CN105092156A - Triaxial air bearing table high-precision mass center balance adjusting device and method - Google Patents
Triaxial air bearing table high-precision mass center balance adjusting device and method Download PDFInfo
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- CN105092156A CN105092156A CN201510605010.2A CN201510605010A CN105092156A CN 105092156 A CN105092156 A CN 105092156A CN 201510605010 A CN201510605010 A CN 201510605010A CN 105092156 A CN105092156 A CN 105092156A
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Abstract
The invention provides a triaxial air bearing table high-precision mass center balance adjusting device and method. The device comprises a laser tracker, a laser gyroscope, a reaction flywheel, an under-table control computer, vertical direction mass center adjusting mechanisms and horizontal direction mass center adjusting mechanisms. The laser tracker is used for measuring change of the swing angle of a table body mass center. The laser gyroscope is used for measuring the angular velocity change cycle of the table body mass center. The under-table control computer is used for computing table body mass center deviation according to change of the swing angle, the swing cycle and the wheel control rotating speed output value of the reaction flywheel so that a movement displacement control instruction is generated according to mass center deviation. The vertical direction mass center adjusting mechanisms and the horizontal direction mass center adjusting mechanisms are used for moving positioning blocks according to the movement displacement control instruction so as to perform table body mass center adjustment. The vertical direction mass center adjusting mechanisms and the horizontal direction mass center adjusting mechanisms are arranged so that the three-dimensional direction mass center adjustment capacity and adjustment precision requirement can be realized.
Description
Technical field
The present invention relates to three-axis air-bearing table, particularly, relate to a kind of three-axis air-bearing table high precision barycenter Balame regulating device and method.
Background technology
Three-axis air-bearing table is mainly used in zero-gravity simulation, friction free space environment, realizes three axles and freely rotates, and is widely used in the ground full physical simulation test of spacecraft.In order to ensure the validity of ground simulation test, need to ensure that the disturbance torque of three-axis air-bearing table meets mission requirements.
The load-supporting part of three-axis air-bearing table is air-floating ball bearing, and the air film supported quality of simulating piece between air floatation ball and air floatation ball nest, ensure that the low frictional rotation of three axles of air floatation ball simultaneously.When the barycenter of three-axis air-bearing table and the centre of sphere of air floatation ball do not overlap, will produce gravity disturbance torque, the main disturbance torque of three-axis air-bearing table analogue means is the impact of gravity disturbance torque.Therefore, need to study a kind of high-precision barycenter Balame regulating device, can realize the centroid adjustment of three-axis air-bearing table, integrated interference moment is better than 30gfcm, eliminates gravity disturbance torque to the impact of three-axis air-bearing table gesture stability.
Less about introducing of three-axis air-bearing table barycenter Balame regulating device at present, by literature search, Chinese invention patent numbers 200610009797.7, patent name is " externally loading centroid adjuster of air-floating rotating table ", the barycenter of the bolt-nut mechanism adjustment turntable on air floating table is arranged on by adjustment, this invention only provides a kind of adjusting gear, does not relate to concrete balancing method.Li Yanbin, Baogang at " Dynamic Modeling for Automatic Balancing System of 3-DOF Air-bearing Test-bed " (see " Chinese inertial technology journal ", 2005,13 volumes the 5th phase, page number 83-87) give three-axis air-bearing table automatic balancing arrangement theoretically in paper, also do not provide specific embodiment, be difficult to engineer applied.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of three-axis air-bearing table high precision barycenter Balame regulating device and method.
