CN107860545A - The six degree of freedom system of large-scale transonic wind tunnel big load model captive trajectory testing - Google Patents
The six degree of freedom system of large-scale transonic wind tunnel big load model captive trajectory testing Download PDFInfo
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Abstract
The present invention provides a kind of six degree of freedom system of large-scale transonic wind tunnel big load model captive trajectory testing, including transverse motion mechanism, normal direction motion, axial motion mechanism and Three Degree Of Freedom attitude motion mechanism.Solve the problems, such as that mechanism in six degree of freedom stroke is small in captive trajectory testing, bearing capacity is low, poor rigidity.Described transverse motion mechanism is arranged on the upper and lower wallboard lee face of test section, normal direction motion is arranged on transverse motion mechanism, axial motion mechanism is arranged on normal direction motion, Three Degree Of Freedom attitude motion mechanism is arranged in axial motion mechanism, and Three Degree Of Freedom attitude motion mechanism realizes that mechanism end pitching, driftage and rolling shipment are dynamic using rolling dress, pitching and rolling movement.First order rotation mechanism for wind is connected with axial motion mechanism, installed in series in order luffing mechanism and second level rotation mechanism for wind.The present invention has big movement travel, high bearing capacity and rigidity, higher kinematic accuracy and less congestion degree.
Description
Technical field
The invention belongs to aviation aerodynamic force wind-tunnel field, and in particular to a kind of large-scale transonic wind tunnel big load model capture
The six degree of freedom system of trajectory tests.
Background technology
Captive trajectory testing is a kind of extraordinary wind tunnel test for studying store Combinations and carrier separation security feature, specifically
Store Combinations and the experimental rig of carrier separation state are simulated in high wind tunnel testing.Wherein mechanism in six degree of freedom is captive trajectory
The support meanss of store Combinations and its Motor execution device in pilot system, it is the core of whole system.Mechanism in six degree of freedom
Controlled by computer, six-freedom degree (axial X, lateral Y, normal direction Z, pitching α, driftage β, rolling γ) is provided for store Combinations model
Motion.The movement travel of mechanism in six degree of freedom all directions and kinematic accuracy directly affect the precision and effect of captive trajectory testing
Fruit, while the contour structures of mechanism in six degree of freedom directly affect its system stiffness and its congestion degree and support in Flow Field in Wind Tunnel
Disturb size.Transonic wind tunnel is distinctly claimed to the motion size in test section, it is necessary to less than 1%.Such harsh
Size constraint under, limitation of the general transonic wind tunnel CTS experiment mechanism in six degree of freedom to model aerodynamic loading is all compared
Strictly, through inquiry, the model aerodynamic loading that 2m magnitudes transonic wind tunnel CTS mechanism in six degree of freedom can be born at present does not surpass at most
Cross 120kg.Existing mechanism in six degree of freedom stroke is small, bearing capacity is poor and poor rigidity.
The content of the invention
Based on above weak point, it is an object of the invention to provide a kind of large-scale transonic wind tunnel big load model capture rail
The six degree of freedom system of mark experiment, solves the problems, such as that existing mechanism in six degree of freedom stroke is small, bearing capacity is poor and poor rigidity.
