Feasibility analysis of WDPR support cone model application in hypersonic wind tunnel

绳牵引并联机构(WDPR)能够有效调整飞行器模型的位姿,为扩展风洞试验能力提供了一种新型支撑手段,具有很大的应用潜力。本文将对其在高超声速风洞中; 应用所涉及的稳定性与气动干扰问题进行研究。以10°尖锥标椎模型为例,设计了8绳牵引的并联支撑系统,可以通过调整绳长控制模型的位置和姿态。模拟了气; 动载荷作用下支撑系统的稳定性,优化牵引绳直径。基于构建的三维模型,借助CFD软件进行气动计算,包括马赫数为7.8时,不同迎角下绳牵引并联支撑锥体; 模型的气动力系数,通过与无绳支撑结果以及文献试验数据进行比较,表明在小迎角情况下,绳系支撑引起的气动干扰相对误差较小,但会随迎角的增大而增加。此; 外,分别对弯刀支撑和绳牵引并联支撑进行了模态分析,对比了2种支撑的固有频率。结果显示绳系支撑固有频率较高,系统刚度较大。本文的理论研究成果可为绳; 牵引并联支撑技术在高超声速风洞中的应用提供一定的技术支持。Wire-driven parallel robot (WDPR) provides a new support method for wind; tunnel tests due to its effective simulation of the aircraft model's; pose, and has a great application potential. This paper gives details of; an investigation of stability and aerodynamic interference referring to; the application of WDPR in hypersonic wind tunnel. The parallel support; system with 8 wires was constructed, and the 10° cone model was selected; as the test model whose position and pose can be adjusted through the; wire length. The support system's stability under the action of; aerodynamic force is simulated, and the wire diameter is optimized.; Based on the constructed three-dimensional model, under the condition of; Mach numuber is 7.8, the aerodynamic coefficient of the model suspended; with WDPR at different angles of attack is calculated in CFD. The; comparison of the simulation result with the result of the same model; without wires and the experimental data in reference indicates that, at; small angle of attack, the relative error of the aerodynamic; interference caused by the wires is small, and the interference; increases with the increase of angle of attack. In addition, modal; characteristics of the WDPR and the crescent shape support system are; analyzed and the natural frequencies of the two support systems are; compared. The comparison result shows that the natural frequency and the; stiffness of the WDPR are higher than those of the crescent shape; support system. The academic research work of this paper provides; reference to the application of wire-driven parallel support technology; in hypersonic wind tunnel.国家自然科学基

绳系并联支撑机构的绳迟滞效应及影响实验研究

绳系并联机构因具有结构简单、工作空间大、惯性小等优势,得到了广泛的应用。该文针对支撑绳索中普遍存在的迟滞效应进行了实验研究。首先,分析了某绳系并联机器人(Wire-driven Parallel Robot, WDPR)样机中的绳迟滞曲线的数学模型,并利用实验数据识别出了模型中的相关参数;其次,通过不同条件下的绳索伸-缩实验,探讨了绳拉力迟滞效应的影响因素;接着,分析了迟滞效应对飞行器模型位姿和气动载荷参数解算的影响情况。最后,以某风洞试验模型支撑绳系并联机器人样机中支撑飞机模型的牵引绳的迟滞现象为例,对绳迟滞效应的影响情况进行了分析。研究结果表明:绳迟滞效应对模型位姿和利用绳拉力解算风洞试验的模型气动载荷都有一定的影响;绳索的材质与迟滞现象关系密切;预紧力对迟滞效应的影响程度具有决定性的作用,当绳预紧力增大到一定程度时,迟滞效应的影响是可以忽略的

考虑绳阻尼的绳系并联机器人动力学特性分析

针对应用于风洞试验模型支撑的绳系并联机器人的设计需求，采用实验和理论建模相结合的方法，研究绳阻尼对绳系并联机器人动力学特性的影响。首先，为了准确地定量描述绳阻尼，设计了一套测量绳索阻尼的实验装置，通过实验得到了不同参数下的绳阻尼比；其次，考虑了绳阻尼，对绳张力进行建模，并提出了考虑绳阻尼的绳系并联机器人的动力学建模方法；最后，分析了绳阻尼对绳系并联机器人动力学特性的影响。结果表明：绳阻尼对绳系并联机器人动力学响应的影响主要体现在响应幅值上，绳直径越大，绳阻尼对绳系并联机器人动力学响应的减振作用越明显。当绳阻尼系数大于0.6 N·s/m时，不论绳直径粗细如何，绳阻尼对绳系并联机器人动力学特性的影响不能忽略。国家自然科学基金(基金号11472234,11702232,11072207);;\n中央高校基本科研业务费(20720180071

低速风洞飞行器模型编队飞行绳系并联支撑机构研究

本文设计了一种用于飞行器双机编队飞行的风洞试验模型绳系并联支撑机构,模拟在周边有障碍物的有限空间通道中的飞行运动。文中以直升机为例,根据工况参数设计了双绳牵引并联机构作为飞行器模型的支撑,建立了基于可移动的滑轮铰点与直升机模型编队协同飞行的运动学模型,对系统的静刚度进行了分析,并通过实验验证了旋翼转动对该绳系支撑系统动刚度的影响,给出了在有限空间通道中模拟双机编队飞行与着陆过程中绳与绳之间、绳与模型之间的干涉算法,并对该支撑机构的绳系结构进行了干涉分析。分析结果表明,本文设计的支撑机构能有效解决模拟飞行器模型双机编队在有限空间中飞行运动时的支撑干涉问题,而且系统刚度达到低速风洞试验的稳定性要求,是低速风洞中支撑飞行器模型进行编队飞行试验的有效解决方案。国家自然科学基金(11472234,11702232);;\n中央高校基本科研业务费(20720180071

