CN103744436A - High-precision attitude stabilization device of concentrically local spherical surface - Google Patents
High-precision attitude stabilization device of concentrically local spherical surface Download PDFInfo
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Abstract
The invention provides an attitude stabilization device of a concentrically local spherical surface. The attitude stabilization device comprises a concentrically local spherical surface supporting component, a tangential adjusting driving component for generating a spherical surface tangential driving force, a connecting component for connecting the concentrically local spherical surface supporting component and the tangential adjusting driving component with a supported object, and a connecting component for connecting the concentrically local spherical surface supporting component and the tangential adjusting driving component with an external follow-up component, wherein the local spherical surfaces of the concentrically local spherical surface supporting component share one spherical surface, and the spherical center of the shared spherical surface is coincident with the mass center of the supported object. According to the attitude stabilization device, the attitude interference of the external environment to the supported object can be isolated, and micro attitude error can be corrected, so that high-precision attitude stabilization of the supported object can be kept.
Description
Technical field
A kind of attitude stabilization the present invention relates in mechano-electronic field supports and regulating device, specifically a kind of partial sphere high-precision attitude stabilising arrangement with one heart.
Background technology
Between space astronomical observation, star, the field such as optical communication needs optical viewer to possess high-precision inertia attitude, utilize that spacecraft platform provides compared with rough grade attitude, further the attitude of essence level adopts two framed structures, mechanical arm, puts the modes such as mirror to realizing more high-precision attitude regulation soon.
Since 21st century, the ATP device at home and abroad between numerous stars, extensively adopting in star ground laser communication experiment, be exactly on the bidimensional turntable of two frameworks of optical system, feedback by seed laser is measured, and utilizes the closed-loop control of fast pendulum mirror to realize the accurate coaxial sensing of transmitting or receiving light path; The James of USA and Europe cooperation. weber space telescope (JWST), the vibration of the structure that the mechanisms such as the momenttum wheel of employing vibration damper isolation satellite platform cause, adopts fast pendulum mirror mode to realize the stable control in Dui Tian district; In the proposal scheme of a segmented mirror of the huge space telescope project in future (ATLAST) of American planning, the end that has the mechanical arm of angle point precision at it, has adopted the voice coil motor of three parallel starts to realize the inclination of telescopical precision pointing.
These attitude regulating mechanisms are controlled telescope by the motion of the high-precision motor on two framed structures or mechanical arm, or utilize the motion of the inner fast pendulum mirror of telescope light path, make its targeted region.In order to realize comparatively stable closed loop, point to control, each several part structural member rigidity in above device is had to certain requirement, cost is now embodied in two aspects: increased on the one hand the load of actuation element, as being used as power of motor, piezoelectric ceramics or voice coil motor, further strengthen, under equal conditions, increased the power consumption of system; In addition on the one hand; the increase of rigidity is disturbed the dither that spacecraft platform internal mechanism causes; can be applied to telescope part, this high frequency flutter forms and disturbs the stability of the telescope optical axis, and therefore above device also needs to increase passive vibration damping link conventionally.
Summary of the invention
For solving the above-mentioned technical matters existing in prior art, the present invention proposes a kind of partial sphere high-precision attitude stabilising arrangement with one heart, this attitude stabilization device discharges the rotation disturbance to supported object, utilize the attitude retention performance of supported object in inertial space to maintain basic poses, tangential driving force compensating error item is provided simultaneously, realizes the high-precision attitude of supported object.
The present invention proposes a kind of partial sphere attitude stabilization device with one heart, described attitude stabilization device comprises:
Partial sphere support component with one heart, the partial sphere of described concentric partial sphere support component is the partial sphere that has thickness, comprises outside surface and inside surface;
The tangential driver part that regulates, is installed on described concentric partial sphere support component place, for generation of the tangential driving force of sphere;
Wherein, described concentric partial sphere support component, described tangential adjusting driver part and a set of fastening of described link 3 common composition, described attitude stabilization device comprises 3 covers or the above fastening; Wherein the outside surface of the partial sphere of each described concentric partial sphere support component is all total to sphere, be all positioned on the same space sphere, the inside surface of the partial sphere of each described concentric partial sphere support component is all total to sphere, be all positioned on the same space sphere, and the outside surface of the partial sphere of each described concentric partial sphere support component and the centre of sphere of inside surface overlap, this centre of sphere is called the feature centre of sphere of described concentric partial sphere support component, and the feature centre of sphere of described concentric partial sphere support component overlaps with the barycenter of supported objects; Described attitude stabilization device has formed spherical support, rotation and the drives structure with respect to supported objects barycenter.
