CN103033209B - Three-dimensional motion testing device - Google Patents

Abstract

The invention discloses a three- dimensional motion testing device which comprises a mechanical part and an electronic control part. The mechanical part comprises a testing device rack, a third stage rolling support assembly, a second stage rolling support assembly, and a first stage rolling support assembly. The third stage rolling support assembly comprises a third stage rolling support driven device, a third stage rolling support assembly drive device and a third stage rolling support. The second stage rolling support assembly comprises a second stage rolling support and a second stage rolling support drive device. The first stage rolling support assembly comprises a first stage rolling support drive device, a first stage rolling support driven device, a first stage rolling support and a float regulating device. The upper end and the lower end of the first stage rolling support are connected with the upper end and the lower end of the second stage rolling support in a rotational mode. A part at middle position of the second stage rolling support is connected with a part at middle position of the third stage rolling support in a rotational mode. The upper end and the lower end of the third stage rolling support are connected with a top plate of the testing device rack and a bottom plate of the testing device rack. The mechanical part is connected with the electronic control part through electric wires.

Description

Three-dimensional motion test unit

Technical field

The present invention relates to a kind of test unit, or rather, the present invention relates to a kind of can be the three-dimensional motion test unit of testpieces accurate simulation three-dimensional motion.

Background technology

In the movable machinery control system in modern times, sensor is absolutely necessary parts, is the motion state of measuring and adjustation machinery, usually will measures inclination angle, rotating speed, the signals such as acceleration.As needed the three-dimensional perspective position in sensor energy detection model space in model airplane, in automobile electronic stabilization system, need sensor can detect vertical, the side acceleration of vehicle and the yaw velocity of vehicle etc.Therefore the performance of sensor directly affects performance and the stability of total system.

Along with the development of microelectric technique, the more and more integrated and miniaturization of the sensor in movable machinery, and gradually adopt electronic component to replace traditional mechanical organ.As micro-mechanical gyroscope can use the volume of die size to complete the gyrostatic every measurement task of traditional mechanical type, be widely used at present on the various equipment and materials such as model plane, vehicle, navigating instrument.For electronic component sensor, its input and output are electric signal, are very easily subject to impact and the interference of surrounding environment, and therefore demarcation before use seems more important.

In addition, when developing control system, during the performance such as implementation effect, response characteristic, antijamming capability for test macro, except carrying out the analog simulation of software and computing machine, also to carry material object and carrying out hardware test.If now all use true machinery to test, workload is huge and be difficult to whole realization on the one hand, there is certain safety risks on the other hand.Use the input of particular organization simulated environment by contrast, hardware in loop experiment is carried out to circuit in kind and control system, can well solve the problem.

Also do not have at home can well realize demarcating movable machinery control system sensor and the device of hardware-in-the-loop test having been coordinated at present.

Summary of the invention

Technical matters to be solved by this invention compensate for prior art demarcate the sensor in movable machinery control system and can complete the problem of hardware-in-the-loop test equipment deficiency, provides a kind of three-dimensional motion test unit.

For solving the problems of the technologies described above, the present invention adopts following technical scheme to realize: described three-dimensional motion test unit is grouped into by mechanical part and electric control part.Mechanical part includes test unit frame, third level swinging mounting assembly, second level swinging mounting assembly, swinging mounting balancing weight and first order swinging mounting assembly.

The column lower end of the test unit frame corner of described square-shaped frame posture structure is processed with round boss, the right cylinder of boss lower end is threaded the test unit lower margin be placed on ground, the top of test unit frame is provided with top board, namely above the round boss of four columns, is installed with base plate bottom test unit frame.

Described third level swinging mounting assembly includes third level swinging mounting slave unit, third level swinging mounting drive unit and third level swinging mounting, third level swinging mounting includes third level support upper backup pad, third level bracket side back up pad and third level support lower supporting plate, third level support upper backup pad is connected with the top panel turns of test unit frame by third level swinging mounting slave unit, third level support lower supporting plate is rotationally connected by the base plate of third level swinging mounting drive unit and test unit frame, swinging mounting balancing weight is fixed on the right-hand member of third level support lower supporting plate.

Described second level swinging mounting assembly comprises second level swinging mounting and second level swinging mounting drive unit, second level swinging mounting comprises second level drive plate, No. one, second level back up pad and No. two, second level back up pad, and the second level drive plate in the swinging mounting of the second level is rotationally connected by the third level bracket side back up pad in second level swinging mounting drive unit and third level swinging mounting assembly.

First order swinging mounting assembly includes first order swinging mounting drive unit, first order swinging mounting slave unit, first order swinging mounting and floating adjusting gear, and described first order swinging mounting comprises first order support side plate, first order support base plate and first order support No. two side plates.First order support side plate is rotationally connected by No. one, the second level back up pad in first order swinging mounting drive unit and second level swinging mounting assembly, first order support No. two side plates are rotationally connected by No. two, the second level back up pad in first order swinging mounting slave unit and second level swinging mounting assembly, and floating adjusting gear is arranged on first order support base plate.

Third level swinging mounting slave unit described in technical scheme comprises third level top chock, third level bearing, the driven wheel hub of the third level and Z axis calibration laser transmitter.The upper end of third level top chock to load in the third level top chock through hole in test unit frame on top board and is fixed with bolts, the lower end of the driven wheel hub of the third level to load in the driven wheel hub through hole of the third level in third level swinging mounting assembly on third level support upper backup pad and is fixed with bolts, the lower end of third level top chock with third level bearing be installed between the driven wheel hub upper end of the third level become to be rotationally connected, the lower end of the collector ring stiff end in automatically controlled part loads in the center pit of third level top chock, collector ring turning end loads in the driven wheel hub center pit of the third level, the bottom surface of the ring flange of collector ring contacts with the upper surface of the top board of test unit frame and is fixed with bolts, Z axis calibration laser transmitter is arranged in the center hole of collector ring turning end bottom face, the terminals of Z axis calibration laser transmitter are connected with collector ring electric wire.

Third level swinging mounting drive unit described in technical scheme comprises third level drive motor, third level drive hub, the third level No. two bearings, the third level No. three bearings and third level step.The lower end of third level step to load in the third level step through hole on the base plate in test unit frame and is fixed with bolts, the upper end of third level drive hub to load in the 3rd drive hub through hole in third level swinging mounting assembly on third level support lower supporting plate and is fixed with bolts, the third level No. two bearings and the third level No. three bearings are installed between the upper end of third level step and the lower end being inserted therein the third level drive hub among hole from the bottom to top, the output shaft of third level drive motor inserts in the center pit of third level drive hub from the bottom to top, and be connected with third level drive hub by flat key, third level drive motor contacts with third level step lower surface and is fixed with bolts, third level drive hub, third level top chock in the axis of rotation of third level step and third level drive motor output shaft and third level swinging mounting slave unit, the axis of rotation conllinear of collector ring and the driven wheel hub of the third level.

Third level support upper backup pad described in technical scheme, third level bracket side back up pad and third level support lower supporting plate are flat-type structural member.Third level support upper backup pad is processed with the driven wheel hub through hole of the third level that wheel hub driven with the third level matches, bolt hole is processed with around the driven wheel hub through hole of the third level, third level support lower supporting plate is processed with the third level drive hub through hole matched with third level drive hub, around third level drive hub through hole, be processed with lower bolt hole, on the right side of third level support lower supporting plate, be provided with the through hole being fixedly connected with swinging mounting balancing weight.Third level support upper backup pad left end and third level bracket side back up pad upper end are located by connecting with the form of slot and use bolt to fix, third level support lower supporting plate left end and third level bracket side back up pad lower end are located by connecting with the form of slot and use bolt to fix, third level support upper backup pad and third level support lower supporting plate are positioned at the same side of third level bracket side back up pad in parallel to each other, third level support upper backup pad and third level support lower supporting plate are with vertical with third level bracket side back up pad, the front/rear end bolt of third level support upper backup pad and third level bracket side back up pad link position is fixed with stiffening plate on the upside of third level support, the front/rear end bolt of third level support lower supporting plate and third level bracket side back up pad link position is fixed with stiffening plate on the downside of third level support.

