CN101819413B - Variable-radius pitching motion control method and device for large-mass member - Google Patents
Variable-radius pitching motion control method and device for large-mass member Download PDFInfo
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- CN101819413B CN101819413B CN2010101320899A CN201010132089A CN101819413B CN 101819413 B CN101819413 B CN 101819413B CN 2010101320899 A CN2010101320899 A CN 2010101320899A CN 201010132089 A CN201010132089 A CN 201010132089A CN 101819413 B CN101819413 B CN 101819413B
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Abstract
The invention discloses variable-radius pitching motion control method and device for a large-mass member. The control method is realized in a way that: driving, so that the self centroid position of the large-mass member is unchanged relative to the geodetic coordinates in the variable-radius pitching motion process in the way that a large-mass member is driven to make a pitching motion around a rotating center and reverse difference compensation motion control method is carried out on the offset delta X in the horizontal direction and the offset delta Y in the vertical direction. The large-mass member variable-radius pitching motion control device comprises a pitching driving mechanism, a pitching workbench, a control unit and an objective workbench for fixing the large-mass member, wherein a difference compensation driving mechanism, which can enable the centroid of the large-mass member to keep unchanged relative to the geodetic coordinates in the pitching motion process, is arranged under the pitching workbench; and the difference compensation driving mechanism is connected with the control unit. The invention has advantages of compact structure, high motion precision and reliable operation.
Description
Technical field
The present invention relates to the large-mass member motion control field, relate in particular to the variable-radius pitching motion control of large-mass member.
Background technology
At present, load commonly used is around from the common implementation of barycenter luffing device being: rotating shaft and bearing are installed on the axis of crossing thing piece barycenter, are used motor-driven rotatable shaft to realize that load is around the luffing from barycenter.
Often change the device of load for needs, said method has the following disadvantages: 1, changing after the load barycenter has skew with barycenter before, rotating shaft that can't adjusting mechanism; 2,, there is the not enough problem of motor-driven power sometimes for the large-mass member load; 3, the motor installation site is difficult to determine or need gearing; 4, the device of having relatively high expectations for kinematic accuracy, the design accuracy and the installation accuracy of requirement are had relatively high expectations.
Summary of the invention
The technical problem to be solved in the present invention is to overcome the deficiencies in the prior art, and a kind of control method that realizes the large-mass member variable-radius pitching motion by the alternate position spike compensating method is provided; The device of a kind of compact conformation, operation precision height, reliable large-mass member variable-radius pitching motion also is provided.
For solving the problems of the technologies described above, the present invention by the following technical solutions:
A kind of control method of large-mass member variable-radius pitching motion is characterized in that comprising the steps:
1) installs: install and fix described large-mass member;
2) pitching drives: drive described large-mass member and do luffing around a fulcrum A, and the α that turns an angle, the barycenter O side-play amount in the horizontal direction of large-mass member described in this process is Δ X, the side-play amount of in the vertical direction is Δ Y;
3) difference mend to drive: in step 2) carry out in, drive described large-mass member (3) and fulcrum A and do motion of level error benefit and vertical poor benefit motion, make large-mass member (3) in the luffing process its barycenter O relative to the earth coordinate position remain unchanged, described level error is mended direction of motion and described step 2) direction of middle barycenter O skew in the horizontal direction is opposite, the displacement that described level error is mended motion is Δ X, described vertical poor benefit direction of motion and described step 2) in the direction of skew of barycenter O in the vertical direction opposite, the displacement Δ Y of described vertical poor benefit motion.
Further improvement as control method of the present invention:
When described large-mass member is done luffing, the value of described angle [alpha] is obtained by the angular transducer collection, again according to the value of the angle [alpha] that obtains and known fulcrum A and the spacing L between the barycenter O, calculate the barycenter O offset X in the horizontal direction and the offset Y of in the vertical direction, wherein: Δ X=L (1-cos α), Δ Y=Lsin α.