The technical solution adopted in the present invention is as follows：A kind of large-scale transonic wind tunnel big load model captive trajectory testing
Six degree of freedom system, including transverse motion mechanism, normal direction motion, axial motion mechanism and Three Degree Of Freedom attitude motion machine
Structure, described transverse motion mechanism are arranged on the upper and lower wallboard lee face of test section, and normal direction motion is arranged on transverse movement
In mechanism, axial motion mechanism is arranged on normal direction motion, and Three Degree Of Freedom attitude motion mechanism is arranged on axial movement machine
On structure；
Described transverse motion mechanism includes the first leading screw, horizontal line slideway, the first decelerator, the first servomotor,
Horizontal line slideway is arranged on upper and lower wallboard lee face pedestal, the first leading screw, the first decelerator and the installation of the first servomotor
On lower wall panels lee face pedestal, the first servomotor is connected by the first decelerator with the first leading screw, the first leading screw and normal direction
The lower surface connection of pedestal；The upper and lower end face of normal direction pedestal is slidably connected with horizontal line slideway, so that normal direction motion
Moved along wind-tunnel horizontal line；
Described normal direction motion include the second leading screw, second straight line guide rail, the second decelerator, the second servomotor and
Normal direction pedestal, the second servomotor, the second decelerator, the second leading screw and second straight line guide rail are installed on normal direction pedestal, the
Two leading screws and second straight line guide rail parallel, the second servomotor are connected by the second decelerator with the second leading screw, so that axially
Motion moves along wind-tunnel normal direction；
Described axial motion mechanism include the 3rd leading screw, the 3rd line slideway, the 3rd decelerator, the 3rd servomotor,
Axial seat, connecting plate and the first sliding block, the 3rd leading screw, the 3rd line slideway, the 3rd decelerator and the installation of the 3rd servomotor
In axial seat, the 3rd leading screw and the 3rd line slideway are parallel, and the first sliding block, the first sliding block are provided with the 3rd line slideway
It is fixedly connected with connecting plate, connecting plate is connected with the nut of the 3rd leading screw, and connecting plate is connected with normal direction motion, the 3rd servo
Motor is connected by the 3rd decelerator with the 3rd leading screw, so as to which axial seat realizes axial movement；
Described Three Degree Of Freedom attitude motion mechanism includes first order rotation mechanism for wind, luffing mechanism and second level roller
Structure；
Described first order rotation mechanism for wind includes rolling housing, first harmonic decelerator, clutch shaft bearing and the 4th servo electricity
Machine；Clutch shaft bearing is installed between pitching pedestal and housing, rolling housing is connected with axial seat, first harmonic decelerator it is defeated
Go out end to be connected with pitching pedestal, the 4th servomotor driving first harmonic decelerator realizes pitching pedestal around wind-tunnel axis ± 360 °
Rotate；
Described luffing mechanism includes electric cylinder, the 4th line slideway, connecting rod, pitching pedestal and the second sliding block, electric cylinder
It is arranged on the 4th line slideway on pitching pedestal, connecting rod one end is hinged with the second sliding block, and the other end and the second level of connecting rod are rolled
Rotation mechanism is hinged, and the expansion link of electric cylinder is connected with the second sliding block；
Described second level rotation mechanism for wind is hinged on pitching pedestal by rotating shaft, when electric cylinder expansion link moves, second
Sliding block drives second level rotation mechanism for wind around the axis of rotation, so as to realize second level rolling along wind-tunnel axial-movement by connecting rod
The elevating movement of mechanism；
Described second level rotation mechanism for wind includes shell, second harmonic decelerator, the 5th servomotor, second bearing, outside
Thing foot piece, interior axle and shaft coupling, shell is hung to be hinged on pitching pedestal by rotating shaft, shell built with second harmonic decelerator,
5th servomotor, second bearing interior axle and shaft coupling；Second harmonic decelerator is connected by gear with the 5th servomotor, the
Two harmonic speed reducer output ends are provided with second bearing by shaft coupling and interior axis connection between interior axle and shell, interior axle with it is outer
Hang the connection of thing foot piece.
The present invention innovative point and beneficial effect be：
(1) this mechanism in six degree of freedom realizes the linear motion and attitude motion in three directions using six servomotors.It is horizontal
To being installed in series for motion, normal direction motion and axial motion mechanism, the linear motion in three directions is realized.Mechanism
Attitude motion realizes the motion of pitching, driftage and roll angle by the way of two-stage rotation mechanism for wind adds luffing mechanism.
(2) transversing gear is located at the lee face of lower wall panels on test section, reduces the installing space of mechanism in six degree of freedom.Adopt
The mode supported with the driving of unilateral leading screw and upper/lower guide, the movement travel of transversing gear is up to 1500mm.
(3) normal direction mechanism is arranged on transversing gear, is driven using leading screw, movement travel is up to 1500mm.
(4) axial means are arranged on transversing gear.The sliding block of line slideway and the nut of leading screw are connected with normal direction mechanism,
Leading screw is connected by decelerator with servomotor.When servomotor driving leading screw rotates, because nut is fixed, leading screw is along its axis
Motion, so as to realize the axial movement of mechanism, transversing gear movement travel is up to 1800mm.
(5) Three Degree Of Freedom attitude motion mechanism using first order rotation mechanism for wind, luffing mechanism and second level rotation mechanism for wind according to
The secondary mode being installed in series, realize the motion of pitching, driftage and the rolling of mechanism.Rotation mechanism for wind adds servo using harmonic speed reducer
The form of motor, pitching use the form of crank block, and straight line driving mechanism drives sliding block along wind-tunnel axial-movement, with sliding block phase
Connecting rod even drives second level rotation mechanism for wind to do elevating movement around the rotating shaft of pitching pedestal.Reachable ± 45 ° of pitching yaw range, rolling
Turn that ± 360 ° can be arrived.
