基于绳系并联机器人支撑系统的SDM动导数试验可行性研究

doi:10.7527/S1000-6893.2017.121330

流体力学与飞行力学

本期目录 | 过刊浏览 | 高级检索

前一篇 | 后一篇

基于绳系并联机器人支撑系统的SDM动导数试验可行性研究

冀洋锋, 林麒, 胡正红, 彭苗娇, 王宇奇

厦门大学航空航天学院, 厦门 361005

收稿日期:2017-04-16 修回日期:2017-06-02 出版日期:2017-11-15 发布日期:2017-06-02
通讯作者: 林麒 E-mail:qilin@xmu.edu.cn
基金资助:
国家自然科学基金（11472234，11072207，50475099）

Research on feasibility of dynamic stability derivatives test of SDM with wire-driven parallel robot suspension system

JI Yangfeng, LIN Qi, HU Zhenghong, PENG Miaojiao, WANG Yuqi

School of Aerospace Engineering, Xiamen University, Xiamen 361005, China

Received:2017-04-16 Revised:2017-06-02 Online:2017-11-15 Published:2017-06-02
Supported by:
National Natural Science Foundation of China (11472234, 11072207, 50475099)

摘要/Abstract

摘要：

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。

关键词: 绳系并联机器人支撑, 风洞试验, 动导数, 标准动态模型, 内置天平

Abstract:

This paper gives details of an experimental investigation carried out in a low speed wind tunnel to see whether it is feasible to obtain meaningful dynamic stability derivatives of the aircraft model with the suspension of Wire Driven Parallel Robot (WDPR). A six-component strain-gauge balance is installed inside the Standard Dynamics Model (SDM) to acquire relative aerodynamic parameters. The model motion control subsystem and data acquisition subsystems for the WDPR are developed. The signal of one wire tension is chosen as a reference signal to synchronously process the force signal and the displacement signal of the model, and the phase difference between them are determined in the tests of the dynamic stability derivatives of SDM with the WDPR. The identification method of the dynamic stability derivatives of the aircraft model for WDPR is developed. The prototype system of WDPR-8 is mounted in a direct low speed wind tunnel with an open test section to conduct several oscillatory motion of the SDM, such as in pitching, heave and pitching with side angle, so that the corresponding dynamic stability derivatives can be got through the tests. The solved dynamic stability derivatives of SDM agree well with the reference data, suggesting that it is feasible to use a WDPR to measure meaningful derivatives, at least for the SDM. Using a WDPR suspension system, various dynamic stability derivative tests may be completed, while in general, they must be done by several complicated rigid support systems. It can be believed that WDPR may improve test efficiency and reduce test cost.

Key words: wire driven parallel robot suspension, wind tunnel test, dynamic stability derivatives, standard dynamics model, inbuilt balance

中图分类号:

V260
TH112

冀洋锋, 林麒, 胡正红, 彭苗娇, 王宇奇. 基于绳系并联机器人支撑系统的SDM动导数试验可行性研究[J]. 航空学报, 2017, 38(11): 121330-121330.

JI Yangfeng, LIN Qi, HU Zhenghong, PENG Miaojiao, WANG Yuqi. Research on feasibility of dynamic stability derivatives test of SDM with wire-driven parallel robot suspension system[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2017, 38(11): 121330-121330.

