CN101813542B - Device and method for automatically adjusting loaded mass center of platform surface of single-shaft air floatation rotating platform - Google Patents
Device and method for automatically adjusting loaded mass center of platform surface of single-shaft air floatation rotating platform Download PDFInfo
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- CN101813542B CN101813542B CN2010101542428A CN201010154242A CN101813542B CN 101813542 B CN101813542 B CN 101813542B CN 2010101542428 A CN2010101542428 A CN 2010101542428A CN 201010154242 A CN201010154242 A CN 201010154242A CN 101813542 B CN101813542 B CN 101813542B
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Abstract
The invention discloses a device and a method for automatically adjusting a loaded mass center of a platform surface of a single-shaft air floatation rotating platform and relates to a device and a method for adjusting a loaded mass center of a platform surface of a single-shaft air floatation rotating platform. The invention solves the problems of low adjusting efficiency and low accuracy of adjusting results of the traditional method for manually adjusting the loaded mass center of the platform surface of the single-shaft air floatation rotating platform. Four mass adjusting devices of the device are uniformly distributed and fixed at the edge of the air floatation rotating platform; a guide rail is disposed on each mass adjusting bracket; stepping motors fixed at one end of the guide rail drive a mass block to slide along the guide rail; the signal output end of an electronic level meter is connected with the signal input end of a control module; and the drive signal output end of the control module is connected with the drive signal input end of each stepping motor. In the method, the electronic level meter acquires and inputs platform surface levelness to the control module; and the control module drives four stepping motors to adjust the loaded mass center on the platform surface to be superposed with the center of the platform surface. The invention is suitable for adjusting the loaded mass center of the platform surface of the single-shaft air floatation rotating platform.
Description
Technical field
The present invention relates to the device and method of adjustment barycenter behind a kind of single shaft air-float turntable table top plus load.
Background technology
The spacecraft control semi-physical simulation is distinctive a kind of emulation mode in the development spacecraft process, and the semi-physical simulation environment that it utilizes air-float turntable to build as motion simulator and bound fraction material object carries out the simulating, verifying of control system scheme.The single shaft air-float turntable forms air film through pressurized air between air-bearing and bearing seat float in the air table top; Realize that approximate friction free relatively rotates between air-float turntable table top and the stage body; Thereby Simulated Spacecraft is the very little mechanical environment of suffered disturbance torque in the outer space, and then utilizes the attitude motion of the rotation simulation rigid body spacecraft of air-float turntable table top on the ground.
In spacecraft semi-physical simulation based on the single shaft air-float turntable; In order to reduce the friction between table top and the stage body; Often need carry out rational deployment, also need add evenly distribute the to reach quality purpose of (center of area that is table top overlaps with barycenter) of counterweight in case of necessity the material object on the table top.At present, manual mode is adopted in the adjustment of single shaft air-float turntable table top barycenter mostly, and rule of thumb making repeated attempts makes friction force be controlled within the scope of permission, needs the cost plenty of time, and adjustment efficient is low, degree of accuracy is low as a result in adjustment.
Summary of the invention
The present invention is, adjustment low for the method adjustment efficient that solves the barycenter behind the existing employing manual mode adjustment single shaft air-float turntable table top plus load low problem of degree of accuracy as a result, thereby a kind of device and method of single shaft air-float turntable table top plus load automatically adjusting center of mass after is provided.
