CN102998057A - Centroid balancing device and centroid balancing method for inertial navigation system - Google Patents
Centroid balancing device and centroid balancing method for inertial navigation system Download PDFInfo
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- CN102998057A CN102998057A CN2011102730857A CN201110273085A CN102998057A CN 102998057 A CN102998057 A CN 102998057A CN 2011102730857 A CN2011102730857 A CN 2011102730857A CN 201110273085 A CN201110273085 A CN 201110273085A CN 102998057 A CN102998057 A CN 102998057A
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Abstract
The invention belongs to devices and methods for centroid balancing, and particularly to a centroid balancing device and a centroid balancing method for an inertial navigation system. The centroid balancing device for the inertial navigation system comprises a base plate, a left supporting plate, a right supporting plate, a bracket component and four deep groove ball bearings. The left supporting plate and the right supporting plate are fixed on the base plate through screws, both the top ends of the left supporting plate and the right supporting plate are provided with grooves, and the shape and depth of the grooves are consistent with those of the deep groove ball bearings. The deep groove ball bearings are respectively mounted on lateral sides of the bracket component, and the bracket component is mounted in the grooves at the top ends of the left supporting plate and the right supporting plate through the deep groove ball bearings. The centroid balancing device is used for balancing the inertial navigation system by means of increasing counterweight, mass of the counterweight is transferred or reduced to selected positions of the inertial navigation system, and accordingly the purpose of enabling the centroid of the inertial navigation system and a shock absorbing center to coincide is achieved.
Description
Technical field
The invention belongs to barycenter balancing device and method thereof, be specifically related to a kind of barycenter balancing device and method of inertial navigation system.
Background technology
The precision of inertial navigation system is more and more higher, and is also more and more higher to the registration requirement at system's barycenter and vibration damping center, if the misalignment at system's barycenter and vibration damping center is larger, must reduce the precision of system.
Method commonly used is to utilize the three-dimensional model estimation in the prior art; but three-dimensional model is difficult to accurately quality and the mass distribution situation of reflection real system; the gap that real system and model assessment often can occur is larger; affect the problem of system accuracy; but the designer can not understand again with the vibration damping center and compare barycenter on earth partially over there, what depart from.
Summary of the invention
The present invention is directed to the defective of prior art, a kind of accurately devices and methods therefor of estimating system barycenter is provided.
The present invention is achieved in that a kind of inertial navigation system barycenter balancing device, wherein, comprises that base plate, left support plate, right support plate, carriage assembly, four groups of deep groove ball bearings form.Left support plate and right support plate are fixed by screws on the base plate, and the top of left support plate and right support plate has groove, and the shape of this groove and the degree of depth are corresponding with the shape and size of deep groove ball bearing.Deep groove ball bearing is all installed in each side of carriage assembly, by deep groove ball bearing carriage assembly is installed in the groove on left support plate and right support plate top.
Aforesaid a kind of inertial navigation system barycenter balancing device, wherein, the position of described left support plate on base plate can be regulated.
Aforesaid a kind of inertial navigation system barycenter balancing device, wherein, carriage assembly comprises the rectangular frame of hollow, this framework is carriage, four lateral surfaces of carriage, deep groove ball bearing is all installed in each side, and the installation site of deep groove ball bearing is corresponding with the position of left support plate and right support plate groove on relative side.Be fixedly connected on the corresponding card extender of carriage shape in the carriage madial wall, card extender is fixed by screws on the carriage, and card extender forms platform after the installation in carriage, and this platform is used for installing inertial navigation system.
Aforesaid a kind of inertial navigation system barycenter balancing device, wherein, this inertial navigation system barycenter balancing device also comprises a series of balancing weights identical in quality or not identical.
A kind of inertial navigation system barycenter Calculate Ways wherein, comprises the steps
Step 1: inertial navigation system is installed on the card extender
The inertial navigation system that needs is carried out the barycenter measurement is installed on the card extender;
Step 2: increase balancing weight
Increase balancing weight in a side that upwarps, increase the quantity of balancing weight, again reach balance with the barycenter balancing device and be as the criterion.
Step 3: with carriage rotation 90 degree, and again increase balancing weight
Carriage rotation 90 degree that increased balancing weight are placed, behind the 90-degree rotation, on a new direction, increased the balancing weight of required weight, again reach balance with the barycenter balancing device and be as the criterion.
