基于绳牵引并联机器人悬挂支撑的旋转弹箭耦合运动风洞试验

doi:10.7527/S1000-6893.2025.31683

Abstract

Abstract:

To address the complex coupling characteristics of multiple angular motions-comprising precession， nutation， and spin， during flight of spinning projectiles， a suspension support mechanism with kinematic redundancy is proposed for wind tunnel testing of Spinning Projectile Models （SPMs） based on Wire-Driven Parallel Robot （WDPR） technology. For the first time， WDPR is successfully used in a closed wind tunnel for both static and dynamic wind tunnel tests. First， the suspension support mechanism and the corresponding test model structure of the SPM are designed. Then， the kinematic model of the support mechanism with kinematic redundancy is established. Based on this， a wind tunnel test system for WDPR-based suspension support is developed. Finally， wind tunnel tests are conducted in the CG-01 high-speed wind tunnel. The test results demonstrate that the proposed suspension support system successfully replicates the multi-degree-of-freedom （multi-DOF） coupled motions of the SPM. The feasibility and effectiveness of the system for static and dynamic coupled motion tests of the SPM are validated. The wind tunnel tests involving the coupled angular motions of precession， nutation， and spin for the SPM are also realized for the first time. The dynamic signals obtained preliminarily reflect the complexity of the aerodynamic characteristics of the SPM under multi-DOF coupled motions， laying a foundation for further investigations into the aerodynamic characteristics of the SPM during coupled motion.

Key words: spinning projectiles, wire-driven parallel robot (WDPR), suspension support, coupled motion, wind tunnel tests

CLC Number:

V211.7

Zhou ZHU, Qi LIN, Cong HE, Lu SHI, Lei ZHAN, Chulun SHEN, Dongbo HAN. Wind tunnel test for coupled motion of spinning projectile based on WDPR suspension support[J]. Acta Aeronautica et Astronautica Sinica, 2025, 46(16): 131683.

Figures/Tables 33

Fig.1

Fig.2

Fig.3

Fig.4

Fig.5

Fig.6

Fig.7

Fig.8

Fig.9

Fig.10

Fig.11

Fig.12

Fig.13

Fig.14

Fig.15

Table 1

Structural parameters of WDPR suspension support mechanism

$j$	$i$	$b i T$ /mm	$j p i T$ /mm
1	1	［-1 262，558，-53］	［0，21.21，21.21］
	2	［-1 254，558，-535］	［0，21.21，-21.21］
	3	［-1 192，50，-520］	［0，-21.21，-21.21］
	4	［-1 157，50，-66］	［0，-21.21，21.21］
2	5	［-762，50，-39］	［0，0，127］
	6	［-770，50，-547］	［0，0，-127］
	7	［-740，558，-555］	［0，0，-127］
	8	［-673，558，-48］	［0，0，127］］

Table 1

Fig.16

Fig.17

Table 2

Trajectory parameters of projectile nose

参数	数值
参数	内摆线	外摆线
$A p r$ /（°）	6	6
$A n u$ /（°）	2	2
$f p r$ /Hz	1/12	-1/12
$f n u$ /Hz	-5/12	-5/12

Table 2

Fig.18

Fig.19

Table 3

Table 4

Conditions of wind tunnel test

参数		类别	取值
参数		类别	静态试验	动态试验（内摆线）
来流马赫数 $M a$			0.6	0.4
雷诺数 $R e d$ /10⁵			7.3	4.9
来流动压 $q ∞$ /kPa			20.4	9.67
尾翼舵偏角 $δ$ /（°）			0	4
弹体自旋转速 $n s p i n$ /（r·min^-1）			0	1 100
减缩频率	进动 $k p r$ /10^-4			1.17
	章动 $k n u$ /10^-4			-5.87
	自旋 $k s p i n$ /10^-2			2.58

Table 4

Fig.20

Table 5

Fig.21

Table 6

Fig.22

Fig.23

Fig.24

Fig.25

Fig.26

Table 7

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参数	方向
法向力系数C_N	Cy_a
轴向力系数C_A	-Cx_a
横向力系数C_Y	Cz_a
俯仰力矩系数C_m	Cz_a
偏航力矩系数C_n	Cy_a
滚转力矩系数C_l	Cx_a

参数	均方根误差
参数	α=-4°	α=-2°	α=0°	α=2°	α=4°	α=6°	α=8°	α=10°	α=12°	均值
C_m	0.08	0.07	0.08	0.07	0.07	0.06	0.07	0.07	0.11	0.08
C_N	0.04	0.05	0.06	0.04	0.04	0.03	0.04	0.04	0.07	0.04
C_n	0.05	0.04	0.05	0.06	0.05	0.04	0.04	0.04	0.04	0.05
C_Y	0.03	0.03	0.03	0.03	0.02	0.02	0.02	0.02	0.02	0.02
C_l	0	0.01	0.01	0	0	0.01	0	0	0.01	0.01
C_A	0.01	0.01	0.01	0.02	0.01	0	0.02	0.02	0.02	0.01

姿态角	误差平均值/（°）	误差均方根值/（°）
偏航角	0.04	0.05
俯仰角	0.03	0.05

气动系数	基波幅值
气动系数	直流分量	0.083 Hz分量	0.500 Hz分量	高频分量
C_m	2.88	0.22	0.88	0.46
C_N	1.49	0.08	0.46	0.24
C_n	0.08	0.16	0.03	0.34
C_Y	0.04	0.07	0.01	0.20

Wind tunnel test for coupled motion of spinning projectile based on WDPR suspension support

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