It is a kind of that the present invention also provides:
A kind of device of large-mass member variable-radius pitching motion, comprise the pitching driving mechanism, the pitching worktable, control module and the loading worktable that is used for fixing large-mass member, described pitching driving mechanism is fixed on the described pitching worktable, one end of described loading worktable links to each other with described pitching driving mechanism, the other end of described loading worktable links to each other with described pitching worktable by revolute, described control module links to each other with described pitching driving mechanism, it is characterized in that, described rotation vice division chief is provided with and is used for detecting the angular transducer of described large-mass member at the luffing rotational angle, described pitching worktable below be provided with can make described large-mass member barycenter when finishing the luffing process relative to the earth the difference that remains unchanged of coordinate position mend driving mechanism, described angular transducer is mended driving mechanism with described difference and is linked to each other with described control module respectively.
Further improvement as device of the present invention:
Described difference is mended driving mechanism and is comprised vertical driver element, horizontal drive unit, and an end of described vertical driver element is installed on the horizontal drive unit, and the other end of described vertical driver element links to each other with the bottom of described pitching worktable.
Described pitching driving mechanism comprises the pitching driving cylinder and is used for detecting the pitching range sensor of described pitching driving cylinder in the luffing movement travel, described pitching driving cylinder is connected between described loading worktable and the described pitching worktable, and described pitching range sensor links to each other with described control module.
Described horizontal drive unit comprises horizontal base, horizontal drive cylinder, horizontal guide rail, tangential movement platform, described horizontal drive cylinder and described horizontal guide rail are installed on the described horizontal base, described horizontal guide rail be arranged in parallel along the flexible direction of the flexible end of described horizontal drive cylinder, the flexible end of described horizontal drive cylinder links to each other with described tangential movement platform, and described tangential movement platform links to each other with described vertical driver element.
Described horizontal drive unit comprises that being used for detecting it mends the horizontal range sensor that drives the tangential movement stroke in difference, and described horizontal range sensor links to each other with described control module.
Described vertical driver element comprises vertical pedestal, vertical driving cylinder, upright guide rail, described vertical driving cylinder and described upright guide rail are installed on the described vertical pedestal, described upright guide rail be arranged in parallel along the flexible direction of the flexible end of described vertical driving cylinder, the flexible end of described vertical driving cylinder links to each other with described pitching worktable bottom, and described vertical pedestal links to each other with described tangential movement platform.
Described vertical driver element comprises that being used for detecting it mends the vertical range sensor that drives the vertical motion stroke in difference, and described vertical range sensor links to each other with described control module.
Compared with prior art, the invention has the advantages that:
(1) control method of large-mass member variable-radius pitching motion of the present invention, adopt the driving large-mass member to do luffing along fulcrum, and adopt the control method of offset X on the horizontal direction and the offset Y on the vertical direction being carried out reverse poor benefit motion, in the realization large-mass member variable-radius pitching motion process its coordinate is constant relative to the earth from centroid position; Step is simple, and in control procedure, the angle [alpha] by sensor acquisition and the known A O distance computation horizontal offset " Δ X " and the numerical value of offset of vertical amount " Δ Y ", can make action more accurate reliable at the precision height.
(2) device of large-mass member variable-radius pitching motion of the present invention adopts the big mass loading on the pitching drive mechanism loading worktable to do luffing, the device compact overall structure; When skew takes place in the barycenter of large-mass member, can make the side-play amount that corresponding compensating motion is revised described centroid position by vertical driver element and horizontal drive unit, coordinate is constant all the time relative to the earth in luffing for the barycenter of realization large-mass member; Vertically in driver element and the horizontal drive unit respective distance sensor being set, can utilize sensor to the displacement that control module feeds back each driving mechanism, make each motion more accurate; The use driving cylinder drives, and driving force is big; Expansion link side at driving cylinder is provided with parallel guide rail, can make the action of horizontal drive unit or vertical driver element more steady, smooth.