Aforesaid a kind of inertial navigation system barycenter Calculate Ways wherein, increases step 4: the weight of balancing weight is converted in the inertial navigation system again after step 3
When on the both direction all after the balance, reach balance together with the balancing weight that increases at the barycenter of interior inertial navigation system the weight of the balancing weight that increases is converted in the inertial navigation system, to reach the purpose of inertial navigation system barycenter balance.
Effect of the present invention is: at first utilize the barycenter balancing device by increasing the method trim inertial navigation system of counterweight, then, utilize the principle of equalising torque, the quality of counterweight is turned to add deduct arrive less the select location of inertial navigation system, to reach the purpose of inertial navigation system barycenter and vibration damping center superposition.
Description of drawings
Fig. 1 is the structural representation of inertial navigation system barycenter balancing device provided by the invention;
Fig. 2 is with the structural representation behind the carriage assembly 90-degree rotation;
Fig. 3 is the structural representation that the inertial navigation system barycenter balancing device behind the inertial navigation system has been installed;
Fig. 4 is the processing mode structural representation of point on axis that increases or reduce counterweight;
Fig. 5 is the processing mode structural representation of point in passing through the vertical plane of axis that increases or reduce counterweight.
Among the figure: 1. base plate, 2. left support plate, 3. right support plate, 4. carriage assembly, 5. carriage, 6. card extender, 7. deep groove ball bearing, 8. inertial navigation system, 9. balancing weight.
Embodiment
The present invention is described further below in conjunction with the drawings and specific embodiments.
A kind of inertial navigation system barycenter balancing device comprises shown in Fig. 1 and accompanying drawing 2: base plate 1, left support plate 2, right support plate 3, carriage assembly 4, carriage assembly 4 is comprised of carriage 5, card extender 6, four groups of deep groove ball bearings 7.Left support plate 2 is fixed by screws on the base plate 1 with right support plate 3, and the top of left support plate 2 and right support plate 3 has groove, and the shape of this groove and the degree of depth are corresponding with the shape and size of deep groove ball bearing 7.(position that can certainly change right support plate 3 into can be regulated) can be regulated in the position of left support plate 2 on base plate 1, is used for the both direction of Support bracket assembly 4 different lengths.
This inertial navigation system barycenter balancing device also comprises a series of balancing weights identical in quality or not identical in addition, and the effect of these balancing weights is similar to the counterweight of balance.How the quantity of balancing weight and the weight of each balancing weight are set is that those skilled in the art can accomplish.
The method that use apparatus of the present invention are carried out trim is roughly as follows:
Step 1: inertial navigation system is installed on the card extender 6
The inertial navigation system that needs is carried out the barycenter measurement is installed on the card extender 6, and mounted barycenter balancing device as shown in Figure 3.
Step 2: increase balancing weight
Because the barycenter balancing device itself is balance, if therefore the barycenter of inertial navigation system itself also is balance, then whole barycenter balancing device can run-off the straight; Otherwise the barycenter balancing device can tilt take relative deep groove ball bearing 7 as axle.At this moment, the staff increases balancing weight 9 in a side that upwarps.The staff can increase the balancing weight 9 of required weight as required, the balancing weight that for example a small amount of weight is larger or the less balancing weight of weight of volume.Increase the quantity of balancing weight, again reach balance with the barycenter balancing device and be as the criterion.
Step 3: with carriage rotation 90 degree, and again increase balancing weight
Step 4: the weight of balancing weight is converted in the inertial navigation system
When on the both direction all after the balance, reach balance together with the balancing weight that increases at the barycenter of interior inertial navigation system, can be converted in the inertial navigation system this moment according to the weight of basic mathematical mode with the balancing weight that increases, to reach the purpose of inertial navigation system barycenter balance.
The method that the weight of balancing weight is converted in the inertial navigation system has a lot, and the below is for two examples.
