CN103552697B - Active suspension type satellite antenna three-dimensional developing test device - Google Patents

Active suspension type satellite antenna three-dimensional developing test device Download PDF

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Publication number
CN103552697B
CN103552697B CN201310441864.2A CN201310441864A CN103552697B CN 103552697 B CN103552697 B CN 103552697B CN 201310441864 A CN201310441864 A CN 201310441864A CN 103552697 B CN103552697 B CN 103552697B
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vertical
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adapter plate
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CN103552697A (en
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侯鹏
高伟
张维
吴剑锋
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Shanghai Institute of Satellite Equipment
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Shanghai Institute of Satellite Equipment
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Abstract

The invention provides a kind of active suspension type satellite antenna three-dimensional developing test device, comprise: controller, two-dimensional level kinematic mechanism, vertical direction identical tension regulating mechanism, angle measuring mechanism, supporting mechanism and lifting mechanism, supporting mechanism is connected with lifting mechanism, two-dimensional level kinematic mechanism is connected with lifting mechanism and supporting mechanism respectively, vertical direction identical tension regulating mechanism is connected with two-dimensional level kinematic mechanism, angle measuring mechanism is connected with vertical direction identical tension regulating mechanism, controller controls two-dimensional level kinematic mechanism, vertical direction identical tension regulating mechanism and angle measuring mechanism.It is simple that the present invention has structure, easy to operate, positioning precision is high, the beneficial effect of fast response time, can meet the requirement that satellite antenna Three Dimensional Ground launches test.

Description

Active suspension type satellite antenna three-dimensional developing test device
Technical field
The present invention relates to a kind of satellite antenna Three Dimensional Ground developing test device, particularly, relate to that a kind of positioning precision is high, the active suspension type satellite antenna three-dimensional developing test device of fast response time.
Background technology
For guaranteeing the successful execution of satellite model task in-orbit, satellite movable part and mechanism need to carry out on ground launching test fully to carry out expanding performance, the checking launching reliability and assessment.Gravitational compensation method for ground spreading tests such as the satellite sun wing, antenna, magnetometers has a variety of, mainly comprises air supporting and hangs two kinds of modes.Wherein, suspended type heavy truck force compensating, by there being non control system, can be divided into passive type and active, said " initiatively " and " passive " have in the balance method for gravity not have controlled drive system to determine.
Passive suspension formula gravity-compensated device is application fixed pulley, movable pulley, rope and mass, carries out gravity compensation, the free state under making it be in weightlessness by the counterweight hung to the experimental subjects hung.This kind of hang is in whole expansion process, friction drag is there is between guide rail and bearing, increase the resistance that movable part launches, cause that the rope of its suspension is delayed move with movable part, thus occur ground simulation and launch to test inconsistent problem in-orbit.And due to the impact of friction drag between air resistance and guide rail etc., cause ground spreading test period to extend.
Active Suspensions method can well solve the deficiency of passive suspension method, as problems such as added mass and friction interference, by introducing controllable motor, regulating the vertical pulling force of rope to reach gravity compensation, and be furnished with a follow-up mechanism and carry out its pulling force of Real-time Balancing, its control accuracy adopts elaborate servo kinetic control system, compares passive type and controls suspension, higher precision level can be reached, be the development tendency of current suspension method, but its research difficulty is comparatively large, fails to be used widely.
The invention provides a kind of active suspension type satellite antenna three-dimensional developing test device, through finding the literature search of prior art, also not finding the active Three Dimensional Ground developing test device that can be used for satellite antenna at present.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of active suspension type satellite antenna three-dimensional developing test device.
According to an aspect of the present invention, a kind of active suspension type satellite antenna three-dimensional developing test device is provided, comprise: controller, two-dimensional level kinematic mechanism, vertical direction identical tension regulating mechanism, angle measuring mechanism, supporting mechanism and lifting mechanism, supporting mechanism is connected with lifting mechanism, two-dimensional level kinematic mechanism is connected with lifting mechanism and supporting mechanism respectively, vertical direction identical tension regulating mechanism is connected with two-dimensional level kinematic mechanism, angle measuring mechanism is connected with vertical direction identical tension regulating mechanism, controller respectively with two-dimensional level kinematic mechanism, vertical direction identical tension regulating mechanism and angle measuring mechanism connect.