The three-axis air-bearing table high precision barycenter Balame regulating device provided according to an aspect of the present invention, comprises computer for controlling under laser tracker, laser gyro, counteraction flyback, platform, vertical direction centroid adjustment mechanism and horizontal direction centroid adjustment mechanism;
Wherein, described laser tracker changes for the pivot angle of the test desk physique heart; Described laser gyro is used for the angular velocity period of change of the test desk physique heart; Described counteraction flyback is used for carrying out the accurate adjustment of stage body barycenter puts down;
Under described platform, computer for controlling is used for the wheel control rotating speed output valve computer board physique heart deviator according to the change of described pivot angle, hunting period and counteraction flyback, and then the moving displacement of described vertical direction centroid adjustment mechanism and horizontal direction centroid adjustment mechanism locating piece is calculated according to barycenter deviator, generate moving displacement steering order;
Described vertical direction centroid adjustment mechanism and described horizontal direction centroid adjustment mechanism are used for carrying out stage body centroid adjustment according to described moving displacement steering order running fix block.
Preferably, opto communication control unit under opto communication control unit, platform is also comprised on industrial computer on platform, platform;
Under described platform, opto communication control unit is electrically connected computer for controlling under described platform; On described platform, opto communication control unit is electrically connected industrial computer on described platform; Opto communication control unit wireless connections under opto communication control unit and described platform on described platform;
Under described platform, computer for controlling sends described moving displacement steering order by opto communication control unit under described platform; On described platform, industrial computer receives described moving displacement steering order by opto communication control unit on described platform, and then is sent to described vertical direction centroid adjustment mechanism and horizontal direction centroid adjustment mechanism.
Preferably, described vertical direction centroid adjustment mechanism comprises the first vertical direction centroid adjustment mechanism and the second vertical direction centroid adjustment mechanism; The locating piece quality that described first vertical direction centroid adjustment mechanism carries is 5kg; The locating piece quality that described second vertical direction centroid adjustment mechanism carries is 2kg;
Described horizontal direction centroid adjustment mechanism comprises the first horizontal direction centroid adjustment mechanism and the second horizontal direction centroid adjustment mechanism; The locating piece quality of carrying of described first horizontal direction centroid adjustment mechanism and described second horizontal direction centroid adjustment mechanism is 2kg.
Preferably, described vertical direction centroid adjustment mechanism and described horizontal direction centroid adjustment mechanism adopt linear grating chi to be used for position measurement.
The using method of the described three-axis air-bearing table high precision barycenter Balame regulating device provided according to another aspect of the present invention, comprises the steps:
Step 1: the barycenter deviator being measured stage body by laser tracker, laser gyro and counteraction flyback;
Step 2: according to described barycenter deviator, calculates the moving displacement of vertical direction centroid adjustment mechanism and horizontal direction centroid adjustment mechanism locating piece, and then generates moving displacement steering order;
Step 3: described vertical direction centroid adjustment mechanism and described horizontal direction centroid adjustment mechanism carry out centroid adjustment according to described moving displacement steering order running fix block.
Preferably, also comprise the steps:
-repeat step 1 to step 3, until the barycenter deviator of stage body is less than setting value.
Preferably, described step 1 comprises the steps:
Step 1.1: respectively by the preconditioning that pivot angle changes, angular velocity period of change carries out stage body amount of unbalance of laser tracker, the laser gyro test desk physique heart, and then calculate the horizontal centroid deviator of stage body and vertical barycenter deviator;
Step 1.2: carry out the accurate adjustment of stage body barycenter by counteraction flyback and put down, and then calculate barycenter deviator.
Compared with prior art, the present invention has following beneficial effect:
1, the present invention is provided with vertical direction centroid adjustment mechanism and horizontal direction centroid adjustment mechanism, realizes centroid adjustment ability and the degree of regulation requirement of three-dimensional;
2, the present invention is provided with laser tracker and laser gyro associated working, and the barycenter deviator of survey calculation stage body is used for barycenter pre-adjustment, and the amount of unbalance in conjunction with counteraction flyback closed-loop control calculating stage body realizes the automatic precision balancing of stage body;
3, the present invention adopts opto Wireless Telecom Equipment, completes the conversion above and below the stage between wireless signal and rs 232 serial interface signal, realizes the wireless instructions input to barycenter governor motion and state remote measurement;
4, degree of regulation of the present invention is high, and the time is short.