Second level swinging mounting drive unit described in technical scheme comprises the identical second level bearing of second level drive motor, second level end ring, second level motor support base, Y-axis calibration laser transmitter, second level drive hub, 2 structures and second level bearing seat.The left end of second level bearing seat to load in the second level bearing seat through hole in third level swinging mounting assembly in third level bracket side back up pad and is fixed with bolts, the right-hand member torus of second level drive hub to load in the second level drive hub central through hole in the swinging mounting assembly of the second level on the drive plate of the second level and adopts bolt to be fixedly connected with, the second level bearing that the left end of second level drive hub adopts 2 structures identical loads in the central through hole of second level bearing seat, second level end ring is sleeved on the outside of the identical second level bearing of 2 structures, the right side of second level drive motor contacts with motor support base left side, the second level, motor support base right side, the second level contacts with the left side of third level bracket side back up pad in third level swinging mounting assembly, adopt bolt by third level bracket side back up pad, second level motor support base and second level drive motor are connected and fixed, be connected by the center pit of flat key with second level drive hub in the center pit that the output shaft of second level drive motor inserts second level drive hub, the right side of second level motor output shaft is provided with Y-axis calibration laser transmitter, second level drive hub, second level bearing seat, the axis of rotation conllinear of Y-axis calibration laser transmitter and second level drive motor output shaft.

First order swinging mounting drive unit described in technical scheme comprises first order drive motor, first order motor support base, first order drive hub, first order bearing and first order end ring.In first order drive hub center pit on second level support side plate in the insertion second level, the upper end swinging mounting assembly of first order drive hub, between first order drive hub center pit in No. one, second level back up pad in first order drive hub and second level swinging mounting assembly, first first order bearing is installed, from the external part of the first order drive hub center pit the back up pad of No. one, the second level, first first order end ring is installed in first order drive hub, the bottom face of first order drive motor contacts with the upper surface of first order motor support base, the upper flat face of the back up pad in the second level in the lower surface of first order motor support base and second level swinging mounting assembly touches, adopt bolt by No. one, second level back up pad, first order motor support base and first order drive motor are connected and fixed, be that flat key connects in the center pit of the output shaft insertion first order drive hub of first order drive motor.

First order swinging mounting slave unit described in technical scheme comprises X-axis calibration laser transmitter, the driven wheel hub of the first order, second first order bearing and second first order end ring.In the driven wheel hub center pit of the first order in No. two, second level back up pad in the swinging mounting assembly of the insertion second level, the first order driven wheel hub lower end, between the driven wheel hub center pit of the first order in No. two, second level back up pad in the driven wheel hub of the first order and second level swinging mounting assembly, second first order bearing is installed, the external part of the driven wheel hub of the first order is provided with second first order end ring, first order drive hub in first order swinging mounting drive unit, the axis of rotation conllinear of the first order drive motor output shaft in the driven wheel hub of the first order and first order swinging mounting drive unit, the upper end of the driven wheel hub of the first order is provided with X-axis calibration laser transmitter, the power lead of X-axis calibration laser transmitter passes from the driven wheel hub center pit of the first order.

Floating adjusting gear described in technical scheme comprises testpieces fixed head, guiding traveller, fore-set jump ring and adjusting gear fore-set that four root architectures are identical.Described testpieces fixed head is processed with the through hole that the guiding traveller identical with four root architectures is slidably matched, testpieces fixed head is processed with the fixed orifice for fixation test exemplar, the right side of testpieces fixed head is processed with boss, and the center of boss is processed with threaded hole vertically.Described adjusting gear fore-set left end is processed with the external thread coordinated with the threaded hole on testpieces fixed head, externally threaded right-hand member is connected to the shaft shoulder contacted with first order support base plate left side plan, right cylinder on the right side of the shaft shoulder is processed with the annular groove for fixing fore-set jump ring, right cylinder right-hand member is processed with the radial U-lag for rotation adjuster fore-set.The identical guiding traveller of four root architectures insert four structures on first order support base plate identical and be interference fit in the guiding traveller through hole of orthogonal distribution, the right-hand member of adjusting gear fore-set inserts in the center pit of first order support base plate, fore-set jump ring is arranged in the annular groove on adjusting gear fore-set, for being threaded in the threaded hole on the left end insertion testpieces fixed head right boss of adjusting gear fore-set.

Electric control part described in technical scheme is divided and is comprised first order motor driver, second level motor driver, collector ring, third level motor driver, level encoder device, secondary scrambler, three grades of scramblers, industrial computer and computing machines.Computing machine is connected with industrial computer by data line, first order motor driver is connected with the digital signal output end electric wire of industrial computer with the control signal input end of second level motor driver, the control signal input end of third level motor driver is connected with the analog signal output electric wire of industrial computer, first order motor driver is connected with collector ring stiff end wire with the control signal output terminal of second level motor driver, collector ring and stiff end are drawn turning end that wire is conducted and are drawn wire and be connected with the control signal input end of second level drive motor with the first order drive motor in mechanical part respectively, the control signal output terminal of third level motor driver is connected with the control signal input end of the third level drive motor in mechanical part, first order drive motor, in second level drive motor and third level drive motor, level encoder device is installed successively, secondary scrambler and three grades of scramblers, level encoder device is connected with collector ring turning end electric wire with the output terminal of secondary scrambler, collector ring stiff end is connected with industrial computer input end of analog signal, the output terminal of three grades of scramblers is directly connected with the input end of analog signal of industrial computer, the wire of the testpieces on testpieces fixed head is connected with collector ring turning end wire.

Compared with prior art the invention has the beneficial effects as follows:

1. the motion of testpieces is had the Electric Machine Control of vertical relation by three-dimensional motion test unit of the present invention respectively by three axis, the locus simulation of testpieces, the simulation of testpieces spatial rotation and testpieces acceleration simulation can be realized very easily, and the associated calibration of testpieces can be carried out.

2. three-dimensional motion test unit upper end of the present invention is provided with collector ring, by wire, testpieces is connected with test unit external unit (as industrial computer, computing machine), the signal of testpieces is real-time transmitted to external unit for the treatment of, if connect other opertaing devices or actuating unit, then can realize the hardware-in-the-loop test of testpieces.

3. three-dimensional motion test unit one-level base plate of the present invention is designed with floating adjusting gear, the aligned bundle that X-axis calibration laser transmitter on binding tests device, Y-axis calibration laser transmitter and Z axis calibration laser transmitter send, the accurate location of testpieces position can be realized, reduce the inaccurate motion simulation error caused in location.

Accompanying drawing explanation

Below in conjunction with accompanying drawing, the present invention is further illustrated:

Fig. 1 is the front view of mechanical part structure composition in three-dimensional motion test unit of the present invention;

Fig. 2 is the front view of test unit lower margin structure composition in three-dimensional motion test unit of the present invention;

Fig. 3 is the front view of third level swinging mounting assembly structure composition in three-dimensional motion test unit of the present invention;

Fig. 4 is the front view of third level swinging mounting slave unit structure composition in three-dimensional motion test unit of the present invention;

Fig. 5 is the front view of third level swinging mounting driving device structure composition in three-dimensional motion test unit of the present invention;

Fig. 6 is the front view of third level swinging mounting structure composition in three-dimensional motion test unit of the present invention;

Fig. 7 is the front view of swinging mounting assembly structure composition in the second level in three-dimensional motion test unit of the present invention;

Fig. 8 is the front view of swinging mounting structure composition in the second level in three-dimensional motion test unit of the present invention;

Fig. 9 is the cut-open view in three-dimensional motion test unit of the present invention on second level swinging mounting driving device structure composition front view;

Figure 10 is the front view of first order swinging mounting assembly structure composition in three-dimensional motion test unit of the present invention;

Figure 11 is the front view of first order swinging mounting in three-dimensional motion test unit of the present invention, first order swinging mounting drive unit and first order swinging mounting slave unit assembly relation;

Figure 12 is the front view of floating adjusting gear in three-dimensional motion test unit of the present invention;

Figure 13 is the schematic block diagram of electric control part separation structure composition in three-dimensional motion test unit of the present invention;

Figure 14 is the schematic block diagram of three-dimensional motion test unit three-coordinate of the present invention;

