To achieve closed-loop and real-time flight control experiment on the wind-driven dynamic simulation experimental platform at the same time, firstly,it needs to solve the inverse problem of the parallel mechanism, and then to couple the relationship between parallel and series. Based on the analysis of the movement of the hybrid institutions, the dynamics of the institution is further analyzed and based on the Newton iterative method,the Matlab of mathematical tools is used to build the positive solution of the model,then by changing the parallel institution's structure parameters, the simple so ution of the parallel's location of the pros and cons is obtained, and the relationship of parallel and serial the coordination of the equations is offered ,then all of the series and parallel are made together.%风洞实验平台要在动态模拟飞行实验的同时实现闭环实时控制,首先需要解决的是并联机构正反解问题,其次是并联部分与串联部分的耦合关系.在混联机构运动分析的基础上,可以进一步分析机构的动力学特性.在牛顿修正迭代法的基础上,利用Matlab数学工具,建立机构的正反解模型,并通过改变混联机构的位置参数,可以得到并联部分相应的位置正反解,并推出并联与串联之间的配合关系的方程组,将并联部分和串联部分统一起来.
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