低速风洞飞行器模型编队飞行绳系并联支撑机构

设计了一种用于飞行器双机编队飞行的风洞试验模型绳系并联支撑机构,模拟在周边有障碍物的有限空间通道中的飞行运动。以直升机为例,根据工况参数设计了双绳牵引并联机构作为飞行器模型的支撑,建立了基于可移动的滑轮铰点与直升机模型编队协同飞行的运动学模型,对系统的静刚度进行了分析,并通过试验验证了旋翼转动对该绳系支撑系统动刚度的影响,给出了在有限空间通道中模拟双机编队飞行与着陆过程中绳与绳之间、绳与模型之间的干涉算法,并对该支撑机构的绳系结构进行了干涉分析。结果表明,所设计的支撑机构能有效解决模拟飞行器模型双机编队在有限空间中飞行运动时的支撑干涉问题,而且系统刚度达到低速风洞试验的稳定性要求,是低速风洞中支撑飞行器模型进行编队飞行试验的有效解决方案。国家自然科学基金(11472234,11702232)中央高校基本科研业务费专项资金(20720180071)~

Coupled vibration between cables and aircraft model of WDPR in wind tunnel test

针对应用于风洞试验的飞行器模型支撑的绳牵引并联机器人WDPR-8,研究牵引绳振动与模型位姿之间的耦合关系。首先,建立WDPR-8机器人支撑系统的; 等效模型,并通过运动学的正解和逆解验证该等效模型的有效性;其次,分析了绳索的涡激振动问题;然后,对牵引绳施加模拟吹风来流引起绳振动的正弦激励信号; ,求得整个系统的共振频率,讨论了提高系统刚度的可行方法;最后,研究了牵引绳与飞机模型的耦合振动问题,给出了基于风洞试验的牵引绳振动引起的WDPR; -8支撑的模型位姿偏差,以及模型失速发生振动时牵引绳张力的变化。本文的研究结果可为WDPR-8系统的运动控制补偿提供参考。The coupled vibration between cables and aircraft model is; researched.Firstly,an equivalent model of support system is established; using ADAMS,and the validity of the equivalent model is verified through; positive and inverse kinematical solution. Secondly,the vortex induced; vibration problem of cables is analyzed.Then,the sinusoidal vibration; excitation signals (such as airflow)are exerted on cables and the; resonance frequency of the system is obtained,furthermore,the key; elements affecting the vibration characteristics of the system(such as; cable diameter,cable elastic modulus)are given,providing a feasible; solution for improving system stiffness.Finally,the coupled vibration; between cables and aircraft model is analyzed.Based on wind tunnel; test,the pose deviation of WDPR-8supported model caused by cable; vibration as well as the cable force changing caused by the model stall; is given.This research will provide guidance to WDPR-8motion control; compensation.国家自然科学基金资助项目; 福建省自然科学基金计划资助项

Research on feasibility of dynamic stability derivatives test of SDM with wire-driven parallel robot suspension system

详细给出了在低速风洞中,采用绳系并联机器人(WDPR)支撑模型,用强迫振荡法进行标准动态模型(SDM)动导数试验可行性的研究。试验中将杆式六分量; 应变天平内置入模型中以测量模型的气动力和气动力矩,建立了适用于绳系并联机器人支撑系统的模型运动控制子系统和数据采集子系统。采用绳拉力作为参考信号; ,对气动力矩信号与位姿信号进行数据的同步处理,解决了绳系并联机器人支撑系统应用于动导数试验时所测力矩信号与位姿信号之间的相位差确定问题,给出了W; DPR支撑下模型动导数的计算方法。整个试验样机置于某开口式低速直流风洞中进行了俯仰、带偏航角的俯仰以及升沉的动导数试验,通过测量和计算得到各动导; 数。试验结果与参考文献相比较具有合理的一致性。研究结果表明,采用绳系并联机器人支撑模型进行动导数试验是可行的,至少对于SDM是这样的结果;使用一; 套绳系并联机器人支撑系统,可以完成多套硬式支撑系统才能完成的动导数试验,从而提高试验效率,降低试验成本。This paper gives details of an experimental investigation carried out in; a low speed wind tunnel to see whether it is feasible to obtain; meaningful dynamic stability derivatives of the aircraft model with the; suspension of Wire Driven Parallel Robot (WDPR). A six-component; strain-gauge balance is installed inside the Standard Dynamics Model; (SDM) to acquire relative aerodynamic parameters. The model motion; control subsystem and data acquisition subsystems for the WDPR are; developed. The signal of one wire tension is chosen as a reference; signal to synchronously process the force signal and the displacement; signal of the model, and the phase difference between them are; determined in the tests of the dynamic stability derivatives of SDM with; the WDPR. The identification method of the dynamic stability derivatives; of the aircraft model for WDPR is developed. The prototype system of; WDPR-8 is mounted in a direct low speed wind tunnel with an open test; section to conduct several oscillatory motion of the SDM, such as in; pitching, heave and pitching with side angle, so that the corresponding; dynamic stability derivatives can be got through the tests. The solved; dynamic stability derivatives of SDM agree well with the reference data,; suggesting that it is feasible to use a WDPR to measure meaningful; derivatives, at least for the SDM. Using a WDPR suspension system,; various dynamic stability derivative tests may be completed, while in; general, they must be done by several complicated rigid support systems.; It can be believed that WDPR may improve test efficiency and reduce test; cost.国家自然科学基