Described concentric partial sphere attitude stabilization device, wherein,
The partial sphere of described concentric partial sphere support component also comprises the partial sphere 1.2 near the partial sphere 1.3 of described outside surface and close described inside surface, and the partial sphere 1.3 of each described concentric partial sphere support component is all total to sphere, the partial sphere 1.2 of each described concentric partial sphere support component is all total to sphere, and the centre of sphere of partial sphere 1.3 and partial sphere 1.2 all overlaps with the feature centre of sphere of described concentric partial sphere support component; Described outside surface and described inside surface are connected to form cavity; Partial sphere 1.3 is connected formed middle layer with partial sphere 1.2 and is constrained in described cavity.
Described concentric partial sphere attitude stabilization device, wherein,
Between described outside surface and described partial sphere 1.3 and between described inside surface and described partial sphere 1.2, mutually exclusive permanent magnetic is all being set, the direction of described permanent magnetic is perpendicular to described outside surface and described inside surface.
Described concentric partial sphere attitude stabilization device, wherein,
Described sphere tangentially at least comprises orthogonal both direction.
Described concentric partial sphere attitude stabilization device, wherein,
Described tangential adjusting driver part comprises partial sphere 2.1 and partial sphere 2.2;
Partial sphere 2.1 sphere altogether of each described tangential adjusting driver part, partial sphere 2.2 sphere altogether of each described tangential adjusting driver part, and the centre of sphere of described partial sphere 2.1 and described partial sphere 2.2 correspondences overlaps, this centre of sphere is the feature centre of sphere of described tangential adjusting driver part, and the feature centre of sphere of described tangential adjusting driver part overlaps with the feature centre of sphere of described concentric partial sphere support component;
Described tangential adjusting driver part comprises be positioned at the contactless linear electric motors of arranging in partial sphere 2.1 and partial sphere 2.2 at least orthogonal both direction, and the sphere at the driving direction of described contactless linear electric motors and its position place is tangent.
Described concentric partial sphere attitude stabilization device, wherein,
Described tangential adjusting driver part is for compensating the attitude disturbance of the supported objects causing due to the existence of actual motion error, thus the attitude stabilization of maintenance supported objects.
Described concentric partial sphere attitude stabilization device, wherein,
Described outside follow-up unit remains in stroke range by the motion of the described concentric partial sphere support component of servo-actuated assurance to supported objects.
Accompanying drawing explanation
Fig. 1 is the structural representation of the concentric partial sphere attitude stabilization of the present invention device;
Fig. 2 is the structural profile schematic diagram of the concentric partial sphere attitude stabilization of the present invention device;
Fig. 3 is the concentric partial sphere support component of the present invention and the tangential driver part structural profile schematic diagram that regulates;
Fig. 4 is the schematic diagram of an embodiment of the concentric partial sphere attitude stabilization of the present invention device.
Embodiment
Below in conjunction with accompanying drawing of the present invention, technical scheme of the present invention is clearly and completely described.
Fig. 1 is the structural representation of the concentric partial sphere attitude stabilization of the present invention device.Wherein 1 is concentric partial sphere support component, 2 is the tangential driver part that regulates, 3 is the link between concentric partial sphere support component and supported objects, 4 is for connecting the link of each concentric partial sphere support component, link 4 is also for being connected each concentric partial sphere support component with outside follow-up unit, 5 is supported objects, and 6 is outside follow-up unit.Concentric partial sphere attitude stabilization device in Fig. 1 has formed spherical support, rotation and the drives structure with respect to supported objects barycenter.
