CN101900627B - Device and method for automatically adjusting center of mass after applying load to triaxial air-bearing turntable board - Google Patents
Device and method for automatically adjusting center of mass after applying load to triaxial air-bearing turntable board Download PDFInfo
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Abstract
The invention relates to a device and method for automatically adjusting center of mass after applying load to a triaxial air-bearing turntable board. The invention solves the problems of high difficulty, low efficiency and low precision of the exiting method of manually adjusting the center of mass after applying load to the triaxial air-bearing turntable board. The device is characterized in that four mass adjusting devices are uniformly distributed on the edges of the air-bearing turntable board, with the center of the board as the origin; a mass adjusting device is fixed opposite to the vertical direction, wherein each mass adjusting support is provided with a guide rail; a stepping motor fixed at one end of the guide rail drives a mass block to slide along the guide rail; a signal output end of an electronic gradienter is connected with a signal input end of a control module; and a drive signal output end of the control module is connected with a drive signal input end of the stepping motor. The method comprises the steps of horizontal adjustment of the center of mass and vertical adjustment of the center of mass. The invention is suitable for adjusting the center of mass after applying load to the triaxial air-bearing turntable board.
Description
Technical field
The present invention relates to adjust behind a kind of applying load to triaxial air-bearing turntable board the device and method of barycenter.
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.Three air-float turntables form air film by 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 the spacecraft semi-physical simulation based on three air-float turntables, in order to overcome the effect of terrestrial gravitation, real Simulated Spacecraft need be adjusted to the stage body barycenter air floating table gaseous tension center in the three-axis attitude motion in space.At present, manual mode is adopted in the adjustment of three air-float turntable stage body barycenter mostly, rule of thumb make repeated attempts with the stage body barycenter with press heart deviation control within the range of permission, need the cost plenty of time, adjust that difficulty is big, efficient is low, degree of accuracy is low.
Summary of the invention
The present invention adjusts the barycenter adjustment problem that difficulty is big, efficient is low, degree of accuracy is low behind the applying load to triaxial air-bearing turntable board in order to solve existing employing manual mode, thereby a kind of device and method of automatically adjusting center of mass after applying load to triaxial air-bearing turntable board is provided.
The device of automatically adjusting center of mass after applying load to triaxial air-bearing turntable board, it comprises three air-float turntables, also comprises electrolevel, the quality adjusting gear that control module is identical with five; With three air-float turntable table top centers is initial point O, sets up space multistory rectangular coordinate system OXYZ, and wherein X, Y-axis are positioned at table top, and are X-axis with the horizontal direction, is Y-axis with the vertical-horizontal direction, and the contrary vertical of Z axle is away from the earth's core; Described five quality adjusting gears are distributed on X positive axis, the negative semiaxis of X, Y negative semiaxis, Y positive axis and the Z positive axis, promptly be respectively the Z positive axis quality adjusting gear that the X positive axis quality adjusting gear, the X that adjust the horizontal centroid device bear semiaxis quality adjusting gear, Y positive axis quality adjusting gear, the negative semiaxis quality adjusting gear of Y and adjust vertical barycenter device, the described quality adjusting gear that is distributed on X positive axis, the negative semiaxis of X, the negative semiaxis of Y, the Y positive axis is symmetrical in twos; Described each quality adjusting gear is adjusted support and is formed by a stepper motor, mass, conduction band and a quality, described each quality is adjusted support and is all had guide rail along its axial horizontal direction, described stepper motor is fixed on the end that quality is adjusted the support upper rail, mass is connected with the mover of stepper motor by conduction band, and mass is slidingly connected along the direction of motion and the guide rail of guide rail; Adjust each quality of horizontal centroid device and adjust the edge that support all is fixed on three air-float turntable table tops, adjust the quality of vertical barycenter device and adjust the center that support is fixed on three air-float turntable table tops; Electrolevel and control module are fixed on the table top of three air-float turntables; The signal output part of described electrolevel is connected with the signal input part of control module; Five drive signal output terminals of described control module are connected with the driving signal input of five stepper motors respectively.