The device of single shaft air-float turntable table top plus load automatically adjusting center of mass after; It comprises the single shaft air-float turntable; It also comprises electrolevel, the quality adjusting gear that control module is identical with four, is initial point with single shaft air-float turntable table top center, is the X axle with the horizontal direction; With the vertical-horizontal direction is the Y axle, sets up plane right-angle coordinate XOY; Described four quality adjusting gears are distributed on the positive axis of negative semiaxis and Y of negative semiaxis, X of positive axis, the Y of X; And symmetry promptly is respectively the positive axis quality adjusting gear of X, the negative semiaxis quality adjusting gear of Y, the negative semiaxis quality adjusting gear of X and the positive axis quality adjusting gear of Y in twos; Said each quality adjusting gear is formed by a stepper motor, mass, conduction band and a quality adjustment support; Said each quality adjustment support all has guide rail along its axial horizontal direction; Said stepper motor is fixed on an end of the guide rail on the quality adjustment support; Mass is connected with the mover of stepper motor through conduction band, and mass is slidingly connected along the direction of motion and the guide rail of guide rail; Each quality adjustment support all is fixed on the edge of single shaft air-float turntable table top; Electrolevel and control module are fixed on the table top of single shaft air-float turntable; The signal output part of said electrolevel is connected with the signal input part of control module; Four drive signal output terminals of said control module are connected with the driving signal input of four stepper motors respectively.
Based on the method for the single shaft air-float turntable table top plus load automatically adjusting center of mass after of said apparatus, it is realized by following steps:
Levelness information on step 3, the electrolevel collection single shaft air-float turntable on the OX axle and the levelness information on the OY axle, and send to control module;
Step 4, control module are according to receiving the levelness information on the OX axle; Stepper motor in stepper motor in the positive axis quality adjusting gear of driving X and the negative semiaxis quality adjusting gear of X; Adjust the corresponding mass of said two stepper motors and slide, until single shaft air-float turntable table top level on the OX axle along guide rail;
Control module is according to receiving the levelness information on the OY axle; Stepper motor in stepper motor in the positive axis quality adjusting gear of driving Y and the negative semiaxis quality adjusting gear of Y; Adjust the corresponding mass of said two stepper motors and slide, until single shaft air-float turntable table top level on the OY axle along guide rail;
Realize that single shaft air-float turntable table top evenly distributes in the quality of OX axle and OY axle, promptly realize single shaft air-float turntable table top plus load after barycenter adjust.
The method of the control module drive stepping motor in the step 4 is: the single-chip microcomputer in the control module is according to receiving the levelness information on the OX axle; The control step motor driver, the stepper motor in stepper motor in the positive axis quality adjusting gear of driving X and the negative semiaxis quality adjusting gear of X; Single-chip microcomputer in the control module is according to receiving the levelness information on the OY axle, control step motor driver, the stepper motor in stepper motor in the positive axis quality adjusting gear of driving Y and the negative semiaxis quality adjusting gear of Y.
Beneficial effect: the present invention obtains the departure degree of the single shaft air-float turntable table top behind the plus load through electrolevel; Move to the target location through control module control step driven by motor mass, thus the automatic adjustment that the barycenter of realization plus load overlaps with the table top center of single shaft air-float turntable.The adjustment time of the present invention, adjustment efficient was high, and the adjustment effect is accurate, and cost is low less than 5 minutes.
Description of drawings
Fig. 1 is the structural representation of apparatus of the present invention; Fig. 2 is the principle schematic of control section of the present invention.
Embodiment
Embodiment one, combination Fig. 1 and Fig. 2 explain this embodiment; The device of single shaft air-float turntable table top plus load automatically adjusting center of mass after, it comprises single shaft air-float turntable 1, it also comprises electrolevel 2, the quality adjusting gear 4 that control module 3 is identical with four; With single shaft air-float turntable 1 table top center is initial point; With the horizontal direction is the X axle, is the Y axle with the vertical-horizontal direction, sets up plane right-angle coordinate XOY; Described four quality adjusting gears 4 are distributed on the positive axis of negative semiaxis and Y of negative semiaxis, X of positive axis, the Y of X; And symmetry promptly is respectively the positive axis quality adjusting gear of X, the negative semiaxis quality adjusting gear of Y, the negative semiaxis quality adjusting gear of X and the positive axis quality adjusting gear of Y in twos; Said each quality adjusting gear 4 is formed by a stepper motor 4-1, mass 4-2, conduction band and a quality adjustment support 4-3; Said each quality adjustment support 4-3 all has guide rail along its axial horizontal direction; Said stepper motor 4-1 is fixed on an end of the guide rail on the quality adjustment support 4-3; Mass 4-2 is connected with the mover of stepper motor 4-1 through conduction band, and mass 4-2 is slidingly connected along the direction of motion and the guide rail of guide rail; Each quality adjustment support 4-3 all is fixed on the edge of single shaft air-float turntable 1 table top; Electrolevel 2 is fixed on the table top of single shaft air-float turntable 1 with control module 3; The signal output part of said electrolevel 2 is connected with the signal input part of control module 3; Four drive signal output terminals of said control module 3 are connected with the driving signal input of four stepper motors respectively.