In Fig. 1, the partial sphere of each concentric partial sphere support component 1 is the partial sphere that has thickness, comprises outside surface and inside surface.The outside surface of the partial sphere of each spherical support parts 1 is all total to sphere, and the outside surface of each partial sphere is all positioned on the same space sphere.The inside surface of the partial sphere of each spherical support parts 1 is all total to sphere, and the inside surface of each partial sphere is all positioned on the same space sphere.The outside surface of each partial sphere and the centre of sphere of inside surface overlap, and this centre of sphere is called the feature centre of sphere of concentric partial sphere support component 1, and the feature centre of sphere of partial sphere support component 1 and the barycenter high precision of supported objects 5 overlap with one heart.Between each concentric partial sphere support component 1, there is certain spacing.
Each concentric partial sphere support component 1 place in Fig. 1 is provided with tangential adjusting driver part 2, tangentially regulates driver part 2 for generation of the tangential driving force of sphere, and described sphere tangentially at least comprises orthogonal both direction.
In Fig. 1, schematically provide three groups of concentric partial sphere support components 1, but be not limited to three groups.The present invention does not limit especially to the size of partial sphere in concentric partial sphere support component, and sphere size is relevant to supported object quality, disturbance acceleration etc., can be according to the suitably partial sphere of size of actual conditions design.
The concentric partial sphere attitude stabilization of the present invention device providing in Fig. 1, wherein, the feature centre of sphere of partial sphere support component overlaps with the barycenter of supported objects with one heart, support component is that pure sphere tangentially slides, the radial force moment that do not rotate, tangential disturbing force can discharge completely after support component, and the attitude disturbance of outer bound pair supported objects is eliminated.With one heart partial sphere support component is realized on same sphere, makes the acting force of each strong point all by the barycenter of supported objects, thus the impact of the motion of having avoided outside follow-up unit on supported objects attitude.
Fig. 2 is the structural profile schematic diagram of the concentric partial sphere attitude stabilization of the present invention device, has provided the overall section of concentric partial sphere high-precision attitude stabilising arrangement, shows the inner structure of one of them spherical support parts 1.In Fig. 2, visible its inner all spheres are all total to the centre of sphere, and this centre of sphere is the feature centre of sphere of concentric partial sphere support component 1, and this centre of sphere overlaps in three dimensions high precision with the barycenter G of supported objects 5.
Fig. 3 is the concentric partial sphere support component of the present invention and the tangential driver part structural profile schematic diagram that regulates, and Fig. 3 has shown that spherical support parts 1 amplify and analyse and observe B with the part that tangentially regulates driver part 2.In Fig. 3, the partial sphere of spherical support parts 1 comprises with respect to supported object 5 partial sphere 1.1, partial sphere 1.2, partial sphere 1.3, partial sphere 1.4 from the near to the remote, wherein partial sphere 1.1 and partial sphere 1.2 are a pair of partial sphere, and partial sphere 1.3 and partial sphere 1.4 are that another is to partial sphere.These partial sphere of each spherical support parts 1 are corresponding sphere altogether respectively, the partial sphere 1.1 that is each spherical support parts 1 is positioned on the same space sphere B1, the partial sphere 1.2 of each spherical support parts 1 is positioned on the same space sphere B2, it is upper that the partial sphere 1.3 of each spherical support parts 1 is positioned at the same space sphere B3, and the partial sphere 1.4 of each spherical support parts 1 is positioned on the same space sphere B4.Partial sphere 1.1, partial sphere 1.2, partial sphere 1.3, partial sphere 1.4 are all total to the centre of sphere, it is space sphere B1, B2, B3 and the B4 centre of sphere altogether, this centre of sphere is the feature centre of sphere of concentric partial sphere support component 1, and this centre of sphere overlaps with the barycenter G high precision of supported objects 5.Partial sphere 1.1 and partial sphere 1.4 are connected to form cavity, and partial sphere 1.2 is connected formed middle layer with partial sphere 1.3 and is constrained in described cavity.Between every pair of partial sphere of each spherical support parts 1, be the partial sphere that forms of partial sphere 1.1 and partial sphere 1.2 between, the partial sphere that forms of partial sphere 1.3 and partial sphere 1.4 between, mutually exclusive permanent magnetic is set, the direction of these permanent magnetics is perpendicular to partial sphere, the gap of every pair of partial sphere is all very little, is about submillimeter level.When partial sphere to 1.1 and 1.2 mutually near time, due to the existence of strong mutual exclusion permanent magnetic, spherical support parts 1 provided the pulling force of barycenter by link 3 for supported objects 5, when partial sphere to 1.3 and 1.4 mutually near time, due to the existence of strong mutual exclusion permanent magnetic, spherical support parts 1 provided the thrust of barycenter by link 3 for supported objects 5.According to the characteristic of magnetic field force, it can provide very large acting force in minimum displacement.Because all acting forces that transmit by spherical support parts 1 are all by the barycenter of supported objects 5, so this acting force only can produce translatory acceleration to supported objects 5, the acceleration that can not rotate, thus can not affect the attitude of supported objects 5.Owing to adopting permanent magnet, spherical support parts 1 are passive device, there is no power consumption.Owing to adopting cordless, so the dither being transmitted by outside follow-up unit 6 will be isolated, can not cause interference to supported objects.
