CN112556979B - Synchronous rotation control device and method for upper and lower turnplates of wind tunnel test section - Google Patents
Synchronous rotation control device and method for upper and lower turnplates of wind tunnel test section Download PDFInfo
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Abstract
The invention is suitable for the technical field of dynamic test research equipment of test models in wind tunnels, and particularly relates to a synchronous rotation control device and a synchronous rotation control method for an upper rotating disk and a lower rotating disk of a wind tunnel test section, wherein the synchronous rotation control device comprises an upper rotating disk module, a lower rotating disk module and a motion controller which are installed in a mirror image mode, the upper rotating disk module and the lower rotating disk module comprise upper rotating disk position encoders and lower rotating disk position encoders, during synchronous rotation control, the upper rotating disk position encoders acquire position information of the upper rotating disk and the lower rotating disk and feed the position information back to the motion controller, and when the position difference of the upper rotating disk and the lower rotating disk exceeds a set value, the motion controller establishes a control strategy to adjust the rotating speed of an upper rotating disk driving motor and a lower rotating disk. The invention can effectively solve the problem that the rotation signal of the motor is adopted as the control signal to control the actual turntable position to generate errors, thereby improving the attitude angle strategy of the test model.
Description
Technical Field
The invention relates to the technical field of dynamic test research equipment of test models in wind tunnels, in particular to a synchronous rotation control device and method for an upper rotary table and a lower rotary table of a wind tunnel test section.
Background
In the wind tunnel test, a test model is fixed in a test section through a supporting system. In order to adjust the model posture, a ventral brace, a tail brace or other support modes are usually adopted to fix the model on a test section turntable or a support mechanism, and the attack angle or the sideslip angle of the model is changed by controlling the turntable or the support mechanism.
The wind tunnel test section turntable is a basic matching device, a lower turntable is usually matched with the center of the lower bottom surface of a test section, and a turntable is also matched with the center of the upper top surface of the test section by part of wind tunnels; the control method generally adopts the structures of a driver, a motor, a speed reducer, an industrial personal computer, a motion control card and the like, utilizes the linear relation between the rotating speed of the motor and the angle of the rotary table and uses an encoder at the shaft end of the motor as position feedback to control the position of the rotary table, such as patents CN108116658B, CN109752164B and CN 1057523A.
For a test system with rigidly connected upper/lower turnplates, a specific control strategy is disclosed in a document of 4 meters by 3 meters low-speed wind tunnel model attitude control system, Abin and the like, pneumatic experiment and strategy control, 5 nd 2 nd volume in 1991, and a position detection device is arranged at a direct current motor for position detection and position feedback, so that the synchronous rotation of the upper and lower turnplates is controlled.
However, long-term experiments show that experimental test results (such as model attitude angles) performed by the experimental system adopting the control often have certain errors.
Disclosure of Invention
The invention aims to provide a device and a method capable of improving test precision.
Through long-term tests, simulations and data verification, it is found that a certain error still exists in the method for controlling by collecting motor shaft end position information as a feedback signal as described in the background art, that is, although theoretically, the rotational speed of the motor and the angle of the turntable are approximately in a linear relationship, a certain error still exists, the semi-closed loop mode still cannot ensure that the rotational angle and the rotational speed of the upper and lower turntables are very accurately consistent, the error directly affects the accuracy of wind tunnel test data, and particularly, under the condition that the upper and lower turntables are rigidly connected, if the error is large, the model may be damaged.
Therefore, the invention improves the traditional semi-closed-loop control, realizes the accurate control of the upper turntable and the lower turntable by the closed-loop control of the control system, and effectively improves the synchronous rotation precision of the upper turntable and the lower turntable.