Description of drawings
Fig. 1 is the schematic flow sheet of control method of the present invention;
Fig. 2 is the principle schematic of embodiments of the invention;
Fig. 3 is the main TV structure synoptic diagram of embodiments of the invention;
Fig. 4 is the main TV structure synoptic diagram of the pitching driving mechanism of embodiments of the invention;
Fig. 5 is the main TV structure synoptic diagram of the horizontal drive unit of embodiments of the invention;
Fig. 6 is the plan structure synoptic diagram of Fig. 5 of embodiments of the invention;
Fig. 7 is the plan structure synoptic diagram of horizontal base of the horizontal drive unit of embodiments of the invention;
Fig. 8 is the perspective view of the vertical driver element of embodiments of the invention.
Each label is represented among the figure:
1, pitching driving mechanism; 101, pitching range sensor; 102, pitching driving cylinder; 2, loading worktable; 3, large-mass member; 4, revolute; 401, angular transducer; 5, difference is mended driving mechanism; 501, vertical driver element; 502, vertical range sensor; 503, horizontal drive unit; 504, horizontal range sensor; 505, vertical pedestal; 506, upright guide rail; 507, vertical driving cylinder; 508, horizontal base; 509, horizontal drive cylinder; 510, horizontal guide rail; 511, tangential movement platform; 6, pitching worktable; 7, control module.
Embodiment
Below with reference to accompanying drawing the embodiment of the invention is done detailed explanation.
As shown in Figure 1 and Figure 2, the control method of large-mass member variable-radius pitching motion of the present invention comprises the following steps:
1) install: at first large-mass member 3 is installed on the loading worktable 2, the barycenter of establishing large-mass member 3 is O, the O point relative to the earth coordinate be (X, Y);
2) pitching drives: control module 7 control pitching driving mechanisms 1 promote loading worktable 2 and do luffing around the center of revolute 4 A point, α turns an angle, if the coordinate that the O of this moment is ordered is (X+ Δ X, Y+ Δ Y), angular transducer 401 is transferred to control module 7 with the numerical value of the angle [alpha] that collects, and control module 7 calculates the barycenter O side-play amount " Δ X " in the horizontal direction and the numerical value of the side-play amount " Δ Y " on the vertical direction by the spacing " L " between angle [alpha] and known AO point; Wherein: Δ Y=Lsin α, Δ X=L (1-cos α).
3) difference mend to drive: in step 2) carry out in, control module 7 sends enabled instruction to vertical driver element 501, when vertical range sensor 502 detects vertical driver element 501 along step 2) when the opposite direction of offset of vertical moved to " Δ Y " position, control module 7 sent halt instructions to vertical driver element 501; Simultaneously, control module 7 sends enabled instruction to horizontal drive unit 503, when horizontal range sensor 504 detects horizontal drive unit 503 along step 2) when the opposite direction of horizontal-shift moves to " Δ X " position, control module 7 sends halt instruction, 503 stop motions of horizontal drive unit to horizontal drive unit 503; This moment the O point relative to the earth coordinate be that (X Y), has got back to original position, makes large-mass member 3 do in the luffing process, and its barycenter O remains unchanged with respect to terrestrial coordinate.
In the present embodiment, as Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, shown in Figure 8, the device of large-mass member variable-radius pitching motion of the present invention, comprise pitching driving mechanism 1, pitching worktable 6, be used to install the loading worktable 2 of large-mass member 3, difference is mended driving mechanism 5 and control module 7, one end of loading worktable 2 is connected with pitching driving mechanism 1, the other end of loading worktable 2 links to each other with pitching worktable 6 by revolute 4, control module 7 control pitching driving mechanisms 1 drive loading worktable 2 and large-mass member 3 mounted thereto is done luffing around revolute 4, difference is mended driving mechanism 5 and is fixed on the pitching worktable 6 times, and control module 7 control differences are mended the side-play amount of the barycenter O of the large-mass member 3 that produces in 5 pairs of luffing of driving mechanism and revised, compensation.
Revolute 4 places are provided with and are used for detecting the measurement of angle sensor 401 of large-mass member 3 at the luffing rotational angle, and angular transducer 401 links to each other with control module 7.Pitching driving mechanism 1 comprises pitching driving cylinder 102 and is used for detecting the pitching range sensor 101 of pitching driving cylinder 102 in the luffing movement travel, pitching driving cylinder 102 is connected between loading worktable 2 and the pitching worktable 6, and pitching range sensor 101 links to each other with control module 7.
