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DOI:
飞控与探测:2019,(4):83-88
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轴对称推力矢量控制伺服机构空间运动解耦研究
(北京自动化控制设备研究所)
Research on Space Motion Decoupling of Axisymmetric Thrust Vector Control Servomechanism
(Beijing Institute of Automatic Control Equipment)
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中文摘要: 针对由发动机摆动喷管矢量控制的两个伺服机构间的牵连效应导致的伺服机构运动耦合问题,提出了一种新型空间解耦计算方法。该方法利用欧拉角描述喷管姿态,通过空间齐次坐标变换矩阵原理对两路喷管伺服机构进行解耦计算,得到了两路伺服机构的伸长量解析解,确保了控制指令的精确,并通过ADAMS虚拟样机仿真验证了该计算方法的正确性。仿真实验结果表明,此计算方法与虚拟样机的仿真结果完全吻合,计算精度高,可以对喷管任意姿态进行运动精确控制。
中文关键词: 推力矢量;运动耦合;欧拉角;齐次坐标变换;虚拟样机仿真
Abstract:In view of the problem of servomechanism motion analysis caused by the two servomechanisms implicated effect of the engine oscillating nozzle vector control, a new space decoupling calculation method is proposed. The method uses Euler's angle to describe nozzle posture, calculates the decoupling of two-channel nozzle servo mechanism by the principle of spatial homogeneous coordinate transformation matrix, then obtains the analytic solution of elongation of two-channel servo mechanism, which ensures the precision of control instruction. The correctness of the proposed method is verified by the virtual prototype simulation of ADAMS. The result shows that the method is in perfect agreement with the simulation results of virtual prototyping, and the precision of calculation is high, which can realize accurate motion control of the nozzle at any pitch or yaw.
keywords: thrust vector; motion coupling; euler angle; homogeneous coordinate transformation; virtual prototype simulation
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基金项目:国家自然基金(51777013);国家自然科学青年基金(61603051)
作者单位
刘 海 北京自动化控制设备研究所 
张新华 北京自动化控制设备研究所 
段小帅 北京自动化控制设备研究所 
肖中卓 北京自动化控制设备研究所 
周 围 北京自动化控制设备研究所 
霍希建 北京自动化控制设备研究所 
Author NameAffiliation
LIU Hai Beijing Institute of Automatic Control Equipment 
ZHANG Xinhua Beijing Institute of Automatic Control Equipment 
DUAN Xiaoshuai Beijing Institute of Automatic Control Equipment 
XIAO Zhongzhuo Beijing Institute of Automatic Control Equipment 
ZHOU Wei Beijing Institute of Automatic Control Equipment 
HUO Xijian Beijing Institute of Automatic Control Equipment 
引用文本:
刘 海,张新华,段小帅,肖中卓,周 围,霍希建.轴对称推力矢量控制伺服机构空间运动解耦研究[J].飞控与探测,2019,(4):83-88.

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