A method for controlling synchronous rotation of an upper rotating disk and a lower rotating disk of a wind tunnel test section is characterized by comprising the following steps:
1-1, mounting an upper turntable and a lower turntable synchronous rotating device in a mirror image manner, wherein the device comprises an upper turntable module, a lower turntable module and a motion controller; wherein,
the upper turntable module is arranged in the center of the upper wall surface of the test section and comprises an upper tray, an upper turntable bearing, an upper turntable driving motor encoder, an upper turntable speed reducer, an upper turntable pinion, an upper turntable gearwheel and an upper turntable position encoder; the upper tray bearing is connected with the upper tray, and the upper tray is connected to the central ring beam on the upper wall surface of the test section; the upper turntable driving motor is sequentially and coaxially connected with the upper turntable speed reducer and the upper turntable pinion, the upper turntable pinion is meshed with the upper turntable gearwheel, and the upper turntable gearwheel drives the upper turntable bearing to rotate so as to drive the upper turntable to rotate; the upper turntable driving motor encoder is arranged at the non-driving end of the upper turntable driving motor; the upper rotary disc position encoder is in meshed connection with the upper rotary disc large gear;
the lower turntable module is arranged in the center of the lower wall surface of the test section and comprises a lower tray, a lower turntable bearing, a lower turntable driving motor encoder, a lower turntable speed reducer, a lower turntable pinion, a lower turntable gearwheel and a lower turntable position encoder; the lower turntable bearing is connected with the lower tray, and the lower tray is connected to a central ring beam of the lower wall surface of the test section; the lower rotary table driving motor is sequentially and coaxially connected with the lower rotary table speed reducer and the lower rotary table pinion, the lower rotary table pinion is in meshed connection with the lower rotary table gearwheel, and the lower rotary table gearwheel drives the lower rotary table bearing to rotate so as to drive the lower rotary table to rotate; the lower turntable driving motor encoder is arranged at the non-driving end of the lower turntable driving motor;
the upper turntable and the lower turntable are installed in a mirror image mode in a wind tunnel test section;
the motion controller receives position signals of the upper turntable driving motor encoder, the upper turntable position encoder, the lower turntable driving motor encoder and the lower turntable position encoder, and sends control signals to control the upper turntable driving motor and the lower turntable driving motor to rotate after operation;
1-2. defining the up/down rotation direction and the position encoder direction;
overlooking a wind tunnel lower turntable in a wind tunnel test section, wherein the turntable rotates clockwise to be + and rotates anticlockwise to be-;
in the direction opposite to the output shaft of the position encoder, the clockwise rotation value of the output shaft is increased progressively, and the anticlockwise rotation value is decreased progressively;
when the upper rotating disc of the wind tunnel is looked up in the wind tunnel test section, the anticlockwise rotation is changed into plus, and the clockwise rotation is changed into minus; in the direction opposite to the output shaft of the position encoder, the counterclockwise rotation value of the output shaft is increased progressively, and the clockwise rotation value is decreased progressively;
1-3. System preparation
Respectively controlling the upper/lower turnplate to rotate for single rotation, respectively enabling the upper/lower turnplate drivers, inputting an initial angle given value and an initial speed given value, and rotating the upper/lower turnplate to a specified position;
1-4, installing a test model, and setting the current position of the upper/lower rotating disc as a zero position;
1-5. synchronous rotation control
Inputting a given test angle and a given test speed, and controlling the synchronous rotation of the upper/lower turntable driving motor by the motion controller according to the given test angle and the given test speed; and simultaneously, the upper turntable position encoder and the lower turntable position encoder respectively collect the positions of the upper turntable and the lower turntable and feed back the positions to the motion controller, and the motion controller adjusts the rotation speed of the upper turntable driving motor and the rotation speed of the lower turntable driving motor according to the fed back positions of the upper turntable and the lower turntable.
Further, when the count of the upper disc position encoder is β 1 and the count of the lower disc position encoder is β 2, Δ β = | β 1- β 2 | is calculated,
when delta beta is less than A, the motion controller controls the rotating motor to rotate according to the given value of the test speed;
when A is less than or equal to delta beta and less than B, the motion controller formulates a compensation strategy and sends the compensation strategy to the upper turntable driving motor and the lower turntable driving motor;
when the delta beta is larger than or equal to B, the motion controller controls the upper turntable driving motor and the lower turntable driving motor to brake and emergently stop;
where A and B are parameter values set manually.
Further, when A is less than or equal to delta beta and less than B, the upper turntable and the lower turntable are set to be completely synchronous within the time range of t,
if | β 1 | β 2 | then:
if | β 1 | < | β 2 |, then:
wherein,Vthe given value of the test speed is set,V1 is the upper dial adjusted speed value, V and 2 is the speed value after the lower turntable is adjusted, and f is a compensation system.
