多轴联动的风洞变角度机构同步协调控制

Synchronous coordinated control of angle adjusting mechanism with multi-axis motion in wind tunnel

为解决风洞尾撑变角度机构运动过程中多轴之间的同步协调控制问题,本文提出了一种结合并行控制和交叉耦合控制的同步控制方法.首先,将并行控制应用于多轴联动控制中,根据前后侧滑轴定位时间一致以及速度变化时间一致的原则,开展了提高多轴同步性能的研究.然后,采用了基于同步误差传递函数的交叉耦合控制方法,对并行控制给定的运动参数进行修正补偿.最后,通过机构运动进行了实验验证,实验结果表明该控制方法可有效减小横向同步误差,提高同步性能,满足风洞试验控制要求.该方法也为类似机构的同步控制提供了参考.

To resolve the problem about synchronous coordinated control of angle adjusting mechanism with multi-axis motion in wind tunnel, a synchronous control method including parallel control and cross-coupling control is proposed.Firstly, the parallel control method is applied to the multi-axis motion control. Based on the corresponding principle of the motion time and velocity alteration time between the front sideslip axis and the back sideslip axis, the improvement of the multi-axis synchronous performance is studied. Secondly, the cross-coupling control method based on synchronous error transfer function is taken, and the given motion parameters of the parallel control method can be corrected. Finally, the experiment is carried out on the angle adjusting mechanism. The results show that the proposed control method can reduce the horizontal synchronous error, the synchronous performance can be improved obviously, and the control requirement of test in wind tunnel can be fulfilled. The method has reference value to synchronous control of similar mechanism.