In figure: 1. first order motor driver, 2. second level motor driver, 3. third level swinging mounting slave unit, 4. collector ring, 5. first order drive motor, 6. third level motor driver, 7. test unit frame, 8. first order swinging mounting assembly, 9. float adjusting gear, 10. swinging mounting balancing weight, 11. third level swinging mounting drive units, 12. third level drive motor, 13. test unit lower margins, 14. second level swinging mounting assemblies, 15. second level swinging mounting drive units, 16. second level drive motor, 17. third level swinging mounting assemblies, 18. third level top chocks, 19. third level No. bearings, the driven wheel hub of 20. third level, 21. first order motor support bases, 22. first order drive hubs, 23. No. one, first order support side plates, 24. first order support base plates, 25.X axis calibration generating laser, the driven wheel hub of 26. first order, 27. first order bearings, 28. first order end rings, 29. test exemplars, 30. testpieces fixed heads, 31. guiding travellers, 32. fore-set jump rings, 33. adjusting gear fore-sets, 34.Z axis calibration generating laser, 35. third level drive hubs, 36. third level No. two bearings, 37. third level No. three bearings, 38. third level steps, 39. second level drive plates, 40. No. one, second level back up pads, 41. No. two, second level back up pads, 42. second level end rings, 43. second level motor support bases, 44.Y axis calibration generating laser, 45. second level drive hubs, 46. second level bearings, 47. second level bearing seats, 48. third level support upper backup pads, 49. third level support upper support plate, 50. third level bracket side back up pads, 51. third level support lower supporting plates, back up pad on the downside of 52. third level supports, 53. No. two, first order support side plates, 54. third level swinging mountings, 55 second level swinging mountings, 56, first order swinging mounting, 57. first order swinging mounting drive units, 58. first order swinging mounting slave units, 61. level encoder devices, 62. secondary scramblers, 63. 3 grades of scramblers, 64. industrial computers, 65. computing machines, 66. external units

Embodiment

Below in conjunction with accompanying drawing, the present invention is explained in detail:

Consult Fig. 1, three-dimensional motion test unit of the present invention is grouped into by mechanical part and electric control part, and described mechanical part includes first order swinging mounting assembly 8, second level swinging mounting assembly 14, third level swinging mounting assembly 17, test unit frame 7 and swinging mounting balancing weight 10.

Described electric control part is divided and is included first order motor driver 1, second level motor driver 2, collector ring 4, third level motor driver 6, level encoder device 61, secondary scrambler 62, three grades of scramblers 63, industrial computer 64, computing machine 65 and external units 66.

Consult Fig. 1 and Fig. 2, test unit frame 7 is rectangular parallelepiped tower structure part, the column lower end that test unit frame is 7 four jiaos is processed with round boss, the right cylinder of boss lower end is processed with square thread, the top of test unit frame 7 is provided with top board, bottom test unit frame 7, namely the top of the round boss of four columns is installed with base plate, the right cylinder that namely test unit frame 7 four column lower end is processed with square thread is provided with test unit lower margin 13, and the bottom face of test unit lower margin 13 is placed on ground as contact connects.The square thread matched with square thread on column lower end right cylinder is processed with in the central through hole of test unit lower margin 13, the circumferencial direction on the face of cylinder, outside of test unit lower margin 13 bottom is evenly equipped with four radial blind holes, use instrument inserts in four blind holes can rotation test device lower margin 13, test unit lower margin 13 is moved up and down along the axis of test unit frame 7 four corner post, namely realizes the adjustment of three-dimensional motion test unit horizontal level.

First order motor driver 1 in automatically controlled part, second level motor driver 2 and third level motor driver 6 are fixedly mounted in the upper plane of test unit frame 7 top board.

Consult Fig. 3, described third level swinging mounting assembly 17 includes third level swinging mounting slave unit 3, third level swinging mounting drive unit 11 and third level swinging mounting 54.

Consult Fig. 4, third level swinging mounting slave unit 3 comprises third level top chock 18, third level bearing 19, the driven wheel hub 20 of the third level and Z axis calibration laser transmitter 34.

In third level top chock through hole on top board in the upper end loading test unit frame 7 of the third level top chock 18 in third level swinging mounting slave unit 3, the upper surface of the ring flange in third level top chock 18 contacts with the baseplane of test unit frame 7 top board, and is fixed with bolts.Lower end in third level swinging mounting slave unit 3 in the driven wheel hub of the third level 20 loads in the driven wheel hub through hole of the third level in third level swinging mounting 54 on third level support upper backup pad 48, ring flange bottom surface in the driven wheel hub 20 of the third level contacts with the upper surface of third level support upper backup pad 48 in third level swinging mounting 17, and uses four bolts to be connected and fixed.Third level bearing 19 is installed between the lower end of third level top chock 18 and the third level driven wheel hub 20 upper end, third level bearing 19 realizes axial location by the annulus boss of the shaft shoulder in third level top chock 18 and the third level driven wheel hub 20 bottom, so for being rotationally connected between the lower end of third level top chock 18 and the third level driven wheel hub 20 upper end.

Collector ring 4 is by the pivoted member be set with inside and outside the different solid of revolution of diameter, and the solid of revolution that diameter is larger is processed with ring flange, and as the stiff end of collector ring 4, the wire of some mutually insulateds is drawn on collector ring 4 top.The solid of revolution that diameter is less is stretched out by collector ring 4 lower end, and as the turning end of collector ring, the bottom of turning end is drawn and drawn the identical wire of number of conductors with top, and wire is drawn on top and the conducting of wire one_to_one corresponding is drawn in turning end bottom.The lower end of collector ring 4 stiff end loads in the center pit of third level top chock 18, collector ring 4 turning end is fit in the third level driven wheel hub 20 center pit, the bottom surface of the ring flange of collector ring 4 stiff end contacts with the upper surface of test unit frame 7 upper supporting plate, and makes to be joined with bolts.The wiring of collector ring 4 turning end passes by the center pit of the driven wheel hub 20 of the third level.A circular hole is processed with in the center of collector ring 4 turning end bottom face, Z axis calibration laser transmitter 34 is placed with in circular hole, the axis of rotation conllinear of Z axis calibration laser transmitter 34 central axis and third level drive motor 12, the terminals of Z axis calibration laser transmitter 34 are drawn wire with collector ring 4 turning end and are connected.

Consult Fig. 5, third level swinging mounting drive unit 11 comprises third level drive motor 12, third level drive hub 35, the third level No. two bearings 36, the third level No. three bearings 37 and third level step 38.

The base plate of test unit frame 7 is processed with the third level step through hole equipped with third level step 38 lower end external cylindrical surface, the surrounding of third level step through hole is evenly equipped with four tapped through holes of erection bolt.In third level step through hole on base plate in the lower end loading test unit frame 7 of third level step 38, third level step 38 is located by the contacts baseplate in lower end seam and test unit frame 7, the bottom face of the ring flange in third level step 38 contacts with the top end face of the base plate in test unit frame 7, and uses six bolts to be connected and fixed.The top of third level step 38 center pit is processed with the ring groove of the third level No. three bearings 37 for installed thrust ball-type, the bottom face of the third level No. three bearing 37 outer races contacts with the groove bottom of ring groove, periphery and the ring slot outside Cylindrical Surfaces Contact of the third level No. three bearing 37 outer races are located, and the third level No. three bearings 37 are for bearing the vertical gravity of three-dimensional motion device.Position on the lower side, the inner side of ring groove is processed with No. two dead eyes of the third level No. two bearings 36 for installing zanjon ball-type, the external cylindrical surface of the third level No. two bearing 36 outer races contacts with bottom face locate with center pit (namely installing No. two dead eyes of the third level No. two bearings 36 of the zanjon ball-type) inner stopper of third level step 38, for bearing centrifugal intertia force during three-dimensional motion device motion.

The upper end of third level drive hub 35 loads in the 3rd drive hub through hole in third level swinging mounting 17 on third level support lower supporting plate 51, the top end face of the ring flange of third level drive hub 35 contacts with the bottom face of third level support lower supporting plate 51 in third level swinging mounting 17, and uses four bolts to be connected and fixed.The third level No. two bearings 36 and the third level No. three bearings 37 are installed between the upper end of third level step 38 and the lower end being inserted therein the third level drive hub 35 among hole from the bottom to top, third level drive hub 35 lower end external cylindrical surface and the third level No. two bearing 36 endoporus are transition fit, transfer device centrifugal intertia force, third level drive hub 35 by the upper-end contact power transmission of ring flange lower surface and seam and the third level No. three bearing 37 bearing inner rings, so for being rotationally connected between third level step 38 and the third level drive hub 35 being inserted therein among hole.The output shaft of third level drive motor 12 inserts in the center pit of third level drive hub 35 from the bottom to top, and is connected with third level drive hub 35 by flat key.The upper surface of third level drive motor 12 contacts with third level step 38 lower surface, and uses 4 bolts to be connected and fixed.The axis of rotation conllinear of third level top chock 18, collector ring 4, the driven wheel hub 20 of the third level, third level drive hub 35, third level step 38 and third level drive motor 12 output shaft, this axis of rotation forms the Z axis of three-dimensional motion test unit.