Furthermore, the upper rotary table driving motor encoder, the upper rotary table position encoder, the upper rotary table speed reducer, the upper rotary table pinion and the upper rotary table bull gear are all arranged on the outer side of the upper wall surface of the test section; the lower rotary table, the lower rotary table driving motor encoder, the lower rotary table position encoder, the lower rotary table speed reducer, the lower rotary table pinion and the lower rotary table gearwheel are all arranged on the outer side of the lower wall surface of the test section.
The invention also provides a device for synchronously controlling the rotation of the upper turntable/the lower turntable of the wind tunnel test section, which comprises an upper turntable module, a lower turntable module and a motion controller; wherein,
the upper turntable module is arranged in the center of the upper wall surface of the test section and comprises an upper tray, an upper turntable bearing, an upper turntable driving motor encoder, an upper turntable speed reducer, an upper turntable pinion, an upper turntable gearwheel and an upper turntable position encoder; the upper tray bearing is connected with the upper tray, and the upper tray is connected to the central ring beam on the upper wall surface of the test section; the upper turntable driving motor is sequentially and coaxially connected with the upper turntable speed reducer and the upper turntable pinion, the upper turntable pinion is meshed with the upper turntable gearwheel, and the upper turntable gearwheel drives the upper turntable bearing to rotate so as to drive the upper turntable to rotate; the upper turntable driving motor encoder is arranged at the non-driving end of the upper turntable driving motor; the upper rotary disc position encoder is in meshed connection with the upper rotary disc large gear;
the lower turntable module is arranged in the center of the lower wall surface of the test section and comprises a lower tray, a lower turntable bearing, a lower turntable driving motor encoder, a lower turntable speed reducer, a lower turntable pinion, a lower turntable gearwheel and a lower turntable position encoder; the lower turntable bearing is connected with the lower tray, and the lower tray is connected to a central ring beam of the lower wall surface of the test section; the lower rotary table driving motor is sequentially and coaxially connected with the lower rotary table speed reducer and the lower rotary table pinion, the lower rotary table pinion is in meshed connection with the lower rotary table gearwheel, and the lower rotary table gearwheel drives the lower rotary table bearing to rotate so as to drive the lower rotary table to rotate; the lower turntable driving motor encoder is arranged at the non-driving end of the lower turntable driving motor; the lower turntable position encoder is in meshed connection with the lower turntable gear wheel;
the upper turntable and the lower turntable are installed in a mirror image mode in a wind tunnel test section;
and the motion controller receives position signals of the upper turntable driving motor encoder, the upper turntable position encoder, the lower turntable driving motor encoder and the lower turntable position encoder, and sends control signals to control the upper turntable driving motor and the lower turntable driving motor to rotate after operation.
Furthermore, the upper rotary table driving motor encoder, the upper rotary table position encoder, the upper rotary table speed reducer, the upper rotary table pinion and the upper rotary table bull gear are all arranged on the outer side of the upper wall surface of the test section; the lower rotary table, the lower rotary table driving motor encoder, the lower rotary table position encoder, the lower rotary table speed reducer, the lower rotary table pinion and the lower rotary table gearwheel are all arranged on the outer side of the lower wall surface of the test section.
Furthermore, the upper turntable gearwheel is arranged on the inner side of the upper turntable bearing and is integrally formed; the lower turntable gearwheel is arranged on the inner side of the lower turntable bearing and is integrally formed.
Compared with the prior art, the device and the method for controlling the synchronous rotation of the upper/lower rotary discs of the wind tunnel test section have the following beneficial effects:
(1) according to the invention, the position encoders are directly arranged on the upper and lower turntables to acquire the position information of the turntables, so that the feedback information of control is more accurate and direct, and the error caused by the fact that the rotation signal of a motor is used as an intermediate control signal to control the position of the actual turntables in the prior art is avoided;
(2) the invention directly takes the position of the turntable as a feedback signal to make a control strategy, and the closed-loop control can more accurately control the synchronous rotation of the upper turntable and the lower turntable, thereby improving the precision of the attitude angle strategy of the test model and further improving the precision of the wind tunnel test data;
(3) in the invention, the upper and lower turnplates are arranged in a mirror image manner, and the accuracy of synchronous rotation control of the upper and lower turnplates is ensured on hardware; meanwhile, the method for defining the rotating direction of the upper/lower rotary disc or the left and right rotary discs and the direction of the encoder is suitable for a synchronous control system installed in any mirror image;
(4) due to the high-precision synchronous control of the upper rotary table and the lower rotary table, the posture of the test model rigidly connected with the upper rotary table and the lower rotary table can be directly changed, and compared with the conventional method that the upper rotary table and the lower rotary table are mechanically connected after being singly moved in place respectively, the test efficiency is rapidly improved.
