CN105005324A - Horizontal tracking system of secondary platform - Google Patents
Horizontal tracking system of secondary platform Download PDFInfo
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- CN105005324A CN105005324A CN201510475130.5A CN201510475130A CN105005324A CN 105005324 A CN105005324 A CN 105005324A CN 201510475130 A CN201510475130 A CN 201510475130A CN 105005324 A CN105005324 A CN 105005324A
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- roller assembly
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Abstract
Provided is a horizontal tracking system of a secondary platform. The invention belongs to the technical field of platform dynamic tracking. A first roller assembly, a second roller assembly, a third roller assembly and a fourth roller assembly of the system are installed on the bottom surface of the platform, and the rolling directions of every two adjacent roller assemblies of the first roller assembly, the second roller assembly, the third roller assembly and the fourth roller assembly are perpendicular to each other. An air-cushion platform is arranged on the upper plane of the platform. A gyroscope sensor is arranged on the air-cushion platform. A first laser displacement sensor, a second laser displacement sensor, a third laser displacement sensor, and a fourth laser displacement sensor are uniformly distributed on the platform along the circumference. A method combining distance measurement through the laser displacement sensors and angular velocity measurement through the gyroscope sensor is adopted in the invention. The measuring method is high in precision and simple in structure. The problem that a traditional secondary platform has the defects of poor real-time performance, complex structure and low precision in tracking a six-degrees-of-freedom air-bearing table-orbiter is solved.
Description
Technical field
The invention belongs to the technical field that platform is dynamically followed the tracks of.
Background technology
In modern society, the platform of the high flatness of frequent needs, such as cross in the physical simulation experiments such as docking, ground survey, navigation, network service and formation control in space, need to support whole ground emulator, for ground simulation experiment provides basic platform; For the physical simulation tests such as the checking of Satellite Formation Flying ground experiment, control algorithm validation analysis provide platform.Due to Platform movement or static time all likely because the reason such as out-of-flatness of large area horizontal base is in heeling condition, be unfavorable for for load provides the job platform of level as far as possible to ensure accurately docking, therefore need platform can both by leveling fast and accurately in static and motion state, to ensure the levelness that platform is enough.
The core of whole spacecrafts rendezvous l-G simulation test is made up of secondary platform, six degree of freedom air floating table orbiter, orbital vehicle and six degree of freedom air floating table lifting device, and whole system operates on large-scale granite surface plate.Secondary platform is one of visual plant of l-G simulation test, and this equipment is applied between marble platform and six degree of freedom air floating table (orbiter, orbital vehicle), for six degree of freedom air floating table provides horizontal base, can provide source of the gas and power supply simultaneously.Secondary platform can reduce the requirement of the flatness to marble basic platform to a certain extent, can also provide the starting condition of a l-G simulation test for six degree of freedom air floating table.
Good l-G simulation test condition is provided for six degree of freedom air floating table for enabling secondary platform, just need for a kind of suitable kinetic control system of secondary Platform Designing and method, design a kind of technical scheme making secondary platform can realize large translation and omnibearing movable, so just six degree of freedom air floating table can be followed the tracks of preferably, also providing of other simulated conditions can be completed preferably simultaneously.
Summary of the invention
The object of this invention is to provide a kind of horizontal tracker of secondary platform, to solve in existing platform large translation and omnibearing movable scheme, when motion, translation, rotation, there is the problem that tracking accuracy is not high, poor real, complex structure, following range are less.
Described object is realized by following scheme: the horizontal tracker of described a kind of secondary platform, it comprises platform 1, first roller assembly 2, second roller assembly 3, the 3rd roller assembly 4, the 4th roller assembly 5, industrial computer assembly 6, first laser displacement sensor 8, second laser displacement sensor 9, the 3rd laser displacement sensor 10, the 4th laser displacement sensor 11, gyro sensor 12, refers to six degree of freedom air floating table in this this design proposal external with hover platform 7.