Method one: increase or reduce the point of counterweight on axis
As shown in Figure 4, the weight mass of supposing a direction on the card extender is M, and the distance of two groups of crossing point of axes of distance is R; Reduce mass of system at selected point or the symmetrical structure point in the opposite direction that increases counterweight of inertial navigation structure, when this point was on axis, the distance of two groups of crossing point of axes of distance was R1, and the weight mass that needs to increase or reduce in the inertial navigation structure is M1, has so:
Formula 1:M * R=M1 * R1
Wherein, M, R, R1 are known, just can obtain the value of M1.Known that it is the balancing weight of M1 that M1 just can increase quality at the selected point of inertial navigation structure, or the upper minimizing of symmetrical structure point in the opposite direction quality is the mass of system of M1.
Method two: increase or reduce the point of counterweight in passing through the vertical plane of axis
As shown in Figure 5, in the time of in the point that increases or reduce counterweight is passing through the vertical plane of axis, suppose that the weight mass that needs to increase or reduce in the inertial navigation structure is M2, the distance of two groups of crossing point of axes of distance is R2, has so:
Formula 2:M * R=M2 * R2 * cos (a)
Wherein, M, R, R2, a are known, just can obtain the value of M2.Known that it is the balancing weight of M2 that M2 just can increase quality at the selected point of inertial navigation structure, or the upper minimizing of symmetrical structure point in the opposite direction quality is the mass of system of M2.
Suppose to increase the as shown in Figure 5 balancing weight M2 of position, that also needs at the relative level axle, and increasing quality on the Z-axis of the M2 plane of symmetry is the balancing weight of M3.
Formula 3:M2 * R2 * sin (a)=M3 * R3
Wherein, M2, R2, a, R3 are known, just can obtain the value of M3.
If the upper minimizing of symmetrical structure point in the opposite direction quality is the mass of system of M2, that just should reduce quality at the Z-axis of the plane of symmetry that reduces quality point be the mass of system of M3.
Counterweight on another direction turns with above-mentioned same method and is added on the inertial navigation system.
Claims (6)
1. an inertial navigation system barycenter balancing device is characterized in that: comprise that base plate (1), left support plate (2), right support plate (3), carriage assembly (4), four groups of deep groove ball bearings (7) form.Left support plate (2) is fixed by screws on the base plate (1) with right support plate (3), the top of left support plate (2) and right support plate (3) has groove, and the shape of this groove and the degree of depth are corresponding with the shape and size of deep groove ball bearing (7).Deep groove ball bearing (7) is all installed in each side of carriage assembly (4), by deep groove ball bearing (7) carriage assembly (4) is installed in the groove on left support plate (2) and right support plate (3) top.
2. a kind of inertial navigation system barycenter balancing device as claimed in claim 1, it is characterized in that: the position of described left support plate (2) on base plate (1) can be regulated.
3. a kind of inertial navigation system barycenter balancing device as claimed in claim 1 or 2, it is characterized in that: carriage assembly (4) comprises the rectangular frame of hollow, this framework is carriage (5), four lateral surfaces of carriage (5), deep groove ball bearing (7) is all installed in each side, and the installation site of deep groove ball bearing (7) is corresponding with the position of left support plate (2) and right support plate (3) groove on relative side.In carriage (5) madial wall, be fixedly connected on the corresponding card extender (6) of carriage (5) shape, card extender (6) is fixed by screws on the carriage (5), and card extender after the installation (6) forms platform in carriage (5), this platform is used for installing inertial navigation system.
4. a kind of inertial navigation system barycenter balancing device as claimed in claim 1 or 2, it is characterized in that: this inertial navigation system barycenter balancing device also comprises a series of balancing weights identical in quality or not identical.
5. an inertial navigation system barycenter Calculate Ways is characterized in that: comprise the steps
Step 1: inertial navigation system is installed on the card extender (6)
The inertial navigation system that needs is carried out the barycenter measurement is installed on the card extender (6);
Step 2: increase balancing weight
Increase balancing weight (9) in a side that upwarps, increase the quantity of balancing weight, again reach balance with the barycenter balancing device and be as the criterion.
Step 3: with carriage rotation 90 degree, and again increase balancing weight
Carriage (5) 90-degree rotation that will increase balancing weight (9) is placed, and behind the 90-degree rotation, on a new direction, increases the balancing weight (9) of required weight, again reaches balance with the barycenter balancing device and is as the criterion.
