卡尔曼滤波在某跨声速风洞CTS机构连续动态轨迹捕获试验技术中的应用

外挂物分离轨迹捕获技术是世界上一种先进而且难度较大的风洞试验技术,国内某跨声速风洞捕获轨迹试验装置(CTS)首次对连续动态轨迹捕获实验技术进行了研究。本文首先介绍了该跨声速风洞CTS机构动态轨迹的预测方法,随后对该机构连续动态轨迹同步控制方法的具体实现步骤进行了较为详细的描述,分别介绍了无缓冲和有缓冲的动态轨迹连续同步控制过程及约束条件;在此基础上,针对CTS机构天平信号硬件滤波滞后和精度要求间矛盾的现实,引入泰勒中值定理,建立卡尔曼滤波(KF)模型,选取适当参数,对天平信号进行动态实时滤波处理,并与传统的位置控制方式进行吹风试验比较。试验结果表明:卡尔曼滤波较好地平衡了CTS机构天平信号硬件滤波滞后和精度要求之间的矛盾,且分离轨迹的重复性得到了验证,机构风洞吹风试验的效率也大为提高。

Application of Kalman filtering in continuous dynamic traj ectory simulation technique of the captive traj ectory system used in a transonic wind tunnel

The flying traj ectory simulation of the store after being separated from the mother plane is an advanced and difficult technique in wind tunnel test.In this paper,the continuous dy-namic traj ectory simulation technique is studied in the Captive Traj ectory System (CTS)used in a transonic wind tunnel.This paper initially introduces the dynamic trajectory predicting principle. Then,the specific steps of the coordinated control method of continuous dynamic trajectory simu-lation are amply described.The algorithm and constraint condition of the coordinated control and the buffering coordinated control are also discussed.Finally,the Taylor mean value theorem is applied to build a Kalman filtering model to resolve the conflict between filtering delay and accu-racy requirements.After choosing appropriate parameter,the Kalman filtering is used to process the balance signal dynamically and in real time,and the comparison between the continuous dy-namic control process and the move-and-stop control process is carried out.The wind tunnel CTS test result shows that the Kalman filtering can reduce the signal fluctuation greatly,meet the re-al-time requirements of CTS,and dynamic separation trajectory of the continuous dynamic con-trol process metches well with the one of the move-and-stop cortrol,while the wind tunnel CTS test efficiency has also been considerably improved.