First roller assembly 2, second roller assembly 3, the 3rd roller assembly 4 and the 4th roller assembly 5 are all arranged on the bottom surface of platform 1, and the first roller assembly 2, second roller assembly 3, the 3rd roller assembly 4 and the 4th roller assembly 5 are all operated in same level; Make the rotating direction of the rotating direction of the rotating direction of the rotating direction of the first roller assembly 2 and the second roller assembly 3, the 3rd roller assembly 4, the 4th roller assembly 5 orthogonal, hover platform 7 is arranged in the upper plane of platform 1, gyro sensor 12 is arranged on hover platform 7, first laser displacement sensor 8, second laser displacement sensor 9, the 3rd laser displacement sensor 10, the 4th laser displacement sensor 11 even circumferential distribute on the platform 1, for the position of hover platform 7 in detection platform 1; Described industrial computer assembly 6 comprises industrial computer 6-1, four tunnel motion control board 6-2, the first motor driver 6-3, the second motor driver 6-4, the 3rd motor driver 6-5, the 4th motor driver 6-6; The data bus I/O of industrial computer 6-1 is connected with the data bus input/output terminal of four tunnel motion control board 6-2, and the four road drived control output terminals of four tunnel motion control board 6-2 connect the control input end of the first motor driver 6-3, the control input end of the second motor driver 6-4, the control input end of the 3rd motor driver 6-5, the control input end of the 4th motor driver 6-6 respectively; The drive output of the first motor driver 6-3 is connected with the input end of motor in the first roller assembly 2, the drive output of the second motor driver 6-4 is connected with the input end of motor in the second roller assembly 3, the drive output of the 3rd motor driver 6-5 is connected with the input end of motor in the 3rd roller assembly 4, and the drive output of the 4th motor driver 6-6 is connected with the input end of motor in the 4th roller assembly 5; The five tunnel sensor signal input ends of industrial computer 6-1 connect signal output part, the signal output part of the second laser displacement sensor 9, the signal output part of the 3rd laser displacement sensor 10, the signal output part of the 4th laser displacement sensor 11, the signal output part of gyro sensor 12 of the first laser displacement sensor 8 respectively.
The present invention utilizes the mode that laser displacement sensor is found range and gyro sensor angular velocity combines, this measuring method precision is high, structure is simple, solve traditional secondary platform when following the tracks of six degree of freedom air floating table (orbiter, orbital vehicle), poor real, complex structure, the problem that precision is not high enough.
Adopt suitable platform to build system, method and resolution of velocity algorithm, achieve large translation and the all-around mobile of secondary platform.
Accompanying drawing explanation
Fig. 1 is one-piece construction schematic diagram of the present invention;
Fig. 2 be in Fig. 1 platform 1 look up structural representation;
Fig. 3 is the structural representation of the composition connection of industrial computer assembly 5 in Fig. 1 and the annexation with the first roller assembly 2, second roller assembly 3, the 3rd roller assembly 4, the 4th roller assembly 5, first laser displacement sensor 7, second laser displacement sensor 8, the 3rd laser displacement sensor 9, the 4th laser displacement sensor 10, gyro sensor 11;
Fig. 4 is when hover platform 7 mass motion, the resolution of velocity schematic diagram of the second roller assembly 3.
Embodiment
Embodiment one: shown in composition graphs 1, Fig. 2, Fig. 3, Fig. 4, it comprises platform 1, first roller assembly 2, second roller assembly 3, the 3rd roller assembly 4, the 4th roller assembly 5, industrial computer assembly 6, hover platform 7, first laser displacement sensor 8, second laser displacement sensor 9, the 3rd laser displacement sensor 10, the 4th laser displacement sensor 11, gyro sensor 12;
First roller assembly 2, second roller assembly 3, the 3rd roller assembly 4 and the 4th roller assembly 5 are all arranged on the bottom surface of platform 1, and the first roller assembly 2, second roller assembly 3, the 3rd roller assembly 4 and the 4th roller assembly 5 are all operated in same level; Make the rotating direction of the rotating direction of the rotating direction of the rotating direction of the first roller assembly 2 and the second roller assembly 3, the 3rd roller assembly 4, the 4th roller assembly 5 orthogonal, hover platform 7 is arranged in the upper plane of platform 1, gyro sensor 12 is arranged on hover platform 7, first laser displacement sensor 8, second laser displacement sensor 9, the 3rd laser displacement sensor 10, the 4th laser displacement sensor 11 even circumferential distribute on the platform 1, for the position of hover platform 7 in detection platform 1; Described industrial computer assembly 6 comprises industrial computer 6-1, four tunnel motion control board 6-2, the first motor driver 6-3, the second motor driver 6-4, the 3rd motor driver 6-5, the 4th motor driver 6-6; The data bus I/O of industrial computer 6-1 is connected with the data bus input/output terminal of four tunnel motion control board 6-2, and the four road drived control output terminals of four tunnel motion control board 6-2 connect the control input end of the first motor driver 6-3, the control input end of the second motor driver 6-4, the control input end of the 3rd motor driver 6-5, the control input end of the 4th motor driver 6-6 respectively; The drive output of the first motor driver 6-3 is connected with the input end of motor in the first roller assembly 2, the drive output of the second motor driver 6-4 is connected with the input end of motor in the second roller assembly 3, the drive output of the 3rd motor driver 6-5 is connected with the input end of motor in the 3rd roller assembly 4, and the drive output of the 4th motor driver 6-6 is connected with the input end of motor in the 4th roller assembly 5; The five tunnel sensor signal input ends of industrial computer 6-1 connect signal output part, the signal output part of the second laser displacement sensor 9, the signal output part of the 3rd laser displacement sensor 10, the signal output part of the 4th laser displacement sensor 11, the signal output part of gyro sensor 12 of the first laser displacement sensor 8 respectively.