Consult Fig. 6, third level swinging mounting 54 comprises stiffening plate 52 on the downside of stiffening plate 49 on the upside of third level support upper backup pad 48, third level support, third level bracket side back up pad 50, third level support lower supporting plate 51 and third level support, and third level support upper backup pad 48, third level bracket side back up pad 50 are flat-type structural member with third level support lower supporting plate 51.

Third level support upper backup pad 48 is processed with the driven wheel hub through hole of the third level that wheel hub 20 driven with the third level matches, the circumferencial direction around the third level driven wheel hub through hole is processed with the upper bolt hole for coupling bolt.Third level support lower supporting plate 51 is processed with the third level drive hub through hole matched with third level drive hub 35, the circumferencial direction around third level drive hub through hole is processed with the lower bolt hole for coupling bolt.Being provided with the through hole being fixedly connected with swinging mounting balancing weight 10 on the right side of third level support lower supporting plate 51, being fixed on swinging mounting balancing weight 10 on the right side of third level support lower supporting plate 51 for balancing the unbalance mass, of first order swinging mounting assembly 8, second level swinging mounting assembly 14 and third level swinging mounting assembly 17.

Third level support upper backup pad 48 left end and third level bracket side back up pad 50 upper end are located with the form of slot, and use bolt to be fixedly connected with.Third level support lower supporting plate 51 left end and third level bracket side back up pad 50 lower end are located with the form of slot, and use bolt to be fixedly connected with.Third level support upper backup pad 48 and third level support lower supporting plate 51 are positioned at same (right side) side of third level bracket side back up pad 50 in parallel to each other, and third level support upper backup pad 48 and third level support lower supporting plate 51 are with vertical with third level bracket side back up pad 50.

Third level support upper backup pad 48 be connected with third level bracket side back up pad 50 position face, rear and front end on be processed with threaded hole respectively, on the upside of the third level support of two triangles, stiffening plate 49 is connected and fixed respectively by the front/rear end of bolt and third level support upper backup pad 48 and third level bracket side back up pad 50, plays the stiffness increasing third level swinging mounting 54.Third level support lower supporting plate 51 be connected with third level bracket side back up pad 50 position face, rear and front end on be processed with threaded hole respectively, on the downside of the third level support of two triangles, stiffening plate 52 is connected and fixed respectively by the front/rear end of bolt and third level support lower supporting plate 51 and third level bracket side back up pad 50, plays the stiffness increasing third level swinging mounting 54.

Consult Fig. 7, described second level swinging mounting assembly 14 comprises second level swinging mounting and second level swinging mounting drive unit 15.

With reference to figure 8, described second level swinging mounting 55 comprises second level drive plate 39, No. one, second level back up pad 40 and No. two, second level back up pad 41.

No. one, second level back up pad 40 is processed with the endoporus for fixedly mounting first first order bearing 27, and around endoporus, is processed with the threaded hole of four bolts for being connected and fixed first order motor 5 and first order motor support base 21.No. two, second level back up pad 41 is processed with the endoporus for fixedly mounting another first order bearing 27.Second level drive plate 39 center is processed with the second level drive hub through hole installing second level drive hub 45 right-hand member, and the circumferencial direction around the drive hub through hole of the second level is evenly equipped with four dormant bolt through holes for connecting second level drive hub 45.

No. one, second level back up pad 40 is identical with No. two, second level back up pad 41 structure, and No. one, second level back up pad 40, No. two, second level back up pad 41 and second level drive plate 39 are flat-type structural member.No. one, second level back up pad 40 left end and second level drive plate 39 upper end are connected with the form of slot locates, and uses bolt to be fixedly connected with.No. two, second level back up pad 41 left end and second level drive plate 39 lower end are connected with the form of slot locates, and uses bolt to be fixedly connected with.No. one, second level back up pad 40 and No. two, second level back up pad 41 are positioned at same (right side) side of second level drive plate 39 in parallel to each other, and No. one, second level back up pad 40 and No. two, second level back up pad 41 are with vertical with second level drive plate 39.

Consult Fig. 9, second level swinging mounting drive unit 15 comprises the identical second level bearing 46 of second level drive motor 16, second level end ring 42, second level motor support base 43, Y-axis calibration laser transmitter 44, second level drive hub 45,2 structures and second level bearing seat 47.

Be transition fit in second level bearing seat through hole in the left end loading third level swinging mounting assembly 17 of second level bearing seat 47 in third level bracket side back up pad 50, the left side of the ring flange of second level bearing seat 47 right-hand member is contacted with the right side of third level bracket side back up pad 50 locate, and use four bolts to be fixedly connected in third level bracket side back up pad 50 by second level bearing seat 47.Second level drive hub 45 high order end is processed with the external thread for connecting second level end ring 42, externally threaded right side is the right cylinder of the second level bearing 46 endoporus transition fit identical with 2 structures, cylindrical right-hand member is processed with boss, and boss left side and the right side of second level end ring 42 together limit the axial location of the identical second level bearing 46 of 2 structures.Be provided with ring flange on the right side of boss, ring flange be processed with four tapped through holes that circumferencial direction is uniform, second level drive hub 45 to be contacted with second level drive plate 39 by the seam that torus is formed on ring flange and right side and locates.The right-hand member torus of second level drive hub 45 loads in the second level drive hub central through hole in second level swinging mounting assembly 14 on second level drive plate 39, the left plane contact of second level drive plate 39 in ring flange right side on second level drive hub 45 and second level swinging mounting 14, and adopt four hexagon socket head cap screws to be fixedly connected with.The left end of second level drive hub 45 loads in the central through hole of second level bearing seat 47, and the second level bearing 46 of adopt structure identical two angular contact types is arranged in the central through hole of second level bearing seat 47, the second level bearing 46 of two angular contact types adopts reverse mounting means, second level drive hub 45 is rotationally connected with second level bearing seat 47 one-tenth, second level end ring 42 is sleeved on the outside of the second level bearing 46 of two angular contact types, namely second level end ring 42 is sleeved on the left end of second level drive hub 45, the right side of second level end ring 42 contacts with the left side of left side bearing, achieve the axial location of the identical second level bearing 46 of 2 structures at second level drive hub 45 left end.The right side of second level drive motor 16 contacts with second level motor support base 43 left side of the cuboid being processed with center hole, second level motor support base 43 right side contacts with the left side of third level bracket side back up pad 50 in third level swinging mounting assembly 17, uses four bolts third level bracket side back up pad 50, second level motor support base 43 and second level drive motor 16 to be connected and fixed.Be transition fit in the center pit of the output shaft insertion second level drive hub 45 of second level drive motor 16, and be connected and fixed by the center pit of flat key and second level drive hub 45.The right side of second level motor 16 output shaft is provided with Y-axis calibration laser transmitter 44, Y-axis calibration laser transmitter 44 external cylindrical surface contacts with the center pit of second level drive hub 45 and coordinates, the wiring of Y-axis calibration laser transmitter 44 is drawn from keyway, and draws wire with collector ring 4 turning end and be connected.The axis of rotation conllinear of second level drive hub 45, second level bearing seat 47, Y-axis calibration laser transmitter 44 and second level drive motor 16 output shaft, this axis of rotation forms the Y-axis of three-dimensional motion test unit.

Second level drive plate 39 and third level bracket side back up pad 50 are processed with two measure-alike dowel holes respectively, rotate second level swinging mounting 55, when first order drive motor 5 axis and third level drive motor 12 axes normal, two pin-and-holes are coaxial, now penetrate one with the second level swinging mounting register pin of dowel hole transition fit, second level swinging mounting can be fixed, as the positioning datum before test.

Consult Figure 10, described first order swinging mounting assembly 8 includes first order swinging mounting drive unit 57, first order swinging mounting slave unit 58, first order swinging mounting 56 and floating adjusting gear 9.

