风洞CTS试验六自由度机构控制方法研究

Research on control method for a six degree offreedom serial mechanism

摘要:

针对一种风洞CTS试验六自由度运动机构，在分析机构的结构特点和运动关系的基础上，对其控制方法进行研究。六自由度运动机构由三个角位移和三个线位移组成，首先建立机构的运动模型，分析了各轴的传动关系和相互运动关系，针对角度传动的非线性关系特点，采用了基于虚拟轴的跟随控制方法，现了实际角度的匀速控制。根据六自由度运动关系分析了位置和速度关系，采用速度补偿的方法，实现了六自由度的联动控制。采用高性能的运动控制器和驱动器构成了角度双闭环控制系统，实现了该机构要求的所有运动功能。最后通过实验验证，测量了角度控制精度，结果表明角度控制精度都达到或超过了设计指标，能够满足风洞CTS试验要求。

Abstract:

Aiming at a six degree of freedom motion mechanism of a wind tunnel CTS test, the control method is studied based on the analysis of the structural characteristics and kinematic relationship of the mechanism. The six degree of freedom motion mechanism consists of three angular displacement and three linear displacement. Firstly, the motion model of the mechanism is established, and the transmission relationship and mutual movement relationship of each axis are analyzed. According to the nonlinear relationship of angle drive, a follower control method based on virtual axis is adopted. Realize the uniform speed control of the actual angle.The relationship between position and velocity is analyzed according to the six degree of freedom motion relationship, and six degree of freedom linkage control is realized by speed compensation method. The high performance motion controller and driver are used to form the angle double closed loop control system, and all the motion functions required by the organization are realized. Finally, the accuracy of angle control is measured by experimental verification. The results show that the angle control precision is all or exceed the design index, and can meet the requirements of the wind tunnel CTS test.