CN106781799A - A kind of high accuracy points to positioning Three Degree Of Freedom air supporting simulator - Google Patents
A kind of high accuracy points to positioning Three Degree Of Freedom air supporting simulator Download PDFInfo
- Publication number
- CN106781799A CN106781799A CN201611241223.2A CN201611241223A CN106781799A CN 106781799 A CN106781799 A CN 106781799A CN 201611241223 A CN201611241223 A CN 201611241223A CN 106781799 A CN106781799 A CN 106781799A
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- degree
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
Abstract
A kind of high accuracy points to positioning Three Degree Of Freedom air supporting simulator, including translation platform and Degree Platform；Be placed in whole simulator in microgravity environment in pneumatically supported mode by translation platform, is connected between translation platform and Degree Platform, and translation platform provides power source for whole simulator；Described Degree Platform includes CCD camera (1), servo-drive system (2), iGPS contactless receivers (3), directing mechanism inertial navigation system (5), track motion controller (6), air supporting simulator inertial navigation system (7), Degree Platform base plate (8)；Described servo-drive system (2) is including pointing to bar (21), arc guide rail (22), leading block (24), drive device (26), swivel bearing (27).
Description
Technical field
Positioning Three Degree Of Freedom air supporting simulator is pointed to the present invention relates to a kind of high accuracy, a kind of space is in particulard relate to micro- heavy
Force environment Precision Terminal points to positioner.
Background technology
During the space of intelligent autonomous type is prominent anti-, provides space anti-validation verification of dashing forward using air supporting simulator and have
There is feasibility.Based on various detector guiding such as Infrared Detectors, the Active Radar installed on air supporting simulator, Guidance and control system
Real-time calculated target positions of uniting simultaneously realize target following according to the guide of program angle, complete the prominent anti-checking test of intelligence.
Traditional mathematics and HWIL simulation cannot truly simulate the operating error and operating lag of each system, it is difficult to attack against each other
Anti- process and interdiction capability carry out accurate description and quantitative evaluation.Air floating platform is a kind of new ground HWIL simulation side
Formula, Attack Defence process is simulated by microgravity environment, can carry out accurate description to anti-closely antagonistic process of dashing forward, and is lifted
Carry the prominent anti-validation verification precision of confrontation.In order to ensure that two simulators can carry out impact simulation miss distance, while also requiring
Simulator body itself can not be collided, it is necessary to install simulated crash point in simulator upper end.It is contemplated that simulator is controlled
It is directed to the control of simulator equivalent center, in order to reduce target seeker measurement error and body positioning angle measurement measurement error, generally
Wish target seeker and positioner at equivalent center.So the design of the point of impingement will ensure fixed to target seeker angle measurement and simulator
The demand of position.
Fig. 2 is the equivalent points of impingement collision schematic diagrames of two simulators, and wherein the equivalent point of impingement of simulator 1 is hit for reach
Pin, and formula spring lever centered on the point of impingement of simulator 2.
Three Degree Of Freedom Precision Terminal points to the actual demand proposition that positioning air supporting simulator is directed to simulator 1 in Fig. 2,
Develop Precision Terminal and point to the overload that a certain purpose of positioning Three Degree Of Freedom air supporting simulator research and development centre of institute is based on air floating platform
Confrontation validation verification verification experimental verification demand is proposed, for checking dashes forward anti-validity, it is necessary to pass through microgravity environment countermeasures simulation mistake
Journey, and accurate description is carried out to closely antagonistic process, lifting overload confrontation validation verification precision.
Simulator 1 requires that in motion process infrared target equivalent point pointing accuracy requirement is higher, and present invention application is high-precision
Degree inertial navigation system is fed back as platform, and control is combined using cold air nozzle and flywheel, sets up air supporting simulator along yaw axis
Stabilized platform.Designed using arc guide rail, while improving armed lever rigidity long, using independent inertial navigation system as armed lever appearance long
State angle feed-back, builds end and points to bar closed-loop control system, improves end and points to positioning precision.
