CN104015943A - Mass compensation system of gas floatation planar motion platform - Google Patents
Mass compensation system of gas floatation planar motion platform Download PDFInfo
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- CN104015943A CN104015943A CN201410277190.1A CN201410277190A CN104015943A CN 104015943 A CN104015943 A CN 104015943A CN 201410277190 A CN201410277190 A CN 201410277190A CN 104015943 A CN104015943 A CN 104015943A
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Abstract
The invention discloses a mass compensation system of a gas floatation planar motion platform, and belongs to the field of full-physical ground simulation. To solve the problems that change of the weight of high-pressure gas in a gas bottle arranged on the platform can cause change of the load mass of the upper platform surface and consequently simulation tests can be influenced, the mass compensation system is composed of a first water storage cavity, a second water storage cavity, a water pump and conveying pipelines, wherein the first water storage cavity is hung to the lower end of an upper platform body of the six-degree-of-freedom gas floatation platform, the second water storage cavity is arranged on a lower platform body of the six-degree-of-freedom gas floatation platform, and the first water storage cavity and the second water storage cavity are connected with the water pump through the conveying pipelines. According to the mass compensation system, the mode of dynamic compensation through the two water storage cavities is adopted, and after the mass of lost gas in the gas bottle is measured, balance weight liquid with the same mass is pumped into the water storage cavity of the upper platform body through the water pump. The mass compensation system guarantees the mass stability of a bearing platform and greatly improves the precision and feasibility of the simulation tests.
Description
Technical field
The invention belongs to full physical simulation field, ground, relate to a kind of mass compensation system of air-floatation planar motion platform.
Background technology
Along with the exploration of people to the outer space, the satellite of development is placed in to air supporting emulation platform and carries out emulation testing, reduce research cost with this, improve the success ratio that satellite is executed the task, become the steps necessary that development is launched an artificial satellite.The development of control technology and computer technology, and the exploitation of new material utilization, make emulation platform smaller volume, and rigidity strengthens, and load-carrying capacity is higher.In addition the progress of science and technology also makes the control accuracy of emulation platform and position money precision all be greatly improved.
If particle has along the rectilinear movement degree of freedom of x axle, y axle, three artesian coordinates direction of principal axis of z axle with around the rotational freedom (being Rx, Ry, Rz) of these three coordinate axlees, so just can claim that this object has six-freedom degree.Six degree of freedom air floating platform is a kind of motion simulator that completes any space motion in the operating range of its permission, it is not limited only to the experimental simulation of space vehicle, also be applicable to gradually other various directions, the emulation testing before place in operation of the simulated training during as navigation and some high precision, expensive experimental facilities.
Manufacturing when pneumatic six degree of freedom air floating platform, traditional method is settled jet valve on air floating platform diverse location, and jet the produced antagonistic force of valve that relies on different directions provides the power of plane motion for air floating table.For compactedness, the gas circuit wiring of platform and integrally structure are reasonable, increase atmosphere storage amount to extend the factors such as platform run duration, conventionally can a part of gas cylinder be placed on upper mounting plate table top or hang on upper mounting plate table top below.In the time carrying out motion simulation emulation experiment, because high-pressure gas cylinder is along with the reduction of jet pressure release pressure, gas cylinder total quality will change, if gas cylinder is arranged on upper table surface, the variation of gas weight will cause the variation of upper table surface load quality, affects quality trim and then affects the effect of l-G simulation test.
Summary of the invention
The gas cylinder mesohigh gas weight variation that is placed in upper mounting plate in order to solve can cause the variation of upper table surface load quality, and then affects the problem of l-G simulation test, the invention provides a kind of mass compensation system of air-floatation planar motion platform.
The object of the invention is to be achieved through the following technical solutions:
A kind of mass compensation system of air-floatation planar motion platform, formed by No. 1 water storage cavity, No. 2 water storage cavities, water pump and transmission pipelines, No. 1 water storage cavity hangs on six degree of freedom air floating table upper mounting plate lower end, No. 2 water storage cavity is placed on six degree of freedom air floating table lower platform, and No. 1 water storage cavity is connected with water pump by transmission pipeline with No. 2 water storage cavities.
