Method and system for determining motor control scheme of wind tunnel capture trajectory test parallel mechanism
The embodiment of the invention provides a wind tunnel capture trajectory test parallel mechanism motor control scheme determination method, which comprises the following steps: establishing a wind tunnel capture trajectory test parallel mechanism coordinate system, determining coordinates of each m...
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Format: | Patent |
Sprache: | chi ; eng |
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Zusammenfassung: | The embodiment of the invention provides a wind tunnel capture trajectory test parallel mechanism motor control scheme determination method, which comprises the following steps: establishing a wind tunnel capture trajectory test parallel mechanism coordinate system, determining coordinates of each movable Hooke hinge center point under a movable platform coordinate system and a static platform coordinate system according to the mechanical structure size of a movable platform, and determining a wind tunnel capture trajectory test parallel mechanism motor control scheme. Determining the target pose of the external store under the coordinate system of the static platform, determining the displacement of the central point of the static hook hinge through calculation of the distance between two spatial points, and solving the displacement of the motor through proportional operation; solving the running speed of each motor according to the displacement speed and Euler angular speed required by the external store; c |
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