For the big angle attack device of 4mX3m low -speed wind tunnel, the attack angle device a change is realizes through the triangle link block organization, realizes angle of attack Alpha uniform speed revolving is a misalignment speed control process. In order to guarantee the blocking in realizes the angle of attack Alpha and in the angle of slide Beta pinpointing process, according to the request angular speed uniform speed rotation, and guaranteed that the model center does not deviate in the rotation process the wind tunnel center, this article, in the angle of attack Alpha organization, the angle of slide Beta organization, Y to the elevating mechanism, Z carry on the comprehensive mathematical analysis to the crosswise translation organization speed and the potential motion relations in the foundation, has conducted the deep research to the multiple spindle linkage speed and the position control method, finally uses the control hypothesized kingbolt, Alpha, Beta, y, the z organization position follow.%4m×3m低速风洞大迎角支撑装置迎角α的变化是通过三角连杆滑块机构实现的,实现迎角α匀速旋转是一个非线性速度控制过程；为了保证支撑装置在实现迎角α和侧滑角β精确定位过程中,按照要求的角速度匀速转动,并保证在转动过程中模型中心不偏离风洞轴线,文章在对迎角α机构、侧滑角β机构、Y向升降机构、Z向横向平移机构速度和位置运动关系进行全面数学分析的基础上,对多轴联动速度和位置控制方法进行了探入研究,最后采用控制虚拟旋转主轴,α、β、y、z机构位置随动的方法,解决了三角连杆滑块机构实现迎角α高精度匀速旋转和滑角β、Y横向和Z纵向机构高精度位置随动控制,实现了模型姿态角匀速转动的同时模型中心偏离风洞轴线小于1mm目标精度.
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