参考文献

[1] 刘绪, 刘伟, 柴振霞, 等. 飞行器动态稳定性参数计算方法研究进展[J]. 航空学报, 2016, 37(8):2348-2369. LIU X, LIU W, CHAI Z X, et al. Research progress ofnumerical method of dynamic stability derivatives of aircraft[J]. Acta Aeronautica et Astronautica Sinica, 2016, 37(8):2348-2369(in Chinese).
[2] CYRAN B. Sting interference effects on the static, dynamic and base pressure measurements of the standard dynamics model aircraft at Mach number 0.3 through 1.3:AEDC-TR-81-3[R]. Tennessee:AEDC, 1981.
[3] COULTER S M, MARQUART E J. Cross and cross-coupling derivative measurement s on the standard dynamic at AEDC:AIAA-1982-0596[R]. Reston, VA:AIAA, 1982.
[4] SCHMIDT E. Standard dynamic model experiment s with the DFVLR/AVA transonic derivative balance:AGARD-CP-386[R]. Paris:AGARD, 1985.
[5] JANSSON T, TORNGREN L. New dynamic testing techniques and related results at FFA:AGARD-CP-386[R].Paris:AGARD, 1985.
[6] BEYERS M E, MOULTON B E. Stability derivatives due to oscillation in roll for the standard dynamic model at Mach 0. 6:NAE-4479[R]. Ottawa:NAE, 1983.
[7] GUGLIERI G, QUAGLIOTTI F B, SCARABELLI P L. Static and oscillatory experiments on the SDM at Politecnico di Torino[C]//Nota Scientifica ETecnica N. 74/93, Forced Oscillation Technique-Reference Documentation, 1993.
[8] ALEMDAROGLU N, IYIGUN I, ALTUN M, et al. Determination of dynamic stability derivatives using forced oscillation technique:AIAA-2002-0528[R]. Reston, VA:AIAA, 2002.
[9] 赵忠良, 任斌, 黄叙辉. SDM标模大迎角动导数试验[J]. 航空学报, 1998, 19(2):137-141. ZHAO Z L, REN B, HUANG X H. High angle of attack dynamic derivative experiment of standard dynamic model[J]. Acta Aeronautica et Astronautica Sinica, 1998, 19(2):137-141(in Chinese).
[10] 卜忱, 杜希奇, 王学俭. 飞行器纵向阻尼导数直接测量实验研究[J]. 实验流体力学, 2005, 19(1):31-34. BU C, DU X Q, WANG X J. Investigation of longitudinal damping derivative of aircraft by direct measurement tests[J]. Journal of Experiments in Fluid Mechanics, 2005, 19(1):31-34(in Chinese).
[11] LIU J, CHEN N, SONG Y H, et al. New dynamic stability rig for tri-sonic wind tunnel[J]. Procedia Engineering, 2015, 99:1591-1596.
[12] ERM L. An experimental investigation into the feasibility of measuring static and dynamic aerodynamic derivatives in a water tunnel[C]//30th AIAA Applied Aerodynamics Conference. Reston, VA:AIAA, 2012.
[13] SHAN G H. Wind tunnel investigation of aerodynamic and tail buffet characteristics of leading-edge extension modifications to the F/A-18:AIAA-1991-2889[R]. Reston, VA:AIAA, 1991.
[14] 刘雄伟, 郑亚青, 林麒. 应用于飞行器风洞试验的绳牵引并联机构技术综述[J]. 航空学报, 2004, 25(4):393-400. LIU X W, ZHENG Y Q, LIN Q. Overview of wire driven parallel suspension system (WDPSS) and its applications[J]. Acta Aeronautica et Astronautica Sinica, 2004,25(4):393-400(in Chinese).
[15] MAGILL J, CATALDI P, MORENCY J, et al. Demonstration of a wire suspension system for dynamic wind tunnel testing:AIAA-2004-1296[R]. Reston, VA:AIAA, 2004.
[16] BOSSCHER P, EBERT-UPHOFF I. Wrench-based analysis of cable-driven robots[C]//IEEE International Conference on Robotics and Automation. Piscataway, NJ:IEEE Press, 2004:4950-4955.
[17] 刘欣, 仇原鹰, 盛英. 风洞试验绳牵引冗余并联机器人的刚度增强与运动控制[J]. 航空学报, 2009, 30(6):1157-1164. LIU X, QIU Y Y, SHENG Y.Stiffness enhancement and motion control of a 62DOF wire-driven parallel manipulator with redundant actuations for wind tunnels[J]. Acta Aeronautica et Astronautica Sinica, 2009,30(6):1157-1164(in Chinese).
