CN105509577A - Target motion stimulating device based on mechanical arms - Google Patents
Target motion stimulating device based on mechanical arms Download PDFInfo
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- CN105509577A CN105509577A CN201410490690.3A CN201410490690A CN105509577A CN 105509577 A CN105509577 A CN 105509577A CN 201410490690 A CN201410490690 A CN 201410490690A CN 105509577 A CN105509577 A CN 105509577A
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Abstract
The invention discloses a target motion simulating device based on mechanical arms. The target motion stimulating device comprises a three-freedom rotary table, a follow-up rotary table, a despin device, a target simulator, a target motion controller and a motor, wherein a detected aircraft is mounted on the three-freedom rotary table; the follow-up rotary table comprises a pedestal as well as a long mechanical arm and a short mechanical arm mounted on the pedestal; the target simulator is mounted on the despin device; and the target motion controller is mounted below the follow-up rotary table. The target motion simulating device utilizes the target motion controller to control the follow-up rotary table and the despin device to drive the target simulator to move, so that the problem that target simulating similarity and precision in the prior art is not high is solved; meanwhile, the target motion controller can precisely convert a line-of-sight angle into a control value for the follow-up rotary table and the despin device, and therefore, the target motion simulating device has the beneficial effects of high precision and high accuracy.
Description
Technical field
The present invention relates to Study on Test Method and test equipment designs technical field, be specifically related to a kind of object movement simulation device based on mechanical arm.
Background technology
Effectively supplementing of the technical support that guidance system HWIL simulation is developed as guided missile and flight test, being subject to the great attention of Project R&D, is the indispensable technological means such as missile weapon system development and design, qualification sizing, Performance Evaluation.Optics Hardware-in-loop Simulation Experimentation is the effective means of checking optical detection device performance, have true to nature, economical, controlled, the advantage such as can to repeat.For the validity of guarantee test the result, for target travel characteristic, the emulation mode of the high degree of approximation must be studied, and design high-precision object movement simulation device and realize accurate analog.
Object movement simulation device controls carrier and the kinetic characteristic simulation special equipment of Infrared scene simulation with image device in semi-matter simulating system as missile guidance, is one of key equipment in Guidance and control semi-matter simulating system.When l-G simulation test, object movement simulation matching requirements is separated with three axle Flight Simulators completely in physical arrangement, under the centre of gyration and the disjoint condition of the three axle Flight Simulator centres of gyration, for Infrared scene simulation with image device provides motion platform, the motion of simulation infrared target on the radius of gyration and the certain sphere of central angle, three axle Flight Simulators can be coordinated simultaneously, complete the simulation of guided missile and infrared target relative motion.At present, motion simulator is not to high in the object movement simulation degree of approximation and accuracy.
Summary of the invention
For realizing the simulation of the high degree of approximation and high-precision guided missile and infrared target relative motion, the invention provides a kind of object movement simulation device based on mechanical arm, for Infrared scene simulation with image device provides motion platform.
A kind of object movement simulation device provided by the invention, comprises three free turntables, servo-actuated turntable, despin mechanism, target simulator, target travel controller and motor; Tested aircraft is arranged on described three free turntables, described servo-actuated turntable comprises pedestal and the lead aircraft mechanical arm be arranged on described pedestal and short mechanical arm, described target simulator is arranged on described despin mechanism, under described target travel controller is installed on described servo-actuated turntable; Described motion simulator drives described target simulator on a track plane, carry out pitch orientation and the motion of yaw direction two-dimension translational, described despin mechanism drives described target simulator to be rotated around racemization axle, described target travel controller controls described servo-actuated turntable and described three free turntable routing motions to change the relative angle of sight of described target simulator and the tested aircraft be positioned on described three free turntables, and described lead aircraft mechanical arm and short mechanical arm can rotate around respective axis of rotation under the drive of described motor.
In certain embodiments, described despin mechanism rotates around himself axis of rotation under the drive of motor, and the axis of rotation of despin mechanism is consistent with the optical axis of target simulator, can eliminate the picture produced in target simulator motion process and revolve.
In certain embodiments, axis of rotation three axle of the lead aircraft mechanical arm on described servo-actuated turntable, short mechanical arm and despin mechanism intersects at space a bit, and lead aircraft mechanical arm and short mechanical arm drive despin mechanism to move on the spheroid track plane being the centre of sphere with three axle intersection points.
In certain embodiments, described object movement simulation device also comprises emulation main control computer, and it is connected by cable with described target travel controller, and transmission control instruction is to target travel controller; The angle of sight in pitching given for emulation master control system and driftage both direction can be converted to the corner of servo-actuated turntable two mechanical arms and the corner of despin mechanism by described target travel controller, move according to different control instructions, realize the angle of sight motion simulation in pitching and driftage both direction; And after servo-actuated and despin mechanism motion put in place, value of feedback inverse can be become the angle of sight in pitching and driftage both direction by target travel controller, value of feedback is transferred to emulation main control computer, the closed loop that completion system controls.