Difference is mended driving mechanism 5 and is comprised vertical driver element 501, horizontal drive unit 503, and vertically an end of driver element 501 is installed on the horizontal drive unit 503, and vertically the other end of driver element 501 links to each other with the bottom of pitching worktable 6.
Vertically driver element 501 comprises vertical pedestal 505, vertical driving cylinder 507, upright guide rail 506 and vertical range sensor 502, vertically driving cylinder 507 and upright guide rail 506 are installed on the vertical pedestal 505, upright guide rail 506 be arranged in parallel along the flexible directions of vertical driving cylinder 507 flexible ends, vertically the flexible end of driving cylinder 507 links to each other with pitching worktable 6 bottoms, vertically pedestal 505 links to each other with tangential movement platform 511, vertically range sensor 502 links to each other with control module 7, is used for detecting vertical driver element 501 and mends driving vertical motion stroke in difference.
Adopt range sensor to gather the displacement data of each driving mechanism, low to the accuracy requirement of each part processing and assembling, the while can guarantee the displacement degree of accuracy of each driving mechanism, makes the displacement difference compensating method of barycenter O more accurate reliable.
The above only is a preferred implementation of the present invention, and protection scope of the present invention also not only is confined to the foregoing description, and all technical schemes that belongs under the thinking of the present invention all belong to protection scope of the present invention.Should be pointed out that for those skilled in the art in the some improvements and modifications that do not break away under the principle of the invention prerequisite, the level of for example poor benefit driving mechanism and vertical two increases into the three-dimensional difference to the difference benefit mends, and should be considered as protection scope of the present invention.
Claims (9)
1. the control method of a large-mass member variable-radius pitching motion is characterized in that comprising the steps:
1) installs: install and fix described large-mass member (3);
2) pitching drives: drive described large-mass member (3) and do luffing around a fulcrum A, α turns an angle, the barycenter O side-play amount in the horizontal direction of large-mass member described in this process (3) is Δ X, and the side-play amount of in the vertical direction is Δ Y;
3) difference mend to drive: in step 2) carry out in, drive described large-mass member (3) and fulcrum A and do motion of level error benefit and vertical poor benefit motion, make large-mass member (3) in the luffing process its barycenter O relative to the earth coordinate position remain unchanged, described level error is mended direction of motion and described step 2) direction of middle barycenter O skew in the horizontal direction is opposite, the displacement that described level error is mended motion is Δ X, described vertical poor benefit direction of motion and described step 2) in the direction of skew of barycenter O in the vertical direction opposite, the displacement of described vertical poor benefit motion is Δ Y.
2. the control method of large-mass member variable-radius pitching motion according to claim 1, it is characterized in that: described large-mass member (3) is when doing luffing, the value of described angle [alpha] is obtained by angular transducer (401) collection, again according to the value of the angle [alpha] that obtains and known fulcrum A and the spacing L between the barycenter O, calculate the barycenter O offset X in the horizontal direction and the offset Y of in the vertical direction, wherein: Δ X=L (1-cos α), Δ Y=Lsin α.
3. the device of a large-mass member variable-radius pitching motion, comprise pitching driving mechanism (1), pitching worktable (6), control module (7) and the loading worktable (2) that is used for fixing large-mass member (3), described pitching driving mechanism (1) is fixed on the described pitching worktable (6), one end of described loading worktable (2) links to each other with described pitching driving mechanism (1), the other end of described loading worktable (2) links to each other with described pitching worktable (6) by revolute (4), described control module (7) links to each other with described pitching driving mechanism (1), it is characterized in that, described revolute (4) is located to be provided with and is used for detecting the angular transducer (401) of described large-mass member (3) at the luffing rotational angle, described pitching worktable (6) below be provided with can make described large-mass member (3) barycenter when finishing the luffing process relative to the earth the difference that remains unchanged of coordinate position mend driving mechanism (5), described angular transducer (401) and described difference benefit driving mechanism (5) link to each other with described control module (7) respectively.
