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

Abstract

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

CLC Number:

V216

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

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