Preferably, two-dimensional level kinematic mechanism comprises: X-direction servomotor, Y-direction servomotor, X-direction linear motion unit and Y-direction linear motion unit, X-direction servomotor is connected with controller, X-direction servomotor comprises X-direction motor and X-direction reductor, X-direction linear motion unit comprises synchronizing shaft, two X-direction guide rails and two X-direction slide blocks, Y-direction servomotor is connected with controller, Y-direction servomotor comprises Y-direction motor and Y-direction reductor, and Y-direction linear motion unit comprises Y-direction guide rail and Y-direction slide block; Wherein,
Two X-direction guide rail parallels are arranged, and synchronizing shaft is connected to one end of two X-direction guide rails, and X-direction motor is connected with X-direction reductor, and X-direction reductor is connected to one end of synchronizing shaft, and two X-direction slide blocks are separately positioned on two X-direction guide rails;
Y-direction guide rail two ends are connected with two X-direction slide blocks respectively, and Y-direction motor is connected with Y-direction reductor, and Y-direction reductor is connected to one end of Y-direction guide rail, and Y-direction slide block is arranged on Y-direction guide rail.
Preferably, two-dimensional level kinematic mechanism range of movement is :) ╳ 1m(Y direction, 1.5m(X direction), and the kinematic velocity of two-dimensional level kinematic mechanism horizontal direction is 0.4m/s to the maximum.
Preferably, vertical direction identical tension regulating mechanism comprises: torque motor, lifting tube, pulling force sensor and the first adapter plate, first adapter plate comprises horizontal connecting plate and vertical connecting panel, horizontal connecting plate is connected with Y-direction slide block, vertical connecting panel and horizontal connecting plate, and vertically connecting panel is mutually vertical with horizontal connecting plate, torque motor is arranged on vertical adapter plate side and is connected with vertical adapter plate, lifting tube is arranged on vertical adapter plate opposite side, lifting tube comprises spool and steel rope further, spool is connected with torque motor through vertical adapter plate, steel rope one end is connected with spool, the other end is connected with pulling force sensor through horizontal mounting plate end, pulling force sensor is connected with controller.
Preferably, vertical direction identical tension regulating mechanism also comprises wire line guide, and wire line guide is arranged on horizontal mounting plate and is connected with steel rope.
Preferably, angle measuring mechanism comprises: two coders, the second adapter plate, X-direction angular measurement plate and Y-direction angular measurement plates, wherein,
Second adapter plate is structure as a whole, be connected with horizontal connecting plate below its horizontal connecting plate being arranged on the first adapter plate, and the center of the second adapter plate and the position of steel rope corresponding, second adapter plate comprises four attachment faces, four attachment face inside surround hollow structure, four angles that four attachment faces intersect are provided with tapped bore, and the second adapter plate is solidly connected to the horizontal connecting plate of the first adapter plate by bolt by tapped bore;
It is inner that X-direction angular measurement plate is arranged on the second adapter plate, X-direction angular measurement plate comprises X-direction rotating shaft, X-direction swivel arm and two X-directions and to be connected pendulum, four attachment faces are provided with through hole, X-direction rotating shaft is socketed with the through hole on the attachment face of two in X-direction and is connected, X-direction swivel arm is connected with X-direction rotating shaft, the be connected two ends of pendulum of two X-directions are connected with the swivel arm of both sides respectively, are formed in order to the gap through steel rope and two X-directions are connected in the middle of pendulum;
It is inner that Y-direction angular measurement plate is arranged on the second adapter plate, Y-direction angular measurement plate comprises Y-direction rotating shaft, Y-direction swivel arm and two Y-directions and to be connected pendulum, Y-direction rotating shaft is socketed with the through hole on the attachment face of two in Y direction and is connected, Y-direction swivel arm is connected with Y-direction rotating shaft, the be connected two ends of pendulum of two Y-directions are connected with the swivel arm of both sides respectively, are formed in order to the gap through steel rope and two Y-directions are connected in the middle of pendulum;
Two coders are arranged on outside the second adapter plate, and one of them coder is connected with X-direction rotating shaft, and another coder is connected with Y-direction rotating shaft.
Preferably, also comprise multiple limit switch, limit switch is separately positioned on X-direction guide rail and Y-direction guide rail, and each limit switch is all connected with controller.
Preferably, the aluminium section bar of supporting mechanism employing 40mm × 40mm, 40mm × 120mm two kinds of specifications is built.