4. the device of large-mass member variable-radius pitching motion according to claim 3, it is characterized in that, described difference is mended driving mechanism (5) and is comprised vertical driver element (501), horizontal drive unit (503), one end of described vertical driver element (501) is installed on the horizontal drive unit (503), and the other end of described vertical driver element (501) links to each other with the bottom of described pitching worktable (6).
5. according to the device of claim 3 or 4 described large-mass member variable-radius pitching motions, it is characterized in that, described pitching driving mechanism (1) comprises pitching driving cylinder (102) and is used for detecting the pitching range sensor (101) of described pitching driving cylinder (102) in the luffing movement travel, described pitching driving cylinder (102) is connected between described loading worktable (2) and the described pitching worktable (6), and described pitching range sensor (101) links to each other with described control module (7).
6. the device of large-mass member variable-radius pitching motion according to claim 4, it is characterized in that, described horizontal drive unit (503) comprises horizontal base (508), horizontal drive cylinder (509), horizontal guide rail (510), tangential movement platform (511), described horizontal drive cylinder (509) and described horizontal guide rail (510) are installed on the described horizontal base (508), described horizontal guide rail (510) be arranged in parallel along the flexible direction of the flexible end of described horizontal drive cylinder (509), the flexible end of described horizontal drive cylinder (509) links to each other with described tangential movement platform (511), and described tangential movement platform (511) links to each other with described vertical driver element (501).
7. according to the device of claim 4 or 6 described large-mass member variable-radius pitching motions, it is characterized in that, described horizontal drive unit (503) comprises that being used for detecting it mends the horizontal range sensor (504) that drives the tangential movement stroke in difference, and described horizontal range sensor (504) links to each other with described control module (7).
8. the device of large-mass member variable-radius pitching motion according to claim 4, it is characterized in that, described vertical driver element (501) comprises vertical pedestal (505), vertical driving cylinder (507), upright guide rail (506), described vertical driving cylinder (507) and described upright guide rail (506) are installed on the described vertical pedestal (505), described upright guide rail (506) be arranged in parallel along the flexible direction of the flexible end of described vertical driving cylinder (507), the flexible end of described vertical driving cylinder (507) links to each other with described pitching worktable (6) bottom, and described vertical pedestal (505) links to each other with described tangential movement platform (511).
9. according to the device of claim 4 or 8 described large-mass member variable-radius pitching motions, it is characterized in that, described vertical driver element (501) comprises that being used for detecting it mends the vertical range sensor (502) that drives the vertical motion stroke in difference, and described vertical range sensor (502) links to each other with described control module (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101320899A CN101819413B (en) | 2010-03-25 | 2010-03-25 | Variable-radius pitching motion control method and device for large-mass member |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101320899A CN101819413B (en) | 2010-03-25 | 2010-03-25 | Variable-radius pitching motion control method and device for large-mass member |
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| Publication Number | Publication Date |
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| CN101819413A CN101819413A (en) | 2010-09-01 |
| CN101819413B true CN101819413B (en) | 2011-12-21 |
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| CN110889171B (en) * | 2019-12-02 | 2023-08-18 | 中国空气动力研究与发展中心 | Design method of tail rotor test model of vertical wind tunnel aircraft |
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| JPS574601A (en) * | 1980-06-10 | 1982-01-11 | Nippon Telegr & Teleph Corp <Ntt> | Simple rock compensating device for antenna mounted on traveling object |
| JPH10320789A (en) * | 1997-05-14 | 1998-12-04 | Fujitsu Ltd | Vibration suppressing method for positioning mechanism and optical disk device |
| JP2001023291A (en) * | 1999-07-09 | 2001-01-26 | Mitsumi Electric Co Ltd | Disk drive assembly |
| CN100437601C (en) * | 2006-07-24 | 2008-11-26 | 西安飞机工业（集团）有限责任公司 | Method for data modification and supplement for automatic rivet bracket deformation |
| CN101494318B (en) * | 2009-03-11 | 2011-07-27 | 熊猫电子集团有限公司 | Method and apparatus for automatically adjusting Ka waveband mobile satellite communications antenna attitude |
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