Design Method and Control Strategy for Inclined Plane Deflection Mechanism Based on Trajectory Optimization Approach

To meet the requirements of yaw, folding, and deformation of aircraft, an inclined plane yaw mechanism based on multiple clutches and single motor is proposed. The mechanism can realize the whole rotation or the separate body can rotate along the inclined plane to realize the yaw, with a total of two degrees of freedom, and the motion range is all-round rotation and a certain Angle yaw. In this paper, the trajectory error is minimized by mechanism design and control strategy, aiming at the nonlinearity of trajectory in the course of deflection. In this paper, starting from the demand of target yaw, the kinematic model will be established, the key parameters will be solved, the structural design will be improved according to the calculated parameters, the feedforward control algorithm will be added, and finally, the simulation analysis and experimental verification will be carried out to form a directional yaw method.