Preferably, lifting mechanism height is 6m to the maximum, load-bearing 80kg.
Preferably, also comprise: upper computer, servoamplifier and servo-driver, controller and upper computer communicate to connect, servoamplifier is connected between controller and X-direction servomotor and between controller and Y-direction servomotor, and servo-driver is connected between controller and torque motor.
Principle of work and the process that test illustrates this device is launched below: the side first this device being shifted onto antenna to be deployed for certain model satellite data transmission antenna, regulate the adjustable height of this device, ensure that the expansion of this device highly meets the demands, regulate the parallelism of this device, ensure that the parallelism between two-dimensional level kinematic mechanism and satellite benchmark meets test requirements document, then antenna and developing test device will be passed by steel rope linking number, ensure that steel rope crosses the centroid position that number passes antenna, now two-dimensional level kinematic mechanism is in distance X-direction motor distalmost end, opening controller, now can see the gravimetric value of its pulling force sensor display antenna, two dimension angular sensor is 0, secondly, when number biography antenna starts to launch gradually, two-dimensional level kinematic mechanism on it is also and then synchronized with the movement, due to the effect of inertia, when antenna movement is slightly faster than two-dimensional level kinematic mechanism, by being arranged on the two dimension angular coder on two-dimensional level kinematic mechanism, the deflection angle learning steel rope can be measured in real time, and be transferred to controller, after controller detects this angle signal, control X immediately, the motor follow-up motion of Y-direction, thus the deflection angle keeping steel rope is 0, and, in the process, also there is the dipping and heaving of about in steel rope, therefore, by the pull force calculation signal on pulling force sensor, this value of thrust can be recorded in real time, and this signal is inputed to controller, controller control torque motor movement, thus ensure in whole antenna expansion process, its pulling force keeps constant, after antenna is deployed into position, whole expanding unit also synchronously stops, in order to ensure the safety of this device, at X-direction linear motion unit and Y-direction linear motion unit two ends, limit switch is respectively installed, during to ensure kinematic mechanism displacement generation outrange, antenna and experimental set-up has been played a protective role.
Apparatus of the present invention structure is simple, easy to operate, this device regulates the vertical pulling force of steel rope by torque motor, it is made to reach gravity compensation requirement, and in the horizontal direction by two-dimentional follow-up mechanism Real-time Balancing pulling force, and control accuracy adopts elaborate servo kinetic control system, positioning precision is high, fast response time.Therefore, compared with prior art, it is simple that the present invention has structure, easy to operate, positioning precision is high, the beneficial effect of fast response time, can meet the requirement that satellite antenna Three Dimensional Ground launches test.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is the structure front elevation of active suspension type satellite antenna three-dimensional developing test device of the present invention;
Fig. 2 is the structure side view of active suspension type satellite antenna three-dimensional developing test device of the present invention;
Fig. 3 is the annexation schematic diagram of two-dimensional level kinematic mechanism and vertical direction identical tension regulating mechanism;
Fig. 4 is the structural representation of angle measuring mechanism;
Fig. 5 is the hardware principle block diagram of active suspension type satellite antenna three-dimensional developing test device of the present invention.
In figure: 1 is two-dimensional level kinematic mechanism, 2 is vertical direction identical tension regulating mechanism, 3 is angle measuring mechanism, 4 is supporting mechanism, 5 is lifting mechanism, 6 is limit switch, 11 is X-direction motor, 12 is X-direction reductor, 13 is synchronizing shaft, 14 is X-direction guide rail, 15 is X-direction slide block, 16 is Y-direction motor, 17 is Y-direction reductor, 18 is Y-direction guide rail, 19 is Y-direction slide block, 21 is torque motor, 22 is lifting tube, 23 is pulling force sensor, 24 is the first adapter plate, 221 is spool, 222 is steel rope, 31 is coder, 32 is the second adapter plate, 33 is X-direction angular measurement plate, 34 is Y-direction angular measurement plate, 331 is X-direction rotating shaft, 332 is X-direction swivel arm, 333 to be connected pendulum for X-direction, 341 is Y-direction rotating shaft, 342 is Y-direction swivel arm, 343 to be connected pendulum for Y-direction.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
Please refer to Fig. 1 to Fig. 5, a kind of active suspension type satellite antenna three-dimensional developing test device, comprise: controller, two-dimensional level kinematic mechanism, vertical direction identical tension regulating mechanism, angle measuring mechanism, supporting mechanism and lifting mechanism, supporting mechanism is connected with lifting mechanism, two-dimensional level kinematic mechanism is connected with lifting mechanism and supporting mechanism respectively, vertical direction identical tension regulating mechanism is connected with two-dimensional level kinematic mechanism, angle measuring mechanism is connected with vertical direction identical tension regulating mechanism, controller respectively with two-dimensional level kinematic mechanism, vertical direction identical tension regulating mechanism and angle measuring mechanism connect.
