基于绳系并联机器人支撑系统的SDM动导数试验可行性研究

Research on feasibility of dynamic stability derivatives test of SDM with wire-driven parallel robot suspension system

详细给出了在低速风洞中,采用绳系并联机器人(WDPR)支撑模型,用强迫振荡法进行标准动态模型(SDM)动导数试验可行性的研究。试验中将杆式六分量应变天平内置入模型中以测量模型的气动力和气动力矩,建立了适用于绳系并联机器人支撑系统的模型运动控制子系统和数据采集子系统。采用绳拉力作为参考信号,对气动力矩信号与位姿信号进行数据的同步处理,解决了绳系并联机器人支撑系统应用于动导数试验时所测力矩信号与位姿信号之间的相位差确定问题,给出了WDPR支撑下模型动导数的计算方法。整个试验样机置于某开口式低速直流风洞中进行了俯仰、带偏航角的俯仰以及升沉的动导数试验,通过测量和计算得到各动导数。试验结果与参考文献相比较具有合理的一致性。研究结果表明,采用绳系并联机器人支撑模型进行动导数试验是可行的,至少对于SDM是这样的结果;使用一套绳系并联机器人支撑系统,可以完成多套硬式支撑系统才能完成的动导数试验,从而提高试验效率,降低试验成本。

This paper gives details of an experimental investigation carried out in a low speed wind tunnel to see whether it is feasible to obtain meaningful dynamic stability derivatives of the aircraft model with the suspension of Wire Driven Parallel Robot（WDPR）.A six-component strain-gauge balance is installed inside the Standard Dynamics Model（SDM）to acquire relative aerodynamic parameters.The model motion control subsystem and data acquisition subsystems for the WDPR are developed.The signal of one wire tension is chosen as a reference signal to synchronously process the force signal and the displacement signal of the model,and the phase difference between them are determined in the tests of the dynamic stability derivatives of SDM with the WDPR.The identification method of the dynamic stability derivatives of the aircraft model for WDPR is developed.The prototype system of WDPR-8 is mounted in a direct low speed wind tunnel with an open test section to conduct several oscillatory motion of the SDM,such as in pitching,heave and pitching with side angle,so that the corresponding dynamic stability derivatives can be got through the tests.The solved dynamic stability derivatives of SDM agree well with the reference data,suggesting that it is feasible to use a WDPR to measure meaningful derivatives,at least for the SDM.Using a WDPR suspension system,various dynamic stability derivative tests may be completed,while in general,they must be done by several complicated rigid support systems.It can be believed that WDPR may improve test efficiency and reduce test cost.