论文部分内容阅读
详细给出了在低速风洞中,采用绳系并联机器人(WDPR)支撑模型,用强迫振荡法进行标准动态模型(SDM)动导数试验可行性的研究。试验中将杆式六分量应变天平内置入模型中以测量模型的气动力和气动力矩,建立了适用于绳系并联机器人支撑系统的模型运动控制子系统和数据采集子系统。采用绳拉力作为参考信号,对气动力矩信号与位姿信号进行数据的同步处理,解决了绳系并联机器人支撑系统应用于动导数试验时所测力矩信号与位姿信号之间的相位差确定问题,给出了WDPR支撑下模型动导数的计算方法。整个试验样机置于某开口式低速直流风洞中进行了俯仰、带偏航角的俯仰以及升沉的动导数试验,通过测量和计算得到各动导数。试验结果与参考文献相比较具有合理的一致性。研究结果表明,采用绳系并联机器人支撑模型进行动导数试验是可行的,至少对于SDM是这样的结果;使用一套绳系并联机器人支撑系统,可以完成多套硬式支撑系统才能完成的动导数试验,从而提高试验效率,降低试验成本。
In the low speed wind tunnel, the feasibility of the SDM dynamic derivative test by forced oscillating method is studied in detail using the WDPR support model. In the experiment, the rod-type six-component strain balance was built into the model to measure the aerodynamic and aerodynamic moment of the model, and a model motion control subsystem and a data acquisition subsystem suitable for the tether robot’s support system were established. Using the rope tension as a reference signal, the aerodynamic torque signal and the pose signal are processed synchronously to solve the problem of the phase difference between the measured torque signal and pose signal when the tether robot support system is applied to the dynamic derivative test , Gives the calculation method of the dynamic derivative of the model under WDPR support. The entire test prototype was placed in an open-ended low-speed DC wind tunnel and the pitch, yaw pitch and heave of the derivative experiments were conducted. The dynamic derivatives were obtained through measurement and calculation. Test results compared with the reference has a reasonable consistency. The results show that it is feasible to adopt dynamic parallel derivative test of rope-type parallel robot support model, at least for SDM. Using a set of rope parallel robot support system, the dynamic derivative test can be completed by multiple sets of rigid support system , So as to improve the test efficiency and reduce the test cost.