Design and realization of full flexible nozzle control system of the trans-supersonic wind tunnel
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摘要: 为实现全电机直接驱动方式对某跨超声速风洞全挠性壁喷管型面的控制，针对其执行机构分布跨度大、运动控制电机多、同步精度要求高且弯折应力控制严等特点，采用西门子SIMOTION D+S120运动控制平台，提出一种基于虚拟轴+电子齿轮的同步控制策略，解决了全挠性喷管执行机构精确定位与多轴比例同步的难题，同时设计多重安全联锁控制，避免了挠性板过载和损坏的问题。通过调试试验测试，各电动缸可根据比例同步要求在0~1mm/s速度范围内匀速运行，跟踪误差≤±0.01mm/s，比例同步误差≤±0.02mm/s，喷管喉道前型面误差≤±0.2mm，喉道后误差≤±0.06mm。结果表明：该系统功能完备，同步控制精度及重复性精度均满足工程应用要求，取得了实际应用成果。Abstract: Flexible nozzle has to be designed long enough in order to ensure the elasticity of the nozzle wall material. The characteristics of long-span, large amount, complex structure of the actuators bring enormous challenge to the design of the flexible nozzle contour control system. It is not only needed to control the positon of each actuator precisely, but also to control motion axes for synchronization. The effect of synchronization control has a direct impact on the flexible plant forming quality and the wind tunnel flow quality. To solve the accurate positioning, multi-axis proportion synchronous control problems and to ensure safety of the full flexible nozzle in the new trans-supersonic wind tunnel of China Aerodynamics Research and Development Center, key technologies are researched. A virtual axis with the gearing synchronization strategy is proposed the redundant position technology axis is established and the control parameters is optimized based on SIMENS SIMOTION D and S120 motion control platform. The test results of actuators' displacement and servo motors' speed are analyzed based on the experiment of the multi-axis proportion synchronization motion system. The results show that the control system possesses complete functionality, that all the actuators can move uniformly in the range of 0~1mm/s, the tracking error is less than or equal to ±0.01mm/s, the proportion synchronization error is less than or equal to ±0.02mm/s, and the contour error before and after the nozzle throat point is less than or equal to ±0.2mm and ±0.06mm. The synchronization control precision and repeatability accuracy can meet the engineering application request and achieve good effect.
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Key words:
- SIMOTION /
- wind tunnel /
- flexible nozzle /
- multi-axis synchronization /
- motion control
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图 1 某跨超声速风洞全挠性喷管结构图
Figure 1. Structure of the full flexible nozzle in the trans-supersonic wind tunnel
表 1 Ma=B下挠性板中心线测试数据
Table 1. Centre line test data of Ma=B floor plant
测点编号 误差
均值标准差 测点编号 误差
均值标准差 1 0.16 0.06 15 0.01 0.02 2 -0.19 0.04 16 -0.05 0.02 3 -0.13 0.04 17 -0.04 0.02 4 0.17 0.04 18 0.03 0.01 5 0.15 0.05 19 0.03 0.05 6 -0.19 0.03 20 -0.07 0.03 7 -0.06 0.03 21 -0.08 0.02 8 0 0.03 22 0.07 0.02 9 0.01 0.03 23 0.02 0.01 10 -0.03 0.03 24 -0.06 0.03 11 -0.03 0.03 25 -0.01 0.02 12 -0.02 0.04 26 -0.02 0.03 13 -0.01 0.02 27 0.03 0.02 14 0 0.01 
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表 2 电动缸目标位移差值
Table 2. D-value of electric cylinders
No. si/mm No. si/mm No. si/mm 1 22.34 7 77.73 13 2.64 2 52.44 8 65.90 14 0.63 3 79.27 9 55.51 15 0.26 4 90.17 10 44.02 16 0.00 5 89.43 11 29.15 17 0.00 6 84.29 12 13.93
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表 3 电动缸输出参数表
Table 3. Output parameters of electric cylinders
No. μi υi/(mm·s-1) ei/(mm·s-1) δi/(mm·s-1) 1 0.24 0.194 1.32×10-4 -1.71×10-3 2 0.57 0.455 -1.59×10-4 -8.25×10-4 3 0.86 0.688 -5.10×10-5 2.20×10-4 4 0.98 0.783 3.20×10-4 3.86×10-4 5 0.97 0.776 -2.00×10-4 -5.33×10-4 6 0.91 0.732 4.07×10-4 6.52×10-4 7 0.84 0.675 3.43×10-4 -3.84×10-5 8 0.71 0.572 4.56×10-5 -3.43×10-4 9 0.60 0.482 1.78×10-4 2.32×10-4 10 0.48 0.382 -7.29×10-5 -4.48×10-4 11 0.32 0.253 -5.09×10-5 -8.34×10-6 12 0.15 0.121 8.34×10-5 7.13×10-4 13 0.03 0.023 6.47×10-5 1.71×10-3
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