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 PDF

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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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pitching
vertical
horizontal
motion
mass
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CN101819413A (en
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崔红娟
吴学忠
陈志华
陶溢
邱华诚
王雄
张旭
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National University of Defense Technology
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Abstract

本发明公开了一种大质量构件变半径俯仰运动的控制方法和装置，采用驱动大质量构件绕一转动中心点做俯仰运动，并采用对水平方向上的偏移量ΔX与竖直方向上的偏移量ΔY进行反向差补运动的控制方法，实现大质量构件变半径俯仰运动过程中其自质心位置相对大地坐标不变。大质量构件变半径俯仰运动的装置，包括俯仰驱动机构、俯仰工作台、控制单元以及用来固定大质量构件的载物工作台，所述俯仰工作台下方设有可令所述大质量构件的质心在完成俯仰运动过程时相对大地坐标位置保持不变的差补驱动机构，所述差补驱动机构与所述控制单元相连。本发明具有结构紧凑、动作精度高、运行可靠的优点。

Figure 201010132089

The invention discloses a method and device for controlling the variable-radius pitching motion of a large-mass component. The large-mass component is driven to perform a pitching motion around a rotation center point, and the offset ΔX in the horizontal direction and the vertical direction are used. The control method of the offset ΔY for reverse interpolation movement realizes that the self-mass position of the large-mass component remains unchanged relative to the earth coordinates during the pitching motion of the variable radius. A device for variable-radius pitching motion of large-mass components, including a pitching drive mechanism, a pitching table, a control unit, and an object-carrying table for fixing large-mass components. A differential compensation drive mechanism in which the position of the center of mass relative to the earth coordinates remains unchanged when the pitching process is completed, and the differential compensation drive mechanism is connected with the control unit. The invention has the advantages of compact structure, high action precision and reliable operation.

Figure 201010132089

Description

The control method of large-mass member variable-radius pitching motion and device
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.
Horizontal drive unit 503 comprises horizontal base 508, horizontal drive cylinder 509, horizontal guide rail 510, tangential movement platform 511, and horizontal range sensor 504, horizontal drive cylinder 509 and horizontal guide rail 510 are installed on the horizontal base 508, horizontal guide rail 510 be arranged in parallel along the flexible direction of horizontal drive cylinder 509 flexible ends, horizontal drive cylinder 509 flexible ends link to each other with tangential movement platform 511, tangential movement platform 511 links to each other with vertical driver element 501, horizontal range sensor 504 links to each other with control module 7, is used for detection level driver element 503 and mends driving tangential movement stroke in difference.
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.
Pitching driving cylinder 102, vertical driving cylinder 507, horizontal drive cylinder 509 all adopt hydraulic cylinder.
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)