Compared with prior art, the present invention has the following advantages:
The present invention controls servo-actuated turntable by target travel controller and despin mechanism drives target simulator to move, the kinetic characteristic of accurate analog target.Meanwhile, angle of sight accurate transformation can be servo-actuated turntable and despin mechanism controlling value by target travel controller.So the degree of approximation and the precision of the simulation of object movement simulation device of the present invention are all very high.
Accompanying drawing explanation
By reading the detailed description done non-limiting example done with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is the structural representation of a kind of object movement simulation device based on mechanical arm of the present invention.
Fig. 2 is that target travel controller changes the workflow diagram of the angle of sight and corner by emulation main control computer.
In figure: 1 is servo-actuated turntable, 2 is pedestal, and 3 is lead aircraft mechanical arm, and 4 is short mechanical arm, and 5 is despin mechanism, and 6 is target simulator, and 7 is target travel controller, and 8 is three free turntables, and 9 is tested aircraft.
In accompanying drawing, same or analogous Reference numeral represents same or analogous parts.
Detailed description of the invention
The present invention is set forth further below in conjunction with accompanying drawing.The preferred embodiment of the present invention is just not used in for helping to set forth the present invention and limits the scope of the invention.The preferred embodiment of the present invention does not have all details of detailed descriptionthe, does not limit the detailed description of the invention that this invention is only described yet.Obviously, according to the content of this description, can make many modifications and variations.Now describe the object movement simulation device according to a kind of mechanical arm of the present invention in detail.
Refer to Fig. 1, object movement simulation system of the present invention comprises based on the servo-actuated turntable 1 of mechanical arm, despin mechanism 5, target simulator 6 and target travel controller 7.Described servo-actuated turntable 1 comprises pedestal 2, lead aircraft mechanical arm 3 and short mechanical arm 4.Described target simulator 6 is installed on described despin mechanism 5, under target travel controller 7 is positioned over servo-actuated turntable.
The described object movement simulation device based on mechanical arm realizes testing tested aircraft performance index and verifying under laboratory's environment.For ensureing the validity of test result, object movement simulation device needs farthest to ensure similar to real goal kinetic characteristic.For ensureing the feasibility that technology realizes, object movement simulation device also need to consider actual working environment, with the matching of overall semi-matter simulating system.
The angle of sight motion simulation that object movement simulation device can drive target simulator 6 to realize pitching and go off course in both direction in specific region, namely target simulator 6 can be driven on a track plane to carry out pitch orientation and the motion of yaw direction two-dimension translational while, despin mechanism 5 can also drive target simulator 6 to be rotated around racemization axle, realizing angle of sight motion compensation, making target optical axis around pointing to a bit all the time.Ensure in motion process that the relative optical axis of target simulator 6 moves without spin.
The kinetic characteristic simulation key element of object movement simulation device: 1) motion process can reflect the relative motion characteristic of tested aircraft to target, comprises movement locus, movement velocity and acceleration of motion; 2) motion process can reflect the relative angle of sight kinetic characteristic of tested aircraft to target simulator, comprises relative angle of sight position, relatively line of sight rate and relative LOS angle acceleration; 3) real-time of motion simulation can meet the testing requirement of tested aircraft.
During l-G simulation test, target travel controller 7 controls servo-actuated turntable 1 and three free turntable 8 routing motions to change the relative angle of sight of target simulator 6 and the tested aircraft 9 be positioned on three free turntables 8, three free turntables 8 adopt existing technology, can reach the object adjusting the relative angle of sight.
Refer to Fig. 2, described target travel controller 7 resolves software by motion can be converted to the corner of two mechanical arms and the corner of despin mechanism 5 on servo-actuated turntable 1 by the angle of sight in pitching given for emulation main control computer and driftage both direction, controls servo-actuated 1 and despin mechanism 5 moves.And after servo-actuated 1 and despin mechanism 5 motion put in place, value of feedback inverse can be become the angle of sight in pitching and driftage both direction by target travel controller 7, value of feedback is transferred to emulation main control computer, the closed loop that completion system controls.
Described a kind of object movement simulation device based on mechanical arm, when specifically operating:
1) according to system zero-bit, arranged by the initial position of target travel controller 7 pairs of object movement simulation devices;
2) according to object movement simulation equipment energy characteristic, by target travel controller 7, the range of movement of servo-actuated turntable 1 and dynamic property are arranged;
3) target travel controller can run local mode, directly controls long-armed axle, galianconism axle and racemization axle and moves according to specified angle;
4) target travel controller can also run remote mode, the pitching given according to simulation computer and orientation instruction, target travel controller 7 can real-time resolving, obtain the control instruction of long-armed axle, galianconism axle and racemization axle, control objectives motion simulator precise motion, and three-axis moving value of feedback inverse is become pitching and orientation values, send simulation computer to.