The difference of the device of embodiment two, this embodiment and embodiment one described single shaft air-float turntable table top plus load automatically adjusting center of mass after is; Control module 3 comprises single-chip microcomputer and stepper motor driver; The signal input part of said single-chip microcomputer is the signal input part of control module 3; The signal output part of single-chip microcomputer is connected with the signal input part of stepper motor driver, the drive signal output terminal that four drive signal ends of stepper motor driver are control modules 3.
In this embodiment, the working power voltage of single-chip microcomputer and stepper motor driver is+5v in the control module 3, is provided by the analogue system power supply on single shaft air-float turntable 1 table top.
The difference of the device of embodiment three, this embodiment and embodiment two described single shaft air-float turntable table top plus load automatically adjusting center of mass after is; It also comprises the RS232 bus, is connected through the RS232 bus between said electrolevel 2 and the single-chip microcomputer.
The difference of the device of embodiment four, this embodiment and embodiment three described single shaft air-float turntable table top plus load automatically adjusting center of mass after is that the model of single-chip microcomputer is the single-chip microcomputer of C8051F040.
The difference of the device of embodiment five, this embodiment and embodiment one, two, three or four described single shaft air-float turntable table top plus load automatically adjusting center of mass after is that the model of electrolevel 2 is the two-dimentional electrolevel of 2D-120.
The difference of the device of embodiment six, this embodiment and embodiment five described single shaft air-float turntable table top plus load automatically adjusting center of mass after is that the model of stepper motor 4-1 is DM3938E.
The difference of the device of embodiment seven, this embodiment and embodiment six described single shaft air-float turntable table top plus load automatically adjusting center of mass after is that the model of stepper motor driver is DMD202A.
Embodiment eight, based on the method for the single shaft air-float turntable table top plus load automatically adjusting center of mass after of the device of embodiment one described single shaft air-float turntable table top plus load automatically adjusting center of mass after, it is realized by following steps:
Levelness information on step 3, the electrolevel 2 collection single shaft air-float turntables 1 on the OX axle and the levelness information on the OY axle, and send to control module 3;
Step 4, control module 3 are according to receiving the levelness information on the OX axle; Stepper motor 4-1 in stepper motor 4-1 in the positive axis quality adjusting gear of driving X and the negative semiaxis quality adjusting gear of X; Adjust the corresponding mass 4-2 of said two stepper motor 4-1 and slide, until single shaft air-float turntable 1 table top level on the OX axle along guide rail;
Realize that single shaft air-float turntable 1 table top evenly distributes in the quality of OX axle and OY axle, promptly realize the 12 back barycenter adjustment of single shaft air-float turntable table top plus load.
The method of control module 3 drive stepping motor in the step 4 is: the single-chip microcomputer in the control module 3 is according to receiving the levelness information on the OX axle; The control step motor driver, the stepper motor 4-1 in stepper motor 4-1 in the positive axis quality adjusting gear of driving X and the negative semiaxis quality adjusting gear of X; Single-chip microcomputer in the control module 3 is according to receiving the levelness information on the OY axle, control step motor driver, the stepper motor 4-1 in stepper motor 4-1 in the positive axis quality adjusting gear of driving Y and the negative semiaxis quality adjusting gear of Y.
