Development Of Position And Pose Control System Of Variable Angle Mechanism In The Wind Tunnel Test

Shipborne helicopter is an important part of the maritime military force.Because of its rapid response,flexible take-off and landing and the need of no special take-off and landing platform,it is especially suitable for some military missions such as reconnaissance,anti-submarine,search and rescue in the low air.The ship-borne helicopter flying can be stable landing and flying on some condition,but in some complicated cases,it also need to constantly test,to explore the flight take-off and landing technology under complex conditions,and the best way to test is flying through the wind tunnel simulating the environment of sea,put the model in a variety of different environments with different position and angle,measuring the data of actual flow field,and analyzing the performance of ship-based helicopter,designing a suitable flight technology.The device to control the position and angle of the test model is more critical.According to the requirement of some part,The Position and Pose Control System of Variable Angle Mechanism in Wind Tunnel Test is developed.And requires accurate control,superior performance.According to the project tasks,to analyze the equipment needed to achieve functional and technical requirements,design The Position and Pose Control System of Variable Angle Mechanism in Wind Tunnel Test,seclect a suitable control method,to determine the controller based on embedded PC as master,Other actuators choose servo motor;The single motor is controlled by three closed-loop cascade PID regulation,and the combination of two motors is based on this,and interpolation is added.The whole mechanism is controlled by robot kinematics modeling.The yaw Angle,Angle of pitch and roll Angle of the test model as well as the position of X,Y and Z in space are realized through the movement of each mechanism of the system.The following work has been completed.(1)Establish the coordinate system of each joint to get the DH parameters of the device.Establish the model of The Position and Pose Control System of Variable Angle Mechanism in Wind Tunnel Test through the DH parameters and MATLAB,and conduct forward and reverse kinematics modeling and verification of the whole mechanism,and use the Monte Carlo method to simulate the working space at the end of the device.(2)Through the analysis and demonstration of the system,the control scheme of The Position and Pose Control System of Variable Angle Mechanism in Wind Tunnel Test,is designed,and the control system is determined to be composed of the principal computer and the slave computer as well as the communication between them.The key components are selected according to the requirements,the overall circuit is designed,and the electrical control cabinet is developed.(3)The idea of software design of the system is made clear.The slave computer of the system contains two controllers.The development platform is Twin CAT,and the programming language is ST.The principal computer is developed as Lab Windows /CVI,and the development language is ANSI C.The communication is divided into controller and servo mechanism communication,as well as controller and principal computer communication.The former communication adopts Ether CAT communication,while the latter adopts ADS communication protocol.The communication mode and principle of the two communication protocols are introduced,and the software function modules of the principal computer and the slave computers are designed.(4)Complete the test and debugging content,check the field connection,configure parameters,and debug the software of the principal and the slave computers.The precision of the single mechanism and the precision of the Z direction were measured.Finally,the content of wind tunnel test was described.