轴对称矢量喷管平移控制系统运动学建模仿真

Kinematic Modeling and Simulation of Axisymmetric Vector Exhaust Nozzle Translation Control System

为解决轴对称矢量喷管原始偏转控制方案中出现的奇异性问题及出口截面光顺性较差的问题,提出了一种新型平移控制方案。利用CATIA设计了轴对称矢量喷管平移控制系统的三维模型,在DMU模块中进行运动仿真并激活传感器追踪驱动舵机的旋转角度数据。将三维模型尺寸数据及约束关系代入MATLAB中,建立了空间运动学方程,进行数值计算、曲线拟合及误差分析。获得了描述喷管矢量偏转角、矢量方位角与舵机旋转角映射关系的二维插值模型,进而建立了各个控制周期内矢量偏转角、矢量方位角的动态控制指令。仿真结果表明:该平移控制方案不存在奇异位置且出口截面形状较好,提高了喷管的可靠性及密封性,满足轴对称矢量喷管的精准控制需求,最后通过模型样机进一步验证了该平移控制方案的可行性。

To overcome the singularity and inadequate smoothness of the exit section in the original deflection control system of the axisymmetric vector exhaust nozzle,a new translation control scheme is developed.CATIA is used to create a 3D model for the axisymmetric vector exhaust nozzle translation control system,and the motion simulation is conducted in the DMU module,with the sensor activated to track the drive servo's rotation angle data.The spatial kinematic equations are established for numerical calculation,curve fitting,and error analysis,and the 3D model dimensional data and restrictions are substituted into MATLAB.The dynamic control commands were generated with a two-dimensional interpolation model describing the mapping relationship between the nozzle vector deflection angle,the vector azimuth angle,and the rudder rotation angle.The simulation results show that the translation control scheme has no singular positions and a good exit cross-section shape,which improves the nozzle's reliability and sealing while also meeting the demand for accurate control of axisymmetric vector exhaust nozzles.At last,the model prototype confirms the feasibility of the translation control scheme.