(6) mechanism in six degree of freedom uses six high-precision servo motor coordination drive mechanisms, realizes the line position in three directions
Precision is moved up to 0.1mm, the angular displacement precision in three directions is up to 1 '.This mechanism realizes its in addition to rolling using parallel institution
Remaining the motions of 5 frees degree, the bearing capacity and rigidity of the mechanism greatly promoted, normal direction bearing capacity are up to 2400N.
Brief description of the drawings
Fig. 1 is the overall structure diagram of embodiment 1.
Fig. 2 is the transverse motion mechanism schematic diagram of embodiment 1.
Fig. 3 is the transverse motion mechanism of embodiment 1 and normal direction pedestal connection diagram.
Fig. 4 is the normal direction motion schematic diagram of embodiment 1.
Fig. 5 is the axial motion mechanism schematic diagram of embodiment 1.
Fig. 6 is the Three Degree Of Freedom attitude motion structural scheme of mechanism of embodiment 1.
Embodiment
Below according to accompanying drawing citing, the present invention will be further described：
Embodiment 1
As shown in figure 1, a kind of six degree of freedom system of large-scale transonic wind tunnel big load model captive trajectory testing, including
Transverse motion mechanism 1, normal direction motion 2, axial motion mechanism 3 and Three Degree Of Freedom attitude motion mechanism 4, described horizontal fortune
Motivation structure 1 is arranged on the upper and lower wallboard lee face of test section, and normal direction motion 2 is arranged on transverse motion mechanism 1, axially
Motion 3 is arranged on normal direction motion 2, and Three Degree Of Freedom attitude motion mechanism 4 is arranged in axial motion mechanism 3；
As Figure 2-3, described transverse motion mechanism 1 includes the first leading screw 5, horizontal line slideway 6, the first decelerator
7th, the first servomotor 8, horizontal line slideway 6 are arranged on upper and lower wallboard lee face pedestal 91.92, the first leading screw 5, first
The servomotor 8 of decelerator 7 and first is arranged on lower wall panels lee face pedestal 92, and the first servomotor 8 passes through the first decelerator 7
It is connected with the first leading screw 5, the first leading screw 5 is threaded with nut, and nut is fixedly connected with the lower surface of normal direction pedestal 14；Normal direction
The upper and lower end face of pedestal 14 is slidably connected by sliding block and horizontal line slideway 6, so that normal direction motion 2 is horizontal along wind-tunnel
Line moves；
As shown in figure 4, described normal direction motion 2 includes the second leading screw 10, second straight line guide rail 11, the second decelerator
12nd, the second servomotor 13 and normal direction pedestal 14, the second servomotor 13, the second decelerator 12, the second leading screw 10 and second are straight
Line guide rail 11 is installed on normal direction pedestal 14, and the second leading screw 10 is parallel with second straight line guide rail 11, and the second servomotor 13 is logical
Cross the second decelerator 12 to be connected with the second leading screw 10, so that axial motion mechanism is moved along wind-tunnel normal direction；
As shown in figure 5, described axial motion mechanism 3 includes the 3rd leading screw 15, the 3rd line slideway 16, the 3rd decelerator
17th, the 3rd servomotor 18, axial seat 19, the sliding block 22 of connecting plate 20 and first, the 3rd leading screw 15, the 3rd line slideway 16,
3rd decelerator 17 and the 3rd servomotor 18 are arranged in axial seat 19, and the 3rd leading screw 15 and the 3rd line slideway 16 are flat
OK, the first sliding block 22 is installed, the first sliding block 22 is fixedly connected with connecting plate 20, connecting plate 20 and on the 3rd line slideway 16
The nut of three leading screws 15 connects, and is arranged on normal direction motion 2 on connecting plate 20, the 3rd servomotor 18 passes through the 3rd decelerator
17 are connected with the 3rd leading screw 15, so as to which axial seat 19 realizes axial movement；
As shown in fig. 6, described Three Degree Of Freedom attitude motion mechanism 4 includes luffing mechanism, first order rotation mechanism for wind and the