Consult Figure 11, described first order swinging mounting drive unit 57 comprises first order drive motor 5, first order motor support base 21, first order drive hub 22, first order bearing 27 and first order end ring 28; Described first order swinging mounting slave unit 58 comprises X-axis calibration laser transmitter 25, the driven wheel hub 26 of the first order, another first order bearing 27, another first order end ring 28; Described first order swinging mounting 56 comprises first order support side plate 23, first order support base plate 24 and first order support No. two side plates 53.Wherein: first order support side plate 23 and first order support No. two side plate 53 structures are identical, are flat-type structural member.First order support side plate 23 right-hand member and first order support base plate 24 upper end are located with the form of slot, and use bolt to be fixedly connected with.First order support No. two side plate 53 right-hand members and first order support base plate 24 lower end are located with the form of slot, and use bolt to be fixedly connected with.First order support side plate 23 and first order support No. two side plates 53 are positioned at same (left side) side of first order support base plate 24 in parallel to each other, and first order support side plate 23 and first order support No. two side plates 53 are with vertical with first order support base plate 24.

In first order drive hub center pit on second level support side plate 40 in the insertion second level, the upper end swinging mounting assembly 14 of first order drive hub 22, between first order drive hub center pit in No. one, second level back up pad 40 in first order drive hub 22 and second level swinging mounting 14, first first order bearing 27 is installed, for being rotationally connected between No. one, second level back up pad 40 in first order drive hub 22 and second level swinging mounting assembly 14, the lower shaft shoulder on first order drive hub 22 contacts with the bottom face of first first order bearing 27 inner ring, from the external part of the first order drive hub center pit the back up pad 40 of No. one, the second level, first first order end ring 28 is installed in first order drive hub 22, the bottom face of first first order end ring 28 contacts with the top end face of first order bearing 27 inner ring, realize the axial location of first order drive hub 22 in the back up pad 40 of No. one, the second level.First order bearing 27 is corner connection touch ball bearing, adopts oppositely to install to match to use.The lower surface of first order drive motor 5 contacts with the upper surface of first order motor support base 21 of the cuboid being processed with center hole, in No. one, second level back up pad 40 in the lower surface of first order motor support base 21 and second level swinging mounting assembly 14, flat face touches, and uses four bolts No. one, second level back up pad 40, first order motor support base 21 and first order drive motor 5 to be connected and fixed.Be transition fit in the center pit that the output shaft of first order drive motor 5 inserts first order drive hub 22, and be connected with first order drive hub 22 transferring rotational motion by flat key.

In the driven wheel hub center pit of the first order in No. two, second level back up pad 41 in the insertion second level, the first order driven wheel hub 26 lower end swinging mounting assembly 14, between the driven wheel hub center pit of the first order in No. two, second level back up pad 41 in the driven wheel hub of the first order 26 and second level swinging mounting 14, second first order bearing 27 is installed, be connected for rolling between the driven wheel hub 26 of the first order and No. two, the second level back up pad 41 in second level swinging mounting 14, the upper shaft shoulder on the driven wheel hub of the first order 26 contacts with the top end face of first order bearing 27 inner ring, namely the external part of the driven wheel hub of the first order 26 is provided with another first order end ring 28 from the external part of the driven wheel hub center pit of the first order the back up pad 41 of No. two, the second level, the top end face of another first order end ring 28 contacts with the bottom face of first order bearing 27 inner ring, realize the axial location of the driven wheel hub 26 of the first order in the back up pad 41 of No. two, the second level.The axis of rotation conllinear of first order drive motor 5 output shaft in the driven wheel hub 26 of the first order drive hub 22 in first order swinging mounting drive unit, the first order and first order swinging mounting drive unit, this axis of rotation forms the X-axis of three-dimensional motion test unit.The upper end of the driven wheel hub 26 of the first order is provided with X-axis calibration laser transmitter 25, endoporus on external cylindrical surface and first order support No. two side plates 53 of X-axis calibration laser transmitter 25 contacts and coordinates, the power lead of X-axis calibration laser transmitter 25 passes from the first order driven wheel hub 26 center pit, and draws wire with collector ring 4 turning end and be connected.

Consult Figure 12, the first order support base plate 24 in first order swinging mounting 56 is provided with floating adjusting gear 9.Described floating adjusting gear 9 comprises testpieces fixed head 30, four root architecture identical guiding traveller 31, fore-set jump ring 32 and adjusting gear fore-set 33.In figure, double dot dash line is shown for test exemplar 29.

The guiding traveller 31 that four root architectures are identical insert four root architectures on first order support base plate 24 identical and in the guiding traveller through hole of orthogonal distribution, be interference fit between the guiding traveller through hole that the external cylindrical surface of the guiding traveller 31 that four root architectures are identical is identical with four root architectures on first order support base plate 24, the left side of the lug bosses at end part of the guiding traveller 31 that four root architectures are identical connects for contacting with the right side of first order support base plate 24.For the testpieces fixed head 30 of fixation test exemplar 29 being processed with the through hole that the guiding traveller 31 identical with four root architectures is slidably matched, and testpieces fixed head 30 is processed with the fixed orifice for fixation test exemplar 29.The right side of testpieces fixed head 30 is processed with boss, and the right side of boss is used for contacting with adjusting gear fore-set 33 shaft shoulder producing stroke limit, and boss center is processed with threaded hole vertically.Adjusting gear fore-set 33 1 (left side) end is processed with the external thread coordinated with testpieces fixed head 30 threaded hole, externally threaded right-hand member is connected to the shaft shoulder, the right plane of the shaft shoulder and the left plane contact of first order support base plate 24, right cylinder on the right side of the shaft shoulder is processed with the annular groove for fixing fore-set jump ring 32, cylindrical right side is processed with the radial U-lag for rotation adjuster fore-set 33.The right-hand member of adjusting gear fore-set 33 inserts in the center pit of first order support base plate 24, fore-set jump ring 32 is arranged in the annular groove on adjusting gear fore-set 33, fore-set jump ring 32 realizes the axial restraint of adjusting gear fore-set 33 on first order support base plate 24 together with the shaft shoulder of adjusting gear fore-set 33, for being threaded in the threaded hole on left end insertion testpieces fixed head 30 right boss of adjusting gear fore-set 33.

First order support side plate 23 and No. two, second level back up pad 41 are processed with two measure-alike dowel holes respectively, rotate first order swinging mounting 56, when plane on testpieces fixed head 30 is vertical with third level drive motor 12 axis (Z axis), two pin-and-holes are coaxial, now penetrate one with the first order swinging mounting register pin of pin-and-hole transition fit, first order swinging mounting can be fixed, as the positioning datum before test.

Consult Fig. 1, third level support upper backup pad 48 in third level swinging mounting 54 in described third level swinging mounting assembly 17 is connected with the top panel turns of test unit frame 7 by third level swinging mounting slave unit 3, third level support lower supporting plate 51 is rotationally connected by the base plate of third level swinging mounting drive unit 11 with test unit frame 7, and swinging mounting balancing weight 10 is fixed on the right-hand member of third level support lower supporting plate 51.Second level drive plate 39 in second level swinging mounting in described second level swinging mounting assembly 14 is rotationally connected by the third level bracket side back up pad 50 in second level swinging mounting drive unit 15 and third level swinging mounting assembly 17.First order support in first order swinging mounting assembly 8 side plate 23 is rotationally connected by No. one, the second level back up pad 40 in first order swinging mounting drive unit and second level swinging mounting assembly 14, first order support No. two side plates 53 are rotationally connected by No. two, the second level back up pad 41 in first order swinging mounting slave unit and second level swinging mounting assembly 14, and the adjusting gear 9 that floats is arranged on first order support base plate 24.

Consult Figure 13, the electric control part of three-dimensional motion test unit is divided and is comprised first order motor driver 1, second level motor driver 2, collector ring 4, third level motor driver 6, level encoder device 61, secondary scrambler 62, three grades of scramblers 63, industrial computer 64, computing machine 65 and external units 66.

Wherein industrial computer 64 is selected and is ground magnificent PCL-818L type industrial computer, has 16 railway digital signal inputs, 16 railway digital signal outputs, 1 road analog signal output, 16 tunnel simulating signal inputs.First order drive motor 5 selects An Te section 34HS series stepper motor, and first order motor driver 1 model supporting is with it DQ2722M.Second level drive motor selects An Te section 42HS series stepper motor, and second level motor driver 2 model supporting is with it DC24RT10BL.Third level drive motor 12 selects Jinan Ke Ya company direct current generator, and third level motor driver 6 model supporting is with it MMT-DC36DPS20AL.