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 fundamental diagram of the present invention;
Fig. 2 is workflow diagram of the present invention.
In figure:
1 is vertical direction centroid adjustment mechanism;
2 is horizontal direction centroid adjustment mechanism;
3 is laser gyro;
4 is counteraction flyback;
5 is stage body;
6 is opto communication control unit on platform;
7 is opto communication control unit under platform;
8 is computer for controlling under platform;
9 is industrial computer on platform;
10 is laser tracker.
Embodiment
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.
In the present embodiment, three-axis air-bearing table high precision barycenter Balame regulating device provided by the invention, comprises computer for controlling under laser tracker, laser gyro, counteraction flyback, platform, vertical direction centroid adjustment mechanism and horizontal direction centroid adjustment mechanism; Wherein, described laser tracker changes for the pivot angle of the test desk physique heart; Described laser gyro is used for the angular velocity period of change of the test desk physique heart; Described counteraction flyback is used for carrying out the accurate adjustment of stage body barycenter puts down; Under described platform, computer for controlling is used for the wheel control rotating speed output valve computer board physique heart deviator according to the change of described pivot angle, hunting period and counteraction flyback, and then the moving displacement of described vertical direction centroid adjustment mechanism and horizontal direction centroid adjustment mechanism locating piece is calculated according to barycenter deviator, generate moving displacement steering order; Described vertical direction centroid adjustment mechanism and horizontal direction centroid adjustment mechanism are used for carrying out stage body centroid adjustment according to described moving displacement steering order running fix block.
Use laser tracker 10 and laser gyro 3 to measure stage body 5 in the present invention, i.e. the amount of unbalance of air floating table platform, measuring accuracy is lower, but measurement range is large, be suitable for stage body amount of unbalance larger time application; Use counteraction flyback 4 to measure the amount of unbalance of stage body 5, measuring accuracy is high, and stage body 5 is in wheel control state.When the presetting balance of barycenter, laser tracker 10 associating laser gyro 3 is adopted to measure the amount of unbalance of stage body 5; When barycenter accurate adjustment balances, counteraction flyback 4 is adopted to measure the amount of unbalance of stage body 5.More specifically, use laser tracker 10 to measure the pivot angle in stage body relative level face, and then accurately calculate the horizontal centroid deviator of stage body; Use laser gyro 3 to measure the angular velocity period of change of stage body, accurately can draw the vertical barycenter deviator of stage body.When using counteraction flyback 4, by the rotation speed change situation of flywheel, accurately can obtain the amount of unbalance of stage body 5 further.
Three-axis air-bearing table high precision barycenter Balame regulating device provided by the invention, also to comprise on industrial computer on platform, platform opto communication control unit under opto communication control unit, platform; Under described platform, opto communication control unit is electrically connected computer for controlling under described platform; On described platform, opto communication control unit is electrically connected industrial computer on described platform; Opto communication control unit wireless connections under opto communication control unit and described platform on described platform; Under described platform, computer for controlling sends described moving displacement steering order by opto communication control unit under described platform; On described platform, industrial computer receives described moving displacement steering order by opto communication control unit on described platform, and then is sent to described vertical direction centroid adjustment mechanism and horizontal direction centroid adjustment mechanism.
In process of the test, in order to reduce disturbance torque, forbidding that the equipment on platform is directly connected with cable with the equipment on unit, ground, therefore, needing to carry out remote control and remote measurement by the mode of controlled in wireless to barycenter governor motion.Opto communication control unit is selected in the present invention, not only possesses the radio communication function of stability and safety, but also compatible serial communication modular, acceptance and the transmission of rs 232 serial interface signal can be realized, carry out Control on Communication with vertical direction centroid adjustment mechanism and horizontal direction centroid adjustment mechanism.
During test, under platform, computer for controlling 8 is by steering order by being wirelessly transmitted to opto communication control unit 6 on platform, by serial communication modular, realizes the control to barycenter governor motion 1 and 2.
