CN112378558B - Method for measuring eccentric moment of servo platform - Google Patents
Method for measuring eccentric moment of servo platform Download PDFInfo
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- CN112378558B CN112378558B CN202011004796.XA CN202011004796A CN112378558B CN 112378558 B CN112378558 B CN 112378558B CN 202011004796 A CN202011004796 A CN 202011004796A CN 112378558 B CN112378558 B CN 112378558B
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- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
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Abstract
The invention provides a method for measuring the eccentric moment of a servo platform, which can accurately, quickly and directly measure the eccentric moment of the servo platform. The eccentric moment of the servo platform is changed from the original mechanical rough measurement method to an electrical control measurement method, so that the moment at the symmetrical point can be accurately and quickly calculated, and accurate and quick measurement is realized; after the assembled servo platform is in butt joint with the control module, the eccentric moment is accurately and rapidly measured by electrifying, the conventional indirect equivalent repeated measurement method is omitted, and the method is labor-saving, trouble-saving and time-saving. The control module can upload the angles and the eccentric moments at the symmetrical points to an upper computer through serial port communication, so that the visualization of the moments is realized; the method for controlling and measuring the moment by the single closed loop of the position is applicable to any seeker servo platform provided with a position sensor, realizes visualization and has strong universality.
Description
Technical Field
The invention belongs to the technical field of servo control, and particularly relates to a method for measuring an eccentric moment of a servo platform.
Background
The seeker servo platform can bear different types of loads, but the center of mass of the servo platform is not on the axis of the moving ring due to machining or installation errors; the eccentricity of the mass enables the servo platform to be interfered by unbalanced moment in working, so that the servo precision is greatly reduced, normal working is influenced, the eccentric moment needs to be measured before the servo platform works structurally, and whether the servo platform is qualified or not is judged.
The traditional seeker servo platform eccentric moment measuring method is roughly divided into two types: a strain gauge type pressure sensor measuring method and a spring dynamometer measuring method; the two measurement methods are both rough, indirect and equivalent mechanical measurement methods, the average eccentric moment is obtained by manually measuring statistical data for multiple times, labor, time and labor are wasted, the precision error is large, and the qualification rate judgment of the servo platform is seriously influenced.
The existing guide head for high-precision guidance provides urgent requirements for a method for accurately, quickly and directly measuring the eccentric moment of a servo platform.
Disclosure of Invention
In order to solve the problems, the invention provides a method for measuring the eccentric moment of a servo platform, which can accurately, quickly and directly measure the eccentric moment of the servo platform.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the invention discloses a method for measuring the eccentric moment of a servo platform, which comprises the following steps:
constructing a position single closed-loop control loop, and designing a constant speed converter to convert the position deviation into an adjustable constant speed position deviation for single closed-loop pre-positioning;
after the angle deviation passes through the constant speed converter, the angle deviation and the actual position fed back by the position sensor are subjected to deviation single closed loop design;
after the servo platform is electrified, the photoelastic axis included angle of the servo platform is enabled to be zero;
after the upper computer sends a 'start' command, the servo platform carries out pre-positioning of angles of symmetrical sampling points near the zero position of the photoelastic shaft, simultaneously records motor driving voltages at the symmetrical sampling points, calculates the eccentric moment of the current symmetrical sampling points according to a moment balance relation, and uploads the angles of the symmetrical points and the corresponding eccentric moment to the upper computer;
and the upper computer receives the moment of the symmetric point to perform difference, and compares the difference result with a qualified index criterion to give a judgment result of the assembly of the servo platform.
When the single closed loop design of the deviation is carried out with the actual position fed back by the position sensor, the index debugging of the position loop is carried out by adopting amplitude limiting, a PI controller and a correction link.
Wherein, the mode that makes servo platform's photoelastic axle contained angle be zero is:
photoelastic shaft included angle theta of platform at the moment is calibrated by photoelastic shaft zero position testing instrument0Subtracting theta from the upper computer0And realizing zero correction.
After the photoelastic shaft zero calibration of the servo platform is carried out, an arbitrary sampling point angle is selected for carrying out symmetrical pre-positioning, the current driving voltage is automatically recorded, and the current eccentric moment is solved according to the moment balance principle.
And the symmetrical sampling point angles and the corresponding torque are uploaded to an upper computer through serial port communication, so that the visualization of the torque is realized.
Has the advantages that:
the eccentric moment of the servo platform is changed from the original mechanical rough measurement method to an electrical control measurement method, so that the moment at the symmetrical point can be accurately and quickly calculated, and accurate and quick measurement is realized; after the assembled servo platform is in butt joint with the control module, the eccentric moment is accurately and rapidly measured by electrifying, the conventional indirect equivalent repeated measurement method is omitted, and the method is labor-saving, trouble-saving and time-saving.