Two level rotation mechanism for wind,
Described luffing mechanism includes electric cylinder 30, the 4th line slideway 31, connecting rod 32, the sliding block of pitching pedestal 33 and second
34, the line slideway 31 of electric cylinder 30 and the 4th is arranged on pitching pedestal 33, and the one end of connecting rod 32 is be hinged with the second sliding block 34, connecting rod
32 other end is hinged with second level rotation mechanism for wind, and the expansion link of electric cylinder 30 is connected with the second sliding block 34；
Described first order rotation mechanism for wind includes rolling housing 26, first harmonic decelerator 27, clutch shaft bearing 28 and the 4th
Servomotor 29；Clutch shaft bearing 28 is installed, rolling housing 26 connects with axial seat between pitching pedestal 33 and rolling housing 26
19 are connect, the output end of first harmonic decelerator 27 is connected with pitching pedestal 33, and the 4th servomotor 29 driving first harmonic slows down
Device 27 realizes that pitching pedestal 33 rotates around wind-tunnel axis ± 360 °；
Described second level rotation mechanism for wind is hinged on pitching pedestal 33 by rotating shaft 35, the motion of the expansion link of electric cylinder 30
When, the second sliding block 34 drives second level rotation mechanism for wind to be rotated around the rotating shaft 35, so as to real along wind-tunnel axial-movement by connecting rod 32
The elevating movement of existing second level rotation mechanism for wind 25；
Described second level rotation mechanism for wind includes shell 36, second harmonic decelerator 37, the 5th servomotor 39, the second axle
40 are held, store Combinations foot piece 41, interior axle 42 and shaft coupling 43, shell 36 are hinged on pitching pedestal 33 by rotating shaft 35, shell 36
Built with second harmonic decelerator 37, the 5th servomotor 39, second bearing 40, interior axle 42 and shaft coupling 43；Second harmonic subtracts
Fast device 37 is connected by gear with the 5th servomotor 39, and the output end of second harmonic decelerator 37 passes through shaft coupling 43 and interior axle
42 connections, are provided with second bearing 40, interior axle 42 is connected with store Combinations foot piece 41 between interior axle 42 and shell 36.
The experimentation and principle of the present embodiment 1：
1) store Combinations and the initial alignment of carrier aircraft, including initial relative position and posture are carried out first.According to store Combinations with
The theoretical relative position of carrier aircraft, survey pose residual quantity Δ X, Δ Y, Δ Z, Δ α, Δ β, the Δ of plug-in relative carrier aircraft six direction
γ.Transverse motion mechanism, normal direction motion, axial motion mechanism and Three Degree Of Freedom posture are controlled in a manner of with compensation campaign
The motion coordinated movement of various economic factors, the pose residual quantity of six direction is set to meet initial alignment error.Then according to test requirements document and calculating
Machine is calculated, and store Combinations are moved to corresponding measurement position and posture by control mechanism in six degree of freedom, you can carry out captive trajectory examination
Test.Store Combinations and balance are arranged on the store Combinations foot piece of mechanism in six degree of freedom.According to test requirements document, determine store Combinations with carrying
The initial theory relative position and posture of machine.It is complete by controlling six free mechanisms store Combinations is moved to initial position and posture
Into the initial alignment of store Combinations.
2) according to the locus under some carrier aircraft flow fields for giving or being calculated after the separation of store Combinations, control is passed through
Seven servomotor motors of Three Degree Of Freedom translation mechanism, pitching/mechanism and rotation mechanism for wind, store Combinations are made to reach corresponding experiment
Position and posture, and pass through the measurement of store Combinations balance progress aerodynamic loading.
