基于风洞试验俯仰运动的分段式速度控制

Piecewise Velocity Control Based on Pitching Motion of Wind Tunnel Test

针对某风洞捕获轨迹试验系统俯仰机构角速度精确控制问题,提出一种分段式速度控制方法。首先,通过建立俯仰机构运动学模型,推导了机构运动学逆解方程;其次,以某角度值为段长对俯仰运动范围作连续分段处理,并逆解每个段节点对应的直线滑块位置;最后,通过依次规划每2个相邻直线滑块位置点间的速度和位置点附近的过渡速度来完成整个过程电机速度的规划。为验证此方法的可行性,搭建伺服控制硬件系统和编写运动控制程序,分别在慢速、中速、快速下进行试验并分析结果。对比于常规速度控制方法,分段式速度控制方法能很好地保证俯仰运动角速度的精度。

According to the precision problem of the angular velocity control of the pitch mechanism of a wind tunnel, a piecewise velocity control method was proposed. Firstly, the inverse equation of the mechanism was derived by establishing the kinematics model of the pitching mechanism. Secondly, the range of pitching motion was continuously segmented with a certain angle value, and the position of the linear sliding block corresponding to each segment node was reversed. Finally, the planning of the motor speed of the whole process was completed by planning the velocity of each two adjacent linear sliding block position points and the transition velocity near the position points. In order to verify the feasibility of this method, the servo control hardware system was built and the motion control program was implemented. It was tested in slow, medium and fast and the test results were analyzed. Compared with the conventional speed control method, the piecewise velocity control method could guarantee the accuracy of pitch velocity.