The control module can upload the angles and the eccentric moments at the symmetrical points to an upper computer through serial port communication, so that the visualization of the moments is realized; the method for controlling and measuring the moment by the single closed loop of the position is applicable to any seeker servo platform provided with a position sensor, realizes visualization and has strong universality.
Drawings
FIG. 1 is a schematic diagram of the electrical connection of the present invention.
FIG. 2 is a schematic diagram of a control module according to the present invention.
FIG. 3 is a schematic diagram of a single closed loop control loop according to the present invention.
Fig. 4 is a schematic diagram of a constant speed converter of the present invention.
Detailed Description
In order to make the technical solution of the present invention better understood, the technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
The method for measuring the eccentric moment of the servo platform comprises the steps of constructing a position single closed loop control circuit, pre-positioning to symmetrical sampling points at a constant speed by a position loop near the zero position of a photoelastic shaft, recording corresponding driving voltages at the sampling points, calculating corresponding eccentric moments according to a moment balance relation and the characteristics of a motor, and reporting sampling point angles and corresponding moments through serial port communication. The method can accurately and quickly measure the eccentric moment at the sampling point of the servo platform, breaks through the traditional equivalent and mechanical measuring method, and realizes the moment measurement at the visual sampling point. The problem that accurate and symmetrical torque measurement and repeated measurement near the zero position of the photoelastic shaft cannot be guaranteed after the conventional servo platform is assembled is solved, and the qualification rate of roughly judging the assembly of the servo platform in the prior art is improved.
Fig. 1 shows an electrical connection diagram, in which a seeker servo platform includes a motion frame, a torque motor, a coaxially mounted position sensor, a control module, an upper computer, and other main parts;
the method comprises the following specific implementation steps:
step 1, firstly, carrying out electrical connection of communication of a torque motor, a position sensor, a control module and an upper computer, specifically, according to the scheme shown in fig. 1, butting the assembled servo platform with the control module, and connecting the servo platform with the upper computer in a communication manner; the control module comprises a main controller, a power amplifier module, an angle acquisition module and a serial communication part, which are shown in a dotted line frame in fig. 2, and fig. 2 is a schematic diagram of the control module, wherein the main controller mainly completes the resolving of angle information, the programming of a single closed loop of a position, the prepositioning of symmetrical sampling points, the resolving of torque and the serial communication; the power amplification module executes the main command to complete the driving of the motor; the angle acquisition module is mainly used for completing data acquisition of the angle sensor; the serial port communication mainly completes the communication function of the master controller and the upper computer;
step 2, carrying out programming according to the schematic diagram of the single closed-loop control loop at the position shown in FIG. 3; the position single closed-loop module consists of a constant-speed converter, an amplitude limiting device, a PI controller, a correction link and other main parts; the constant speed converter is shown in fig. 4 and is formed by connecting amplitude limiting, speed setting and an integrator in series; the predetermined position angle deviation ess is subjected to amplitude limiting with the amplitude value of 1, the size is set according to the set constant speed omega DEG/s, unit negative feedback is carried out through the set speed deviation integral, and the constant-speed position deviation ess0 conversion processing of the predetermined position deviation ess is realized; the position deviation ess0 is subjected to difference processing with the current position angle theta, amplitude limiting with the amplitude of 1 is carried out in the same way, and adjustment is carried out through a PI controller; the correction link is composed of a first-order integration link and a differentiation link, and the time constant of the differentiation link is greater than that of the integration link; thereby completing the programming of the position single closed loop control loop;
step 3, after the servo platform is electrified, a photoelastic shaft zero position testing instrument is used for calibrating the photoelastic shaft included angle theta of the platform at the moment0Subtracting theta by zero correction of included angle of photoelastic shaft of upper computer0Making the included angle of the photoelastic axis of the servo platform zero;
step 4, after the photoelastic shaft included angle of the servo platform is marked as zero, the upper computer sends a 'start' command, the servo platform conducts angle symmetry sampling points theta + and theta-prepositioning near the photoelastic shaft zero position, meanwhile, motor driving voltages V + and V-at the sampling points theta + and theta-are recorded, and the relation between motor torque T and voltage u meets the formula T ═ k × u-2Wherein the constant k is 1.732 cos phi 9.549/Rn; wherein cos phi is the power coefficient of the motor, and the value is generally 0.9; r is the internal resistance of the motor; n is the motor rotation speed, and n is a constant value because the angular rate is set to be omega DEG/s constant speed; and according to the moment balance relation T (Te), wherein Te is the eccentric moment of the servo platform, the eccentric moment of the current symmetrical sampling point is calculated, and the angle values theta +, theta-at the sampling point and the corresponding eccentric moments Te +, Te-are uploaded to an upper computer through serial port communication.