The content of the invention
Technology solve problem of the invention is：Overcome the deficiencies in the prior art, there is provided a kind of high accuracy points to positioning three certainly
By degree air supporting simulator.
Technical solution of the invention is：A kind of high accuracy points to positioning Three Degree Of Freedom air supporting simulator, including translation
Platform and Degree Platform；
Be placed in whole simulator in microgravity environment in pneumatically supported mode by translation platform, translation platform and Degree Platform
Between be connected, translation platform provides power source for whole simulator；
Described Degree Platform includes CCD camera, servo-drive system, iGPS contactless receivers, directing mechanism inertial navigation
System, track motion controller, air supporting simulator inertial navigation system, Degree Platform base plate；Described servo-drive system includes referring to
To bar, arc guide rail, leading block, drive device, swivel bearing；
Degree Platform base plate is circular configuration；Arc orbit is arranged on Degree Platform base plate；Point to bar and pass through rotary shaft
The center for being connected to Degree Platform base plate is held, and can be rotated along arc guide rail around swivel bearing；With circular arc on bar is pointed to
Leading block is provided with guide rail cooperation, directing mechanism inertial navigation system and drive device are arranged on to be pointed on bar, iGPS
Contactless receiver is arranged on Degree Platform base plate, the coordinate for gathering target's center's point, and the coordinate that will be gathered sends
To track motion controller；The relative rotation angle between bar and Degree Platform base plate is pointed in the measurement of directing mechanism inertial navigation system
Spend and send to track motion controller the angle；Track motion controller is closed according to the coordinate and rotational angle that receive
Ring is controlled, and sensing bar is always pointed to target；Attitude is put down in air supporting simulator inertial navigation system measurement simulator traveling process
The angle of platform base plate coordinate system Z axis rotation relative to the earth, the angle is sent to track motion controller, track motion controller
Angle according to the rotation carries out track closed-loop control, by jet pipe of the control on Degree Platform base plate, eliminates attitude
Platform floor coordinate system Z axis rotation relative to the earth；Point to bar front end and CCD camera is installed, by CCD camera to entering viewing field of camera
Visible ray target in angular region in target carries out range measurement.
Described drive device is arranged on to be pointed on bar and away from the position at Degree Platform base plate center.
Described arc guide rail is double-decker, and upper strata is that the V-groove in V-type projection, with leading block coordinates, and circular arc is led
Rail lower floor is gear ring structure, is engaged with the drive gear of drive device and realized to pointing to bar driving along the circumferential direction.
Also include being arranged on the lubrication pointed on bar soon, lubrication block lubricates with the V-type protrusions match of arc guide rail.
Point to 1.5 times that bar stretches out the part at least arc guide rail radius of arc guide rail.
The return difference of the external toothing engagement of arc guide rail is less than 1mm.
Present invention advantage compared with prior art is：
(1) realize that microgravity environment armed lever end long is accurately directed to location technology.Scheme uses air supporting simulator bonding machine
Electric servo system realizes that specific method is：Air supporting simulator and sensing lever system possess independent pose monitoring and closed-loop control
System, end points to bar and carries out SERVO CONTROL by stabilized platform of air floating table, realizes that the end high precision position and posture of armed lever long is pointed to
Positioning.
(2) air supporting simulator Center is installed on using iGPS receivers, realizes the position control of air supporting simulator and appearance
State control is separated.Specially：IGPS is installed on simulator center, by building position-force control system, mould is realized
Intend the control of device high precision position.Laser closed-loop control system is built by air supporting simulator inertial navigation system, is realized to three certainly
Precise control and regulation by degree air supporting simulator body attitude.Electromechanical servo is built by directing mechanism inertial navigation system to close
Ring control system, realizes pointing to end the control of bar High-precision angle.
