基于刚度优化的绳牵引并联支撑系统力/位混合控制

doi:10.7527/S1000-6893.2020.24373

电子电气工程与控制

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基于刚度优化的绳牵引并联支撑系统力/位混合控制

高忠信, 王晓光, 吴军, 林麒

厦门大学航空航天学院, 厦门 361005

收稿日期:2020-06-07 修回日期:2020-07-20 发布日期:2020-09-28
通讯作者: 王晓光 E-mail:xgwang@xmu.edu.cn
基金资助:
国家自然科学基金（11702232，11472234）；中央高校基本科研业务费专项资金（20720180071）

Hybrid force/pose control of wire-driven parallel suspension system based on stiffness optimization

GAO Zhongxin, WANG Xiaoguang, WU Jun, LIN Qi

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

Received:2020-06-07 Revised:2020-07-20 Published:2020-09-28
Supported by:
National Natural Science Foundation of China(11702232, 11472234); Fundamental Research Funds for the Central Universities (20720180071)

摘要/Abstract

摘要： 针对应用于风洞试验的八绳牵引并联支撑系统高性能运动控制问题，开展绳索张力实时优化与力/位混合控制技术研究。基于动态试验需求和系统刚度矩阵，选择主刚度加权和最大为目标函数，将其转化为线性规划问题，采用二维凸多边形张力可行域顶点法进行实时求解，并根据绳索张力变化约束进一步提出连续可行域，确保解的连续性，实现其优化分布；设计一种基于电机转角和绳索张力反馈的力/位混合控制策略，其中位姿控制环采用计算力矩法，并利用实际绳索张力补偿惯性力和非线性力等，进而开展稳定性分析。以风洞试验中典型的推力模拟、俯仰振荡等线位移和角运动轨迹为例，在原理样机上开展控制验证实验。研究结果表明该控制策略能够实现对末端飞行器模型位姿和绳索张力的有效跟踪，且具有较高的精度和良好的稳定性，可以为绳牵引并联支撑在风洞动态试验中的应用提供技术支持。

关键词: 风洞试验, 绳牵引并联支撑系统, 刚度, 张力优化, 力位混合控制

Abstract: To solve the problem of high performance motion control of eight-cable driven parallel suspension systems used in wind tunnel tests, real-time cable tension optimization and hybrid force/pose control are studied. Based on the requirements of wind tunnel tests and system stiffness characteristics, we select the maximum of the weighted sum of system stiffness as the optimization objective function, transforming it into a linear programming problem, which could be solved in real time using the vertex method for two-dimensional convex polygon tension feasible region. Furthermore, the continuous feasible region is proposed based on the constraint of cable tension variation to deal with the discontinuous solutions. A hybrid force/pose control strategy based on the feedback of motor rotation angles and cable tensions is designed and the stability analysis is carried out. The pose control loop adopts the calculated torque method, and the actual cable tension is used to compensate the inertial and nonlinear forces. With linear displacement and angular motion such as typical thrust simulation and pitch oscillation in wind tunnel tests as examples, experimental control validations are conducted on the principle prototype. The research results show that the control strategy can effectively track the pose and tension of the terminal aircraft model with high accuracy and good stability, thereby providing technical support for the application of wire-driven parallel suspension system in dynamic wind tunnel tests.

Key words: wind tunnel tests, wire-driven parallel suspension systems, stiffness, tension optimization, hybrid force/pose control

中图分类号:

V216

高忠信, 王晓光, 吴军, 林麒. 基于刚度优化的绳牵引并联支撑系统力/位混合控制[J]. 航空学报, 2021, 42(7): 324373-324373.

GAO Zhongxin, WANG Xiaoguang, WU Jun, LIN Qi. Hybrid force/pose control of wire-driven parallel suspension system based on stiffness optimization[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(7): 324373-324373.

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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

基于刚度优化的绳牵引并联支撑系统力/位混合控制

Hybrid force/pose control of wire-driven parallel suspension system based on stiffness optimization

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