Further, two-dimensional level kinematic mechanism adopts servomotor to drive linear motion unit, and linear motion unit adopts toothed belt transmission mode.Particularly, as shown in Figure 3, two-dimensional level kinematic mechanism comprises: X-direction servomotor, Y-direction servomotor, X-direction linear motion unit and Y-direction linear motion unit, X-direction servomotor is connected with controller, X-direction servomotor comprises X-direction motor and X-direction reductor, X-direction linear motion unit comprises synchronizing shaft, two X-direction guide rails and two X-direction slide blocks, Y-direction servomotor is connected with controller, Y-direction servomotor comprises Y-direction motor and Y-direction reductor, Y-direction linear motion unit comprises Y-direction guide rail and Y-direction slide block, two X-direction guide rail parallels are arranged, synchronizing shaft is connected to one end of two X-direction guide rails, X-direction motor is connected with X-direction reductor, X-direction reductor is connected to one end of synchronizing shaft, two X-direction slide blocks are separately positioned on two X-direction guide rails, Y-direction guide rail two ends are connected with two X-direction slide blocks respectively, and Y-direction motor is connected with Y-direction reductor, and Y-direction reductor is connected to one end of Y-direction guide rail, and Y-direction slide block is arranged on Y-direction guide rail.
Two-dimensional level kinematic mechanism of the present invention adopts servomotor to drive linear motion unit, and linear motion unit adopts toothed belt transmission mode.Because X-direction need support the power in whole expansion process, therefore X-direction motor drives two linear motion unit motions by synchronizing shaft.In the X direction, same employing servomotor drives the form of linear motion unit in Y-direction motion.Two-dimensional level kinematic mechanism need provide) ╳ 1m(Y direction, 1.5m(X direction) range of movement, and the kinematic velocity of its horizontal direction is 0.4m/s to the maximum.
Further, vertical direction identical tension regulating mechanism adopts torque motor to drive spool to rotate, exported by the constant moment of force of torque motor, keep the identical tension of steel rope, by detecting the signal of pulling force sensor, and then feed back to torque motor, the rotating speed of Torque-adjusting motor, thus realize identical tension output.Particularly, as shown in Figure 3, vertical direction identical tension regulating mechanism comprises: torque motor, lifting tube, pulling force sensor and the first adapter plate, first adapter plate comprises horizontal connecting plate and vertical connecting panel, horizontal connecting plate is connected with Y-direction slide block, vertical connecting panel and horizontal connecting plate, and vertically connecting panel is mutually vertical with horizontal connecting plate, torque motor is arranged on vertical adapter plate side and is connected with vertical adapter plate, lifting tube is arranged on vertical adapter plate opposite side, lifting tube comprises spool and steel rope further, spool is connected with torque motor through vertical adapter plate, steel rope one end is connected with spool, the other end is connected with pulling force sensor through horizontal mounting plate end, pulling force sensor is connected with controller.
Vertical direction identical tension regulating mechanism of the present invention, the lifting tube spool adopting torque motor to drive rotates, and lay winding wire ropes on spool, realizes the lifting of steel rope by the rotation of spool, in whole lifting process, kept the constant tension of steel rope by torque motor.
Further, in order to control the direction of steel rope, vertical direction identical tension regulating mechanism also comprises wire line guide, and wire line guide is arranged on horizontal mounting plate and is connected with steel rope.By notifying the distance of wire line guide, it is made to meet the requirement of steel rope guiding.