Concentric partial sphere support component shown in Fig. 3 is the preferred implementation of one of the present invention, and the means that realize wherein are not construed as limiting the invention.For example, the partial sphere of concentric partial sphere support component of the present invention can be also only individual layer partial sphere, adopt the mode that is fixedly connected with of this area routine, as long as concentric partial sphere support component possesses the described essential characteristic of Fig. 1, can solve corresponding technical matters.
In Fig. 3, also have partial sphere 2.1 and partial sphere 2.2, they are the partial sphere that tangentially regulate driver part 2 correspondences, each tangential partial sphere 2.1 sphere altogether that regulates driver part 2, each tangential partial sphere 2.2 sphere altogether that regulates driver part 2, and the centre of sphere of partial sphere 2.1 and partial sphere 2.2 correspondences overlap, this centre of sphere is the feature centre of sphere that tangentially regulates driver part 2, and with partial sphere 1.1,1.2,1.3, the 1.4 same centre ofs sphere.Partial sphere 2.1 and partial sphere 2.2 form a pair of partial sphere, and partial sphere is all very little to 2.1 and 2.2 gap, is about submillimeter level.Partial sphere to 2.1 and 2.2 on, on at least orthogonal both direction, arrange contactless linear electric motors, the sphere at the driving direction of contactless linear electric motors and its position place is tangent, make middle layer that partial sphere 1.2 and partial sphere 1.3 form along moving with partial sphere 1.1 and the tangent direction of partial sphere 1.4, for compensating the attitude disturbance of the supported objects 5 causing due to the existence of actual motion error.The rotation of space object has three degree of freedom, generally can regard two sensings and a revolution as.Partial sphere, to the contactless linear electric motors of arranging on 2.1 and 2.2, can compensate the sensing of both direction and the gyration around body, thereby can realize the rotation error compensation of supported objects 5 on three degree of freedom.Because tangential acting force and the partial sphere of driver part 2 of regulating is tangent, and the radius of partial sphere is programmable relatively large, thereby makes to regulate driver part 2 can realize high precision, low power consumption, so be very beneficial for engineering application.Because the tangential driver part 2 that regulates adopts contactless partial sphere to realize 2.1 and 2.2, thereby micro-vibration transmission of having avoided contact to cause can be isolated the dither transmitting from outside follow-up unit 6 equally, can not cause interference to supported objects.
Fig. 4 is the schematic diagram of an embodiment of the concentric partial sphere attitude stabilization of the present invention device.What this embodiment illustrated is on a spacecraft 7, the multi-joint of signal or the outside follow-up unit 6 of universal joint have been connected, outside follow-up unit 6 is realized and being connected of concentric partial sphere support component 1 by link 4, with one heart the other end of partial sphere support component 1 links together by link 3 and supported objects 5, and the supported object here can be the load of the high-precision requirement such as the telescope of space observation or target following or antenna.