In this embodiment, according to the levelness of electrolevel 2 output OX directions, one of them stepper motor driver of the Single-chip Controlling in the control module 3, the mass that drives the stepper motor traction OX direction of OX direction moves on the OX direction:
When the levelness of the OX direction of electrolevel 2 output greater than 0 the time; One of them stepper motor driver of Single-chip Controlling in the control module 3; Generate the drive signal of two stepper motor 4-1 on the OX axle, the stepper motor 4-1 in the positive axis quality adjusting gear of X receives drive signal, draws its corresponding mass 4-2 and on positive OX direction, moves; Stepper motor 4-1 in the negative semiaxis quality adjusting gear of X receives drive signal, and the corresponding mass 4-2 of traction moves on positive OX direction.
When the levelness of the OX direction of electrolevel 2 output less than 0 the time; One of them stepper motor driver of Single-chip Controlling in the control module 3; Generate the drive signal of two stepper motor 4-1 on the OX axle; Stepper motor 4-1 in the positive axis quality adjusting gear of X receives drive signal, draws its corresponding mass 4-2 and on negative OX direction, moves.Stepper motor 4-1 in the negative semiaxis quality adjusting gear of X receives drive signal, and the corresponding mass 4-2 of traction moves on negative OX direction.
When the levelness of the OX direction of electrolevel 2 output equaled 0, single shaft air-float turntable 1 table top OX direction quality evenly distributed.
According to the levelness of electrolevel 2 output OY directions, another stepper motor driver of the Single-chip Controlling in the control module 3, the mass that drives the stepper motor traction OY direction of OY direction moves on the OY direction:
When the levelness of the OY direction of electrolevel 2 output greater than 0 the time; Another stepper motor driver of Single-chip Controlling in the control module 3; Generate the drive signal of two stepper motor 4-1 on the OY axle, the stepper motor 4-1 in the positive axis quality adjusting gear of Y receives drive signal, draws its corresponding mass 4-2 and on positive OY direction, moves; Stepper motor 4-1 in the negative semiaxis quality adjusting gear of Y receives drive signal, and the corresponding mass 4-2 of traction moves on positive OY direction.
When the levelness of the OY direction of electrolevel 2 output less than 0 the time; Another stepper motor driver of Single-chip Controlling in the control module 3; Generate the drive signal of two stepper motor 4-1 on the OY axle; Stepper motor 4-1 in the positive axis quality adjusting gear of Y draws its corresponding mass 4-2 and on negative OY direction, moves.Stepper motor 4-1 in the negative semiaxis quality adjusting gear of Y, the corresponding mass 4-2 of traction moves on negative OY direction.
When the levelness of the OY direction of electrolevel 2 output equaled 0, single shaft air-float turntable 1 table top OY direction quality evenly distributed.
Claims (9)
1. the device of single shaft air-float turntable table top plus load automatically adjusting center of mass after; It comprises single shaft air-float turntable (1); It is characterized in that: further comprising electrolevel (2), quality adjusting gear (4) that control module (3) is identical with four, is initial point with single shaft air-float turntable (1) table top center, is the X axle with the horizontal direction; With the vertical-horizontal direction is the Y axle, sets up plane right-angle coordinate XOY; Described four quality adjusting gears (4) are distributed on the positive axis of negative semiaxis and Y of negative semiaxis, X of positive axis, the Y of X; And symmetry promptly is respectively the positive axis quality adjusting gear of X, the negative semiaxis quality adjusting gear of Y, the negative semiaxis quality adjusting gear of X and the positive axis quality adjusting gear of Y in twos; Said each quality adjusting gear (4) is formed by a stepper motor (4-1), a mass (4-2), conduction band and quality adjustment support (4-3); Said each quality adjustment support (4-3) all has guide rail along its axial horizontal direction; Said stepper motor (4-1) is fixed on an end of the guide rail on the quality adjustment support (4-3); Mass (4-2) is connected with the mover of stepper motor (4-1) through conduction band, and mass (4-2) is slidingly connected along the direction of motion and the guide rail of guide rail; Each quality adjustment support (4-3) all is fixed on the edge of single shaft air-float turntable (1) table top; Electrolevel (2) and control module (3) are fixed on the table top of single shaft air-float turntable (1); The signal output part of said electrolevel (2) is connected with the signal input part of control module (3); Four drive signal output terminals of said control module (3) are connected with the driving signal input of four stepper motors respectively.
