CN104044758B - A kind of linear electric machine and the vertical servo control mechanism of air supporting composite flooding - Google Patents
A kind of linear electric machine and the vertical servo control mechanism of air supporting composite flooding Download PDFInfo
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- CN104044758B CN104044758B CN201410277187.XA CN201410277187A CN104044758B CN 104044758 B CN104044758 B CN 104044758B CN 201410277187 A CN201410277187 A CN 201410277187A CN 104044758 B CN104044758 B CN 104044758B
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- electric machine
- linear electric
- catenary motion
- control mechanism
- servo control
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Abstract
A kind of linear electric machine and the vertical servo control mechanism of air supporting composite flooding, belong to physical simulation field.Described vertical servo control mechanism includes that air path part, linear electric machine part, Sensor section and catenary motion part, described catenary motion part are made up of pedestal, inner sleeve, outer sleeve and upper plane；Described air path part is positioned at catenary motion portion of external, is made up of gas cylinder, switch valve, proportioning valve, gas pressure regulator；Described linear electric machine part is positioned at catenary motion partial interior, including mover and stator；Described Sensor section is positioned at catenary motion portion of external, is arranged on the bottom of outer sleeve.The present invention provides pressure-sustaining gas by gas cylinder for inner sleeve barrel chamber portion, and makes outer sleeve portions obtain gravity compensation by regulation outlet valve opening, controls linear electric machine and realizes the catenary motion of outer sleeve.The present invention has the advantages such as easy to control, frictional force is little, stroke length.
Description
Technical field
The invention belongs to physical simulation field, relate to a kind of simulation outer space without friction microgravity ring
The emulator in border.
Background technology
Chinese Space technology develops rapidly at present, the development of big aircraft, the enforcement of goddess in the moon's plan,
Not only shorten the gap between developed country, also accelerate domestic physical simulation field simultaneously
Development.Before spacecraft comes into operation, it is necessary to carry out the physical simulation test on ground.Simulation
The outer space is that Physical Simulation Platform needs to solve without friction microgravity environment and gesture stability
Problem.
Existing simulator, puts down as disclosed a kind of three-dimensional air floating in 200610098165.2
Platform, compressed air passing ratio valve after treatment is inputted cylinder by air compressor machine by this device
In, drive air floating piston to move up and down, the aperture being adjusted proportioning valve by controller controls flow,
The emulator supported in air floating piston is made to obtain gravity compensation.This device exists following
Problem:
1, because gas is very sensitive to pressure, cylinder cannot accomplish zero leakage, so cylinder
The minor fluctuations of interior pressure will certainly affect the precision of vertical control, controls more complicated simultaneously.
2, it is connected with the gas tank being positioned over ground due to simulator, cannot when causing its translation
Accomplish frictionless motion, limit its range.
Summary of the invention
It is an object of the invention to provide a kind of be easy to control, the high linear electric machine of reliability and air supporting
The vertical servo control mechanism of composite flooding.
It is an object of the invention to be achieved through the following technical solutions:
A kind of linear electric machine and the vertical servo control mechanism of air supporting composite flooding, including air path part,
Linear electric machine part, Sensor section and catenary motion part, wherein:
Described catenary motion part is made up of pedestal, inner sleeve, outer sleeve and upper plane.In
The lower end of sleeve is seamless with pedestal to be connected firmly, and the upper end of outer sleeve is seamless with upper plane to be connected firmly, overcoat
The lower end of cylinder is placed on the outside on inner sleeve top, can be with Micro-friction between inner sleeve and outer sleeve
Mutually slide；
Described air path part is positioned at catenary motion portion of external, by gas cylinder, switch valve,
Proportioning valve, gas pressure regulator form, and gas cylinder is arranged on impact faces, and gas cylinder is with interior
Connecting between sleeve has switch valve, proportioning valve to be connected with inner sleeve, gas pressure regulator and proportioning valve
Connecting, gas cylinder is source of the gas, is in-house offer gases at high pressure, ratio by switch valve
Valve is air bleeding valve, gets rid of intracavity gas, is connected by pressure line between each parts；
Described linear electric machine part is positioned at catenary motion partial interior, uses cylindrical electric linear electricity
Machine, including mover and stator, one end and the upper plane of mover connect firmly, and stator passes through rigid body with interior
Sleeve lining top connects firmly, and stator is fixed with catenary motion controller；
Described Sensor section is positioned at catenary motion portion of external, is arranged on the bottom of outer sleeve,
It is made up of sensor.
In the present invention, described proportioning valve can accurately be controlled its precision by gas pressure regulator, passes through
Gas pressure regulator control proportioning valve get rid of inner chamber gas, it is ensured that Air pressure compensation outer sleeve and
The gravity of upper plane.
In the present invention, described linear electric machine is by the catenary motion being fixed on linear electric machine stator
Controller controls its internal magnetic field and realizes catenary motion, is controlled linear by catenary motion controller
Motor drives linear electric machine mover to drive outer sleeve catenary motion.
The present invention provides pressure-sustaining gas by gas cylinder for inner sleeve barrel chamber portion, and by regulation outlet valve
Aperture makes outer sleeve portions obtain gravity compensation, controls linear electric machine and realizes the vertical fortune of outer sleeve
Dynamic.Compared with prior art, advantages of the present invention is as follows:
1, controlling simply, precision is high
Employing linear electric machine controls, and has friction little, and the soonest, noise is low, and efficiency is high, control
The advantages such as system is simple.
2, load-carrying is big, applied widely
Using air flotation technology, load-carrying is big.
Accompanying drawing explanation
Fig. 1 is the structure of the vertical servo control mechanism of linear electric machine of the present invention and air supporting composite flooding
Schematic diagram；
Fig. 2 is control flow chart of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawings technical scheme is further described, but does not limit to
So, every technical solution of the present invention is modified or equivalent, without deviating from this
The spirit and scope of bright technical scheme, all should contain in protection scope of the present invention.