[0005] based on the method for the automatically adjusting center of mass after applying load to triaxial air-bearing turntable board of said apparatus, it is realized by following steps: step 1, the plus load on three air-float turntable table tops is carried out coarse adjustment, make the barycenter of described plus load be positioned at the center of table top substantially, and described barycenter is under the Center of Pressure of three air-float turntables; Step 2, to three air-float turntable injecting compressed airs, the table top of three air-float turntables is floated in the air, and rotates; Levelness information on step 3, three air-float turntable X-axis of electrolevel collection and the levelness information on the Y-axis, and send to control module; Step 4, control module are according to the levelness information that receives on the X-axis, stepper motor in the driving X positive axis quality adjusting gear and the stepper motor in the negative semiaxis quality adjusting gear of X, the mass of adjusting described two stepper motor correspondences slides along guide rail, closes two stepper motors during level until three air-float turntable table tops on X-axis; Control module is according to the levelness information that receives on the Y-axis, stepper motor in the driving Y positive axis quality adjusting gear and the stepper motor in the negative semiaxis quality adjusting gear of Y, the mass of adjusting described two stepper motor correspondences slides along guide rail, closes two stepper motors during level until three air-float turntable table tops on Y-axis; Control module drives the stepper motor in the Z positive axis quality adjusting gear, the mass of adjusting described stepper motor correspondence slides to improve the table top barycenter along guide rail, until electrolevel output non-zero signal, close stepper motor during the horizontal critical conditions of i.e. three air-float turntable table tops appearance, at this moment, the Z axoplasm heart overlaps with the Center of Pressure; Realize the barycenter adjustment and in of the barycenter adjustment of the Z axoplasm heart behind plus load on X-axis and the Y-axis of three air-float turntable table tops, and then realized the barycenter adjustment behind the applying load to triaxial air-bearing turntable board in vertical.
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 the levelness information that receives on the X-axis, the control step motor driver, stepper motor in the driving X positive axis quality adjusting gear and the stepper motor in the negative semiaxis quality adjusting gear of X; Single-chip microcomputer in the control module is according to receiving levelness information on the Y-axis, control step motor driver, stepper motor in the driving Y positive axis quality adjusting gear and the stepper motor in the negative semiaxis quality adjusting gear of Y; After single-chip microcomputer in the control module was judged the horizontal centroid adjustment and finished, the control step motor driver drove the stepper motor in the Z positive axis quality adjusting gear, stops after electrolevel output signal occurs once more.
Beneficial effect: the present invention obtains the departure degree of three air-float turntable table-surface level behind the plus load by electrolevel, move to the target location by control module control step driven by motor mass, thereby the automatic adjustment that the three-core of the barycenter of realization plus load, the table top center of three air-float turntables and gas Center of Pressure overlaps makes three-axis air-bearing table can effectively overcome the influence of terrestrial gravitation to attitude of satellite simulation result.The adjustment time of the present invention, the adjustment difficulty was little, efficient is high, degree of accuracy is high, and cost is low less than 10 minutes.
Description of drawings
Fig. 1 is the structural representation of apparatus of the present invention; Fig. 2 is the side view of Fig. 1; Fig. 3 is the principle schematic of control section of the present invention.