2. the device of single shaft air-float turntable table top plus load automatically adjusting center of mass after according to claim 1; It is characterized in that control module (3) comprises single-chip microcomputer and stepper motor driver; The signal input part of single-chip microcomputer (3) is the signal input part of control module (3); The signal output part of single-chip microcomputer (3) is connected with the signal input part of stepper motor driver, and four drive signal ends of stepper motor driver are the drive signal output terminals of control module (3).
3. the device of single shaft air-float turntable table top plus load automatically adjusting center of mass after according to claim 2 is characterized in that it also comprises the RS232 bus, is connected through the RS232 bus between said electrolevel (2) and the single-chip microcomputer.
4. the device of single shaft air-float turntable table top plus load automatically adjusting center of mass after according to claim 3, the model that it is characterized in that single-chip microcomputer is C8051F040.
5. according to the device of claim 1,2,3 or 4 described single shaft air-float turntable table top plus load automatically adjusting center of mass after, the model that it is characterized in that electrolevel (2) is the two-dimentional electrolevel of 2D-120.
6. the device of single shaft air-float turntable table top plus load automatically adjusting center of mass after according to claim 5, the model that it is characterized in that stepper motor (4-1) is DM3938E.
7. the device of single shaft air-float turntable table top plus load automatically adjusting center of mass after according to claim 6, the model that it is characterized in that stepper motor driver is DMD202A.
8. based on the method for the single shaft air-float turntable table top plus load automatically adjusting center of mass after of the device of the described single shaft air-float turntable of claim 1 table top plus load automatically adjusting center of mass after, it is characterized in that: it is realized by following steps:
Step 1, the plus load (12) on single shaft air-float turntable (1) table top is carried out coarse adjustment, make the barycenter of said plus load (12) be positioned at the center of table top basically;
Step 2, to single shaft air-float turntable (1) injecting compressed air, the table top of single shaft air-float turntable (1) is floated in the air, and rotates;
Levelness information on step 3, the last OX axle of electrolevel (2) collection single shaft air-float turntable (1) and the levelness information on the OY axle, and send to control module (3);
Step 4, control module (3) are according to receiving the levelness information on the OX axle; Stepper motor (4-1) in stepper motor (4-1) in the positive axis quality adjusting gear of driving X and the negative semiaxis quality adjusting gear of X; Adjust the corresponding mass (4-2) of said two stepper motors (4-1) and slide, until single shaft air-float turntable (1) table top level on the OX axle along guide rail;
Control module (3) is according to receiving the levelness information on the OY axle; Stepper motor (4-1) in stepper motor (4-1) in the positive axis quality adjusting gear of driving Y and the negative semiaxis quality adjusting gear of Y; Adjust the corresponding mass (4-2) of said two stepper motors (4-1) and slide, until single shaft air-float turntable (1) table top level on the OY axle along guide rail;
Realize that single shaft air-float turntable (1) table top evenly distributes in the quality of OX axle and OY axle, promptly realize the barycenter adjustment of single shaft air-float turntable table top plus load (12) back.
