基于3-RPS并联机构的自适应机翼方法实现及其测控系统研究

发布时间：2018-10-19 15:35

【摘要】：自适应机翼技术原理是在不同的飞行任务状态下,自适应地改变机翼形状,使飞机获得最佳飞行性能。作为今后机翼发展的一个重要方向,现阶段自适应机翼已经在一些战斗机、轰炸机以及无人机中取得了成功的应用。从20世纪80年代开始,世界主要军事大国竞相把该技术作为重点战略发展方向,制定并实施了一系列中长期规划。目前自适应机翼技术的研究主要可以分为两个学派:一是通过外部增加物或是翼型的微小改变有效调节流场中无粘或是附面层的流动,即基于机翼小尺度变形的流动控制自适应机翼技术;另一个是尺度较大地改变机翼几何构型的自适应机翼技术,以使飞机在不同任务状态下获得最优飞行性能。本文研究内容为基于并联机构的大尺度机翼变形技术。并联机构有别于串联机构的特点在于机构紧凑、承载能力强、加速快等优点,基于以上优点,并联机构作为自适应机翼的连动机构有其独特的优越性。目前已经投入使用的大变形自适应机翼飞机,如F-14、图-160等多为单自由度变形,而并联机构的优势在于其往往具有多个自由度。因此,更多的自由度将使自适应机翼的变形方式进一步拓展。传统3-RPS并联机构是在6-SPS机构或Stewart平台基础上改进而来,具有3个独立自由度,包括两个独立转动自由度和一个独立平动自由度。通过对3-RPS机构进行改进,在不改变其独立自由度基础上,使其结构更加接近于机翼截面,特殊姿态运动求解更为简便,从而能够顺利应用于自适应机翼连动机构。本文的工作主要包括以下几个部分: (1)通过对六自由度平台的分析和简化,忽略次重要自由度,选定3-RPS机构作为机翼连动机构。对经典3-RPS机构进行改进,使之在运动副布置上更接近于机翼截面形状,从而适用于多种翼型; (2)对并联机构的发展做概要性介绍,对改进后的3-RPS机构进行了运动学逆解推导,并简单分析了其运动规律,从而对该机构作为连动机构的机翼运动过程有了充分了解,进而有利于根据实际运动效果进行轨迹规划; (3)通过几种实现方法的优劣比较,选定并联机构实施方案,做出实物模型,并通过手动调节验证其运动效果。 (4)采用NI公司Labview可视化编程软件以及外围设备,编制具有良好可视性的自适应机翼测控系统。全电控设计使系统升级优化变得简单可行; (5)在考虑工作空间基础上对结构的几何参数进行了优化设计,同时在考虑系统载荷承受的基础上,对结构的零部件进行了优化设计。并根据优化结果提出了新的设计方案。
[Abstract]:The principle of adaptive wing technology is to change the wing shape adaptively under different mission conditions, so that the aircraft can obtain the best flight performance. As an important direction of wing development in the future, adaptive wing has been successfully applied in some fighter planes, bombers and UAVs. Since the 1980s, the major military powers in the world have taken the technology as the key strategic development direction and formulated and implemented a series of medium- and long-term plans. At present, the research of adaptive wing technology can be divided into two schools: one is to regulate the flow of non-viscous or boundary layer in the flow field effectively through the small changes of external additions or airfoils. The other is the adaptive wing technology which changes the geometric configuration of the wing on a large scale in order to obtain the optimal flight performance of the aircraft under different mission conditions. This paper focuses on the large scale wing deformation technology based on parallel mechanism. The parallel mechanism is different from the series mechanism in that it has the advantages of compact mechanism, strong bearing capacity, fast acceleration and so on. Based on the above advantages, the parallel mechanism as an adaptive wing linkage mechanism has its unique advantages. At present, large deformed adaptive wing aircraft, such as F-14, figure 160 and so on, are mostly single-degree-of-freedom deformations, but the advantage of parallel mechanism is that they often have multiple degrees of freedom. Therefore, more degrees of freedom will further expand the deformation of the adaptive wing. The traditional 3-RPS parallel mechanism is improved on the basis of 6-SPS mechanism or Stewart platform. It has three independent degrees of freedom, including two independent rotational degrees of freedom and one independent translational degree of freedom. By improving the 3-RPS mechanism, without changing its independent degree of freedom, the structure of the mechanism is closer to the wing section, and the solution of the special attitude motion is more convenient, so it can be applied to the adaptive wing linkage mechanism smoothly. The main work of this paper includes the following parts: (1) by analyzing and simplifying the six-degree-of-freedom platform and neglecting the sub-important degree of freedom, the 3-RPS mechanism is selected as the wing linkage mechanism. The classical 3-RPS mechanism is improved to make it closer to the wing section shape in the kinematic pair arrangement, which is suitable for various airfoils. (2) the development of parallel mechanism is introduced briefly. The inverse kinematics solution of the improved 3-RPS mechanism is derived, and its motion law is simply analyzed, so that the wing motion process of the mechanism as a linkage mechanism is fully understood. Then it is helpful for trajectory planning according to the actual motion effect. (3) by comparing the advantages and disadvantages of several realization methods, the implementation scheme of parallel mechanism is selected, and the physical model is made. The motion effect is verified by manual adjustment. (4) an adaptive wing measurement and control system with good visibility is developed by using NI Labview visual programming software and peripheral equipment. The whole electronic control design makes the optimization of the system upgrade simple and feasible. (5) the geometric parameters of the structure are optimized based on the workspace and the load bearing of the system is considered. The structural parts are optimized. According to the optimization results, a new design scheme is proposed.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：V224;TH112

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