(3) testing scheme is overlooked using pixel CCD camera high, is capable of achieving all visible ray targets in viewing field of camera angular region
Non-cpntact measurement, effectively prevent big apart from high-precision two-dimensional non-cpntact measurement problem.Specially：Installed additional bar end is pointed to
Pixel CCD camera high, camera can realize the high accuracy range measurement to visible ray target in its market scope, and this programme is intended selecting
The FZ5 5,000,000 pixel high-speed CCD cameras of series of OMRON, camera resolution is 2500X1900, then prospect theory certainty of measurement can
To reach：0.06 (mm/ pixels), it is considered to algorithm control accuracy and camera fields of view border distortion effects, program position measurement essence
Degree：Less than 0.5 (mm), so as to realize planar high precision non-contact measurement.
Brief description of the drawings
Fig. 1 is simulator schematic diagram of the present invention；
Fig. 2 is translation platform schematic diagram of the present invention；
Fig. 3 is Degree Platform schematic diagram of the present invention；
Fig. 4 is CCD camera non-touching measurement principles figure of the present invention.
Specific embodiment
Air-flotation type motion simulator can be in the space operation in the case of ground is used for Simulated Spacecraft microgravity, and this is to grind
A kind of distinctive ground full physical simulation method, compared with mathematical simulation, is directly connect with hardware during the spacecrafts such as satellite processed
Entry loop, for the correctness for verifying spacecraft control conceptual design, checks the function and performance ten of actual control system
Divide important.
As shown in figure 1, Three Degree Of Freedom air supporting simulator of the present invention includes translation platform and Degree Platform；The master of Degree Platform
It is that control is pointed to bar and is accurately directed to and to the pose real-time control of simulator to want function；Translation platform major function is by flat
Be placed in whole simulator in microgravity environment in pneumatically supported mode by face air-bearing；It is solid between translation platform and Degree Platform
Even, translation platform provides power source for whole simulator；Each part is described in detail separately below.
(1) pose platform
Degree Platform includes CCD camera 1, servo-drive system 2, iGPS contactless receivers 3, directing mechanism inertial navigation system
5th, track motion controller 6, air supporting simulator inertial navigation system 7, Degree Platform base plate 8；Described servo-drive system 2 includes referring to
To bar 21, arc guide rail 22, leading block 24, drive device 26, swivel bearing 27；
Degree Platform base plate 8 is circular configuration；Arc orbit 22 is arranged on Degree Platform base plate 8；Bar 21 is pointed to pass through
Swivel bearing 27 is connected to the center of Degree Platform base plate 8, and can be rotated along arc guide rail 22 around swivel bearing 27；Referring to
To on bar 21 leading block 24, directing mechanism inertial navigation system 5 and drive device are provided with the cooperation of arc guide rail 22
26 are arranged on sensing bar 21, and iGPS contactless receivers 3 are arranged on the center of Degree Platform base plate 8, for gathering mesh
The coordinate of central point is marked, and the coordinate of collection is sent to track motion controller 6；Directing mechanism inertial navigation system 5 is measured
Point to the relative rotation angle between bar 21 and Degree Platform base plate 8 and send to track motion controller 6 angle；Track
Motion controller 6 carries out closed-loop control according to the coordinate and rotational angle that receive, and sensing bar 21 is made always by drive device 26
Point to target；The coordinate relative to the earth of Degree Platform base plate 8 in the measurement simulator traveling process of air supporting simulator inertial navigation system 7
It is the angle of Z axis rotation, the angle is sent to track motion controller 6, angle of the track motion controller 6 according to the rotation
Track closed-loop control is carried out, by jet pipe of the control on Degree Platform base plate, Degree Platform base plate 8 is eliminated relative to the earth
Coordinate system Z axis rotate.
The requirement of precision is driven to drive device in order to reduce, drive device of the present invention 26 may be mounted on sensing bar 21
And away from the position at the center of Degree Platform base plate 8.