Computing machine 65 is connected with industrial computer 64 by data line, and first order motor driver 1 is connected with the digital signal output end electric wire of industrial computer 64 with the control signal input end of second level motor driver 2, connects six digital signal output ends of industrial computer 64 altogether.The control signal input end of third level motor driver 6 is connected with the analog signal output of industrial computer 64, connects an analog signal output of industrial computer 64.First order motor driver 1 is drawn wire with the control signal output terminal of second level motor driver 2 with collector ring 4 stiff end and is connected, and collector ring 4 and stiff end are drawn turning end that wire is conducted and drawn wire and be connected with the control signal input end of second level drive motor 16 with the first order drive motor 5 in mechanical part respectively.The control signal output terminal of third level motor driver 6 is directly connected with the control signal input end of the third level drive motor 12 in mechanical part by wire.In first order drive motor 5, second level drive motor 16 and third level drive motor 12, level encoder device 61, secondary scrambler 62, three grades of scramblers 63 are installed successively, three scramblers can measure actual rotational angle and the rotating speed of three motors, thus obtain the actual motion situation of mechanical part, and outputed signal by signal output part.Level encoder device 61 is connected with collector ring 4 turning end wire by wire with the output terminal of secondary scrambler 62, and collector ring 4 and turning end are drawn stiff end that wire is conducted and drawn wire and be connected with industrial computer 64 input end of analog signal.The output terminal of three grades of scramblers 63 is directly connected with the input end of analog signal of industrial computer 64.The wire of the testpieces 29 on testpieces fixed head 30 is drawn wire with collector ring 4 turning end and is connected, collector ring 4 and turning end are drawn stiff end that wire is conducted and are drawn wire and be connected with industrial computer 64 and required power supply respectively as required, for signal transmission and power supply.Industrial computer 64 can by line and other external units 66, and as data acquisition control system is connected, can carry out more complicated associative simulation or hardware-in-the-loop test, concrete connected mode and interface are determined according to actual conditions.

Three-dimensional motion test unit leveling process:

For ensureing the spatial movement of three-dimensional motion test unit accurate simulation, first leveling to be carried out to test unit before the use.The processing technology of device ensure that test unit three axis of movements are mutually vertical and intersects at a point, and when a calibration axis direction, can meet testing requirements, be horizontal plane in the plane that this leveling principal security is vertical with Z axis.

First a surveyor's staff is prevented at the parallel frame edge of test unit frame 7 lower carrier plate upper surface, by the height of this plane both sides vertical direction of position judgment of bubble in test tube on surveyor's staff.If the bubble secund in certain test tube, then the party position is upwards higher, by rotating test unit lower margin 13 corresponding to this direction, the axially-movable of test unit lower margin 13 is produced in conjunction with square thread, change the angle of test unit plane, repeatedly adjust, until the bubble in surveyor's staff all directions test tube is positioned at center position, then test unit level.Now third level drive motor 12 axis direction straight up, and after the use corresponding swinging mounting register pin location, first order drive motor 5 axis is mutually vertical with the equal level of second level drive motor 16 axis, testpieces fixed head 30 upper surface level.

Testpieces position correction:

The motion produced for making three-dimensional motion device is identical with the moving situation that testpieces obtains, and the center of rotation of the center of rotation of the operative sensor in testpieces and three pivot centers and test unit and pivot center need be made to overlap.

According to the correlation parameter of testpieces, mark internal sensor center position and three azimuth axis positions on testpieces surface.Testpieces and flatting down of self Z ' axes normal are placed on testpieces fixed head 30, open X-axis calibration laser transmitter 25, Y-axis calibration laser transmitter 44 and Z axis calibration laser transmitter 34, observe the position relationship of the hot spot be incident upon on testpieces surface and the center of rotation marked.Turn adjusting apparatus fore-set 33, adjusted to and X-axis hot spot isometry position by the center of rotation of testpieces 29 mark, then nigration part on testpieces fixed head 30, until the mark on testpieces 29 upper surface overlaps with Z axis hot spot.Be that axle slowly rotates testpieces 29 with Z axis, until the mark of testpieces 29 side overlaps with Y-axis hot spot, and in the surface level of testpieces, pivot center overlaps with the X-axis of test unit, Y-axis respectively.Finally check that X-axis hot spot marks with testpieces side the degree that overlaps, and carries out fine position.After all adjusting to the right place in three directions, use fixture to fix testpieces 29 and testpieces fixed head 30, concrete stationary installation is determined according to actual conditions.

Bench run can be carried out after testpieces position correction.

With reference to Figure 14, first set three space coordinates of three-dimensional motion test unit.Wherein O'X'Y'Z' is testpieces local Coordinate System, and after testpieces position correction, coordinate origin O' is fixed on testpieces 29 sensor rotation center.Z' axle is crossed O' and perpendicular to plane on testpieces fixed head 30, is just upwards.Z' crosses O' and is parallel to first order drive motor 5 axis, being just away from motor drive direction.Y' crosses O', is parallel to plane on testpieces fixed head 30, perpendicular to X' axle, and meets the right-hand rule.Testpieces local Coordinate System is fixed on testpieces, changes along with testpieces motion.

for earth axes, during testpieces leveling, be fixed on ground point, when direction and leveling, testpieces local Coordinate System is parallel, and passes through point, earth axes is also absolute coordinate system, does not change with electric machine rotation and testpieces motion.

OXYZ is testing table coordinate system, and O is the intersection point of three electrical axis, X-axis cross O point and with first order drive motor 5 axis coaxle, surely deviating from motor drive direction is X-axis forward.Y-axis cross O point and with second level drive motor 16 axis coaxle, surely deviating from motor drive direction is Y-axis forward.Z axis cross O point and with third level motor 12 axis coaxle, surely deviating from motor drive direction is Z axis forward.In motion process, Y-axis and Z axis are vertical all the time, and Y-axis and X-axis are vertical all the time, but Z axis and X-axis are not necessarily vertical, and this coordinate system is for describing the rotation situation of experimental provision three drive motor.

Testpieces 29 locus is simulated:

First order drive motor 5 is vertical all the time with the axis of second level drive motor 16, second level drive motor 16 is vertical all the time with third level drive motor 12 axis, therefore respectively controlling angle is carried out to three motors, testpieces optional position spatially can be realized and control.Only control first order drive motor 5 and second level drive motor 16 corner, can be used for static demarcating and the test of gyroscope and similar testpieces, in conjunction with third level drive motor 12 controlling angle, can be used for demarcation and the test of electronic compass and similar testpieces.

First, user uses simulation software in computing machine 65, as Mat l ab/S imulink, carries out the model buildings with locus analog simulation function, downloads in industrial computer 64 by the netting twine between computing machine 65 and industrial computer 64 by realistic model; Then, carried out the computing of model by industrial computer 64, three motor control signals that computing produces are exported to first order motor driver 1, second level motor driver 2, third level motor driver 6 respectively by signal output part.Wherein for third level motor driver 6, under single-ended analog voltage speed control mode, export analog voltage signal by the analog signal output be connected with third level motor driver 6, control third level motor driver 6.For first order motor driver 1 and second level motor driver 2, by coupled six digital signal output end output pulse signals, enable signal and direction signals, control first order motor driver 1 and second level motor driver 2.

The signal transacting of input is become the drive singal of corresponding motor by three motor drivers, is transferred to first order drive motor 5, second level drive motor 16 and third level drive motor 12 respectively by the annexation shown in Figure 13.After three drive motor motoring ring test device motions, be connected to the actual rotational angle that the level encoder device 61 on first order drive motor 5, second level drive motor 16 and third level drive motor 12, secondary scrambler 62 and three grades of scramblers 63 measure motor and test unit, and exported in real time by signal output part, be transferred to industrial computer 64 by the annexation shown in Figure 13.Industrial computer 64 gathers the signal of three scramblers, uses these signals to carry out the FEEDBACK CONTROL of three-dimensional motion test unit, simultaneously by signal by data line transfer to computing machine 65, for experimental data processing and computing.Industrial computer 64 also can need and computing machine 65 command request, by Signal transmissions to external unit 66 according to model emulation.

Sensor signal in testpieces 29 and other signal are transferred to industrial computer 64 by testpieces 29 wire of output terminal via collector ring 4, after being processed by industrial computer 64 by data line transfer to computing machine 65 and external unit 66, for accordingly test or demarcate.