Adopt mass compensation system provided by the invention not change conventional gas cylinder installing structure, gas storage gas cylinder is still fixed on air floating table upper table surface, and counterweight liquid (adopting water here) is conducting to No. 1 water storage cavity of upper table surface from No. 2 water storage cavities at any time by this transmission pipeline.Adopt the type of transmission in this dynamic water route, eliminated gaseous mass and changed the impact on l-G simulation test.
The each gas cylinder that is placed in upper mounting plate communicates with one another, and at air extractor duct, high-precision pressure gauge is installed, according to the Ideal-Gas Equation:
P·V＝n·R·T，
Wherein, P refers to the pressure of idea1 gas, the volume that V is idea1 gas, and n represents the amount of gaseous matter, and T represents the thermodynamic temperature of idea1 gas, and R is a constant, is ideal gas constant.
Can find out from above formula, if can calculate in real time upper mounting plate gas cylinder internal pressure variation situation, just can correspondingly obtain the amount of substance that gas cylinder internal institute storing gas changes, and then can obtain gas cylinder internal because of the jet gaseous mass m reducing.
When pump working, mass flow rate is known, be assumed to q, according to liquid quality flow formula, in time t, the quality m ' that draws water is m '=qt, therefore control the liquid that the pump working time can control certain mass and arrive No. 1 water storage cavity from No. 2 water storage cavities, if make m '=m, just can play the effect that upper mounting plate gaseous mass is lost that supplements.
The present invention adopts the mode of two dynamic supplies of water storage cavity, the counterweight liquid of equal quality is extracted to upper mounting plate water storage cavity by water pump after measuring the gaseous mass of losing in gas cylinder.The present invention has ensured the quality stability of article carrying platform, has greatly improved emulation experiment precision and feasibility.
Brief description of the drawings
Fig. 1 is the mass compensation system principle schematic diagram of air-floatation planar motion platform:
In figure, 1: upper mounting plate, 2: lower platform, 3: gas storage gas cylinder, 4: jet valve, 5:1 water storage cavity, 6: water pump, 7:2 water storage cavity.
Detailed description of the invention
Below in conjunction with accompanying drawing, technical scheme of the present invention is further described; but do not limit to so; every technical solution of the present invention is modified or is equal to replacement, and not departing from the spirit and scope of technical solution of the present invention, all should be encompassed in protection scope of the present invention.
The invention provides a kind of mass compensation system of air-floatation planar motion platform, described six degree of freedom air supporting experiment porch has upper mounting plate 1 and lower platform 2 (pedestal). and upper mounting plate 1 is generally provided with the control conveniences such as Inertial Measurement Unit, sensor, industrial computer, jet valve, the equipment such as gas cylinder and gas circuit wire: lower platform 2 is generally provided with gas foot and other accessory equipments, plays fixation.
As shown in Figure 1, No. 2 water storage cavities 7 are placed on six degree of freedom air floating table lower platform 2, No. 1 water storage cavity 5 is hung on to six degree of freedom air floating table upper mounting plate 1 lower end, and both are connected by transmission pipeline, and water pump 6 provide power by counterweight Liquid extracting to upper mounting plate 1 water storage cavity height.
The each gas cylinder of upper mounting plate 1 communicates with one another, and at total air extractor duct, high-precision pressure gauge is installed, and changes for measuring pressure of the inside of a bottle.
According to the Ideal-Gas Equation PV=nRT, can calculate the amount of substance that in certain hour, bottle inner high voltage gas reduces.
Wherein, P refers to the pressure of idea1 gas, the volume that V is idea1 gas, and n represents the amount of gaseous matter, and T represents the thermodynamic temperature of idea1 gas, and R is a constant, is ideal gas constant.
According to amount of substance computing formula: m=Mn, can obtain the high pressure gas quality reducing in upper mounting plate 1 gas cylinder.
Wherein, the material mass that m is gas, the molal weight that M is air, the amount of substance that n is air.
Water pump mass flow rate is q, and in time t, the quality of drawing water is m '=qt.
After 1 jet work a period of time of upper mounting plate, high pressure gas quality loss amount is m, draws water by water pump 6, and the counterweight liquid that is m ' by quality takes out from No. 2 water storage cavities 7 No. 1 water storage cavity 5 that rises to upper mounting plate 1, and m '=m, just can play the effect that supplements upper mounting plate 1 gaseous mass loss.