With reference to Fig. 1, the vertical servo control mechanism of a kind of linear electric machine and air supporting composite flooding mainly wraps
Include gas cylinder 1, upper plane 2, outer sleeve 3, inner sleeve 4, switch valve 5, sensor 6,
Proportioning valve 7, gas pressure regulator 8, pedestal 9, linear electric machine mover 10, catenary motion control
Device 11 and linear electric machine stator 12.
Gas cylinder 1 is arranged on above pedestal 9.Nothing between lower end and the pedestal 9 of inner sleeve 4
Seam connects firmly, and does not haves gas leakage.It is connected between gas cylinder 1 with inner sleeve 4 and has a switch
Valve 5, proportioning valve 7 is connected with inner sleeve 4, and gas pressure regulator 8 is connected with proportioning valve 7.Outward
Seamless between upper end and the upper plane 2 of sleeve 3 connecting firmly, lower end is placed on outside inner sleeve 4 top
Face, forms air film face between inside and outside sleeve contact surface, make it possible to mutual Micro-friction and slide.
The bottom of outer sleeve 3 is provided with sensor 6, measures vertical deviation.Linear electric machine stator 12
Connected firmly with inner sleeve 4 inwall by rigid body, linear electric machine stator 12 is fixed with catenary motion
Controller 11, linear electric machine mover 10 one end connects firmly with upper plane 2, is allowed to and upper plane 2
Together move.
Inflate as in figure 2 it is shown, open switch valve 5 for inner sleeve 4, by gas pressure regulator 8
Control the aperture of proportioning valve 7, make interior cavity pressure close to compensating gravity.By outside industrial computer
13 send position command controls linearly to catenary motion controller 11, catenary motion controller 11
Motor stator 12 winding current size, thus control magnetic field magnetic induction, drive linear electricity
Motor-driven sub 10 catenary motions.Closed loop is formed anti-by the position signalling of real-time reception sensor 6
Feedback controls.
Claims (4)
1. a linear electric machine and the vertical servo control mechanism of air supporting composite flooding, it is characterised in that described vertical servo control mechanism includes air path part, linear electric machine part, Sensor section and catenary motion part, wherein:
Described catenary motion part is made up of pedestal, inner sleeve, outer sleeve and upper plane, and the lower end of inner sleeve is seamless with pedestal to be connected firmly, and the upper end of outer sleeve is seamless with upper plane to be connected firmly, and the lower end of outer sleeve is placed on the outside on inner sleeve top；
Described air path part is positioned at catenary motion portion of external, being made up of gas cylinder, switch valve, proportioning valve, gas pressure regulator, gas cylinder is arranged on impact faces, and being connected between gas cylinder with inner sleeve has switch valve, proportioning valve is connected with inner sleeve, and gas pressure regulator is connected with proportioning valve；
Described linear electric machine part is positioned at catenary motion partial interior, and including mover and stator, one end and the upper plane of mover connect firmly, and stator is connected firmly with inner sleeve upper inside wall by rigid body, and stator is fixed with catenary motion controller；
Described Sensor section is positioned at catenary motion portion of external, is arranged on the bottom of outer sleeve.
Linear electric machine the most according to claim 1 and the vertical servo control mechanism of air supporting composite flooding, it is characterised in that described linear electric machine part uses cylindrical electric linear motor.
Linear electric machine the most according to claim 1 and the vertical servo control mechanism of air supporting composite flooding, it is characterised in that connected by pressure line between each parts of described air path part.
Linear electric machine the most according to claim 1 and the vertical servo control mechanism of air supporting composite flooding, it is characterised in that described Sensor section is made up of sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410277187.XA CN104044758B (en) | 2014-06-20 | 2014-06-20 | A kind of linear electric machine and the vertical servo control mechanism of air supporting composite flooding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410277187.XA CN104044758B (en) | 2014-06-20 | 2014-06-20 | A kind of linear electric machine and the vertical servo control mechanism of air supporting composite flooding |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104044758A CN104044758A (en) | 2014-09-17 |
| CN104044758B true CN104044758B (en) | 2016-08-24 |
Family
ID=51498235
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410277187.XA Expired - Fee Related CN104044758B (en) | 2014-06-20 | 2014-06-20 | A kind of linear electric machine and the vertical servo control mechanism of air supporting composite flooding |
Country Status (1)
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| CN (1) | CN104044758B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105109712A (en) * | 2015-08-21 | 2015-12-02 | 哈尔滨工业大学 | Air floating shaft based on Z-direction control of six-freedom-degree air floating table |
| CN105083595A (en) * | 2015-09-21 | 2015-11-25 | 黑龙江大学 | Vertical air pressure control system of air bearing table and control method thereof |
| CN113479356B (en) * | 2021-08-16 | 2022-04-29 | 哈尔滨工业大学 | Dumbbell-shaped air floatation pulley longitudinal gravity compensation device |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2500366B2 (en) * | 1993-09-28 | 1996-05-29 | 科学技術庁航空宇宙技術研究所長 | Three-dimensional free movement device |
| 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 floatation platform and air pressure type gravity compensation method |
| CN101575013B (en) * | 2009-06-15 | 2012-01-18 | 哈尔滨工业大学 | Intelligent three dimensional microgravity air feet |
| CN101936807B (en) * | 2010-08-19 | 2012-07-04 | 北京理工大学 | Spatial intelligent following floated platform |
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- 2014-06-20 CN CN201410277187.XA patent/CN104044758B/en not_active Expired - Fee Related
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| CN104044758A (en) | 2014-09-17 |
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Granted publication date: 20160824 Termination date: 20180620 |
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