Embodiment
Embodiment one, this embodiment is described in conjunction with Fig. 1 and Fig. 2,1, the device of automatically adjusting center of mass after applying load to triaxial air-bearing turntable board, it comprises three air-float turntables 1, also comprises electrolevel 2, the quality adjusting gear 4 that control module 3 is identical with five; With three air-float turntables, 1 table top center is initial point O, sets up space multistory rectangular coordinate system OXYZ, and wherein X, Y-axis are positioned at table top, and are X-axis with the horizontal direction, is Y-axis with the vertical-horizontal direction, and the contrary vertical of Z axle is away from the earth's core; Described five quality adjusting gears 4 are distributed on X positive axis, the negative semiaxis of X, Y negative semiaxis, Y positive axis and the Z positive axis, promptly be respectively the Z positive axis quality adjusting gear that the X positive axis quality adjusting gear, the X that adjust the horizontal centroid device bear semiaxis quality adjusting gear, Y positive axis quality adjusting gear, the negative semiaxis quality adjusting gear of Y and adjust vertical barycenter device, the described quality adjusting gear 4 that is distributed on X positive axis, the negative semiaxis of X, the negative semiaxis of Y, the Y positive axis is symmetrical in twos; Described each quality adjusting gear 4 is adjusted support 4-3 and is formed by a stepper motor 4-1, mass 4-2, conduction band and a quality, described each quality is adjusted support 4-3 and is all had guide rail along its axial horizontal direction, described stepper motor 4-1 is fixed on the end that quality is adjusted support 4-3 upper rail, mass 4-2 is connected by the mover of conduction band with stepper motor 4-1, and mass 4-2 is slidingly connected along the direction of motion and the guide rail of guide rail; Adjust each quality of horizontal centroid device and adjust the edge that support 4-3 all is fixed on three air-float turntable 1 table tops, adjust the quality of vertical barycenter device and adjust the center that support 4-3 is fixed on three air-float turntable 1 table tops; Electrolevel 2 and control module 3 are fixed on the table top of three air-float turntables 1; The signal output part of described electrolevel 2 is connected with the signal input part of control module 3; Five drive signal output terminals of described control module 3 are connected with the driving signal input of five stepper motor 4-1 respectively.
The difference of the device of embodiment two, this embodiment and embodiment one described automatically adjusting center of mass after applying load to triaxial air-bearing turntable board is, control module 3 comprises single-chip microcomputer and stepper motor driver, the signal input part of 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 five drive signal ends of stepper motor driver are control modules 3.
In the present 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 three air-float turntable 1 table tops.
The difference of the device of embodiment three, this embodiment and embodiment two described automatically adjusting center of mass after applying load to triaxial air-bearing turntable board is, it also comprises the RS232 bus, is connected by the RS232 bus between described electrolevel 2 and the single-chip microcomputer.
The difference of the device of embodiment four, this embodiment and embodiment three described automatically adjusting center of mass after applying load to triaxial air-bearing turntable board is that the model of single-chip microcomputer is C8051F040.
The difference of the device of embodiment five, this embodiment and embodiment one, two, three or four described automatically adjusting center of mass after applying load to triaxial air-bearing turntable board 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 automatically adjusting center of mass after applying load to triaxial air-bearing turntable board 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 automatically adjusting center of mass after applying load to triaxial air-bearing turntable board is that the model of stepper motor driver is DMD202A.
Embodiment eight, based on the automatically adjusting center of mass after applying load to triaxial air-bearing turntable board method of embodiment one described automatically adjusting center of mass after applying load to triaxial air-bearing turntable board device, comprise that horizontal centroid adjustment and vertical barycenter adjust two aspects, it is realized by following steps: it is realized by following steps: step 1, the plus load 12 on three air-float turntable 1 table tops is carried out coarse adjustment, make the barycenter of described plus load 12 be positioned at the center of table top substantially, and described barycenter is under the Center of Pressure of three air-float turntables 1; Step 2, to three air-float turntable 1 injecting compressed airs, the table top of three air-float turntables 1 is floated in the air, and rotates; Step 3, electrolevel 2 are gathered three air-float turntables 1 in levelness information on the X-axis and the levelness information on Y-axis, and are sent to control module 3; Step 4, control module 3 are according to the levelness information that receives on the X-axis, stepper motor 4-1 in the driving X positive axis quality adjusting gear and the