(5) The rotation direction of the upper/lower turnplate and the direction of the encoder are defined aiming at the upper and lower turnplates or the left and right turnplates which are installed in a mirror image mode, and the synchronous rotation of the upper and lower turnplates or the left and right turnplates is ensured.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention or in the description of the prior art will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a synchronous rotation control device for an upper/lower rotary table of a wind tunnel test section according to an embodiment of the present invention;
FIG. 2 is a control block diagram of a synchronous rotation control method for an upper/lower rotary table of a wind tunnel test section according to an embodiment of the present invention;
in the figure, 1-upper rotary table driving motor, 2-upper rotary table speed reducer, 3-upper rotary table pinion, 4-upper rotary table position encoder, 5-upper rotary table, 6-wind tunnel test section upper wall surface, 7-lower rotary table driving motor, 8-lower rotary table speed reducer, 9-lower rotary table pinion, 10-lower rotary table position encoder, 11-lower rotary table, 12-wind tunnel test section lower wall surface, 13-upper rotary table driver, 14-lower rotary table driver, 15-motion controller and 16-upper computer.
Detailed Description
The following description provides many different embodiments, or examples, for implementing different features of the invention. The particular examples set forth below are illustrative only and are not intended to be limiting.
The invention provides a device for synchronously controlling the rotation of an upper turntable and a lower turntable of a wind tunnel test section, which comprises an upper turntable module, a lower turntable module and a motion controller 15, wherein the upper turntable module and the lower turntable module are arranged on the same plane; wherein,
the upper turntable module is arranged in the center of the upper wall surface of the test section and comprises an upper tray, an upper turntable bearing, an upper turntable 5, an upper turntable driving motor 1, an upper turntable driving motor encoder, an upper turntable speed reducer 2, an upper turntable pinion 3, an upper turntable gear wheel and an upper turntable position encoder 4; the upper tray bearing is connected with an upper tray, and the upper tray is connected to a central ring beam on the upper wall surface of the test section; the upper rotary table driving motor 1 is sequentially and coaxially connected with the upper rotary table speed reducer 2 and the upper rotary table pinion 3, the upper rotary table pinion 3 is meshed with the upper rotary table gearwheel, and the upper rotary table gearwheel drives the upper rotary table bearing to rotate so as to drive the upper rotary table to rotate; the upper turntable driving motor encoder is arranged at the non-driving end of the upper turntable driving motor; the upper rotary disc position encoder 4 is meshed with the upper rotary disc large gear.
The lower turntable module is arranged in the center of the lower wall surface of the test section and comprises a lower tray, a lower turntable bearing, a lower turntable 11, a lower turntable driving motor 7, a lower turntable driving motor encoder, a lower turntable speed reducer 8, a lower turntable pinion 9, a lower turntable gearwheel and a lower turntable position encoder 10; the lower turntable bearing is connected with a lower tray, and the lower tray is connected to a central ring beam of the lower wall surface of the test section; the lower turntable driving motor 7 is sequentially and coaxially connected with a lower turntable speed reducer 8 and a lower turntable pinion gear 9, the lower turntable pinion gear 9 is meshed with a lower turntable gearwheel, and the lower turntable gearwheel drives a lower turntable bearing to rotate so as to drive a lower turntable 11 to rotate; the lower turntable driving motor encoder is arranged at the non-driving end of the lower turntable driving motor 7; the lower turntable position encoder is meshed with the large gear of the lower turntable.
Wherein, the big gear of the upper turntable is arranged at the inner side of the upper turntable bearing and is integrally formed; the lower turntable gearwheel is arranged on the inner side of the lower turntable bearing and is integrally formed.