[18] LAFOURCADE P, ZHENG Y Q, LIU X W. Stiffness analysis of wire-driven parallel kinematic manipulators[C]//Proceeding of the 11th Word Congress in Mechanism and Machine Science, 2004.
[19] LAFOURCADE P, LLIBRE M. First steps toward a sketch based design methodology for wire-driven manipulators[C]//IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Piscataway, NJ:IEEE Press, 2003:20-24.
[20] FARCY D, LLIBRE M, CARTON P, et al. SACSO:Wire-driven parallel set-up for dynamic tests in wind tunnel-review of principles and advantages for identification of aerodynamic models for flight mechanics[C]//8th ONERA-DLR Aerospace Symposium, 2007.
[21] ZHENG Y Q, ZHAO S H. Calculation principle of dynamic derivatives for wire-driven parallel suspension systems used in forced oscillation experiments in low speed wind tunnels[C]//IET Conference Publications, 2012:622-626.
[22] 岳遂录, 林麒, 白志君, 等. 基于绳牵引并联支撑系统的风洞动导数试验研究[C]//第一届中国航空科学技术大会, 2013. YUE S L, LIN Q, BAI Z J, et al. Experimental research on stability derivatives of model in wind tunnel based on wire-driven parallel suspension system[C]//Proceedings of The first China Aviation Science and Technology Conference, 2013(in Chinese).
[23] 林麒, 冀洋锋. 一种可实现风洞虚拟飞行的模型绳索支撑系统:CN201410392466.0[P]. 2014-08-11. LIN Q, JI Y F. A model suspension system of virtual flight test in wind tunnel:CN201410392466.0[P]. 2014-08-11(in Chinese).
[24] 林麒, 王钊, 冀洋锋. 基于PMAC运动控制卡的风洞并联机器人运动控制软件:2013SR155249[Z]. 2013-12-24. LIN Q, WANG Z, JI Y F. Motion control software of wind tunnel parallel robot based on PMAC:2013SR155249[Z]. 2013-12-24(in Chinese).
[25] 林麒, 王钊. 基于固高运动控制卡的风洞绳牵引并联机器人综合控制软件:2012SR110484[Z]. 2012-11-19. Lin Q, WANG Z. Multipurpose control software of wind tunnel cable-driven parallel robot based on ge motion control card:2012SR110484[Z]. 2012-11-19(in Chinese).
[26] CHEN Y F, BAI Z J, YIN C P, et al. Study on measurement with monocular vision for posture of moving objects suspended[C]//2013 Manufacturing Process and Equipment,Advanced Materials Research, 2013:1884-1888.
[27] HUANG X Z. Wing and fin buffet on the standard dynamics model:RTO Technical Report 26[R]. 2000.
[28] JERMEY C, SCHIFF L B. Wind tunnel investigation of the aerodynamic characterestics of the standard dynamic model in coning motion at Mach 0.6:AIAA-1985-1828[R]. Reston, VA:AIAA, 1985.
[29] 孙海生. 飞行器低速大迎角动稳定性实验风洞技术研究[D]. 西安:西北工业大学, 2003. SUN H S. Wind tunnel experimental technique research on aircraft model at low speed and high angle of attack[D]. Xi'an:Northwestern Polytechnical University, 2003(in Chinese).
[30] 李周复. 风洞特种试验技术[M]. 北京:航空工业出版社, 2010:614-630. LI Z F. Special wind tunnel test technique[M]. Beijing:Aviation Industry Press, 2010:614-630(in Chinese).
[31] FAN Y G, FREDERICK H. Unsteady aerodynamic tests and data reduction using digital signal processing approach:AIAA-1998-4454[R]. Reston, VA:AIAA,1998.
[32] 蒋永, 孙海生, 沈志宏, 等. 非定常大振幅振荡试验数据处理研究[J]. 实验流体力学, 2015, 29(1):97-102. JIANG Y, SUN H S, SHEN Z H, et al. Research on the data processing of unsteady large-amplitude-oscillation experiment[J]. Journal of Experiments in Fluid Mechanics, 2015, 29(1):97-102(in Chinese).