Further, angle measuring mechanism is measured based on photoelectric encoder, connect firmly on a mounting board by the tapped bore on four angles, the rotating shaft on four direction is fixed on housing four sidewalls, and rotating shaft drives swivel arm to swing, swivel arm connects firmly pendulum, particularly, as shown in Figure 4, angle measuring mechanism comprises: two coders, the second adapter plate, X-direction angular measurement plate and Y-direction angular measurement plates, wherein
Second adapter plate is structure as a whole, be connected with horizontal connecting plate below its horizontal connecting plate being arranged on the first adapter plate, and the center of the second adapter plate and the position of steel rope corresponding, second adapter plate comprises four attachment faces, four attachment face inside surround hollow structure, four angles that four attachment faces intersect are provided with tapped bore, and the second adapter plate is solidly connected to the horizontal connecting plate of the first installation by bolt by tapped bore; It is inner that X-direction angular measurement plate is arranged on the second adapter plate, X-direction angular measurement plate comprises X-direction rotating shaft, X-direction swivel arm and two X-directions and to be connected pendulum, four attachment faces are provided with through hole, X-direction rotating shaft is socketed with the through hole on the attachment face of two in X-direction and is connected, X-direction swivel arm is connected with X-direction rotating shaft, the be connected two ends of pendulum of two X-directions are connected with the swivel arm of both sides respectively, are formed in order to the gap through steel rope and two X-directions are connected in the middle of pendulum; It is inner that Y-direction angular measurement plate is arranged on the second adapter plate, Y-direction angular measurement plate comprises Y-direction rotating shaft, Y-direction swivel arm and two Y-directions and to be connected pendulum, Y-direction rotating shaft is socketed with the through hole on the attachment face of two in Y direction and is connected, Y-direction swivel arm is connected with Y-direction rotating shaft, the be connected two ends of pendulum of two Y-directions are connected with the swivel arm of both sides respectively, are formed in order to the gap through steel rope and two Y-directions are connected in the middle of pendulum; Two coders are arranged on outside the second adapter plate, and one of them coder is connected with X-direction rotating shaft, and another coder is connected with Y-direction rotating shaft.
As shown in Fig. 2 Fig. 3, the center of the second adapter plate of angle measuring mechanism is corresponding with the position of steel rope, be connected pendulum and two Y-directions of two X-directions are connected in the middle of pendulum and are all formed in order to the gap through steel rope, steel rope is each passed through X-direction angular measurement plate and Y-direction angular measurement plate, when steel rope a direction tilts, fixing pendulum is driven to swing, fixing pendulum drives swivel arm to rotate, swivel arm drives turning cylinder to rotate, and then rotated by turning cylinder driven rotary coder, thus measure the angle of inclination of steel rope.
Further, as shown in Figure 3, the present invention also comprises four limit switches, and each limit switch is all connected with controller.Four limit switches are separately positioned on X-direction guide rail and Y-direction guide rail, X, Y-direction respectively have 2 limit switches, are used for detecting limit of sports record position.
Further, supporting mechanism is used for bearing the stressed of whole device, and the aluminium section bar of employing 40mm × 40mm, 40mm × 120mm two kinds of specifications is built, and installs two-dimensional level kinematic mechanism thereon, thus provides a lifting table.
Further, lifting mechanism launches motion for providing the antenna of differing heights, and ripe lifting table can be adopted to carry out appropriate reconstruction and form, it is highly 6m to the maximum, load-bearing 80kg.
Further, the present invention also comprises upper computer, servoamplifier and servo-driver, and controller and upper computer communicate to connect, and servoamplifier is connected between controller and X-direction servomotor, and between controller and Y-direction servomotor, amplify in order to realize signal.Servo-driver is connected between controller and torque motor, moves in order to drive motor.
As shown in Figure 5, and be the control system schematic diagram of whole device, the motor of X, Y both direction adopts servomotor to join servoamplifier, and mode selects direct torque; Z-direction (i.e. vertical direction) adopts torque motor to join servo-driver, and mode selects constant moment of force mode.By the process data that angular transducer and pulling force sensor Real-time Collection are tested, ensure the completeness and efficiency of data logging.In addition, X, Y-direction respectively there are 2 limit switches, are used for detecting its limit of sports record position.
Control system upper computer uses touch-screen to control, and has been responsible for test parameters setting, process control and display.Lower computer controls based on motion controller, controls the input/output signal of motor, real time operating system (RTOS) is measured in real time to process data, and the closed loop moving completing multi-axis servo motor controls.The radical function of lower computer can be decomposed into two-dimentional model-following control unit and tension control units.Gathered the vertical angle of hoist cable by coder, control X-axis and Y-axis follow motor movement, ensure that hoist cable is in vertical state all the time.By the tension force of high-precision force sensor measurement hoist cable, the motion of control X, Y servomotor and torque motor, ensures that hanger tension is constant.