The model of the first laser displacement sensor 8, second laser displacement sensor 9, the 3rd laser displacement sensor 10 and the 4th laser displacement sensor 11 is Panasonic laser displacement sensor HL-G1; The model of gyro sensor 12 is JaRa JG111D lasergyro; The model of industrial computer 6-1 is for grinding magnificent ARK5260; The model of four tunnel motion control board 6-2 is Altay PCI8304; The model of the first motor driver 6-3, the second motor driver 6-4, the 3rd motor driver 6-5 and the 4th motor driver 6-6 is Panasonic MDDKT5540CA1, motor model in motor in motor in first roller assembly 2, the second roller assembly 3, the motor in the 3rd roller assembly 4, the 4th roller assembly 5 is Panasonic msme152gcgm motor, and the rotor wheel in the first roller assembly 2, second roller assembly 3, the 3rd roller assembly 4, the 4th roller assembly 5 adopts the omni-directional wheel of boat lotion pressure company QLM-10 model.
Principle of work:
When hover platform 7 work gas is suspended on platform 1 upper surface, hover platform 7 will produce horizontal drift, the first laser displacement sensor 8, second laser displacement sensor 9, 3rd laser displacement sensor 10 and the 4th laser displacement sensor 11 detect to the displacement of hover platform 7 relative to platform 1, and gyro sensor 12 detects the angular velocity of hover platform 7, and industrial computer 6-1 receives the first laser displacement sensor 8, second laser displacement sensor 9, 3rd laser displacement sensor 10, after the data that 4th laser displacement sensor 11 and gyro sensor 12 transmit, carry out computing, then by four tunnel motion control board 6-2, first motor driver 6-3, second motor driver 6-4, 3rd motor driver 6-5, 4th motor driver 6-6 drives the motor in the first roller assembly 2, motor in second roller assembly 3, motor in 3rd roller assembly 4, machine operation in 4th roller assembly 5, band moving platform 1 follows the tracks of the motion of hover platform 7.
To carry out computing as follows to receiving data that the first laser displacement sensor 8, second laser displacement sensor 9, the 3rd laser displacement sensor 10, the 4th laser displacement sensor 11 and gyro sensor 12 transmit for described industrial computer 6-1:
First laser displacement sensor 8, second laser displacement sensor 9, the 3rd laser displacement sensor 10, the 4th laser displacement sensor 11 monitor the motion conditions of hover platform 7, might as well remember T
0the data of four laser displacement sensors in moment are S
1,0, S
2,0, S
3,0, S
4,0;
Time interval t(Microsecond grade through minimum) after, T
1the data of four laser sensors in moment are designated as S
1,1, S
2,1, S
3,1, S
4,1;
With the first laser displacement sensor 8 and the 3rd laser displacement sensor 10 line place straight line for X-axis (positive dirction is the direction of the first laser displacement sensor 8 to the first laser displacement sensor 10), second laser displacement sensor 9 and the 4th laser displacement sensor 11 line place straight line are Y-axis (positive dirction is the direction of the 4th laser displacement sensor 11 to the second laser displacement sensor 9), X, Y intersection point O is initial point, sets up global coordinate system XOY;
Resolve in X-direction according to the first laser displacement sensor 8 and the 3rd laser displacement sensor 10 twice positional information, the move distance of hover platform 7 in time interval t, circular is S
x=(S
4,1-S
4,0+ S
2,0-S
2,1) * 0.5;
Resolve in Y direction according to the second laser displacement sensor 9 and the 4th laser displacement sensor 11 twice positional information, the move distance of hover platform 7 in time interval t, circular is S
y=(S
1,1-S
1,0+ S
3,0-S
3,1) * 0.5;
The data of the gyro sensor 12 of record current time, draw the angular velocity omega of hover platform 7;
Hover platform 7 is converted into the velocity information in X-axis, Y-axis at the position signalling of X-axis, Y-axis: V
x,=d (S
x)/dt, V
y,=d (S
x)/dt;
The now hover platform 7 speed V under global coordinate system XOY=[V
x,v
y,ω R], this speed V i.e. platform 1 want to follow the tracks of the speed required for hover platform 7, and wherein R refers to the distance of XOY coordinate origin O to each roller mid point;