6. a kind of inertial navigation system barycenter Calculate Ways as claimed in claim 5 is characterized in that: increase step 4 after step 3: the weight of balancing weight is converted in the inertial navigation system again
When on the both direction all after the balance, reach balance together with the balancing weight that increases at the barycenter of interior inertial navigation system the weight of the balancing weight that increases is converted in the inertial navigation system, to reach the purpose of inertial navigation system barycenter balance.
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Cited By (9)
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| CN105890466A (en) * | 2016-04-05 | 2016-08-24 | 北京宇航系统工程研究所 | Combined balancing method applied to tumbling body rocket body structure |
| CN106153257A (en) * | 2016-07-18 | 2016-11-23 | 上海交通大学 | Static unbalance measuring device and method for two axle frame mechanisms |
| CN106840193A (en) * | 2015-12-07 | 2017-06-13 | 上海新跃仪表厂 | A kind of inertia measurement line angle couples suppressing method |
| CN109540384A (en) * | 2018-11-15 | 2019-03-29 | 北京航天计量测试技术研究所 | A kind of two-dimentional center mass measuring device and method based on principle of moment balance |
| CN109580096A (en) * | 2018-11-08 | 2019-04-05 | 北京精密机电控制设备研究所 | A kind of eccentric wheel mass-radius product simple adjusting device based on static balance principle |
| CN110595687A (en) * | 2019-08-15 | 2019-12-20 | 南京理工大学 | Cube star two-dimensional centroid adjusting method |
| CN110726511A (en) * | 2019-11-04 | 2020-01-24 | 湖南航天机电设备与特种材料研究所 | Centroid calculation method of inertial navigation system with rotating mechanism |
| CN110823449A (en) * | 2019-12-20 | 2020-02-21 | 贵州航天乌江机电设备有限责任公司 | Adjustable mass center revolving body and mass center adjusting method |
| EP2997341B1 (en) * | 2013-05-14 | 2021-11-17 | Resonic GmbH | Device and method for determining inertia properties of an object |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2997341B1 (en) * | 2013-05-14 | 2021-11-17 | Resonic GmbH | Device and method for determining inertia properties of an object |
| CN106840193A (en) * | 2015-12-07 | 2017-06-13 | 上海新跃仪表厂 | A kind of inertia measurement line angle couples suppressing method |
| CN105890466A (en) * | 2016-04-05 | 2016-08-24 | 北京宇航系统工程研究所 | Combined balancing method applied to tumbling body rocket body structure |
| CN106153257A (en) * | 2016-07-18 | 2016-11-23 | 上海交通大学 | Static unbalance measuring device and method for two axle frame mechanisms |
| CN106153257B (en) * | 2016-07-18 | 2019-04-19 | 上海交通大学 | Static unbalance measuring device and method for two axis frame mechanisms |
| CN109580096B (en) * | 2018-11-08 | 2020-10-23 | 北京精密机电控制设备研究所 | Simple eccentric wheel mass-diameter product adjusting device based on static balance principle |
| CN109580096A (en) * | 2018-11-08 | 2019-04-05 | 北京精密机电控制设备研究所 | A kind of eccentric wheel mass-radius product simple adjusting device based on static balance principle |
| CN109540384A (en) * | 2018-11-15 | 2019-03-29 | 北京航天计量测试技术研究所 | A kind of two-dimentional center mass measuring device and method based on principle of moment balance |
| CN109540384B (en) * | 2018-11-15 | 2021-01-05 | 北京航天计量测试技术研究所 | Two-dimensional centroid measuring device and method based on moment balance principle |
| CN110595687B (en) * | 2019-08-15 | 2021-01-26 | 南京理工大学 | Cube star two-dimensional centroid adjusting method |
| CN110595687A (en) * | 2019-08-15 | 2019-12-20 | 南京理工大学 | Cube star two-dimensional centroid adjusting method |
| CN110726511A (en) * | 2019-11-04 | 2020-01-24 | 湖南航天机电设备与特种材料研究所 | Centroid calculation method of inertial navigation system with rotating mechanism |
| CN110726511B (en) * | 2019-11-04 | 2021-09-14 | 湖南航天机电设备与特种材料研究所 | Centroid calculation method of inertial navigation system with rotating mechanism |
| CN110823449A (en) * | 2019-12-20 | 2020-02-21 | 贵州航天乌江机电设备有限责任公司 | Adjustable mass center revolving body and mass center adjusting method |
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Application publication date: 20130327 |