Apparatus of the present invention are by introducing torque motor, regulating the vertical pulling force of hang spring, it is made to reach gravity compensation requirement, and be furnished with a two-dimentional follow-up mechanism in the horizontal direction and carry out its pulling force of Real-time Balancing, its control accuracy adopts elaborate servo kinetic control system, compare passive type and control suspension, there is the features such as positioning precision is high, fast response time, the requirement that satellite antenna Three Dimensional Ground launches test can be met.
Principle of work and the process that test illustrates this device is launched below for certain model satellite data transmission antenna, first this device is shifted onto the side of antenna to be deployed, regulate the adjustable height of this device, ensure that the expansion of this device highly meets the demands, regulate the parallelism of this device, ensure that the parallelism between two-dimensional level kinematic mechanism and satellite benchmark meets test requirements document, then antenna and developing test device will be passed by steel rope linking number, ensure that steel rope crosses the centroid position that number passes antenna, now two-dimensional level kinematic mechanism is in distance X-direction motor distalmost end, opening controller, now can see the gravimetric value of its pulling force sensor display antenna, two dimension angular sensor is 0, secondly, when number biography antenna starts to launch gradually, two-dimensional level kinematic mechanism on it is also and then synchronized with the movement, due to the effect of inertia, when antenna movement is slightly faster than two-dimensional level kinematic mechanism, by being arranged on the two dimension angular coder on two-dimensional level kinematic mechanism, the deflection angle learning steel rope can be measured in real time, and be transferred to controller, after controller detects this angle signal, control X immediately, the motor follow-up motion of Y-direction, thus the deflection angle keeping steel rope is 0, and, in the process, also there is the dipping and heaving of about in steel rope, therefore, by the pull force calculation signal on pulling force sensor, this value of thrust can be recorded in real time, and this signal is inputed to controller, controller control torque motor movement, thus ensure in whole antenna expansion process, its pulling force keeps constant, after antenna is deployed into position, whole expanding unit also synchronously stops, in order to ensure the safety of this device, at X-direction linear motion unit and Y-direction linear motion unit two ends, limit switch is respectively installed, during to ensure kinematic mechanism displacement generation outrange, antenna and experimental set-up has been played a protective role.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.

Claims (9)

1. an active suspension type satellite antenna three-dimensional developing test device, it is characterized in that, comprise: controller, two-dimensional level kinematic mechanism, vertical direction identical tension regulating mechanism, angle measuring mechanism, supporting mechanism and lifting mechanism, described supporting mechanism is connected with described lifting mechanism, described two-dimensional level kinematic mechanism is connected with described lifting mechanism and supporting mechanism respectively, described vertical direction identical tension regulating mechanism is connected with described two-dimensional level kinematic mechanism, described angle measuring mechanism is connected with described vertical direction identical tension regulating mechanism, described controller respectively with described two-dimensional level kinematic mechanism, vertical direction identical tension regulating mechanism and angle measuring mechanism connect,
Described two-dimensional level kinematic mechanism comprises: X-direction servomotor, Y-direction servomotor, X-direction linear motion unit and Y-direction linear motion unit, described X-direction servomotor is connected with controller, described X-direction servomotor comprises X-direction motor and X-direction reductor, described X-direction linear motion unit comprises synchronizing shaft, two X-direction guide rails and two X-direction slide blocks, described Y-direction servomotor is connected with controller, described Y-direction servomotor comprises Y-direction motor and Y-direction reductor, described Y-direction linear motion unit comprises Y-direction guide rail and Y-direction slide block, wherein,
Described two X-direction guide rail parallels are arranged, and described synchronizing shaft is connected to one end of described two X-direction guide rails, and described X-direction motor is connected with described X-direction reductor,
Described X-direction reductor is connected to one end of described synchronizing shaft, and described two X-direction slide blocks are separately positioned on described two X-direction guide rails; Described Y-direction guide rail two ends are connected with described two X-direction slide blocks respectively, and described Y-direction motor is connected with described Y-direction reductor, and described Y-direction reductor is connected to one end of described Y-direction guide rail, and described Y-direction slide block is arranged on described Y-direction guide rail.
2. active suspension type satellite antenna three-dimensional developing test device according to claim 1, it is characterized in that, described two-dimensional level kinematic mechanism range of movement is: and 1.5m (X-direction) ╳ 1m (Y-direction), and the kinematic velocity of described two-dimensional level kinematic mechanism horizontal direction is 0.4m/s to the maximum.