Claims (1)
1. the mass compensation system of an air-floatation planar motion platform, it is characterized in that described mass compensation system is made up of No. 1 water storage cavity, No. 2 water storage cavities, water pump and transmission pipelines, No. 1 water storage cavity hangs on six degree of freedom air floating table upper mounting plate lower end, No. 2 water storage cavity is placed on six degree of freedom air floating table lower platform, and No. 1 water storage cavity is connected with water pump by transmission pipeline with No. 2 water storage cavities.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410277190.1A CN104015943A (en) | 2014-06-20 | 2014-06-20 | Mass compensation system of gas floatation planar motion platform |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410277190.1A CN104015943A (en) | 2014-06-20 | 2014-06-20 | Mass compensation system of gas floatation planar motion platform |
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| CN104015943A true CN104015943A (en) | 2014-09-03 |
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| CN201410277190.1A Pending CN104015943A (en) | 2014-06-20 | 2014-06-20 | Mass compensation system of gas floatation planar motion platform |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104290932A (en) * | 2014-10-21 | 2015-01-21 | 哈尔滨工业大学 | Longitudinal gravity compensation device with micro-gravity simulation implementation systems and six degrees of freedom for spatial mechanisms |
| CN105259866A (en) * | 2015-10-10 | 2016-01-20 | 北京精密机电控制设备研究所 | Mass center adjustment system of air-floating motion simulator |
| CN105292528A (en) * | 2015-11-25 | 2016-02-03 | 上海卫星装备研究所 | Central symmetry device for high-pressure pipelines of three-axis air bearing table and application thereof |
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| CN2813450Y (en) * | 2005-07-15 | 2006-09-06 | 上海宇航系统工程研究所 | Air-float platform |
| CN1986337A (en) * | 2006-12-02 | 2007-06-27 | 中国科学院合肥物质科学研究院 | Three-dimensional air floating platform and pneumatic gravitational compensation method |
| CN201151486Y (en) * | 2007-10-25 | 2008-11-19 | 北京航空航天大学 | Air bearing table |
| CN103514792A (en) * | 2013-10-10 | 2014-01-15 | 南京航空航天大学 | Space six-freedom-degree air floatation follow-up moving platform |
| CN103847986A (en) * | 2014-04-01 | 2014-06-11 | 哈尔滨工业大学 | Air floating platform with follow-up cable tables |
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- 2014-06-20 CN CN201410277190.1A patent/CN104015943A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2813450Y (en) * | 2005-07-15 | 2006-09-06 | 上海宇航系统工程研究所 | Air-float platform |
| CN1986337A (en) * | 2006-12-02 | 2007-06-27 | 中国科学院合肥物质科学研究院 | Three-dimensional air floating platform and pneumatic gravitational compensation method |
| CN201151486Y (en) * | 2007-10-25 | 2008-11-19 | 北京航空航天大学 | Air bearing table |
| CN103514792A (en) * | 2013-10-10 | 2014-01-15 | 南京航空航天大学 | Space six-freedom-degree air floatation follow-up moving platform |
| CN103847986A (en) * | 2014-04-01 | 2014-06-11 | 哈尔滨工业大学 | Air floating platform with follow-up cable tables |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104290932A (en) * | 2014-10-21 | 2015-01-21 | 哈尔滨工业大学 | Longitudinal gravity compensation device with micro-gravity simulation implementation systems and six degrees of freedom for spatial mechanisms |
| CN104290932B (en) * | 2014-10-21 | 2016-03-30 | 哈尔滨工业大学 | The longitudinal gravity-compensated device of space mechanism's six degree of freedom microgravity simulated implementation system |
| CN105259866A (en) * | 2015-10-10 | 2016-01-20 | 北京精密机电控制设备研究所 | Mass center adjustment system of air-floating motion simulator |
| CN105259866B (en) * | 2015-10-10 | 2017-12-22 | 北京精密机电控制设备研究所 | A kind of air supporting motion simulator Centroid Adjustment System |
| CN105292528A (en) * | 2015-11-25 | 2016-02-03 | 上海卫星装备研究所 | Central symmetry device for high-pressure pipelines of three-axis air bearing table and application thereof |
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Application publication date: 20140903 |