Described vertical direction centroid adjustment mechanism comprises the first vertical direction centroid adjustment mechanism and the second vertical direction centroid adjustment mechanism; The locating piece quality that described first vertical direction centroid adjustment mechanism carries is 5kg; The locating piece quality that described second vertical direction centroid adjustment mechanism carries is 2kg; Described horizontal direction centroid adjustment mechanism comprises the first horizontal direction centroid adjustment mechanism and the second horizontal direction centroid adjustment mechanism; The locating piece quality of carrying of described first horizontal direction centroid adjustment mechanism and described second horizontal direction centroid adjustment mechanism is 2kg.Described vertical direction centroid adjustment mechanism and described horizontal direction centroid adjustment mechanism adopt linear grating chi to be used for position measurement.
A set of horizontal direction centroid adjustment mechanism is respectively filled in three-axis air-bearing table upper horizontal plane both direction, in the vertical direction fills two cover vertical direction centroid adjustment mechanisms 1, this is because in centroid adjustment process, the barycenter deviator of vertical direction is much larger than the barycenter deviator of horizontal direction.Because the regulating power of centroid adjustment mechanism is relevant with locating piece quality with the displacement of centroid adjustment mechanism, in order to realize vertical direction there is enough large centroid adjustment ability, the centroid adjustment mechanism on vertical direction needs the locating piece of larger quality; Simultaneously for ensureing the centroid adjustment precision of vertical direction, the centroid adjustment mechanism on vertical direction needs the locating piece of less quality.Therefore, the locating piece Quality Design that two cover centroid adjustment mechanisms on vertical direction carry becomes different, be respectively 5kg and 2kg, and adopt high precision linear grating chi as position measurement, carry out closed-loop control, position control accuracy 1 μm, both ensure that the regulating power on vertical direction, take into account again centroid adjustment precision, to realize the barycenter balancing accuracy requirement of three-dimensional.
The using method of described three-axis air-bearing table high precision barycenter Balame regulating device provided by the invention, comprises the steps:
Step 1: the barycenter deviator being measured stage body by laser tracker, laser gyro and counteraction flyback;
Step 2: according to described barycenter deviator, calculates the moving displacement of vertical direction centroid adjustment mechanism and horizontal direction centroid adjustment mechanism locating piece, and then generates moving displacement steering order;
Step 3: described vertical direction centroid adjustment mechanism and described horizontal direction centroid adjustment mechanism carry out centroid adjustment according to described moving displacement steering order running fix block.
Also comprise the steps:
-repeat step 1 to step 3, until the barycenter deviator of stage body is less than setting value.
Described step 1 comprises the steps:
Step 1.1: respectively by the preconditioning that pivot angle changes, angular velocity period of change carries out stage body amount of unbalance of laser tracker, the laser gyro test desk physique heart, and then calculate the horizontal centroid deviator of stage body and vertical barycenter deviator;
Step 1.2: carry out the accurate adjustment of stage body barycenter by counteraction flyback and put down, and then calculate barycenter deviator.
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 (7)
1. a three-axis air-bearing table high precision barycenter Balame regulating device, is characterized in that, comprises computer for controlling under laser tracker, laser gyro, counteraction flyback, platform, vertical direction centroid adjustment mechanism and horizontal direction centroid adjustment mechanism;
Wherein, described laser tracker changes for the pivot angle of the test desk physique heart; Described laser gyro is used for the angular velocity period of change of the test desk physique heart; Described counteraction flyback is used for carrying out the accurate adjustment of stage body barycenter puts down;
Under described platform, computer for controlling is used for the wheel control rotating speed output valve computer board physique heart deviator according to the change of described pivot angle, hunting period and counteraction flyback, and then the locating piece moving displacement of described vertical direction centroid adjustment mechanism and horizontal direction centroid adjustment mechanism is calculated according to barycenter deviator, generate moving displacement steering order;
Described vertical direction centroid adjustment mechanism and described horizontal direction centroid adjustment mechanism are used for carrying out stage body centroid adjustment according to described moving displacement steering order running fix block.