3. active suspension type satellite antenna three-dimensional developing test device according to claim 1, it is characterized in that, described vertical direction identical tension regulating mechanism comprises: torque motor, lifting tube, pulling force sensor and the first adapter plate, described first adapter plate comprises horizontal connecting plate and vertical connecting panel, described horizontal connecting plate is connected with described Y-direction slide block, described vertical connecting panel is connected with described horizontal connecting plate, and described vertical connecting panel is mutually vertical with horizontal connecting plate, described torque motor is arranged on described vertical connecting panel side and is connected with described vertical connecting panel, described lifting tube is arranged on described vertical connecting panel opposite side, described lifting tube comprises spool and steel rope further, described spool is connected with described torque motor through described vertical connecting panel, described steel rope one end is connected with described spool, the other end is connected with described pulling force sensor through described horizontal connecting plate end, described pulling force sensor is connected with described controller.
4. active suspension type satellite antenna three-dimensional developing test device according to claim 3, it is characterized in that, described vertical direction identical tension regulating mechanism also comprises wire line guide, and described wire line guide is arranged on described horizontal connecting plate and is connected with described steel rope.
5. active suspension type satellite antenna three-dimensional developing test device according to claim 3, it is characterized in that, described angle measuring mechanism comprises: two coders, the second adapter plate, X-direction angular measurement plate and Y-direction angular measurement plates, described X-direction measures plate and described Y-direction measures the mutual vertical distribution of plate, wherein
Described second adapter plate is structure as a whole, be connected with described horizontal connecting plate below its horizontal connecting plate being arranged on described first adapter plate, and the center of described second adapter plate is corresponding with the position of described steel rope, described second adapter plate comprises four attachment faces, described four attachment face inside surround hollow structure, four angles that described four attachment faces intersect are provided with tapped bore, and described second adapter plate is solidly connected to the horizontal connecting plate of described first adapter plate by bolt by described tapped bore;
It is inner that described X-direction angular measurement plate is arranged on described second adapter plate, described X-direction angular measurement plate comprises X-direction rotating shaft, X-direction swivel arm and two X-directions and to be connected pendulum, described four attachment faces are provided with through hole, described X-direction rotating shaft is socketed with the through hole on the attachment face of two in X-direction and is connected, described X-direction swivel arm is connected with described X-direction rotating shaft, the be connected two ends of pendulum of described two X-directions are connected with the described swivel arm of both sides respectively, are formed in order to the gap through described steel rope and described two X-directions are connected in the middle of pendulum;
It is inner that described Y-direction angular measurement plate is arranged on described second adapter plate, described Y-direction angular measurement plate comprises Y-direction rotating shaft, Y-direction swivel arm and two Y-directions and to be connected pendulum, described Y-direction rotating shaft is socketed with the through hole on the attachment face of two in Y direction and is connected, described Y-direction swivel arm is connected with described Y-direction rotating shaft, the be connected two ends of pendulum of described two Y-directions are connected with the described swivel arm of both sides respectively, are formed in order to the gap through described steel rope and described two Y-directions are connected in the middle of pendulum;
Described two coders are arranged on outside described second adapter plate, and one of them coder is connected with described X-direction rotating shaft, and another coder is connected with described Y-direction rotating shaft.
6. active suspension type satellite antenna three-dimensional developing test device according to claim 1, it is characterized in that, also comprise multiple limit switch, described limit switch is separately positioned on described X-direction guide rail and Y-direction guide rail, and described each limit switch is all connected with described controller.
7. active suspension type satellite antenna three-dimensional developing test device according to claim 1, is characterized in that, described supporting mechanism adopts 40mm × 40mm, the aluminium section bar of 40mm × 120mm two kinds of specifications is built.
8. active suspension type satellite antenna three-dimensional developing test device according to claim 1, is characterized in that, described lifting mechanism height is 6m to the maximum, load-bearing 80kg.
9. active suspension type satellite antenna three-dimensional developing test device according to claim 1, it is characterized in that, also comprise: upper computer, servoamplifier and servo-driver, described controller and described upper computer communicate to connect, described servoamplifier is connected between described controller and X-direction servomotor and between described controller and described Y-direction servomotor, described servo-driver is connected between described controller and torque motor.
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