9. the method for single shaft air-float turntable table top plus load automatically adjusting center of mass after according to claim 8; The method that it is characterized in that control module (3) drive stepping motor in the step 4 is: the single-chip microcomputer in the control module (3) is according to receiving the levelness information on the OX axle; The control step motor driver, the stepper motor (4-1) in stepper motor (4-1) in the positive axis quality adjusting gear of driving X and the negative semiaxis quality adjusting gear of X; Single-chip microcomputer in the control module (3) is according to receiving the levelness information on the OY axle, control step motor driver, the stepper motor (4-1) in stepper motor (4-1) in the positive axis quality adjusting gear of driving Y and the negative semiaxis quality adjusting gear of Y.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010101542428A CN101813542B (en) | 2010-04-23 | 2010-04-23 | Device and method for automatically adjusting loaded mass center of platform surface of single-shaft air floatation rotating platform |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010101542428A CN101813542B (en) | 2010-04-23 | 2010-04-23 | Device and method for automatically adjusting loaded mass center of platform surface of single-shaft air floatation rotating platform |
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| CN101813542A CN101813542A (en) | 2010-08-25 |
| CN101813542B true CN101813542B (en) | 2012-02-01 |
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| CN2010101542428A Expired - Fee Related CN101813542B (en) | 2010-04-23 | 2010-04-23 | Device and method for automatically adjusting loaded mass center of platform surface of single-shaft air floatation rotating platform |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101929872B (en) * | 2010-09-16 | 2012-07-18 | 哈尔滨工业大学 | Simple simulation device and simulation method applied to star sensor of single-shaft air-floating platform |
| CN103048126B (en) * | 2012-12-12 | 2015-07-22 | 北京工业大学 | Loading device for load-unbalance experiment of static-pressure rotary table |
| CN103838259B (en) * | 2014-03-25 | 2016-05-11 | 哈尔滨工业大学 | Servo-type heavy load ultraprecise air bag supports electric leveling system and control method thereof |
| CN104155054B (en) * | 2014-08-20 | 2016-09-21 | 哈尔滨工业大学 | A kind of frequency domain detection method of the rotary inertia rocking platform based on air supporting |
| CN104848989B (en) * | 2015-05-29 | 2017-07-28 | 哈尔滨工业大学 | The automatic trim method of high-precision vertical air-float turntable automatic balancing device |
| CN105045273B (en) * | 2015-08-12 | 2017-12-22 | 中国运载火箭技术研究院 | A kind of binary channels Moving aircraft |
| CN106066632B (en) * | 2016-06-03 | 2018-08-10 | 哈尔滨工业大学 | Air supporting simulator barycenter and rotary inertia independence continuous adjustment system and adjusting method |
| CN105953759A (en) * | 2016-06-29 | 2016-09-21 | 爱佩仪中测（成都）精密仪器有限公司 | Horizontal counterweight instrument used for polar coordinate measurement |
| CN105890559A (en) * | 2016-06-29 | 2016-08-24 | 爱佩仪中测（成都）精密仪器有限公司 | Counterweight structure of post coordinate measuring instrument |
| CN108195606A (en) * | 2017-12-20 | 2018-06-22 | 清华大学 | A kind of pilot system of quick detection numerical control rotating platform reliability |
| CN108528764B (en) * | 2018-03-30 | 2022-01-28 | 哈尔滨工业大学 | Device and method for adjusting mass center of satellite rotation load |
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| JPS6117399Y2 (en) * | 1981-04-10 | 1986-05-28 | ||
| JP2005028499A (en) * | 2003-07-11 | 2005-02-03 | Fujitsu Ltd | Rotating device |
| CN100401336C (en) * | 2005-11-30 | 2008-07-09 | 哈尔滨工业大学 | Loading XOY plane mounting load area center positioning adjustment device for air-float turntable |
| CN100523772C (en) * | 2006-03-10 | 2009-08-05 | 哈尔滨工业大学 | Externally loading centroid adjuster of air-floating rotating table |
| CN201191232Y (en) * | 2008-05-07 | 2009-02-04 | 天津市天发重型水电设备制造有限公司 | Adjustable balance assembly |
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