Study on Multi-motor Distributed Driving System of Morphing Wing with Flexible Skin
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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°。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.
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Key words:
- morphing wing /
- trailing edge /
- multi-motor driving system /
- relative coupling control
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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 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/(°) 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 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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