stepper motor 4-1 in the negative semiaxis quality adjusting gear of X, the mass 4-2 that adjusts described two stepper motor 4-1 correspondences slides along guide rail, closes two stepper motor 4-1 during level until three air-float turntable 1 table tops on X-axis; Control module 3 is according to the levelness information that receives on the Y-axis, stepper motor 4-1 in the driving Y positive axis quality adjusting gear and the stepper motor 4-1 in the negative semiaxis quality adjusting gear of Y, the mass 4-2 that adjusts described two stepper motor 4-1 correspondences slides along guide rail, closes two stepper motor 4-1 during level until three air-float turntable 1 table tops on Y-axis; More than realize three air-float turntable table tops in X and Y-axis quality level, promptly realize barycenter adjustment in the horizontal direction behind three air-float turntable table top plus loads; Control module 3 drives the stepper motor 4-1 in the Z positive axis quality adjusting gear, the mass 4-2 that adjusts described stepper motor 4-1 correspondence slides to improve the table top barycenter along guide rail, until electrolevel 2 output non-zero signal, close stepper motor 4-1 during the horizontal critical conditions of i.e. three air-float turntable 1 table top appearance, at this moment, the Z axoplasm heart overlaps with the Center of Pressure; This part realized three air-float turntable table tops the Z axoplasm heart with press overlapping of the heart, promptly realize behind the applying load to triaxial air-bearing turntable board barycenter adjustment, and then realized the barycenter adjustment behind the applying load to triaxial air-bearing turntable board in vertical; 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 the levelness information that receives on the X-axis, the control step motor driver, stepper motor 4-1 in the driving X positive axis quality adjusting gear and the stepper motor 4-1 in the negative semiaxis quality adjusting gear of X; Single-chip microcomputer in the control module 3 is according to receiving levelness information on the Y-axis, control step motor driver, stepper motor 4-1 in the driving Y positive axis quality adjusting gear and the stepper motor 4-1 in the negative semiaxis quality adjusting gear of Y; After single-chip microcomputer in the control module 3 was judged the horizontal centroid adjustment and finished, the control step motor driver drove the stepper motor 4-1 in the Z positive axis quality adjusting gear, stops after electrolevel 2 output signal occurs once more.
Claims (9)
1. the device of automatically adjusting center of mass after applying load to triaxial air-bearing turntable board, it comprises three air-float turntables (1), it is characterized in that: also comprise electrolevel (2), the quality adjusting gear (4) that control module (3) is identical with five; With three air-float turntables (1) table top center is initial point O, sets up space multistory rectangular coordinate system OXYZ, and wherein X, Y-axis are positioned at table top, and are X-axis with the horizontal direction, is Y-axis with the vertical-horizontal direction, and the contrary vertical of Z axle is away from the earth's core; Described five quality adjusting gears (4) are distributed on X positive axis, the negative semiaxis of X, Y positive axis, the negative semiaxis of Y and the Z positive axis, promptly be respectively the Z positive axis quality adjusting gear that the X positive axis quality adjusting gear, the X that adjust the horizontal centroid device bear semiaxis quality adjusting gear, Y positive axis quality adjusting gear, the negative semiaxis quality adjusting gear of Y and adjust vertical barycenter device, the described quality adjusting gear (4) that is distributed on X positive axis, the negative semiaxis of X, Y positive axis, the negative semiaxis of Y is symmetrical in twos;
Described each quality adjusting gear (4) is adjusted support (4-3) by a stepper motor (4-1), a mass (4-2), conduction band and quality and is formed, described each quality is adjusted support (4-3) and is all had guide rail along its axial horizontal direction, described stepper motor (4-1) is fixed on the end that quality is adjusted support (4-3) upper rail, mass (4-2) is connected by the mover of conduction band with stepper motor (4-1), and mass (4-2) is slidingly connected along the direction of motion and the guide rail of guide rail; Adjust each quality of horizontal centroid device and adjust the edge that support (4-3) all is fixed on three air-float turntables (1) table top, adjust the quality of vertical barycenter device and adjust the center that support (4-3) is fixed on three air-float turntables (1) table top;
Electrolevel (2) and control module (3) are fixed on the table top of three air-float turntables (1); The signal output part of described electrolevel (2) is connected with the signal input part of control module (3); Five drive signal output terminals of described control module (3) are connected with the driving signal input of five stepper motors (4-1) respectively.
2. the device of automatically adjusting center of mass after applying load to triaxial air-bearing turntable board 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 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, and five drive signal ends of stepper motor driver are the drive signal output terminals of control module (3).