And 5, the upper computer receives the moment of the symmetric point to perform difference making, and compares the difference making result with a qualified index criterion to obtain a judgment result of the assembly of the servo platform.
In summary, the method for measuring the eccentric moment of the servo platform of the invention constructs a position single closed loop control circuit, designs a constant speed converter to convert the position deviation into an adjustable constant speed position deviation to carry out single closed loop pre-positioning, and improves the rapidity of the test. After the angle deviation passes through the constant-speed converter, the angle deviation and the actual position fed back by the position sensor are subjected to deviation single closed loop design, and the index debugging of a position loop is performed by adopting an amplitude limiting unit, a PI controller and a correction link, so that the precision of a pre-positioning loop is improved, and the overshoot is reduced; after the servo platform is assembled, a photoelastic shaft zero position testing instrument is used for calibrating the photoelastic shaft included angle theta of the platform at the moment0Zero correction can be performed through an upper computer interface; after the photoelastic shaft zero calibration of the servo platform, any sampling point angle can be selected for symmetrical pre-positioning, the current driving voltage is automatically recorded, and the current driving voltage is automatically recorded according to the torqueAnd solving the current eccentric moment according to the balance principle.
In addition, the symmetrical sampling point angles and the corresponding torque can be uploaded to an upper computer through serial port communication, and the visualization of the torque is realized.
Through the reasonable position single closed-loop control loop design, the measurement of the eccentric moment of the servo platform can be rapidly and accurately realized, and the qualification judgment of the eccentric moment of the servo platform is visualized.
The present invention is capable of other embodiments, and various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the invention.
Claims (5)
1. A method for measuring the eccentric moment of a servo platform is characterized by comprising the following steps:
firstly, carrying out electrical connection of the torque motor, the position sensor, the control module and the upper computer in a communication manner, butting the assembled servo platform with the control module, and connecting the servo platform with the upper computer in a communication manner to construct a position single closed-loop control loop; the seeker servo platform comprises a motion frame, a torque motor, a coaxially mounted position sensor, a control module and an upper computer; the control module comprises a main controller, a power amplifier module, an angle acquisition module and a serial communication part, wherein the main controller is used for completing angle information calculation, position single closed loop program design, symmetrical sampling point pre-positioning and torque calculation and serial communication; the power amplification module executes the main command to complete the driving of the motor; the angle acquisition module finishes data acquisition of the angle sensor; the serial port communication completes the communication function of the master controller and the upper computer;
designing a constant speed converter to convert the position deviation into an adjustable constant speed position deviation for single closed loop pre-positioning;
after the position deviation passes through the constant speed converter, performing deviation single closed loop design with an actual position fed back by the position sensor;
after the servo platform is electrified, the photoelastic axis included angle of the servo platform is enabled to be zero;
after the upper computer sends a 'start' command, the servo platform carries out pre-positioning of angles of symmetrical sampling points near the zero position of the photoelastic shaft, simultaneously records motor driving voltages at the symmetrical sampling points, calculates the eccentric moment of the current symmetrical sampling points according to a moment balance relation, and uploads the angles of the symmetrical points and the corresponding eccentric moment to the upper computer;
and the upper computer receives the moment of the symmetric point to perform difference, and compares the difference result with a qualified index criterion to give a judgment result of the assembly of the servo platform.
2. The method for measuring the eccentric moment of the servo platform as claimed in claim 1, wherein when the design of the deviation single closed loop is performed with the actual position fed back by the position sensor, the index debugging of the position loop is performed by using an amplitude limit, a PI controller and a correction link.
3. The method for measuring the eccentric moment of the servo platform as claimed in claim 1, wherein the way of making the photoelastic axis angle of the servo platform zero is:
photoelastic shaft included angle theta of platform at the moment is calibrated by photoelastic shaft zero position testing instrument0Subtracting theta from the upper computer0And realizing zero correction.
4. The method for measuring the eccentric moment of the servo platform as claimed in claim 1, wherein after the servo platform photoelastic shaft zero calibration, an arbitrary sampling point angle is selected for symmetrical pre-positioning, the current driving voltage is automatically recorded, and the current eccentric moment is calculated according to the moment balance principle.
5. The method for measuring the eccentric torque of the servo platform as claimed in claim 4, wherein the symmetrical sampling point angles and the corresponding torque are uploaded to an upper computer through serial port communication, so that the visualization of the torque is realized.
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