Testpieces 29 velocity of rotation is simulated:

In testing table coordinate system, if first order drive motor rotational angle is φ ₁(φ ₁< 360 °), rotational angular velocity is ω _x.Second level drive motor rotational angle is φ ₂(φ ₂< 360 °), rotational angular velocity is ω _ythird level drive motor rotational angular velocity is ω _z.

Choose difference due to coordinate system, test unit is divided into two kinds for the simulation of velocity of rotation.

1. control three drive motor motoring ring test device implementation spaces to rotate, gather three code device signals and can be calculated the angular velocity signal obtained in testpieces local Coordinate System by following formula.

ω’ _x=ω _x-ω _z·sinφ ₂

ω’ _y=ω _y·cosφ ₁+ω _z·cosφ ₂·sinφ ₁

ω’ _z=-ω _y·sinφ ₁+ω _z·cosφ ₂·cosφ ₁

Wherein, ω ' _x, ω ' _y, ω _z' for testpieces is in O'X'Y'Z' coordinate system, around the angular velocity of X ' axle X ', Y ' axle and Z ' axle.

Use the output signal of angular velocity signal and the testpieces obtained to compare, can demarcate testpieces.Also the realization of this conversion relation can be utilized for the simulation of the spatial rotation signal of sensor in testpieces 29, carry out hardware-in-loop simulation.

2. control three drive motor motoring ring test device implementation spaces to rotate, capturing and coding device signal can be calculated the angular velocity signal obtained in earth axes by following formula.

$\stackrel{\&OverBar;}{{\mathrm{\&omega;}}_x}={\mathrm{\&omega;}}_x\&CenterDot;\cos {\mathrm{\&phi;}}_2$

$\stackrel{\&OverBar;}{{\mathrm{\&omega;}}_y}={\mathrm{\&omega;}}_y$

$\stackrel{\&OverBar;}{{\mathrm{\&omega;}}_z}={\mathrm{\&omega;}}_z-{\mathrm{\&omega;}}_x\&CenterDot;\sin {\mathrm{\&phi;}}_2$

In formula for testpieces in earth axes around axle, axle and the angular velocity of axle.

The signal obtained by this conversion relation is the motor message of testpieces actual rotation in earth axes, use this signal, can when not considering that testpieces 29 obtains signal, carry out the related hardware such as response of testpieces 29 place system for actual rotation at ring test.

Course of work when carrying out the simulation of testpieces velocity of rotation is identical with the course of work of carrying out when position is simulated.It in industrial computer 64 is the model with rotating speed analog functuion that difference is that computing machine 65 downloads to, and needs to carry out rotating speed control to three motors in model, and control signal type as previously mentioned, is realized by computing machine 65 software modeling the control method of signal.To be processed into angular signal and the tach signal of drive motor by scrambler real-time Transmission to the signal of industrial computer 64, this signal can be used for the motion control of three-dimensional motion test unit on the one hand, can be used for external unit 66 on the other hand.

Testpieces 29 acceleration simulation:

In some cases, the target travel of testpieces 29 can produce inertial force, makes the sensor in some Type Test part produce axial acceleration signal, therefore in test, need produce axial acceleration by the simulation of testpieces locus.

Three-dimensional motion test unit described in this patent can complete and be less than or equal to the single shaft of acceleration of gravity or the acceleration condition emulation of multiaxis to testpieces vector sum.

Control three drive motor motoring ring test device implementation spaces to rotate, capturing and coding device signal can calculate the acceleration signal of testpieces sensor acquisition by following formula.This signal can be used for the demarcation of the emulation of testpieces motion state and acceleration transducer.

a’ _x＝g·sinφ ₂

a’ _y＝-g·cosφ ₂·sinφ ₁

a’ _z＝-g·cosφ ₂·cosφ ₁

A ' in formula _xa ' _ya ' _zfor X ' axle, Y ' axle and Z ' axle acceleration that testpieces obtains in testpieces coordinate system.

Course of work when carrying out testpieces acceleration simulation is identical with the course of work of carrying out when position is simulated.It in industrial computer 64 is the model with acceleration simulation function that difference is that computing machine 65 downloads to, and need carry out controlling angle to three motors.

Testpieces acceleration simulation is simulated with the first velocity of rotation, testpieces position simulates and combine, can the target state of comparatively comprehensive simulation test piece, complete corresponding hardware-in-the-loop test.

Claims (8)

1. a three-dimensional motion test unit, be grouped into by mechanical part and electric control part, described mechanical part includes the test unit frame (7) of square-shaped frame posture structure, third level swinging mounting assembly (17), second level swinging mounting assembly (14), swinging mounting balancing weight (10) and first order swinging mounting assembly (8), the column lower end of test unit frame (7) corner of described square-shaped frame posture structure is processed with round boss, the right cylinder of boss lower end is threaded the test unit lower margin (13) be placed on ground, the top of test unit frame (7) is provided with top board, and namely test unit frame (7) bottom is installed with base plate above the round boss of four columns, described third level swinging mounting assembly (17) includes third level swinging mounting slave unit (3), third level swinging mounting drive unit (11) and third level swinging mounting (54), third level swinging mounting (54) includes third level support upper backup pad (48), third level bracket side back up pad (50) and third level support lower supporting plate (51), third level support upper backup pad (48) is connected by the top panel turns of third level swinging mounting slave unit (3) with test unit frame (7), third level support lower supporting plate (51) is rotationally connected by the base plate of third level swinging mounting drive unit (11) with test unit frame (7), swinging mounting balancing weight (10) is fixed on the right-hand member of third level support lower supporting plate (51), described second level swinging mounting assembly (14) comprises second level swinging mounting (55) and second level swinging mounting drive unit (15), second level swinging mounting (55) comprises second level drive plate (39), No. one, second level back up pad (40) and No. two, second level back up pad (41), and the second level drive plate (39) in second level swinging mounting (55) is rotationally connected by the third level bracket side back up pad (50) in second level swinging mounting drive unit (15) and third level swinging mounting assembly (17), first order swinging mounting assembly (8) includes first order swinging mounting drive unit (57), first order swinging mounting slave unit (58), first order swinging mounting (56) and floating adjusting gear (9), described first order swinging mounting (56) comprises first order support side plate (23), first order support base plate (24) and first order support No. two side plates (53), first order support side plate (23) is rotationally connected by No. one, the second level in first order swinging mounting drive unit (57) and second level swinging mounting assembly (14) back up pad (40), first order support No. two side plates (53) are rotationally connected by No. two, the second level in first order swinging mounting slave unit (58) and second level swinging mounting assembly (14) back up pad (41), the adjusting gear (9) that floats is arranged on first order support base plate (24), it is characterized in that, described third level swinging mounting slave unit (3) comprises third level top chock (18), third level bearing (19), the driven wheel hub of the third level (20) and Z axis calibration laser transmitter (34),

The upper end of third level top chock (18) to load in the third level top chock through hole in test unit frame (7) on top board and is fixed with bolts, the lower end of the driven wheel hub of the third level (20) to load in the driven wheel hub through hole of the third level on third level support upper backup pad (48) and is fixed with bolts, the lower end of third level top chock (18) with third level bearing (19) be installed between the driven wheel hub of the third level (20) upper end become to be rotationally connected, the lower end of collector ring (4) stiff end in automatically controlled part loads in the center pit of third level top chock (18), collector ring (4) turning end loads in the third level driven wheel hub (20) center pit, the bottom surface of the ring flange of collector ring (4) contacts with the upper surface of the top board of test unit frame (7) and is fixed with bolts, Z axis calibration laser transmitter (34) is arranged in the center hole of collector ring (4) turning end bottom face, the terminals of Z axis calibration laser transmitter (34) are connected with collector ring (4) electric wire.

2. according to three-dimensional motion test unit according to claim 1, it is characterized in that, described third level swinging mounting drive unit (11) comprises third level drive motor (12), third level drive hub (35), the third level No. two bearings (36), the third level No. three bearings (37) and third level step (38);

The lower end of third level step (38) to load in the third level step through hole on the base plate in test unit frame (7) and is fixed with bolts, the upper end of third level drive hub (35) to load in the third level drive hub through hole on third level support lower supporting plate (51) and is fixed with bolts, the third level No. two bearings (36) and the third level No. three bearings (37) are installed between the upper end of third level step (38) and the lower end being inserted therein the third level drive hub (35) among hole from the bottom to top, the output shaft of third level drive motor (12) inserts in the center pit of third level drive hub (35) from the bottom to top, and be connected with third level drive hub (35) by flat key, third level drive motor (12) contacts with third level step (38) lower surface and is fixed with bolts, third level drive hub (35), third level top chock (18) in the axis of rotation of third level step (38) and third level drive motor (12) output shaft and third level swinging mounting slave unit (3), the axis of rotation conllinear of collector ring (4) and the driven wheel hub of the third level (20).

