Design Method of Captive Trajectory System for Wind Tunnel Experiment

doi:10.3969/j.issn.1000-1093.2018.12.022

Abstract

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

CLC Number:

V216.7

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.

References

［1］ Robertson G, Kumar R. A semi-captive trajectory system for the FSU polysonic wind tunnel[C]∥Proceedings of AIAA Aerospace Sciences Meeting. Kissimmee, FL, US: AIAA,2018: 0625.
[2] Akroyd G, Cenko A, Piranian A, et al. Store separation trajectory predictions for maritime search and rescue (SAR)[C]∥Proceedings of the 35th AIAA Applied Aerodynamics Conference. Denver, CO, US: AIAA,2017: 3251,
[3] Guigue A, Ahmadi M, Tang F C. On the kinematic analysis and design of a redundant manipulator for a captive trajectory simulation system (CTS)[C]∥Proceedings of Conference on Electrical and Computer Engineering. Canadian: IEEE, 2006: 1514-1517.
[4] Guigue A, Ahmadi M, Langlois R, et al. Pareto optimality and multiobjective trajectory planning for a 7-DOF redundant manipulator[J]. IEEE Transactions on Robotics, 2010, 26(6): 1094-1099.
[5] Cenko A, Cenko A, Piranian A, et al. Utilizing flight test telemetry data to improve store trajectory simulations[C]∥Proceedings of the 21st AIAA Applied Aerodynamics Conference. Orlando, FL, US: AIAA, 2003: 4225.
[6] 黄叙辉，张征宇, 尹疆, 等. 高速风洞试验模型姿态角的视频测量及不确定度研究[J].试验流体力学, 2013, 27(5)：83-87.
HUANG Xu-hui, ZHANG Zheng-yu, YIN Jiang, et al. Videogrammetry for model's attitude and its uncertainty in high-speed wind tunnel testing[J]. Journal of Experiments in Fluid Mecha- nics, 2013, 27(5): 83-87. (in Chinese)
[7] 张征宇, 黄叙辉, 尹疆, 等. 高速风洞试验中的视频测量技术进展[J]. 试验流体力学, 2015, 29(2)：1-7.
ZHANG Zheng-yu, HUANG Xu-hui, YIN Jiang, et al. Progress of videogrammetric measurement techniques for high speed wind tunnel test [J]. Journal of Experiments in Fluid Mechanics, 2015, 29(2): 1-7. (in Chinese)
[8] 张征宇, 王显圣, 黄叙辉, 等. 高速复杂流动结构的视频测量[J].航空学报, 2017, 38(8)：23-32.
ZHANG Zheng-yu, WANG Xian-sheng, HUANG Xu-hui, et al. Videogrammetry measurement for high-speed complex flow structures[J]. Acta Aeronautica et Astronautica Sinica, 2017, 38(8): 23-32. (in Chinese)
[9] Liu W, Ma X, Jia Z Y, et al. Position and attitude measurement of high-speed isolates for hypersonic facilities[J]. Measurement, 2015, 62: 63-73.

