| Wind tunnel capture trajectory test is an advanced and complex special test technology.It is mainly used to measure the trajectory of the separation between the external object and the carrier,so as to assess the safety separation characteristics of external objects and the carrier and provide test basis for the reasonable layout and safe separation parameters of external objects on the carrier.Therefore,the capture trajectory test is an essential and important item in the development of the aircraft.In order to make the existing six-degree-of-freedom series mechanism in a wind tunnel possess the function of capturing trajectory,this paper carries out the design research of its control system and develops a capture trajectory test control system based on the position mode control method.The main works of this paper are listed as below.Firstly,a kinematics analysis of the existing six-degree-of-freedom mechanism in a wind tunnel was carried out.Combined with the basic requirements of the control system and the comparison results of various control schemes,a control scheme based on the Beckhoff control system was designed.Secondly,in order to meet the requirements of the stability of the movement of the end of the mechanism in the capture trajectory test,the trajectory planning algorithm is studied accordingly.Thirdly,based on the control characteristics of the mechanism and various wind tunnel test control strategies,the motion control program was developed based on TwinCAT.It uses electronic cams to realize the complex motion of multi-axis coupling.And the human-computer interaction program was developed based on MFC.Finally,after completing the construction of the control system and the programming of the software,the mechanism performed the motion control of the continuous force measurement mode,the ladder-type force measurement mode,and the position mode.The test results verify the feasibility of the control system and the correctness of various test modes. |
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