1.一种大质量构件变半径俯仰运动的控制方法，其特征在于包括如下步骤：1. A control method for variable radius pitching motion of a large mass member, characterized in that it may further comprise the steps: 1)安装：安装固定所述大质量构件(3)；1) Installation: installing and fixing the large-mass component (3); 2)俯仰驱动：驱动所述大质量构件(3)绕一转动中心点A做俯仰运动，转动一定角度α，此过程中所述大质量构件(3)的质心O在水平方向上的偏移量为ΔX，在竖直方向上的偏移量为ΔY；2) Pitch drive: drive the large-mass component (3) to perform pitch motion around a rotation center point A, and rotate a certain angle α. During this process, the mass center O of the large-mass component (3) shifts in the horizontal direction The amount is ΔX, and the offset in the vertical direction is ΔY; 3)差补驱动：在步骤2)进行的同时，驱动所述大质量构件(3)及转动中心点A做水平差补运动和竖直差补运动，令大质量构件(3)在俯仰运动过程中其质心O相对大地坐标位置保持不变，所述水平差补运动方向与所述步骤2)中质心O在水平方向上的偏移的方向相反，所述水平差补运动的位移量为ΔX，所述竖直差补运动方向与所述步骤2)中质心O在竖直方向上的偏移的方向相反，所述竖直差补运动的位移量为ΔY。3) Compensation drive: while step 2) is being carried out, drive the large-mass component (3) and the rotation center point A to perform horizontal differential motion and vertical differential motion, so that the large-mass component (3) is in pitch motion In the process, its centroid O remains unchanged relative to the geodetic coordinate position, and the direction of movement of the horizontal differential compensation is opposite to the offset direction of the center of mass O in the horizontal direction in the step 2), and the displacement of the horizontal differential compensation motion is ΔX, the direction of the vertical differential motion is opposite to the direction of the vertical offset of the centroid O in step 2), and the displacement of the vertical differential motion is ΔY. 2.根据权利要求1所述的大质量构件变半径俯仰运动的控制方法，其特征在于：所述大质量构件(3)做俯仰运动时，所述角度α的值由角度传感器(401)采集获取，再根据取得的角度α的值与已知的转动中心点A与质心O之间的间距L，计算出质心O在水平方向上的偏移量ΔX和在竖直方向上的偏移量ΔY，其中：ΔX＝L(1-cosα)，ΔY＝Lsin α。2. The method for controlling the variable-radius pitching motion of a large-mass component according to claim 1, characterized in that: when the large-mass component (3) is in pitch motion, the value of the angle α is collected by an angle sensor (401) Acquisition, and then calculate the offset ΔX of the center of mass O in the horizontal direction and the offset in the vertical direction according to the obtained value of the angle α and the known distance L between the center of rotation A and the center of mass O ΔY, where: ΔX=L(1-cosα), ΔY=Lsin α. 3.一种大质量构件变半径俯仰运动的装置，包括俯仰驱动机构(1)、俯仰工作台(6)、控制单元(7)以及用来固定大质量构件(3)的载物工作台(2)，所述俯仰驱动机构(1)固定在所述俯仰工作台(6)上，所述载物工作台(2)的一端与所述俯仰驱动机构(1)相连，所述载物工作台(2)的另一端通过旋转副(4)与所述俯仰工作台(6)相连，所述控制单元(7)与所述俯仰驱动机构(1)相连，其特征在于，所述旋转副(4)处设有用于检测所述大质量构件(3)在俯仰运动中转动角度的角度传感器(401)，所述俯仰工作台(6)下方设有可令所述大质量构件(3)的质心在完成俯仰运动过程时相对大地坐标位置保持不变的差补驱动机构(5)，所述角度传感器(401)和所述差补驱动机构(5)分别与所述控制单元(7)相连。3. A device for variable-radius pitching motion of a large-mass component, comprising a pitching drive mechanism (1), a pitching workbench (6), a control unit (7) and an object-carrying workbench ( 2), the pitching drive mechanism (1) is fixed on the pitching table (6), one end of the loading table (2) is connected with the pitching driving mechanism (1), and the loading work The other end of the table (2) is connected to the pitching table (6) through a swivel pair (4), and the control unit (7) is connected to the pitching drive mechanism (1). It is characterized in that the swivel pair (4) is provided with an angle sensor (401) for detecting the rotation angle of the large-mass member (3) in the pitching motion, and the lower part of the pitching workbench (6) is provided to make the large-mass member (3) The center of mass of the center of mass relative to the geodetic coordinate position remains unchanged when the pitching process is completed (5), the angle sensor (401) and the differential drive mechanism (5) are respectively connected with the control unit (7) connected. 4.根据权利要求3所述的大质量构件变半径俯仰运动的装置，其特征在于，所述差补驱动机构(5)包括竖直驱动单元(501)、水平驱动单元(503)，所述竖直驱动单元(501)的一端装设于水平驱动单元(503)上，所述竖直驱动单元(501)的另一端与所述俯仰工作台(6)的底部相连。