低速风洞绳牵引并联机器人支撑系统的模型姿态与振荡控制研究

Control on model attitude and oscillation by wire-driven parallel manipulator support system for low-speed wind tunnel

介绍了基于机器人技术的绳牵引并联机构的特点;设计并建造了适用于低速风洞试验的八绳六自由度绳牵引并联支撑机构样机(WDPSS-8),给出其具体的结构参数,分析了该机构的特点及可行性;建立了该系统的运动学位姿逆解模型和静力学模型,完成了运动学逆解的推导,得到已知缩比模型位姿求绳长变化的公式;搭建了相应的绳牵引并联机构的控制实验平台,在此基础上进行了静力学工作空间的分析,通过Matlab编程仿真得到了缩比模型在主位姿处3个姿态角的工作空间;并在此实验平台上进行了缩比模型的三转动自由度姿态变化运动控制,实现了缩比模型运动到指定角度的控制;在此基础上按指定振幅和频率进行了三转动单自由度振荡的运动控制;对运动控制试验结果进行了初步的误差分析。

A 6-DOF WDPSS-8（WDPSS： Wire-Driven Parallel Suspension System）suitable to low-speed wind tunnel was designed. The structural parameter of the system was given. The feasibility of the WDPSS-8 has been analyzed. The inverse kinematics position model and statics model have been set up. The solutions to the inverse kinematics problem and the formula of the wire length variation have been deducted. The prototype of the WDPSS-8 was manufactured. The workspace of the scale model attitude in main position has been simulated with a Matlab programming. The attitude control has been accomplished and the appointed attitude angle of the model can be achieved on the demand. Based on the work mentioned above, oscillation control experiment in three freedoms has been carried out respectively according to required amplitude and frequency. At last the error analysis of the system has been made.