E-mail：hkxb@buaa.edu.cn

关于我们

期刊社服务

专业学科

封面文章

友情链接

主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

基于绳系并联机器人支撑系统的SDM动导数试验可行性研究

Research on feasibility of dynamic stability derivatives test of SDM with wire-driven parallel robot suspension system

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	孙朋朋, 刘平安, 樊枫, 曾伟. 悬停状态共轴刚性旋翼机身气动干扰特性[J]. 航空学报, 2024, 45(9): 529284-529284.
[2]	王畅, 何龙, 徐栋霞, 唐敏, 马率, 吴希明. 共轴刚性旋翼桨毂流动控制减阻研究[J]. 航空学报, 2024, 45(9): 529084-529084.
[3]	张卫国, 唐敏, 武杰, 彭先敏, 章贵川, 聂博文, 王亮权, 李超群. 倾转旋翼机风洞试验综述[J]. 航空学报, 2024, 45(9): 530114-530114.
[4]	聂博文, 王亮权, 黄志银, 何龙, 杨仕鹏, 颜鸿涛, 章贵川. 复合式高速无人直升机飞行动力学建模与控制策略设计[J]. 航空学报, 2024, 45(9): 529848-529848.
[5]	刘柳, 向先宏, 张宇飞, 陈海昕, 魏闯, 朱剑, 杨普. 一种高升阻比非常规翼身融合燕尾气动布局[J]. 航空学报, 2024, 45(6): 629630-629630.
[6]	李海星, 周峰, 颜巍, 白峰, 赵克良. 砂纸冰对民机平尾气动特性的影响[J]. 航空学报, 2024, 45(2): 128657-128657.
[7]	李学良, 李创创, 苏伟, 吴杰. 分布式粗糙元对高超声速边界层不稳定性的影响试验[J]. 航空学报, 2024, 45(2): 128627-128627.
[8]	刘宇, 秦梦婕, 王强, 易贤. 含盐海水飞沫的结冰风洞试验相似准则[J]. 航空学报, 2023, 44(S2): 729297-729297.
[9]	杨秋明, 朱永峰, 陈华伟, 刘晓林. 镂空图案化电加热组件防冰性能试验研究[J]. 航空学报, 2023, 44(S2): 729334-729334.
[10]	高世琦, 丁博, 解旭祯, 李铮, 陈林, 钱首元, 焦子涵, 白光辉. 等离子体激励在高速流动中的减阻机制[J]. 航空学报, 2023, 44(S2): 729373-729373.
[11]	许岭松, 吴渊, 朱东宇, 张付昆, 刘昱. FL⁃61结冰风洞翼型俯仰振荡机构研制[J]. 航空学报, 2023, 44(S2): 729296-729296.
[12]	金毅, 孙姝, 郭赟杰, 谭慧俊, 张悦. 超声速可调进气道内流双解现象及其节流特性[J]. 航空学报, 2023, 44(7): 127134-127134.
[13]	李俊红, 靳旭红, 刘春风, 苗文博, 程晓丽. 临近空间高速飞行器微量气动力试验及计算[J]. 航空学报, 2023, 44(6): 127072-127072.
[14]	曾宪昂, 赵冬强, 李俊杰, 严泽洲, 刘成玉. 弹性机翼阵风减缓控制策略风洞试验[J]. 航空学报, 2023, 44(4): 226869-226869.
[15]	刘畅, 张耘隆, 闫指江, 赵磊, 季辰. 锤头体火箭弹性模型脉动压力风洞试验[J]. 航空学报, 2023, 44(23): 128384-128384.