4. The device for variable-radius pitching motion of large-mass components according to claim 3, characterized in that, the differential drive mechanism (5) includes a vertical drive unit (501) and a horizontal drive unit (503), and the One end of the vertical driving unit (501) is installed on the horizontal driving unit (503), and the other end of the vertical driving unit (501) is connected with the bottom of the pitching table (6). 5.根据权利要求3或4所述的大质量构件变半径俯仰运动的装置，其特征在于，所述俯仰驱动机构(1)包括俯仰驱动缸(102)和用于检测所述俯仰驱动缸(102)在俯仰运动中运动行程的俯仰距离传感器(101)，所述俯仰驱动缸(102)连接在所述载物工作台(2)和所述俯仰工作台(6)之间，所述俯仰距离传感器(101)与所述控制单元(7)相连。5. The device for variable-radius pitching motion of a large-mass member according to claim 3 or 4, wherein the pitching drive mechanism (1) includes a pitching drive cylinder (102) and is used to detect the pitching drive cylinder ( 102) The pitching distance sensor (101) of the motion stroke during the pitching motion, the pitching drive cylinder (102) is connected between the object loading table (2) and the pitching table (6), the pitching A distance sensor (101) is connected to the control unit (7). 6.根据权利要求4所述的大质量构件变半径俯仰运动的装置，其特征在于，所述水平驱动单元(503)包括水平底座(508)、水平驱动缸(509)、水平导轨(510)、水平运动平台(511)，所述水平驱动缸(509)和所述水平导轨(510)装设在所述水平底座(508)上，所述水平导轨(510)沿所述水平驱动缸(509)伸缩端的伸缩方向平行设置，所述水平驱动缸(509)伸缩端与所述水平运动平台(511)相连，所述水平运动平台(511)与所述竖直驱动单元(501)相连。6. The device for variable-radius pitching motion of large-mass members according to claim 4, characterized in that the horizontal drive unit (503) comprises a horizontal base (508), a horizontal drive cylinder (509), and a horizontal guide rail (510) , a horizontal motion platform (511), the horizontal drive cylinder (509) and the horizontal guide rail (510) are installed on the horizontal base (508), and the horizontal guide rail (510) moves along the horizontal drive cylinder ( 509) The telescopic direction of the telescopic end is arranged in parallel, the telescopic end of the horizontal drive cylinder (509) is connected to the horizontal motion platform (511), and the horizontal motion platform (511) is connected to the vertical drive unit (501). 7.根据权利要求4或6所述的大质量构件变半径俯仰运动的装置，其特征在于，所述水平驱动单元(503)包括用于检测其在差补驱动中水平运动行程的水平距离传感器(504)，所述水平距离传感器(504)与所述控制单元(7)相连。7. The device for variable-radius pitching motion of a large-mass member according to claim 4 or 6, characterized in that the horizontal drive unit (503) includes a horizontal distance sensor for detecting its horizontal motion stroke in differential drive (504), the horizontal distance sensor (504) is connected to the control unit (7). 8.根据权利要求4所述的大质量构件变半径俯仰运动的装置，其特征在于，所述竖直驱动单元(501)包括竖直基座(505)、竖直驱动缸(507)、竖直导轨(506)，所述竖直驱动缸(507)和所述竖直导轨(506)安装在所述竖直基座(505)上，所述竖直导轨(506)沿所述竖直驱动缸(507)伸缩端的伸缩方向平行设置，所述竖直驱动缸(507)的伸缩端与所述俯仰工作台(6)底部相连，所述竖直基座(505)与所述水平运动平台(511)相连。8. The device for variable-radius pitching motion of large-mass members according to claim 4, characterized in that the vertical drive unit (501) comprises a vertical base (505), a vertical drive cylinder (507), a vertical The straight guide rail (506), the vertical drive cylinder (507) and the vertical guide rail (506) are installed on the vertical base (505), and the vertical guide rail (506) is arranged along the vertical The telescopic direction of the telescopic end of the drive cylinder (507) is arranged in parallel, the telescopic end of the vertical drive cylinder (507) is connected to the bottom of the pitch table (6), and the vertical base (505) is connected to the horizontal movement The platform (511) is connected. 9.根据权利要求4或8所述的大质量构件变半径俯仰运动的装置，其特征在于，所述竖直驱动单元(501)包括用于检测其在差补驱动中竖直运动行程的竖直距离传感器(502)，所述竖直距离传感器(502)与所述控制单元(7)相连。9. The device for variable-radius pitching motion of a large-mass member according to claim 4 or 8, characterized in that the vertical drive unit (501) includes a vertical motion stroke for detecting its vertical motion stroke in differential drive. A vertical distance sensor (502), the vertical distance sensor (502) is connected with the control unit (7).
CN2010101320899A 2010-03-25 2010-03-25 Variable-radius pitching motion control method and device for large-mass member Expired - Fee Related CN101819413B (en)

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