To those skilled in the art, obviously the invention is not restricted to the details of above-mentioned one exemplary embodiment, and when not deviating from spirit of the present invention or essential characteristic, the present invention can be realized in other specific forms.Therefore, no matter from which point, all should embodiment be regarded as exemplary, and be nonrestrictive, scope of the present invention is limited by claims instead of above-mentioned explanation, and all changes be therefore intended in the implication of the equivalency by dropping on claim and scope are included in the present invention.
Claims (5)
1. an object movement simulation device, is characterized in that described device comprises three free turntables, servo-actuated turntable, despin mechanism, target simulator, target travel controller and motor; Tested aircraft is arranged on described three free turntables, described servo-actuated turntable comprises pedestal and the lead aircraft mechanical arm be arranged on described pedestal and short mechanical arm, described target simulator is arranged on described despin mechanism, under described target travel controller is installed on described servo-actuated turntable; Described motion simulator drives described target simulator on a track plane, carry out pitch orientation and the motion of yaw direction two-dimension translational, described despin mechanism drives described target simulator to be rotated around racemization axle, described target travel controller controls described servo-actuated turntable and described three free turntable routing motions to change the relative angle of sight of described target simulator and the tested aircraft be positioned on described three free turntables, and described lead aircraft mechanical arm and short mechanical arm can rotate around respective axis of rotation under the drive of described motor.
2. a kind of object movement simulation device according to claim 1, is characterized in that the axis of rotation of described despin mechanism is consistent with the optical axis of described target simulator.
3. a kind of object movement simulation device according to claim 1, is characterized in that axis of rotation three axle of the lead aircraft mechanical arm on described servo-actuated turntable, short mechanical arm and described despin mechanism intersects at space a bit.
4. a kind of object movement simulation device according to claim 3, is characterized in that described lead aircraft mechanical arm and short mechanical arm drive described despin mechanism to move on the spheroid track plane being the centre of sphere with three axle intersection points.
5. according to any object movement simulation device in claims 1 to 3, it is characterized in that described analogue means also comprises emulation main control computer, described target travel controller is connected by cable with described emulation main control computer, described emulation main control computer transmission control instruction is to described target travel controller, and the angle of sight in pitching given for described emulation main control computer and driftage both direction can be converted to the corner of described servo-actuated turntable two mechanical arms and the corner of described despin mechanism by described target travel controller; After described servo-actuated turntable and the motion of described despin mechanism put in place, value of feedback inverse can be become the angle of sight in pitching and driftage both direction by described target travel controller, value of feedback is transferred to described emulation main control computer.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410490690.3A CN105509577A (en) | 2014-09-23 | 2014-09-23 | Target motion stimulating device based on mechanical arms |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410490690.3A CN105509577A (en) | 2014-09-23 | 2014-09-23 | Target motion stimulating device based on mechanical arms |
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| CN105509577A true CN105509577A (en) | 2016-04-20 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106053109A (en) * | 2016-05-30 | 2016-10-26 | 中国科学院光电技术研究所 | Programmable control object locus simulation device |
| CN106288956A (en) * | 2016-10-11 | 2017-01-04 | 北京航空航天大学 | A kind of arc distant object motion simulator |
| CN106288957A (en) * | 2016-10-11 | 2017-01-04 | 北京航空航天大学 | A kind of distant object motion simulator |
| CN106950924A (en) * | 2017-04-19 | 2017-07-14 | 广州视源电子科技股份有限公司 | Robot circular motion control method and system |
| CN112379343A (en) * | 2020-11-03 | 2021-02-19 | 扬州船用电子仪器研究所(中国船舶重工集团公司第七二三研究所) | Radar target simulator motion platform equipment and control method thereof |
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| EP2402704A1 (en) * | 2010-06-30 | 2012-01-04 | Trijicon, Inc. | Aiming system for weapon |
| CN202511720U (en) * | 2011-12-13 | 2012-10-31 | 林德福 | Seeker isolation testing system of laser terminally-guided projectile |
| CN202452892U (en) * | 2011-12-30 | 2012-09-26 | 洛阳理工学院 | Motion analogue simulation system for infrared target |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106053109A (en) * | 2016-05-30 | 2016-10-26 | 中国科学院光电技术研究所 | Programmable control object locus simulation device |
| CN106288956A (en) * | 2016-10-11 | 2017-01-04 | 北京航空航天大学 | A kind of arc distant object motion simulator |
| CN106288957A (en) * | 2016-10-11 | 2017-01-04 | 北京航空航天大学 | A kind of distant object motion simulator |
| CN106950924A (en) * | 2017-04-19 | 2017-07-14 | 广州视源电子科技股份有限公司 | Robot circular motion control method and system |
| CN112379343A (en) * | 2020-11-03 | 2021-02-19 | 扬州船用电子仪器研究所(中国船舶重工集团公司第七二三研究所) | Radar target simulator motion platform equipment and control method thereof |
| CN112379343B (en) * | 2020-11-03 | 2023-07-18 | 扬州船用电子仪器研究所(中国船舶重工集团公司第七二三研究所) | Radar target simulator motion platform equipment and control method thereof |
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Application publication date: 20160420 |