三环驱动轴对称推力矢量喷管逆运动学分析

Analysis on inverse kinematics of the three rings supporting and driving axial-symmetric vectoring exhaust nozzle

针对某三环驱动轴对称推力矢量喷管,将喷管驱动结构分解为三个子模块,应用空间机构位置分析法、解析几何法、坐标转换法分别对上、中、下子模块进行分析,建立了完整的喷管驱动机构逆运动学模型,利用实体实验与仿真测试相结合的方法验证了喷管结构设计的合理性和所建模型用于喷管控制的有效性。所建模型准确率达到98%,为下一步喷管优化设计及控制器的研发提供了一定的理论基础。

The three rings supporting and driving axial-symmetric vectoring exhaust nozzle mechanism was divided into three sub-modules. Spatial position analysis method, ana- lytic geometry, and coordinate transformation method were applied to analyze the upper, middle and lower modules. A complete inverse kinematics model of axial-symmetric vecto- ring exhaust nozzle was established by each sub-modules. The experiment and computer sim- ulation results showed that the mechanics design was reasonable and kinematics modeling was effective, the accuracy of the result was 98%, providing an important reference for the optimization design and control of the three rings supporting and driving axial-symmetric vectoring exhaust nozzles.