Claims (1)
1. a kind of six degree of freedom system of large-scale transonic wind tunnel big load model captive trajectory testing, including transverse movement machine
Structure, normal direction motion, axial motion mechanism and Three Degree Of Freedom attitude motion mechanism, it is characterised in that：
Described transverse motion mechanism is arranged on the upper and lower wallboard lee face of test section, and normal direction motion, which is arranged on, laterally to be transported
On motivation structure, axial motion mechanism is arranged on normal direction motion, and Three Degree Of Freedom attitude motion mechanism, which is arranged on, to be axially moved
In mechanism,
Described transverse motion mechanism includes the first leading screw, horizontal line slideway, the first decelerator, the first servomotor, laterally
Line slideway is arranged on upper and lower wallboard lee face pedestal, and the first leading screw, the first decelerator and the first servomotor are arranged on down
On wallboard lee face pedestal, the first servomotor is connected by the first decelerator with the first leading screw, the first leading screw and normal direction pedestal
Lower surface connection；The upper and lower end face of normal direction pedestal is slidably connected with horizontal line slideway, so that normal direction motion is along wind
Hole horizontal line motion；
Described normal direction motion includes the second leading screw, second straight line guide rail, the second decelerator, the second servomotor and normal direction
Pedestal, the second servomotor, the second decelerator, the second leading screw and second straight line guide rail are installed on normal direction pedestal, second
Thick stick and second straight line guide rail parallel, the second servomotor are connected by the second decelerator with the second leading screw, so that being axially moved
Mechanism moves along wind-tunnel normal direction；
Described axial motion mechanism includes the 3rd leading screw, the 3rd line slideway, the 3rd decelerator, the 3rd servomotor, axial direction
Pedestal, connecting plate and the first sliding block, the 3rd leading screw, the 3rd line slideway, the 3rd decelerator and the 3rd servomotor are arranged on axle
To on pedestal, the 3rd leading screw and the 3rd line slideway are parallel, and the first sliding block, the first sliding block and company are provided with the 3rd line slideway
Fishplate bar is fixedly connected, and connecting plate is connected with the 3rd leading screw, is arranged on connecting plate on normal direction motion, the 3rd servomotor leads to
Cross the 3rd decelerator to be connected with the 3rd leading screw, so as to which axial seat realizes axial movement；
Described Three Degree Of Freedom attitude motion mechanism includes first order rotation mechanism for wind, luffing mechanism and second level rotation mechanism for wind；
Described luffing mechanism includes electric cylinder, the 4th line slideway, connecting rod, pitching pedestal and the second sliding block, electric cylinder and
Four line slideways are arranged on pitching pedestal, and connecting rod one end is hinged with the second sliding block, the other end and the second level roller of connecting rod
Structure is hinged, and the expansion link of electric cylinder is connected with the second sliding block；
Described first order rotation mechanism for wind includes rolling housing, first harmonic decelerator, clutch shaft bearing and the 4th servomotor；Bow
Face upward and clutch shaft bearing be installed between pedestal and rolling housing, rolling housing is connected with axial seat, first harmonic decelerator it is defeated
Go out end to be connected with pitching pedestal, the 4th servomotor driving first harmonic decelerator realizes pitching pedestal around wind-tunnel axis ± 360 °
Rotate；
Described second level rotation mechanism for wind is hinged on pitching pedestal by rotating shaft, when electric cylinder expansion link moves, the second sliding block
Along wind-tunnel axial-movement, second level rotation mechanism for wind is driven around the axis of rotation by connecting rod, so as to realize second level rotation mechanism for wind
Elevating movement；
Described second level rotation mechanism for wind includes shell, second harmonic decelerator, the 5th servomotor, second bearing, store Combinations
Foot piece, interior axle and shaft coupling, shell are hinged on pitching pedestal by rotating shaft, and shell is built with second harmonic decelerator, the 5th
Servomotor, second bearing interior axle and shaft coupling；Second harmonic decelerator is connected by gear with the 5th servomotor, and second is humorous
The output end of ripple decelerator is provided with second bearing by shaft coupling and interior axis connection between interior axle and shell, interior axle with it is plug-in
Thing foot piece connects.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711257750.7A CN107860545B (en) | 2017-12-04 | 2017-12-04 | Six-degree-of-freedom system for large transonic wind tunnel large load model capture track test |
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| CN201711257750.7A CN107860545B (en) | 2017-12-04 | 2017-12-04 | Six-degree-of-freedom system for large transonic wind tunnel large load model capture track test |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111024362A (en) * | 2019-12-19 | 2020-04-17 | 中国航空工业集团公司沈阳空气动力研究所 | Test device and test method for estimating interstage separation track in symmetric plane |
| CN111693245A (en) * | 2020-06-23 | 2020-09-22 | 中国空气动力研究与发展中心超高速空气动力研究所 | Non-decoupling motion allocation method for continuous on-orbit linkage track capture experiment |
| CN112254920A (en) * | 2020-09-18 | 2021-01-22 | 中国航空工业集团公司哈尔滨空气动力研究所 | Quick installation clamping device of jumbo size model tail boom and abdomen back boom |
| CN112629815A (en) * | 2020-12-10 | 2021-04-09 | 中国航天空气动力技术研究院 | Series-parallel multi-degree-of-freedom machine-projectile separation trajectory capture test system |
| CN113820096A (en) * | 2021-11-22 | 2021-12-21 | 中国空气动力研究与发展中心超高速空气动力研究所 | Six-degree-of-freedom wind tunnel test model attitude control device |
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