[10] Ma X, Liu W, Chen L, et al. Simulative technology for auxiliary fuel tank separation in a wind tunnel[J]. Chinese Journal of Aeronautics, 2016, 29(3): 608-616.
[11] Yang W, Zhang X, He H. Unsteady numerical simulation of missile trajectories with attitude control law[C]∥Proceedings of the 8th International Conference on Mechanical and Aerospace Engineering. Prague, Czech Republic: IEEE, 2017: 576-580.
[12] 陶洋, 范召林, 吴继飞. 基于CFD的方形截面导弹纵向虚拟飞行模拟[J]. 力学学报, 2010, 42(2)：169-176.
TAO Yang, FAN Zhao-lin, WU Ji-fei. CFD based virtual flight simulation of square section missile with control in longitudinal flight[J]. Chinese Journal of Theoretical and Applied Mecha- nics, 2010, 42(2): 169-176. (in Chinese)
[13] 郭林亮, 祝明红, 孔鹏, 等. 风洞虚拟飞行模型机与原型机动力学特性分析[J]. 航空学报, 2016, 37(8)：2583-2593.
GUO Lin-liang, ZHU Ming-hong, KONG Peng, et al. Analysis of dynamic characteristics between prototype aircraft and scaled-model of virtual flight test in wind tunnel[J]. Acta Aeronautica et Astronautica Sinica, 2016, 37(8): 2583-2593. (in Chinese)
[14] zgür O, Cetiner A E, YaAgˇG2z B, et al. Store separation analyses by means of response surface modelling[C]∥Proceedings of the 34th AIAA Applied Aerodynamics Conference. Washington, DC, US: AIAA, 2016:4335.
[15] Kapulu O, Tekinalp O. Main rotor downwash effect on separation characteristics of external stores[C]∥Proceedings of the AIAA Atmospheric Flight Mechanics Conference. Grapevine, TX, US: AIAA, 2017: 1864.
[16] Osman A A, Aly A M, Khalil E E, et al. Numerical analysis of an external store separation from an airplane [J]. Chromatographia, 2016, 55(34): 163-169.
[17] 荣祥森, 唐淋伟, 王伟仲, 等. 滚转机构在0.6 m跨超声速风洞中的应用研究[J]. 兵工学报, 2017, 38(8)：1658-1664.
RONG Xiang-sen, TANG Lin-wei, WANG Wei-zhong, et al. Application of rolling device in 0.6 m×0.6 m transonic and supersonic wind tunnel[J]. Acta Armamentarii, 2017,38(8): 1658-1664. (in Chinese)
[18] 赵忠良, 吴军强, 李浩, 等. 高机动导弹气动/运动/控制耦合的风洞虚拟飞行试验技术[J].空气动力学学报, 2016, 34(1)： 14-19.
ZHAO Zhong-liang, WU Jun-qiang, LI Hao, et al. Wind tunnel based virtual flight testing of aerodyanmics, flight dynamics and flight control for high maneuver missle[J]. Acta Aerodynamica Sinica, 2016, 34(1): 14-19. (in Chinese)
[19] 魏然, 车兵辉, 张钧, 等. 用于捕获轨迹风洞试验的三自由度转角头设计[J]. 试验流体力学, 2016, 30(6)：91-97.
WEI Ran, CHE Bing-hui, ZHANG Jun, et al. The design of a 3-DOF robot arm used for captive trajectory simulation in wind tunnel test[J]. Journal of Experiments in Fluid Mechanics, 2016, 30(6): 91-97. (in Chinese)
[20] 黄叙辉, 庞旭东, 宋斌. 1.2m跨超声速风洞新型捕获轨迹系统研制[J].试验流体力学, 2008, 22(2)：95-98.
HUANG Xu-hui, PANG Xu-dong, SONG Bin. Development of a new captive trajectory simulation system in the 1.2m transonic wind tunnel[J]. Journal of Experiments in Fluid Mechanics, 2008, 22(2): 95-98. (in Chinese)
[21] Rusong Z, Fei W, Ping L, et al. The continuous dynamic simulation test of thecaptive trajectory system used in 2.4 m transonic wind tunnel[C]∥Proceedings of Chinese Control and Decision Conference. Mianyang, China: IEEE, 2011: 1240-1244.
[22] 李平, 黄叙辉, 周润, 等. 2 m×2 m超声速风洞CTS测控系统研制[J]. 试验流体力学, 2015, 29(4)：95-100.
LI Ping, HUANG Xu-hui, ZHOU Run, et al. Development of measurement and control system for CTS in 2 m×2 m supersonic wind tunnel[J]. Journal of Experiments in Fluid Mechanics, 2015, 29(4): 95-100. (in Chinese)
[23] 谢志江, 孙小勇, 孙海生, 等. 低速风洞动态试验的高速并联机构设计及动力学分析[J]. 航空学报, 2013, 34(3)：487- 494.
XIE Zhi-jiang, SUN Xiao-yong, SUN Hai-sheng, et al. Mechanism design and dynamics analysis of high speed parallel robot for dynamic test in low speed wind tunnel[J]. Acta Aeronautica et Astronautica Sinica, 2013, 34(3): 487-494. (in Chinese)