Therefore, after the upper rotary disk driving motor 1 reduces the speed and increases the torque through the upper rotary disk speed reducer 2, the upper rotary disk pinion 3 is driven to rotate, the upper rotary disk pinion 3 rotates the large gear of the inner ring of the upper rotary disk bearing to rotate the upper rotary disk bearing, and then the upper rotary disk 5 is driven to rotate through the upper rotary disk bearing. Similarly, after the lower turntable driving motor 7 reduces the speed and increases the torque through the lower turntable speed reducer 8, the lower turntable pinion 9 is driven to rotate, and the lower turntable pinion 9 drives the gear wheel of the lower turntable bearing inner ring to rotate so as to drive the lower turntable bearing to rotate, and then the lower turntable is driven to rotate through the lower turntable bearing.
The upper rotary table and the lower rotary table are installed in a wind tunnel test section in a mirror image mode; as can be understood by those skilled in the art, the upper/lower turntable modules are completely identical and are only arranged on the upper and lower wall surfaces of the wind tunnel test section in a mirror image manner; of course, according to the requirement of the test, the left/right installation can be installed on the left and right wall surfaces of the wind tunnel test section, and for convenience of description, the up/down installation and the left/right installation are collectively called as the up/down installation, so as to further describe the technical scheme of the invention in detail.
After the upper and lower turntables are installed in a mirror image mode, if the rotation directions of the turntables and the position encoders are not redefined, the driving motors of the upper and lower turntables are controlled to rotate according to a factory default mode, namely when the preset value is "+", the driving motors of the upper and lower turntables respectively rotate clockwise, at the moment, when the upper and lower turntables of the wind tunnel are overlooked from the wind tunnel test section, the lower turntables rotate clockwise, and the upper turntables rotate anticlockwise. Thus, the present invention will redefine the up/down spin rotation direction and the encoder direction:
overlooking a wind tunnel lower turntable in a wind tunnel test section, wherein the turntable rotates clockwise to be + and rotates anticlockwise to be-;
and in the direction opposite to the output shaft of the position encoder, the clockwise rotation value of the output shaft is increased progressively, and the anticlockwise rotation value is decreased progressively.
When the upper rotating disc of the wind tunnel is looked up in the wind tunnel test section, the anticlockwise rotation is changed into plus, and the clockwise rotation is changed into minus; and in the direction opposite to the output shaft of the position encoder, the counterclockwise rotation value of the output shaft is increased progressively, and the clockwise rotation value is decreased progressively.
That is, when the motion controller gives the upper and lower rotating disks as "+", the upper and lower rotating disks in the wind tunnel are overlooked, and both the upper and lower rotating disks rotate clockwise; when the motion controller gives a negative-positive-negative-.
The motion controller receives position signals of the upper turntable driving motor encoder, the upper turntable position encoder, the lower turntable driving motor encoder and the lower turntable position encoder, and sends control signals to control the upper turntable driving motor and the lower turntable driving motor to rotate after operation.
Preferably, the motion controller further comprises functions or modules such as an initialization module, parameter setting, communication, single-shaft closed loop, synchronous closed loop, state display, safety interlocking and system exit, and meanwhile, the motion controller can also be provided with an upper computer 16 which is communicated with the motion controller to remotely guide the control of the motion controller.
The invention also provides a method for controlling synchronous rotation of the upper/lower rotary discs of the wind tunnel test section, which comprises the following steps:
1-1, mounting an upper turntable and a lower turntable synchronous rotating device in a mirror image manner, wherein the device comprises an upper turntable module, a lower turntable module and a motion controller; wherein,
the upper rotary table module is arranged in the center of the upper wall surface of the test section and comprises an upper tray, an upper rotary table bearing, an upper rotary table 5, an upper rotary table driving motor 1, an upper rotary table driving motor encoder, an upper rotary table speed reducer 2, an upper rotary table pinion 3, an upper rotary table 5 gearwheel and an upper rotary table position encoder 4; the upper tray bearing is connected with an upper tray, and the upper tray is connected to a central ring beam on the upper wall surface of the test section; an upper rotary table driving motor 1 is sequentially and coaxially connected with an upper rotary table speed reducer 2 and an upper rotary table pinion 3, the upper rotary table pinion 3 is meshed with an upper rotary table 5 gearwheel, and the upper rotary table 5 gearwheel drives an upper rotary table 5 bearing to rotate so as to drive the upper rotary table 5 to rotate; the rotary table driving motor encoder is arranged at the non-driving end of the driving motor of the upper rotary table 5; the upper rotary disc position encoder 4 is meshed with the large gear of the upper rotary disc 5.
