Wire-Driven Parallel Suspension Mechanism Of Virtual Flight Test Model In Wind Tunnel

Wind tunnel virtual flight test is a new technology developed for new aircraft design in recent years.In order to meet the support requirements of wind tunnel virtual flight test for the model to release three rotational degrees of freedom,a new scheme of applying wire-driven parallel robot to the support of wind tunnel virtual flight test model was proposed in this thesis,so as to objectively simulate the maneuvering flight process of aircraft and achieve the purpose of studying the aerodynamic/motion coupling mechanism.Firstly,based on the screw theory,A WDPR-VFT parallel mechanism(Wire Driven Parallel Robot-Virtual Flight Test)was designed to meet the requirements of the virtual flight test model support mechanism to release the model’s three degrees of freedom.On the basis of the WDPR-VFT,the specific mechanical design and structural optimization were carried out for the dynamic test standard model,including the design of the static test force measurement support mechanism and structural stability analysis.Secondly,the mathematical model(including kinematic model and dynamic model)of the WDPR-VFT reconfigurable under-constrained wire-driven parallel mechanism was established,which provided a theoretical basis for subsequent flight dynamics simulation.Then,the system stiffness of the WDPR-VFT was deduced and analyzed,and the stability criterion and analysis of the mechanism were given,which provided a theoretical reference for the stiffness and stability analysis of the time-varying underconstrained wire-driven parallel mechanism.The prototype of the WDPR-VFT system was built,and the modal frequency experiment was carried out.The effects of different model attitude angles and wire preload on the rigid body modal frequency of the WDPR-VFT were analyzed to verify the feasibility of the support system.The flight dynamics simulation of the WDPR-VFT was carried out,including the comparative analysis of the simulation results of typical control signals,the influence of different friction moments,support rod inertia and wire structure characteristics on the control response.The established mathematical model were verified.Finally,the preliminary test of pitch open-loop control of the WDPR-VFT prototype was carried out in the wind tunnel.The test results accorded with the pitch single degree of freedom motion mechanism of virtual flight test model,and were consistent with the trend of typical longitudinal control simulation results,which verified the feasibility of the WDPR-VFT.In this thesis,the parallel support mechanism of wrie-driven for virtual flight test model was studied theoretically and experimentally,which layed a foundation for the application and development of wire-driven parallel robot for virtual flight test model supporting system in wind tunnel.At the same time,the valuable research reference was provided for the application of unconstrained reconfigurable wire-driven parallel robot in wind tunnel.