Its principle of work is:
By concentric partial sphere support component 1, isolate nearly all medium, high frequency vibration of spacecraft, the range of movement of suspension tracking mechanism also need not be very large, for each start point, only have the magnitude of several millimeters, only need extremely low power consumption, just can compensate all external environment conditions disturbs the error causing.
Utilize concentric partial sphere support component 1 can realize the inertia attitude of high precision, high stability or the relative motion target of low dynamic perfromance is followed control, further realize the more application of high precision and degree of stability attitude.Utilize the attitude measurement data of aircraft 7, the attitude data of measurement and the angle measurement data of outside follow-up unit 6 of supported objects 5, outside follow-up unit 6 can compensate the residual error that aircraft platform itself exists, and realizes the tracking control to supported objects 5.
Outside follow-up unit 6 is only connection umbilical cord acting force and moment to the direct perturbation action of supported objects 5; Basic external environment condition power and the moment suffered with aircraft 7 of supported objects 5 (as telescope) is identical, these environmental activities are comparatively faint, mainly comprise the aerodynamic drag that the free molecule flow region of the high-rise rarefied atmosphere of the earth causes, the moment of disturbance comprises aerodynamic moment and more weak optical pressure acting force and moment due to gravity gradient torque, aerodynamic malalignment.
The tangential adjusting driver part 2 that utilizes each point of concentric partial sphere support component 1 to install, only need to consume very little electric power, just can overcome the external disturbance moment of above comparatively low frequency, compare the control of external vibration Active Compensation and put soon the rotation control moment on mirror, these power effects are very faint, owing to utilizing concentric partial sphere support component 1, it is non-contacting permanent-magnet structure, it is as more reliable in piezoelectric ceramics, high-power voice coil motor etc. that its reliability is compared the ACTIVE CONTROL such as fast pendulum mirror executive component used, and serviceable life is more permanent.
In the situation that aircraft platform moves, relative supported objects 5 industry of follow-up unit 6 may produce relative motion, the centre position that each point of partial sphere support component 1 may depart from stroke with one heart, need outside follow-up unit 6 accompany movements, to meet the constraint of concentric partial sphere support component 1 stroke.The effect of radial magnetic field in partial sphere, the magnetic force producing points to the barycenter direction of supported objects 5, under the condition of little deviation, act on moment in supported objects 5 very little, be zero substantially, therefore can produce phorogenesis to supported objects 5, substantially the rotation of supported objects 5 is not exerted an influence, reduced the disturbance to supported objects 5 attitudes simultaneously.
In order to realize longer attitude control, need on the one hand to offset outside weak effect, also needing in addition to offset the long term drift causing accumulates in the tangential translation of application point, prevent the situation that stroke transfinites, outside follower 6 should do accompany movement, makes the motion of concentric partial sphere attitude stabilization device be no more than its stroke.
The present invention has the following advantages:
1. the present invention makes full use of the attitude retention performance of supported object in inertial space and maintains basic poses, only needs remainder error item to compensate adjusting, and degree of regulation improves greatly, regulates power consumption significantly to reduce.
2. the concentric partial sphere support component of the present invention feature centre of sphere overlaps with supported objects barycenter, support component is that pure sphere tangentially slides, the radial force moment that do not rotate, tangential disturbing force can discharge completely after support component, and the attitude disturbance of outer bound pair supported objects is eliminated.
3. the tangential driver part feature of the present invention centre of sphere overlaps with supported objects barycenter high precision, attitude regulation drive efficiency is high, multiple tangential driver parts can synthesize the rotation of either direction unspecified angle in stroke range, and between driving mechanism, functional redundancy is standby mutually, and reliability is high.
4. support component of the present invention adopts magnetic levitation mode, and tangential motion is without natural damping, and dither is had to buffer action.
5. the present invention carries out in high precision adjustment process supported objects attitude, only needs outside follow-up unit in stroke range, to do angle and follows the tracks of, and tracking accuracy significantly reduces with control bandwidth requirement.