The lower turntable module is arranged in the center of the lower wall surface of the test section and comprises a lower tray, a lower turntable bearing, a lower turntable 11, a lower turntable driving motor 7, a lower turntable driving motor encoder, a lower turntable speed reducer 8, a lower turntable pinion 9, a lower turntable gearwheel and a lower turntable position encoder 10; the lower turntable bearing is connected with a lower tray, and the lower tray is connected to a central ring beam of the lower wall surface of the test section; the lower turntable driving motor 7 is sequentially and coaxially connected with a lower turntable speed reducer 8 and a lower turntable pinion gear 9, the lower turntable pinion gear 9 is meshed with a lower turntable gearwheel, and the lower turntable gearwheel drives a lower turntable bearing to rotate so as to drive a lower turntable 11 to rotate; the lower turntable driving motor encoder is arranged at the non-driving end of the lower turntable driving motor 7; the lower turntable position encoder is meshed with the large gear of the lower turntable.
Therefore, after the upper rotary disc driving motor reduces the speed and increases the torque through the upper rotary disc speed reducer, the upper rotary disc pinion is driven to rotate, the upper rotary disc pinion drives the gear wheel of the inner ring of the upper rotary disc bearing to rotate so as to drive the upper rotary disc bearing to rotate, and then the upper rotary disc is driven to rotate through the upper rotary disc bearing. Similarly, after the lower turntable driving motor reduces the speed and increases the torque through the lower turntable speed reducer, the lower turntable pinion is driven to rotate, and the lower turntable pinion drives the gear wheel of the lower turntable bearing inner ring to rotate so as to drive the lower turntable bearing to rotate, and then the lower turntable is driven to rotate through the lower turntable bearing.
The motion controller receives position signals of the upper turntable driving motor encoder, the upper turntable position encoder, the lower turntable driving motor encoder and the lower turntable position encoder, and sends control signals to control the upper turntable driving motor and the lower turntable driving motor to rotate after operation;
1-2, defining the rotation direction of the upper/lower rotating disc and the direction of the encoder;
overlooking a wind tunnel lower turntable in a wind tunnel test section, wherein the turntable rotates clockwise to be + and rotates anticlockwise to be-;
in the direction opposite to the output shaft of the position encoder, the clockwise rotation numerical value of the output shaft is increased progressively, and the anticlockwise rotation numerical value is decreased progressively;
when the upper rotating disc of the wind tunnel is looked up in the wind tunnel test section, the anticlockwise rotation is changed into plus, and the clockwise rotation is changed into minus; and in the direction opposite to the output shaft of the position encoder, the counterclockwise rotation value of the output shaft is increased progressively, and the clockwise rotation value is decreased progressively.
That is, the rotation directions of the upper and lower rotating disks and the encoder direction are defined as opposite directions, thereby facilitating the controller to control the upper and lower rotating disks to rotate synchronously.
1-3. System preparation
After the system is electrified and initialized, the upper rotating disk/the lower rotating disk are respectively controlled to rotate for single rotation, the upper rotating disk/the lower rotating disk are respectively enabled to drive, an initial angle setting and an initial speed setting are input, and the upper rotating disk/the lower rotating disk rotate to a specified position;
for example, looking down the wind tunnel lower rotary table in the wind tunnel test section, when the upper and lower rotary tables need to rotate clockwise by 30 degrees to a specified position, the control strategy at this time is to give the upper and lower rotary tables "+ 30 °";
thirdly, overlooking the wind tunnel lower rotary disc in the wind tunnel test section, and when the upper rotary disc needs to rotate 20 degrees clockwise and the lower rotary disc rotates 40 degrees anticlockwise to a specified position, the control strategy at the moment is that the upper rotary disc is +20 degrees, and the input instruction of the lower rotary disc is-40 degrees';
or overlooking the wind tunnel lower rotary table in the wind tunnel test section, when the upper rotary table needs to rotate 50 degrees anticlockwise and the lower rotary table rotates 70 degrees clockwise to a specified position, the control strategy at the moment is that the lower rotary table is 50 degrees, and the input instruction of the upper rotary table is +70 degrees;
the purpose of the above operation is to rotate the upper and lower turntables to the same designated position before the test is started, so as to connect the test model between the upper and lower turntables.