2. three-axis air-bearing table high precision barycenter Balame regulating device according to claim 1, is characterized in that, also to comprise on industrial computer on platform, platform opto communication control unit under opto communication control unit, platform;
Under described platform, opto communication control unit is electrically connected computer for controlling under described platform; On described platform, opto communication control unit is electrically connected industrial computer on described platform; Opto communication control unit wireless connections under opto communication control unit and described platform on described platform;
Under described platform, computer for controlling sends described moving displacement steering order by opto communication control unit under described platform; On described platform, industrial computer receives described moving displacement steering order by opto communication control unit on described platform, and then is sent to described vertical direction centroid adjustment mechanism and horizontal direction centroid adjustment mechanism.
3. three-axis air-bearing table high precision barycenter Balame regulating device according to claim 1, is characterized in that, described vertical direction centroid adjustment mechanism comprises the first vertical direction centroid adjustment mechanism and the second vertical direction centroid adjustment mechanism; The locating piece quality that described first vertical direction centroid adjustment mechanism carries is 5kg; The locating piece quality that described second vertical direction centroid adjustment mechanism carries is 2kg;
Described horizontal direction centroid adjustment mechanism comprises the first horizontal direction centroid adjustment mechanism and the second horizontal direction centroid adjustment mechanism, two horizontal direction centroid adjustment mechanism quadrature arrangement; The locating piece quality of carrying of described first horizontal direction centroid adjustment mechanism and described second horizontal direction centroid adjustment mechanism is 2kg.
4. three-axis air-bearing table high precision barycenter Balame regulating device according to claim 1, is characterized in that, described vertical direction centroid adjustment mechanism and described horizontal direction centroid adjustment mechanism adopt linear grating chi to be used for position measurement.
5. a using method for the three-axis air-bearing table high precision barycenter Balame regulating device described in any one of Claims 1-4, is characterized in that, comprise the steps:
Step 1: the barycenter deviator being measured stage body by laser tracker, laser gyro and counteraction flyback;
Step 2: according to described barycenter deviator, calculates the moving displacement of vertical direction centroid adjustment mechanism and horizontal direction centroid adjustment mechanism locating piece, and then generates moving displacement steering order;
Step 3: described vertical direction centroid adjustment mechanism and described horizontal direction centroid adjustment mechanism carry out centroid adjustment according to described moving displacement steering order running fix block.
6. three-axis air-bearing table high precision barycenter balancing method according to claim 5, is characterized in that, also comprise the steps:
-repeat step 1 to step 3, until the barycenter deviator of stage body is less than setting value.
7. three-axis air-bearing table high precision barycenter balancing method according to claim 5, it is characterized in that, described step 1 comprises the steps:
Step 1.1: respectively by the preconditioning that pivot angle changes, angular velocity period of change carries out stage body amount of unbalance of laser tracker, the laser gyro test desk physique heart, and then calculate the horizontal centroid deviator of stage body and vertical barycenter deviator;
Step 1.2: carry out the accurate adjustment of stage body barycenter by counteraction flyback and put down, and then calculate barycenter deviator.