Claims (7)
1. a concentric partial sphere attitude stabilization device, described attitude stabilization device comprises:
Partial sphere support component with one heart, the partial sphere of described concentric partial sphere support component is the partial sphere that has thickness, comprises outside surface and inside surface;
The tangential driver part that regulates, is installed on described concentric partial sphere support component place, for generation of the tangential driving force of sphere;
Link 3, for being connected described concentric partial sphere support component, described tangential adjusting driver part with supported objects;
Link 4, for being connected described concentric partial sphere support component, described tangential adjusting driver part with outside follow-up unit;
Wherein, described concentric partial sphere support component, described tangential adjusting driver part and a set of fastening of described link 3 common composition, described attitude stabilization device comprises 3 covers or the above fastening; Wherein the outside surface of the partial sphere of each described concentric partial sphere support component is all total to sphere, be all positioned on the same space sphere, the inside surface of the partial sphere of each described concentric partial sphere support component is all total to sphere, be all positioned on the same space sphere, and the outside surface of the partial sphere of each described concentric partial sphere support component and the centre of sphere of inside surface overlap, this centre of sphere is called the feature centre of sphere of described concentric partial sphere support component, and the feature centre of sphere of described concentric partial sphere support component overlaps with the barycenter of supported objects; Described attitude stabilization device has formed spherical support, rotation and the drives structure with respect to supported objects barycenter.
2. concentric partial sphere attitude stabilization device as claimed in claim 1, wherein,
The partial sphere of described concentric partial sphere support component also comprises the partial sphere 1.2 near the partial sphere 1.3 of described outside surface and close described inside surface, and the partial sphere 1.3 of each described concentric partial sphere support component is all total to sphere, the partial sphere 1.2 of each described concentric partial sphere support component is all total to sphere, and the centre of sphere of partial sphere 1.3 and partial sphere 1.2 all overlaps with the feature centre of sphere of described concentric partial sphere support component; Described outside surface and described inside surface are connected to form cavity; Partial sphere 1.3 is connected formed middle layer with partial sphere 1.2 and is constrained in described cavity.
3. concentric partial sphere attitude stabilization device as claimed in claim 2, wherein,
Between described outside surface and described partial sphere 1.3 and between described inside surface and described partial sphere 1.2, mutually exclusive permanent magnetic is all being set, the direction of described permanent magnetic is perpendicular to described outside surface and described inside surface.
4. concentric partial sphere attitude stabilization device as claimed in claim 1, wherein,
Described sphere tangentially at least comprises orthogonal both direction.
5. the concentric partial sphere attitude stabilization device as described in claim 1-3, wherein,
Described tangential adjusting driver part comprises partial sphere 2.1 and partial sphere 2.2;
Partial sphere 2.1 sphere altogether of each described tangential adjusting driver part, partial sphere 2.2 sphere altogether of each described tangential adjusting driver part, and the centre of sphere of described partial sphere 2.1 and described partial sphere 2.2 correspondences overlaps, this centre of sphere is the feature centre of sphere of described tangential adjusting driver part, and the feature centre of sphere of described tangential adjusting driver part overlaps with the feature centre of sphere of described concentric partial sphere support component;
Described tangential adjusting driver part comprises be positioned at the contactless linear electric motors of arranging in partial sphere 2.1 and partial sphere 2.2 at least orthogonal both direction, and the sphere at the driving direction of described contactless linear electric motors and its position place is tangent.
6. concentric partial sphere attitude stabilization device as claimed in claim 1, wherein,
Described tangential adjusting driver part is for compensating the attitude disturbance of the supported objects causing due to the existence of actual motion error, thus the attitude stabilization of maintenance supported objects.
7. concentric partial sphere attitude stabilization device as claimed in claim 1, wherein,
Described outside follow-up unit remains in stroke range by the motion of the described concentric partial sphere support component of servo-actuated assurance to supported objects.
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| CN201410000135.8A CN103744436B (en) | 2014-01-02 | A kind of partial sphere high-precision attitude stabilising arrangement with one heart |
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| CN201410000135.8A CN103744436B (en) | 2014-01-02 | A kind of partial sphere high-precision attitude stabilising arrangement with one heart |
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| CN103744436B CN103744436B (en) | 2016-11-30 |
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