3. the device of automatically adjusting center of mass after applying load to triaxial air-bearing turntable board according to claim 2 is characterized in that it also comprises the RS232 bus, is connected by the RS232 bus between described electrolevel (2) and the single-chip microcomputer.
4. the device of automatically adjusting center of mass after applying load to triaxial air-bearing turntable board according to claim 3, the model that it is characterized in that single-chip microcomputer is C8051F040.
5. according to the device of claim 2,3 or 4 described automatically adjusting center of mass after applying load to triaxial air-bearing turntable board, the model that it is characterized in that electrolevel (2) is the two-dimentional electrolevel of 2D-120.
6. the device of automatically adjusting center of mass after applying load to triaxial air-bearing turntable board according to claim 5, the model that it is characterized in that stepper motor (4-1) is DM3938E.
7. the device of automatically adjusting center of mass after applying load to triaxial air-bearing turntable board according to claim 6, the model that it is characterized in that stepper motor driver is DMD202A.
8. based on the automatically adjusting center of mass after applying load to triaxial air-bearing turntable board method of the described automatically adjusting center of mass after applying load to triaxial air-bearing turntable board device of claim 1, it is characterized in that: it is realized by following steps:
Step 1, the plus load (12) on three air-float turntables (1) table top is carried out coarse adjustment, make the barycenter of described plus load (12) be positioned at the center of table top substantially, and described barycenter is under the Center of Pressure of three air-float turntables (1);
Step 2, to three air-float turntables (1) injecting compressed air, the table top of three air-float turntables (1) is floated in the air, and rotates;
Levelness information on step 3, electrolevel (2) collection three air-float turntables (1) X-axis and the levelness information on the Y-axis, and send to control module (3);
Step 4, control module (3) are according to the levelness information that receives on the X-axis, stepper motor (4-1) in the driving X positive axis quality adjusting gear and the stepper motor (4-1) in the negative semiaxis quality adjusting gear of X, adjust the corresponding mass (4-2) of described two stepper motors (4-1) and slide, on X-axis, close two stepper motors (4-1) during level until three air-float turntables (1) table top along guide rail;
Control module (3) is according to the levelness information that receives on the Y-axis, stepper motor (4-1) in the driving Y positive axis quality adjusting gear and the stepper motor (4-1) in the negative semiaxis quality adjusting gear of Y, adjust the corresponding mass (4-2) of described two stepper motors (4-1) and slide, on Y-axis, close two stepper motors (4-1) during level until three air-float turntables (1) table top along guide rail;
Control module (3) drives the stepper motor (4-1) in the Z positive axis quality adjusting gear, adjusting the corresponding mass (4-2) of described stepper motor (4-1) slides to improve the table top barycenter along guide rail, until electrolevel (2) output non-zero signal, close stepper motor (4-1) during the horizontal critical conditions of i.e. three air-float turntables (1) table top appearance, at this moment, the Z axoplasm heart overlaps with the Center of Pressure;
Realize plus load (12) the back barycenter adjustment and in of the barycenter adjustment of the Z axoplasm heart on X-axis and Y-axis of three air-float turntables (1) table top, and then realized the barycenter adjustment behind three air-float turntable table top plus loads (12) in vertical.
9. the method for automatically adjusting center of mass after applying load to triaxial air-bearing turntable board 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 the levelness information that receives on the X-axis, the control step motor driver, stepper motor (4-1) in the driving X positive axis quality adjusting gear and the stepper motor (4-1) in the negative semiaxis quality adjusting gear of X; Single-chip microcomputer in the control module (3) is according to receiving levelness information on the Y-axis, control step motor driver, stepper motor (4-1) in the driving Y positive axis quality adjusting gear and the stepper motor (4-1) in the negative semiaxis quality adjusting gear of Y; After single-chip microcomputer in the control module (3) was judged the horizontal centroid adjustment and finished, the control step motor driver drove the stepper motor (4-1) in the Z positive axis quality adjusting gear, stops after electrolevel (2) output non-zero signal.
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