柔性蒙皮变体机翼多电机分布式驱动系统研究

随涛; 徐志伟

doi:10.13433/j.cnki.1003-8728.20220096

柔性蒙皮变体机翼多电机分布式驱动系统研究

doi: 10.13433/j.cnki.1003-8728.20220096

随涛,
徐志伟^,

南京航空航天大学机械结构力学与控制国家重点实验室，南京　210016

详细信息

作者简介:
随涛（1997−），硕士研究生，研究方向为变体机翼驱动技术，t.sui@foxmail.com

通讯作者:
徐志伟，教授，博士生导师，zhwxu@nuaa.edu.cn

中图分类号: V249.122TP237
计量
- 文章访问数: 89
- HTML全文浏览量: 38
- PDF下载量: 14
- 被引次数: 0
出版历程
- 收稿日期: 2021-08-03
- 刊出日期: 2023-09-30

Study on Multi-motor Distributed Driving System of Morphing Wing with Flexible Skin

SUI Tao,
XU Zhiwei^,

State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

摘要

摘要: 针对可变弯度柔性波纹蒙皮后缘模型结构，采用了多电机驱动技术，设计并制备了机翼模型、驱动及测控系统；采用改进的偏差耦合算法，实现了驱动系统中3台电机的角度同步控制；完成了系统软、硬件的设计，并对后缘结构模型驱动系统进行了空载、地面加载及风洞等多组实验研究，结果表明：测控系统可以实时控制电机间的角度偏差在允许的误差范围内，在有无载荷情况下驱动系统工作无显著差异；承受风洞载荷情况下，柔性后缘结构偏转速度可达1.7 °/s，超调量小于0.3°，电机启动阶段角度差小于20°，匀速运行阶段角度差小于10°。
- 自适应机翼 /
- 变弯度机翼 /
- 多电机驱动系统 /
- 偏差耦合控制
Abstract: In this paper, a morphing trailing edge model with corrugate flexible skin is selected as an object and the multi-motor driving system is adopted to achieve the morphing operation. The model is designed, manufactured and assembled. The corresponding driving, measurement and control system are also built. Subsequently, the improved relative coupling algorithm is selected to achieve angle synchronization control of three motors in the driving system. The design of software and hardware system has been completed. The deflection experiments of trailing edge have been carried out with no-load, ground load and wind tunnel load respectively. The testing results show that the measurement and control system can keep the deflection angle error of trailing edge within an allowable error range. There is no significant difference in the operation of the driving system with or without load. In the wind tunnel test, the deflection speed of the flexible trailing edge can reach 1.7 °/s, the overshoot is below 0.3°, the deflection angle error is below 20° in the startup phase and below 10° in the constant speed stage.
- morphing wing /
- trailing edge /
- multi-motor driving system /
- relative coupling control

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图 1 多电机驱动后缘结构模型

Figure 1. The model of trailing edge structure driven by multiple motors

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图 2 偏差耦合同步控制系统框图

Figure 2. Diagram of the deviation-coupled synchronous control system

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图 3 采用固定补偿系数的补偿器1

Figure 3. Compensator 1 with fixed compensation coefficient

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图 4 采用模糊PI的补偿器1

Figure 4. Compensator 1 with fuzzy PI control

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图 5 补偿器对同步性能的影响

Figure 5. The influence of the compensator on synchronization performance

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图 6 控制系统框图

Figure 6. Control system diagram

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图 7 风动外控制系统实物图

Figure 7. Physical diagram of the wind-driven external control system

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图 8 测控过程软件流程图

Figure 8. Software flowchart for the measurement and control process

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图 9 空载电机同步实验曲线

Figure 9. The synchronization experiment curve of the unloaded motor

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图 10 后缘结构装配图

Figure 10. Assembly diagram of the trailing edge structure

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图 11 柔性后缘变形效果图

Figure 11. The effect of flexible trailing edge deformation

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图 12 后缘结构偏转实验曲线

Figure 12. Experimental curve of trailing edge structure deflection

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图 13 低速风载下后缘结构偏转测试曲线

Figure 13. Test curve of trailing edge structure deflection under low-speed wind load

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表 1 数据采集卡参数

Table 1. Data acquisition card parameters

参数	PCI-6602	PCI-6220
计数器个数	8（32 bits）	2（32 bits）
时钟频率	80 MHz	80 MHz
模拟通道数	−	16（16 bits, 250 kS/s）
模拟输入范围	−	± 10 V

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表 2 设定转速不同时的电机实验结果

Table 2. Experimental results for motors at different set speeds

电机设定转速/ (r·min⁻¹)	最大角度差/（°）
电机设定转速/ (r·min⁻¹)	启动阶段	匀速阶段
500	0.7	0.5
1000	0.7	0.6
2000	1.1	0.4
3000	1.6	0.5

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表 3 不同攻角后缘结构下偏测试结果

Table 3. Test results for deflection under different attack angles for the trailing edge structure (°)

机翼攻角	后缘超调量	启动阶段最大角度差	匀速阶段最大角度差
0	0.10	7.49	6.72
6	0.09	15.41	9.82
10	0.29	15.60	6.47
12	0.05	10.94	8.03

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