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

[1]	DING Li， GU Jiahui， ZHOU Jinyu， KANG Shaopeng， CHEN Yifei， LI Ziyi. Kinematic Reliability Analysis for Redundant Robots Based on Envelope Method [J]. Acta Armamentarii, 2022, 43(6): 1426-1434.
[2]	LI Qingzhong, LI Xiaodan, YU Fujie, CHEN Yuan. Dielectric Elastomer-driven Frog-shaped Bionic Soft Robot [J]. Acta Armamentarii, 2022, 43(1): 140-147.
[3]	YAN Yinpo， YU Fujie， CHEN Yuan. Hydrodynamic Coefficients Calculation and Dynamic Modeling of an Open-frame Underwater Robot [J]. Acta Armamentarii, 2021, 42(9): 1972-1986.
[4]	LIU Yali， SONG Qiuzhi， ZHAO Mingsheng， ZHOU Nengbing， LIU Yue. The Four-stage Assisted Technology of Flexible Ankle Exoskeleton Robot Based on Force and Position Hybrid Control [J]. Acta Armamentarii, 2021, 42(12): 2722-2730.
[5]	YE Jianchuan， WANG Jiang， LIANG Yi， SONG Tao， WU Zeliang， XU Chao. Characteristics of Quadrotor UAV in Forward Flying Mode [J]. Acta Armamentarii, 2021, 42(11): 2476-2490.
[6]	YAN Hao, WANG Hongbo, CHEN Peng, ZHANG Leilei, LI Yungui. Optimal Design of an Upper Limb Rehabilitation Robot with Generalized Shoulder Joint [J]. Acta Armamentarii, 2021, 42(11): 2491-2502.
[7]	SANG Donghui， CHEN Yuan， GAO Jun. Gait Planning and Stability Analysis of a Quadruped Robot with 2-DOF Parallel Hip and Spine Joints [J]. Acta Armamentarii, 2020, 41(6): 1188-1200.
[8]	ZHENG Yu， GUANG Chenhan, LI Qian, YANG Yang. Design and Trajectory Optimization of an Object Loading Robot [J]. Acta Armamentarii, 2020, 41(4): 763-770.
[9]	LIU Zhicheng， ZHENG Lifang， WANG Xu. Gait Coordination Control of Crawling Quadruped Robot Based on Hybrid Neural Oscillator [J]. Acta Armamentarii, 2020, 41(11): 2303-2312.
[10]	SUN Pengyao， HUANG Yanyan， PAN Yao. Path Planning of Mobile Robots Based on Improved Potential Field Algorithm [J]. Acta Armamentarii, 2020, 41(10): 2106-2121.
[11]	YU Yongwei， PENG Xi， DU Liuqing， CHEN Tianhao. Real-time Detection of Parts by Assembly Robot Based on Deep Learning Framework [J]. Acta Armamentarii, 2020, 41(10): 2122-2130.
[12]	HAN Yuxing, DING Gangyi, CHAI Zuohong. Route Optimization Strategy of Military Cooperative Inspection [J]. Acta Armamentarii, 2019, 40(8): 1673-1679.
[13]	WEI Heng， L Qiang， LIU Yang， LIN Huican， LIANG Bing. State Switching-based Distributed Multi-robot Formation Control [J]. Acta Armamentarii, 2019, 40(5): 1103-1112.
[14]	LIU Jiayu， LI Tongtong， YU Zhangguo， CHEN Xuechao， HUANG Qiang. On Whole-body Contact Compliance Control for Spatial Multi-arm Robot Manipulating a Large Target [J]. Acta Armamentarii, 2019, 40(2): 395-403.
[15]	ZHANG Yun，GUO Zhen-wu，CHEN Di-jian，WANG Bin-rui. Gait Control of Quadruped Robot Driven by Pneumatic Muscle Based on Kimura Oscillator and Virtual Model [J]. Acta Armamentarii, 2018, 39(7): 1411-1418.