捕获轨迹系统并联机构地面标定方法

doi:10.7527/S1000-6893.2019.23175

材料工程与机械制造

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捕获轨迹系统并联机构地面标定方法

谢峰^1,2, 洪冠新¹, 张晨凯², 魏忠武², 马汉东²

1. 北京航空航天大学航空科学与工程学院, 北京 100083;
2. 中国航天空气动力技术研究院, 北京 100074

收稿日期:2019-05-21 修回日期:2019-06-12 出版日期:2020-01-15 发布日期:2019-10-10
通讯作者: 洪冠新 E-mail:honggx@buaa.edu.cn
基金资助:
国家自然科学基金（11672283）

Ground calibration method of captive trajectory system parallel mechanism

XIE Feng^1,2, HONG Guanxin¹, ZHANG Chenkai², WEI Zhongwu², MA Handong²

1. School of Aeronautic Science and Engineering, Beihang University, Beijing 100083, China;
2. China Academy of Aerospace Aerodynamics, Beijing 100074, China

Received:2019-05-21 Revised:2019-06-12 Online:2020-01-15 Published:2019-10-10
Supported by:
National Natural Science Foundation of China (11672283)

摘要/Abstract

摘要： 捕获轨迹系统（CTS）是一种先进的预测外挂物投放轨迹的试验系统，普遍采用六自由度（6-DoF）串联机构作为其运动机构，串联机构因惯性力大和关节累积误差大使其定位精准度不足。相比串联机构，并联机构具有惯性力小和关节误差不累积等优点。采用6-PTRT并联机构作为CTS试验系统的六自由度运动机构，在空间受限的风洞环境中对CTS并联机构进行地面标定：提出动平台位姿的测量和计算方法，建立包含直线驱动平台安装夹角修正的标定模型，并基于非线性最小二乘法辨识结构参数。辨识后CTS并联机构的位移定位准度优于0.1 mm，姿态定位准度优于0.05°，最后以CTS并联机构和常规攻角机构进行8#标模的对比风洞试验。风洞试验结果表明，CTS并联机构的风载定位准度满足测力试验精准度要求。

关键词: 捕获轨迹系统, 六自由度并联机构, 地面标定方法, 定位准度, 风洞试验

Abstract: Captive Trajectory System (CTS) is an advanced test system for predicting the release trajectory of the external storages, which commonly uses the six-degree-of-freedom (6-DOF) series mechanism as the motion mechanism. As the large inertia force and the accumulated joint error, the positioning precision of the series mechanism is not enough. Compared with the series mechanism, the parallel mechanism has the advantages of small inertia force and non-accumulation of joint errors. In this paper, 6-PTRT parallel mechanism is employed as the 6-DOF motion mechanism for the CTS. The ground calibration method of the CTS parallel mechanism is studied in the space-constrained wind tunnel environment:the method of measuring and calculating the position and posture of the moving platform is presented, the calibration model which included the clamped angel repairman of the linear drive platform is established, the structural parameters are identified base on the method of nonlinear least squares. After identification, the position accuracy of the CTS parallel mechanism is better than 0.1 mm and the posture accuracy is better than 0.05°. Finally the CTS parallel mechanism and the regular attack angle mechanism are compared in the wind tunnel test. The wind tunnel test results show that the position and posture accuracy of the CTS mechanism under wind-load meets the requirements of the force wind tunnel test.

Key words: captive trajectory system, 6-DOF parallel mechanism, ground calibration method, position and posture accuracy, wind tunnel test

中图分类号:

V211.73

谢峰, 洪冠新, 张晨凯, 魏忠武, 马汉东. 捕获轨迹系统并联机构地面标定方法[J]. 航空学报, 2020, 41(1): 423175-423175.

XIE Feng, HONG Guanxin, ZHANG Chenkai, WEI Zhongwu, MA Handong. Ground calibration method of captive trajectory system parallel mechanism[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(1): 423175-423175.

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E-mail：hkxb@buaa.edu.cn

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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

捕获轨迹系统并联机构地面标定方法

Ground calibration method of captive trajectory system parallel mechanism

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