It will be appreciated by those skilled in the art that the upper and lower turntables are not necessarily all in the same position during the system preparation phase, and therefore, the upper and lower turntables need to be rotated to the same designated position and set to the same starting position, respectively, before the test model is connected between the upper and lower turntables.
The initial speed setting can be set according to the operation experience and habit of an operator.
1-4, installing a test model, and setting the current position of the upper/lower rotating disc as a zero position;
the test model is fixed with the lower rotary table through the tool, then the test model is fixed with the upper rotary table through the tool, and the current position of the upper/lower rotary table is set to be a zero position.
1-5. synchronous rotation control
According to the test requirement, when the synchronous rotation control of the upper turntable and the lower turntable is required in the wind tunnel wind-break or windy state, the synchronous rotation control function of the upper turntable and the lower turntable is selected, as shown in fig. 2, a test angle given value and a test speed given value are input, and the motion controller controls the synchronous rotation of the upper turntable and the lower turntable driving motor according to the test angle given value and the test speed given value; and meanwhile, the upper turntable position encoder and the lower turntable position encoder respectively acquire the positions of the upper turntable and the lower turntable and feed back the positions to the motion controller, and the motion controller adjusts the rotating speeds of the upper turntable driving motor and the lower turntable driving motor according to the fed positions of the upper turntable and the lower turntable. The basic control strategy is to adopt motor speed inner loop control and turntable position outer loop control, wherein the motor speed inner loop control is conventional technology in the field and is not described herein again. Of course, this is only an embodiment of the present invention, and those skilled in the art will understand that the control method of the present invention does not perform the inner ring control of the motor speed, and the motor directly rotates at the experimental set speed value, and only the outer ring control of the position can be implemented.
The position outer ring control strategy is as follows:
when the count of the upper turntable position encoder is β 1 and the count of the lower turntable position encoder is β 2, Δ β = | β 1- β 2 | is calculated,
when Δ β<During A, the motion controller controls the rotating motor to set the value according to the test speedVRotating;
when A is less than or equal to delta beta and less than B, the motion controller formulates a compensation strategy and sends the compensation strategy to the upper turntable driving motor and the lower turntable driving motor;
setting the upper turntable and the lower turntable to be completely synchronous within the time range of t, then:
if | β 1 | β 2 | then:
if | β 1 | < | β 2 |, then:
wherein,Vthe given value of the test speed is set,V1 is the upper dial adjusted speed value, V and 2, adjusting the rear speed value of the lower turntable, and f, setting the compensation system according to experience.
When the delta beta is larger than or equal to B, the motion controller controls the upper turntable driving motor and the lower turntable driving motor to brake and emergently stop;
where a and B are parameter values set manually, and can be set empirically by those skilled in the art.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A method for controlling synchronous rotation of an upper rotating disk and a lower rotating disk of a wind tunnel test section is characterized by comprising the following steps:
1-1, installing a device for synchronously controlling the rotation of an upper turntable and a lower turntable in a mirror image manner, wherein the device comprises an upper turntable module, a lower turntable module and a motion controller;
1-2. defining the up/down rotation direction and the position encoder direction;
overlooking a wind tunnel lower turntable in a wind tunnel test section, wherein the turntable rotates clockwise to be + and rotates anticlockwise to be-;
in the direction opposite to the output shaft of the lower turntable position encoder, the clockwise rotation numerical value of the output shaft of the lower turntable position encoder is increased progressively, and the anticlockwise rotation numerical value is decreased progressively;
when the upper rotating disc of the wind tunnel is looked up in the wind tunnel test section, the anticlockwise rotation is changed into plus, and the clockwise rotation is changed into minus; in the direction opposite to the output shaft of the upper turntable position encoder, the counter-clockwise rotation value of the output shaft of the upper turntable position encoder is increased progressively, and the clockwise rotation value is decreased progressively;
1-3. System preparation
Respectively controlling the upper/lower turnplate to rotate for single rotation, respectively enabling the upper/lower turnplate drivers, inputting an initial angle given value and an initial speed given value, and rotating the upper/lower turnplate to a specified position;
1-4, installing a test model, and setting the current position of the upper/lower rotating disc as a zero position;
1-5. synchronous rotation control
Inputting a given test angle and a given test speed, and controlling the synchronous rotation of the upper/lower turntable driving motor by the motion controller according to the given test angle and the given test speed; and meanwhile, the upper turntable position encoder and the lower turntable position encoder respectively collect the positions of the upper turntable and the lower turntable and feed back the positions to the motion controller, and the motion controller adjusts the rotating speeds of the upper turntable driving motor and the lower turntable driving motor according to the fed back positions of the upper turntable and the lower turntable.