Remember that speed V=[Vx, Vy, the ω R] of platform 1 is respectively V1, V2, V3, V4 to the speed of the decomposition of the first roller assembly 2, second roller assembly 3, the 3rd roller assembly 4, the 4th roller assembly 5, positive dirction is counterclockwise;
Speed V is decomposed into the second roller assembly 3 with speed V
2for example, as shown in Figure 4.O is the initial point of global coordinate system XOY, and P is the 3rd roller mid point, and OP distance is R, θ
2for Y-axis positive dirction angle in straight line OP and coordinate system XOY, α
2be the decomposition rate V of the second roller assembly
2y-axis positive dirction angle in positive dirction and coordinate system XOY, can obtain according to corresponding angular relationship thus:
V
2 = -V
xsinθ
2+V
ycosθ
2+ωR(θ
2 - α
2)
In like manner can obtain:
V
1 = -V
xsinθ
1+V
ycosθ
1+ωR(θ
1-α
1)
V
3 = -V
xsinθ
3+V
ycosθ
3+ωR(θ
3-α
3)
V
4 = -V
xsinθ
4+V
ycosθ
4+ωR(θ
4-α
4)
Following Speed allotment formula can be obtained in sum:
。
Claims (1)
1. a horizontal tracker for secondary platform, is characterized in that it comprises platform (1), the first roller assembly (2), the second roller assembly (3), the 3rd roller assembly (4), the 4th roller assembly (5), industrial computer assembly (6), hover platform (7), the first laser displacement sensor (8), the second laser displacement sensor (9), the 3rd laser displacement sensor (10), the 4th laser displacement sensor (11), gyro sensor (12);
First roller assembly (2), the second roller assembly (3), the 3rd roller assembly (4) and the 4th roller assembly (5) are all arranged on the bottom surface of platform (1), and the first roller assembly (2), the second roller assembly (3), the 3rd roller assembly (4) and the 4th roller assembly (5) are all operated in same level, make the rotating direction of the first roller assembly (2) and the rotating direction of the second roller assembly (3), the rotating direction of the 3rd roller assembly (4), the rotating direction of the 4th roller assembly (5) is orthogonal, hover platform (7) is arranged in the upper plane of platform (1), gyro sensor (12) is arranged on hover platform (7), first laser displacement sensor (8), second laser displacement sensor (9), 3rd laser displacement sensor (10), 4th laser displacement sensor (11) even circumferential is distributed on platform (1), for the position of the upper hover platform (7) of detection platform (1), described industrial computer assembly (6) comprises industrial computer (6-1), four tunnel motion control boards (6-2), the first motor driver (6-3), the second motor driver (6-4), the 3rd motor driver (6-5), the 4th motor driver (6-6), the data bus I/O of industrial computer (6-1) is connected with the data bus input/output terminal of four tunnel motion control boards (6-2), and four road drived control output terminals of four tunnel motion control boards (6-2) connect the control input end of the first motor driver (6-3), the control input end of the second motor driver (6-4), the control input end of the 3rd motor driver (6-5), the control input end of the 4th motor driver (6-6) respectively, the drive output of the first motor driver (6-3) is connected with the input end of motor in the first roller assembly (2), the drive output of the second motor driver (6-4) is connected with the input end of motor in the second roller assembly (3), the drive output of the 3rd motor driver (6-5) is connected with the input end of motor in the 3rd roller assembly (4), and the drive output of the 4th motor driver (6-6) is connected with the input end of motor in the 4th roller assembly (5), five tunnel sensor signal input ends of industrial computer (6-1) connect signal output part, the signal output part of the second laser displacement sensor (9), the signal output part of the 3rd laser displacement sensor (10), the signal output part of the 4th laser displacement sensor (11), the signal output part of gyro sensor (12) of the first laser displacement sensor (8) respectively.
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|---|---|---|---|
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