3. according to three-dimensional motion test unit according to claim 1, it is characterized in that, described third level support upper backup pad (48), third level bracket side back up pad (50) and third level support lower supporting plate (51) are flat-type structural member;

Third level support upper backup pad (48) is processed with the driven wheel hub through hole of the third level that wheel hub (20) driven with the third level is matched, bolt hole is processed with around the driven wheel hub through hole of the third level, third level support lower supporting plate (51) is processed with the third level drive hub through hole matched with third level drive hub (35), around third level drive hub through hole, be processed with lower bolt hole, third level support lower supporting plate (51) right side is provided with the through hole being fixedly connected with swinging mounting balancing weight (10);

Third level support upper backup pad (48) left end and third level bracket side back up pad (50) upper end are located by connecting with the form of slot and use bolt to fix, third level support lower supporting plate (51) left end and third level bracket side back up pad (50) lower end are located by connecting with the form of slot and use bolt to fix, third level support upper backup pad (48) and third level support lower supporting plate (51) are positioned at the same side of third level bracket side back up pad (50) in parallel to each other, third level support upper backup pad (48) and third level support lower supporting plate (51) are with vertical with third level bracket side back up pad (50), third level support upper backup pad (48) is fixed with stiffening plate (49) on the upside of third level support with the front/rear end bolt of third level bracket side back up pad (50) link position, third level support lower supporting plate (51) is fixed with stiffening plate (52) on the downside of third level support with the front/rear end bolt of third level bracket side back up pad (50) link position.

4. according to three-dimensional motion test unit according to claim 1, it is characterized in that, described second level swinging mounting drive unit (15) comprises the identical second level bearing (46) of second level drive motor (16), second level end ring (42), second level motor support base (43), Y-axis calibration laser transmitter (44), second level drive hub (45), 2 structures and second level bearing seat (47);

The left end of second level bearing seat (47) to load in the second level bearing seat through hole on third level bracket side back up pad (50) and is fixed with bolts, the right-hand member torus of second level drive hub (45) to load in the second level drive hub central through hole on second level drive plate (39) and adopts bolt to be fixedly connected with, the second level bearing (46) that the left end of second level drive hub (45) adopts 2 structures identical loads in the central through hole of second level bearing seat (47), second level end ring (42) is sleeved on the outside of the identical second level bearing (46) of 2 structures, the right side of second level drive motor (16) contacts with second level motor support base (43) left side, second level motor support base (43) right side contacts with the left side of third level bracket side back up pad (50), adopt bolt by third level bracket side back up pad (50), second level motor support base (43) and second level drive motor (16) are connected and fixed, be connected by the center pit of flat key with second level drive hub (45) in the center pit that the output shaft of second level drive motor (16) inserts second level drive hub (45), the right side of second level drive motor (16) output shaft is provided with Y-axis calibration laser transmitter (44), second level drive hub (45), second level bearing seat (47), the axis of rotation conllinear of Y-axis calibration laser transmitter (44) and second level drive motor (16) output shaft.

5. according to three-dimensional motion test unit according to claim 1, it is characterized in that, described first order swinging mounting drive unit (57) comprises first order drive motor (5), first order motor support base (21), first order drive hub (22), first order bearing (27) and first order end ring (28);

In first order drive hub center pit on No. one, the insertion second level, the upper end back up pad (40) of first order drive hub (22), between first order drive hub center pit on first order drive hub (22) and No. one, second level back up pad (40), first first order bearing (27) is installed, from the external part of the first order drive hub center pit the back up pad (40) of No. one, the second level, first first order end ring (28) is installed in first order drive hub (22), the lower surface of first order drive motor (5) contacts with the upper surface of first order motor support base (21), the upper flat face of No. one, second level back up pad (40) in the lower surface of first order motor support base (21) and second level swinging mounting assembly (14) touches, adopt bolt by No. one, second level back up pad (40), first order motor support base (21) and first order drive motor (5) are connected and fixed, be that flat key connects in the center pit of output shaft insertion first order drive hub (22) of first order drive motor (5).

6. according to three-dimensional motion test unit according to claim 5, it is characterized in that, described first order swinging mounting slave unit (58) comprises X-axis calibration laser transmitter (25), the driven wheel hub of the first order (26), second first order bearing (27) and second first order end ring (28);

In the driven wheel hub center pit of the first order on the back up pad (41) of No. two, the second level in insertion second level swinging mounting assembly, the driven wheel hub of the first order (26) lower end (14), between the driven wheel hub center pit of the first order on the driven wheel hub of the first order (26) and No. two, second level back up pad (41), second first order bearing (27) is installed, the external part of the driven wheel hub of the first order (26) is provided with second first order end ring (28), first order drive hub (22) in first order swinging mounting drive unit, the axis of rotation conllinear of first order drive motor (5) output shaft in the driven wheel hub of the first order (26) and first order swinging mounting drive unit, the upper end of the driven wheel hub of the first order (26) is provided with X-axis calibration laser transmitter (25), the power lead of X-axis calibration laser transmitter (25) passes from the driven wheel hub of the first order (26) center pit.

7. according to three-dimensional motion test unit according to claim 1, it is characterized in that, described floating adjusting gear (9) comprises testpieces fixed head (30), guiding traveller (31) that four root architectures are identical, fore-set jump ring (32) and adjusting gear fore-set (33);

Described testpieces fixed head (30) is processed with the through hole that the guiding traveller (31) identical with four root architectures is slidably matched, testpieces fixed head (30) is processed with the fixed orifice for fixation test exemplar (29), the right side of testpieces fixed head (30) is processed with boss, and the center of boss is processed with threaded hole vertically;

Described adjusting gear fore-set (33) left end is processed with the external thread coordinated with the threaded hole on testpieces fixed head (30), externally threaded right-hand member is connected to the shaft shoulder contacted with first order support base plate (24) left side plan, right cylinder on the right side of the shaft shoulder is processed with the annular groove for fixing fore-set jump ring (32), right cylinder right-hand member is processed with the radial U-lag for rotation adjuster fore-set (33);

The identical guiding traveller (31) of four root architectures insert four structures in first order support base plate (24) identical and be interference fit in the guiding traveller through hole of orthogonal distribution, the right-hand member of adjusting gear fore-set (33) inserts in the center pit of first order support base plate (24), fore-set jump ring (32) is arranged in the annular groove on adjusting gear fore-set (33), for being threaded in the threaded hole on left end insertion testpieces fixed head (30) right boss of adjusting gear fore-set (33).

8. according to three-dimensional motion test unit according to claim 1, it is characterized in that, described electric control part is divided and is comprised first order motor driver (1), second level motor driver (2), collector ring (4), third level motor driver (6), level encoder device (61), secondary scrambler (62), three grades of scramblers (63), industrial computer (64), computing machine (65) and external units (66);

Computing machine (65) is connected with industrial computer (64) by data line, first order motor driver (1) is connected with the digital signal output end electric wire of industrial computer (64) with the control signal input end of second level motor driver (2), the control signal input end of third level motor driver (6) is connected with the analog signal output electric wire of industrial computer (64), first order motor driver (1) is connected with collector ring (4) stiff end wire with the control signal output terminal of second level motor driver (2), collector ring (4) and stiff end are drawn turning end that wire is conducted and are drawn wire and be connected with the control signal input end of second level drive motor (16) with the first order drive motor (5) in mechanical part respectively, the control signal output terminal of third level motor driver (6) is connected with the control signal input end of the third level drive motor (12) in mechanical part, first order drive motor (5), in second level drive motor (16) and third level drive motor (12), level encoder device (61) is installed successively, secondary scrambler (62) and three grades of scramblers (63), level encoder device (61) is connected with collector ring (4) turning end electric wire with the output terminal of secondary scrambler (62), collector ring (4) stiff end is connected with industrial computer (64) input end of analog signal, the output terminal of three grades of scramblers (63) is directly connected with the input end of analog signal of industrial computer (64), the wire of the testpieces (29) on testpieces fixed head (30) is connected with collector ring (4) turning end wire.