude angle change and reference position change by collecting the balance force and combining it with the pitch elastic angle. S4. Calculate the attitude compensation value based on the changes in the main angle of attack, target angle of attack, and attitude angle; calculate the spatial position compensation value based on the changes in the reference position; and generate a compensation command. S5. Execute compensation instructions through the support system, obtain the updated spatial pose through step S3, and determine whether the calculated model attitude angle control error and model reference position deviation meet the preset threshold. If not, repeat steps S4-S5. If they meet, end the loop. S6. Determine if the current test outline is fully completed. If fully completed, end the test. If not completed, adjust the attitude angles of the main mechanism and the slave mechanism to ( ). , Repeat steps S3-S5 until the experiment ends.

2. The wind tunnel multi-body linkage support follow-up compensation method based on elastic angle according to claim 1, characterized in that, S1 includes the following steps: S11. Connect the balance to the support system, perform preliminary leveling of the balance, install the test model on the balance and perform secondary leveling, connect the test model and the balance to the data acquisition system respectively, and complete the device assembly in the wind tunnel test; In S11, the balance includes a master balance and a slave balance, the test model includes a master model and a slave model, the support system includes a master mechanism and a slave mechanism, the master model is installed on the master mechanism and connected to the master balance, the slave model is installed on the slave mechanism and connected to the slave balance, and the master balance and the slave balance are connected to the data acquisition system. S13. Apply standard weights to different loading points on the test model to obtain the elastic angle model of the test model and its support system. Calculate the pitch elastic angle using the balance force and the elastic angle coefficient. ; In S13, the pitch elastic angle Including the principal elastic angle of the main model and from the model from the elastic angle ; Principal elastic angle Represented as: ； in, , The elastic angle coefficient of the main mechanism, The normal force acting on the main model, The pitching moment acting on the main model; From the elastic angle Represented as: ； in, , To obtain the elastic angle coefficient of the mechanism, The normal force acting on the model, This represents the pitching moment received from the model.

3. The wind tunnel multi-body linkage support follow-up compensation method based on elastic angle according to claim 2, characterized in that, S3 includes the following steps: S31. Conduct a wind tunnel test according to the settings of steps S1-S2, and collect the balance forces of the master balance and the slave balance respectively to obtain the master balance force and the slave balance force; S32. Based on the main balance force and the elastic angle coefficient of the main mechanism, obtain the attitude angle change of the main model, and calculate the change in the reference position of the main model caused by the main elastic angle; In S32, the main model's attitude angle changes Represented as: ； Variation of normal distance at the reference position of the main model Represented as: ； in, The axial distance between the refueling probe and the torque reference point of the main model; S33. Based on the balance force and the elastic angle coefficient of the mechanism, obtain the change in the model's attitude angle, and calculate the change in the model's reference position caused by the elastic angle; In S33, the model's attitude angle changes Represented as: ； Change in normal distance from the model reference position Represented as: ； in, The distance from the oil receiving probe to the axial distance from the model torque reference point is... This is the distance from the model moment reference point to the rear end of the support rod of the support system.

4. The wind tunnel multi-body linkage support follow-up compensation method based on elastic angle according to claim 3, characterized in that, S4 includes the following steps: S41. Based on the changes in the main angle of attack, target angle of attack, and attitude angle, the attitude compensation value is calculated, which includes the attitude compensation of the main model and the attitude compensation of the slave model; In S41, the main model pose compensation Represented as: ； in, Indicates the attitude angle of the main mechanism; From model pose compensation Represented as: ； in, Represented as the attitude angle of the mechanism; S42. Calculate the spatial position compensation value based on the changes in the reference position of the main model and the reference position of the secondary model; In S42, the spatial position compensation value Represented as: ； S43. Generate compensation commands based on attitude compensation values ​​and spatial position compensation values; In S43, the compensation command includes the main mechanism attitude adjustment command. , from mechanism attitude adjustment command and instructions for adjusting the location of the institution , , , .

5. The wind tunnel multi-body linkage support follow-up compensation method based on elastic angle according to claim 4, characterized in that, S5 includes the following steps: S51. Recalculate the principal elastic angle and the slave elastic angle according to step S3, and obtain the updated spatial poses of the principal model and the slave model; S52. Based on the updated master model attitude angle change obtained in step S51, further calculate the master model attitude angle control error; In S52, the main model attitude angle control error Represented as: ； S53. Based on the updated model attitude angle change obtained in step S51, further calculate the model attitude angle control error; In S53, the error is controlled from the model attitude angle. Represented as: ； S54. Based on the updated reference position change obtained in step S51, obtain the model reference position deviation. ; S55. Determine if the main model satisfies... Does the model satisfy... Does the reference position meet the requirements? If one or more requirements are not met, steps S4-S5 are executed repeatedly. If all three requirements are met, the loop ends.

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