Analysis on inverse kinematics of the three rings supporting and driving axialsymmetric vectoring exhaust nozzle
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摘要: 针对某三环驱动轴对称推力矢量喷管,将喷管驱动结构分解为三个子模块,应用空间机构位置分析法、解析几何法、坐标转换法分别对上、中、下子模块进行分析,建立了完整的喷管驱动机构逆运动学模型,利用实体实验与仿真测试相结合的方法验证了喷管结构设计的合理性和所建模型用于喷管控制的有效性。所建模型准确率达到98%,为下一步喷管优化设计及控制器的研发提供了一定的理论基础。
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关键词:
- 三环驱动轴对称矢量喷管 /
- 逆运动学 /
- 建模 /
- 空间机构位置分析法 /
- 喉道面积
Abstract: The three rings supporting and driving axialsymmetric vectoring exhaust nozzle mechanism was divided into three submodules. Spatial position analysis method, analytic geometry, and coordinate transformation method were applied to analyze the upper, middle and lower modules. A complete inverse kinematics model of axialsymmetric vectoring exhaust nozzle was established by each submodules. The experiment and computer simulation results showed that the mechanics design was reasonable and kinematics modeling was effective, the accuracy of the result was 98%, providing an important reference for the optimization design and control of the three rings supporting and driving axialsymmetric vectoring exhaust nozzles. -
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