2. A method according to claim 1, characterized in that when the count of the upper disc position encoder is β 1 and the count of the lower disc position encoder is β 2, Δ β = | -1- β 2 | is calculated,
when delta beta is less than A, the motion controller controls the upper turntable driving motor and the lower turntable driving motor to still rotate according to the given value of the test speed;
when A is less than or equal to delta beta and less than B, the motion controller formulates a compensation strategy and sends the compensation strategy to the upper turntable driving motor and the lower turntable driving motor;
when the delta beta is larger than or equal to B, the motion controller controls the upper turntable driving motor and the lower turntable driving motor to brake and emergently stop;
where A and B are parameter values set manually.
3. The method of claim 2,
when A is less than or equal to delta beta and less than B, the upper turntable and the lower turntable are adjusted to be completely synchronous within the time range of t,
if | β 1 | β 2 | then:
if | β 1 | < | β 2 |, then:
wherein,Vthe given value of the test speed is set,V1 is the upper dial adjusted speed value,Vand 2 is the speed value after the lower turntable is adjusted, and f is a compensation system.
4. A device for synchronous rotation control of an upper/lower rotary disk of a wind tunnel test section by using the method according to any one of claims 1 to 3, characterized in that: comprises an upper turntable module, a lower turntable module and a motion controller; wherein,
the upper turntable module is arranged in the center of the upper wall surface of the test section and comprises an upper tray, an upper turntable bearing, an upper turntable driving motor encoder, an upper turntable speed reducer, an upper turntable pinion, an upper turntable gearwheel and an upper turntable position encoder; the upper tray bearing is connected with the upper tray, and the upper tray is connected to the central ring beam on the upper wall surface of the test section; the upper turntable driving motor is sequentially and coaxially connected with the upper turntable speed reducer and the upper turntable pinion, the upper turntable pinion is meshed with the upper turntable gearwheel, and the upper turntable gearwheel drives the upper turntable bearing to rotate so as to drive the upper tray to rotate; the upper turntable driving motor encoder is arranged at the non-driving end of the upper turntable driving motor; the upper rotary disc position encoder is in meshed connection with the upper rotary disc large gear;
the lower turntable module is arranged in the center of the lower wall surface of the test section and comprises a lower tray, a lower turntable bearing, a lower turntable driving motor encoder, a lower turntable speed reducer, a lower turntable pinion, a lower turntable gearwheel and a lower turntable position encoder; the lower turntable bearing is connected with the lower tray, and the lower tray is connected to a central ring beam of the lower wall surface of the test section; the lower rotary table driving motor is sequentially and coaxially connected with the lower rotary table speed reducer and the lower rotary table pinion, the lower rotary table pinion is in meshed connection with the lower rotary table gearwheel, and the lower rotary table gearwheel drives the lower rotary table bearing to rotate so as to drive the lower rotary table to rotate; the lower turntable driving motor encoder is arranged at the non-driving end of the lower turntable driving motor; the lower turntable position encoder is in meshed connection with the lower turntable gear wheel;
the upper turntable and the lower turntable are installed in a mirror image mode in a wind tunnel test section;
and the motion controller receives position signals of the upper turntable driving motor encoder, the upper turntable position encoder, the lower turntable driving motor encoder and the lower turntable position encoder, and sends control signals to control the upper turntable driving motor and the lower turntable driving motor to rotate after operation.
5. The apparatus of claim 4, wherein the upper tray, the upper turntable drive motor encoder, the upper turntable position encoder, the upper turntable reducer, the upper turntable pinion, and the upper turntable bull gear are all mounted on the outer side of the upper wall surface of the test section; the lower tray, the lower rotary table driving motor encoder, the lower rotary table position encoder, the lower rotary table speed reducer, the lower rotary table pinion and the lower rotary table gearwheel are all installed on the outer side of the lower wall surface of the test section.
6. The apparatus of claim 4, wherein the upper turntable gearwheel is arranged inside the upper turntable bearing and is integrally formed; the lower turntable gearwheel is arranged on the inner side of the lower turntable bearing and is integrally formed.
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