Attitude Control of a Three-Cable-Driven Parallel Robot for Full-Mode Chattering Wind Tunnel Tests
Lei Zhan, Qi Lin, Weiyao Lan · 2024
The purpose of this paper is to propose a kinematic attitude control method for the support system of wind tunnel full-mode flutter experiments. The support system discussed in this paper is a two-spring-three-Cable-driven parallel robot system (2S-3CDPRs). The paper utilizes the PID control strategy to achieve the desired attitude control. To begin, the paper establishes the kinematics and dynamics model of the aircraft model using the vector closure principle and Newton-Euler method. The mechanical system is then modeled using ADAMS software. The next step involves performing joint Simulink simulations with PID control to evaluate the effectiveness of the proposed method. Finally, the paper conducts experiments using a motion control card and applies Attitude and Heading Reference Systems (AHRS) to monitor the real-time attitude of the model. This step aims to further validate the practicality and excellent performance of the PID control method in adjusting the attitude of the support system. In summary, this paper presents a PID control-based kinematic attitude control method for the wind tunnel support system. The proposed method is evaluated through simulations and experiments, demonstrating its effectiveness and practical application in the context of the 2S-3CDPRs.