低速风洞层流风场中WDPSS-8机器人系统索系流固耦合效应的动静力特性分析

中国机械工程 ›› 2013, Vol. 24 ›› Issue (13): 1765-1772.

低速风洞层流风场中WDPSS-8机器人系统索系流固耦合效应的动静力特性分析

郑亚青;焦少妮;杨永柏

华侨大学，厦门，361021

出版日期:2013-07-10 发布日期:2013-07-11
基金资助:
国家自然科学基金资助项目(50805054)
National Natural Science Foundation of China（No. 50805054）

Analysis of Dynamic and Static Properties of Fluid-structure Interaction for Wires of #br# WDPSS-8 Robotic System in Streamline Flow Field of Low-speed Wind Tunnels

Zheng Yaqing;Jiao Shaoni;Yang Yongbai

Huaqiao University,Xiamen,Fujian,361021

Online:2013-07-10 Published:2013-07-11
Supported by:
National Natural Science Foundation of China（No. 50805054）

摘要/Abstract

摘要：

由于绳索存在柔性，导致低速风洞绳牵引并联支撑系统飞行器模型在进行静态实验时存在索系风振耦合行为，从而引起末端位姿偏离既定值，为了对位姿偏离进行实时补偿，以WDPSS-8机器人系统为研究对象，假设索系处于线弹性范围之内且受一定的轴向拉力，基于ANSYS/CFX软件，研究逐个末端位姿所对应的索系在风速为35m/s的层流风场作用下所表现出的考虑双向流固耦合效应的动静力特性。结果表明：索系支撑系统的气动干扰有望比传统硬式支撑系统的气动干扰小得多;吹风时索系会产生顺风向弯曲的复杂三维振动而导致末端位姿产生变化，除了必须实时在线补偿这种位姿变化外，还要解决随模型位姿改变的索系振动抑制问题和模型与索系连接点处的流动控制问题;同时由于索系内应力也会产生变化，即使有索系减振措施，通过测量绳拉力来获取气动力/力矩的方式也是不可行的。

关键词: 低速风洞, 静态实验, 绳牵引并联机器人, 索系, 双向流固耦合

Abstract:

The flexibility of wires in a wire-driven parallel suspension system for low-speed wind tunnels at the static experiments of the vehicle model will lead to the coupled behavior of wind-induced vibrations of wires which will make the posture of the end-effector deviate the desired values. In order to implement real-time compensation of the deviations of the postures, in terms of the WDPSS-8 system, dynamic and static properties of two-way coupled fluid-structure interaction for wires in the streamline flow with the wind speed of 35 meters per second were investigated on the basis of ANSYS/CFX software. The investigations were finished when the attitude angles of the vehicle model were changed one by one, under the assumption that wires were satisfied with the theory of linear elasticity and subjected to axial tensions. The results show that it is expectable that there exists much less aerodynamic interference of wires compared with that of traditional strut support; however the changeable values of the postures of the end-effecor should be calibrated by real-time compensation owing to 3-dimensional complicated vibrations of wires with the bending along the wind.In addition the vibration suppression of wires as well as flow control of the connections between the vehicle model and wires should be given; at the same time, since the axial stress of wires will change as well, the acquirement of aerodynamic forces/torques by measuring the tension of wires is not feasible.

Key words: low-speed, static experiment, wire-driven parallel robot, wires, two-way coupled fluid-structure interaction

中图分类号:

TH112
V260

郑亚青, 焦少妮, 杨永柏. 低速风洞层流风场中WDPSS-8机器人系统索系流固耦合效应的动静力特性分析[J]. 中国机械工程, 2013, 24(13): 1765-1772.

ZHENG E-Jing, JIAO Shao-Ni, YANG Yong-Bai. Analysis of Dynamic and Static Properties of Fluid-structure Interaction for Wires of #br# WDPSS-8 Robotic System in Streamline Flow Field of Low-speed Wind Tunnels[J]. China Mechanical Engineering, 2013, 24(13): 1765-1772.

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