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| CN105865712A (en) * | 2016-06-12 | 2016-08-17 | 哈尔滨工业大学 | Three-axis flexible air bearing table balance adjusting state judgment method |
| CN105890831A (en) * | 2016-03-30 | 2016-08-24 | 哈尔滨工业大学 | Apparatus and method for measuring moment output of control moment gyro in high-precision way |
| CN106323547A (en) * | 2016-06-20 | 2017-01-11 | 中国航空工业集团公司北京长城计量测试技术研究所 | Rotating shaft system rotational inertia in-situ measurement device |
| CN106528498A (en) * | 2016-11-03 | 2017-03-22 | 上海卫星工程研究所 | Point spread function extraction method for fixed star remote sensing image |
| CN106768644A (en) * | 2016-12-02 | 2017-05-31 | 中国人民解放军国防科学技术大学 | Ball float platform liquid floating spheroid ballasting method |
| CN109067609A (en) * | 2018-07-11 | 2018-12-21 | 广东电网有限责任公司 | A kind of distribution automation terminal access adjustment method |
| CN109612667A (en) * | 2019-01-09 | 2019-04-12 | 上海卫星工程研究所 | The in-orbit end displacement method and system of satellite flexible appendage is recognized using gyro data |
| CN110597300A (en) * | 2019-05-29 | 2019-12-20 | 北京工业大学 | Counterweight calculation method for pitching module of laser tracking measurement system |
| CN112595457A (en) * | 2020-12-07 | 2021-04-02 | 上海卫星工程研究所 | Triaxial air bearing table mass center pre-adjusting balancing device and using method thereof |
| CN112985694A (en) * | 2021-02-04 | 2021-06-18 | 上海卫星工程研究所 | Method and system for balancing mass center of triaxial air bearing table |
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| CN105890831A (en) * | 2016-03-30 | 2016-08-24 | 哈尔滨工业大学 | Apparatus and method for measuring moment output of control moment gyro in high-precision way |
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| CN106323547A (en) * | 2016-06-20 | 2017-01-11 | 中国航空工业集团公司北京长城计量测试技术研究所 | Rotating shaft system rotational inertia in-situ measurement device |
| CN106323547B (en) * | 2016-06-20 | 2018-11-20 | 中国航空工业集团公司北京长城计量测试技术研究所 | Rotary axis rotary inertia in-situ measurement device |
| CN106528498B (en) * | 2016-11-03 | 2019-01-18 | 上海卫星工程研究所 | The point spread function extracting method of fixed star remote sensing image |
| CN106528498A (en) * | 2016-11-03 | 2017-03-22 | 上海卫星工程研究所 | Point spread function extraction method for fixed star remote sensing image |
| CN106768644A (en) * | 2016-12-02 | 2017-05-31 | 中国人民解放军国防科学技术大学 | Ball float platform liquid floating spheroid ballasting method |
| CN106768644B (en) * | 2016-12-02 | 2019-09-06 | 中国人民解放军国防科学技术大学 | Floating ball platform liquid floating sphere ballasting method |
| CN109067609A (en) * | 2018-07-11 | 2018-12-21 | 广东电网有限责任公司 | A kind of distribution automation terminal access adjustment method |
| CN109067609B (en) * | 2018-07-11 | 2021-07-13 | 广东电网有限责任公司 | Distribution network automation terminal access debugging method |
| CN109612667A (en) * | 2019-01-09 | 2019-04-12 | 上海卫星工程研究所 | The in-orbit end displacement method and system of satellite flexible appendage is recognized using gyro data |
| CN110597300A (en) * | 2019-05-29 | 2019-12-20 | 北京工业大学 | Counterweight calculation method for pitching module of laser tracking measurement system |
| CN110597300B (en) * | 2019-05-29 | 2022-03-29 | 北京工业大学 | Counterweight calculation method for pitching module of laser tracking measurement system |
| CN112595457A (en) * | 2020-12-07 | 2021-04-02 | 上海卫星工程研究所 | Triaxial air bearing table mass center pre-adjusting balancing device and using method thereof |
| CN112595457B (en) * | 2020-12-07 | 2023-07-21 | 上海卫星工程研究所 | Triaxial air bearing table centroid pre-adjustment balancing device and application method thereof |
| CN112985694A (en) * | 2021-02-04 | 2021-06-18 | 上海卫星工程研究所 | Method and system for balancing mass center of triaxial air bearing table |
| CN112985694B (en) * | 2021-02-04 | 2023-06-09 | 上海卫星工程研究所 | Method and system for balancing mass center of triaxial air bearing table |
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Application publication date: 20151125 |