一种基于风洞试验环境的轨迹捕获系统设计

doi:10.3969/j.issn.1000-1093.2018.12.022

摘要/Abstract

摘要： 为了对投放物（以下称外挂物）相对飞机的分离特性进行考察，设计了一种用于跨声速风洞试验的轨迹捕获系统，来模拟外挂物从飞机上释放时的运动轨迹。针对外挂物轨迹的捕获问题，设计出一种6自由度串联机械臂，并通过有限元方法分析其受气动载荷时的位置精度；对机械臂进行运动学分析，根据外挂物动力学方程设计出机械臂捕获外挂物轨迹的控制器，并对机械臂运动空间进行了仿真分析；对某外挂物运动轨迹和机械臂对该投放物的捕获轨迹进行了仿真模拟。结果表明：该试验系统的允许试验时间大于0.8 s，机械臂对外挂物各方向上运动轨迹的捕获误差不超过1 mm，满足试验精度要求，从理论上验证了所设计的风洞试验轨迹捕获系统对外挂物轨迹模拟的真实性。

关键词: 风洞试验, 外挂物, 轨迹捕获系统, 机械臂, 外挂物轨迹模拟

Abstract: In order to evaluate the characteristics of separation of external stores from aircraft, a captive trajectory simulation system for transonic speed wind tunnel test is designed to simulate the trajectory of external stores released from an aircraft. A six-degrees-of-freedom series robot is designed for capturing the trajectory of external stores, and the position accuracy of pneumatic load is analyzed by using the finite element method.The kinematics analysis of robot is carried out, and a controller for captive trajectory simulation system of external stores is designed according to the dynamic equation of external stores. The motion space of robot is simulated and analyzed. The trajectory of a external store and its trajectory captured by the robot arm are simulated. The results show that the allowable experimental time of system is more than 0.8 s, and the captive trajectory errors of external stores captured by robot are less than 1 mm, which meets the requirements of experimental accuracy. The authenticity of trajectory of external stores simulated by captive trajectory simulation system in wind tunnel test is theoretically verified. Key

Key words: windtunneltest, externalstore, captivetrajectorysimulationsystem, robot, trajectorysimulationofexternalstore

中图分类号:

V216.7

贺云，张飞龙，徐志刚，刘哲. 一种基于风洞试验环境的轨迹捕获系统设计[J]. 兵工学报, 2018, 39(12): 2480-2487.

HE Yun, ZHANG Fei-long, XU Zhi-gang, LIU Zhe. Design Method of Captive Trajectory System for Wind Tunnel Experiment[J]. Acta Armamentarii, 2018, 39(12): 2480-2487.

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第39卷第12期
2018 年12月兵工学报ACTA
ARMAMENTARIIVol.39No.12Dec. 2018

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