The pointing accuracy of bar is pointed to improve, this programme uses arc guide rail drive scheme.Arc guide rail is using double-deck
Structure, guide rail upper strata be V-type projection design with sensing bar leading block 24 coordinate, leading block 24 have V-groove can with lead
The V-type projection of rail is tightly engaged realizes guide effect.Guide rail lower floor is gear ring structure, and the drive gear with drive device 26 is engaged
Driving effect is realized, arc guide rail is as shown in Figure 3.For the friction that reducing mechanism relative motion is produced, pacify on bar 21 is pointed to
Dress lubrication block, lubrication block lubricates with the V-type protrusions match of arc guide rail 22.
Point to 1.5 times that bar 21 stretches out the part at least radius of arc guide rail 22 of arc guide rail 22.Bar 21 is pointed to stretch out
CCD camera is installed in the front end of arc guide rail part, is arranged in target to entering in viewing field of camera angular region by CCD camera
Visible ray target carries out range measurement.
According to project actual demand, it is desirable to the distance between accurate measurement object in a two-dimensional environment.It is existing non-to connect
Touch sensor is not well positioned to meet application demand, designs scheme as shown in Figure 4, and striker is realized using pixel CCD camera high
The two-dimension high-precision non-cpntact measurement of target.Specially：Pixel CCD camera 1 high is installed additional bar end is pointed to, it is right that camera can be realized
The high accuracy range measurement (A is another visible ray target in figure) of visible ray target B in its market scope, this programme is intended selecting
The FZ5 5,000,000 pixel high-speed CCD cameras of series of OMRON, camera resolution is 2500X1900, then prospect theory certainty of measurement can
To reach：0.06 (mm/ pixels), it is considered to algorithm control accuracy and camera fields of view border distortion effects, program position measurement essence
Degree：Less than 0.5 (mm), so as to realize planar high precision non-contact measurement.The present invention is overlooked using pixel CCD camera high and surveyed
Examination scheme, is capable of achieving the non-cpntact measurement of all visible ray targets in viewing field of camera angular region, effectively prevent big apart from high-precision
The two-dimentional non-cpntact measurement problem of degree.
The return difference of the external toothing engagement of arc guide rail (2) is less than 1mm.
(2) translation platform
Translation platform schematic diagram as shown in Figure 2, translation platform includes that lifting column 13, the first pneumatic circuit 14, first are controlled
15, three plane air-bearings 16 of device, translation stage+module panel 17 and translation platform lithium battery；Translation stage+module panel
17 is circle；Three plane air-bearings 16 are distributed on the lower surface of translation stage+module panel 17, for supporting translation platform；Rise
Drop post 13, the first pneumatic circuit 14 and the first controller 15 are installed in the upper surface of translation stage+module panel 17, and lifting column
13 centers for being located at translation stage+module panel 17, lifting column 13 is telescopic lifting post, and the first pneumatic circuit 14 is used for
For three plane air-bearings 16 are supplied；The enabled instruction and height regulation that first controller 15 receives ground control system refer to
Order, the enabled instruction according to ground control system controls turning on and off for the first pneumatic circuit 14, according to height regulating command
Control the lifting of lifting column 13；First controller 15 is additionally operable to gather the pressure of the first pneumatic circuit 14 and export give ground control
System.When the hypotony of the first pneumatic circuit 14, the first controller 15 produces alarm signal.
Motor is housed in lifting column 13, the first controller 15 controls the lifting of lifting column 13 by controlled motor.
Translation platform lithium battery is arranged on the upper surface of translation stage+module panel 17, for being translation platform power.TP puts down
Platform is floating in the horizontal plane by three plane air-bearings 6,
The content not described in detail in description of the invention belongs to the known technology of professional and technical personnel in the field.
Claims (6)
1. a kind of high accuracy points to positioning Three Degree Of Freedom air supporting simulator, it is characterised in that：Including translation platform and Degree Platform；
Be placed in whole simulator in microgravity environment in pneumatically supported mode by translation platform, between translation platform and Degree Platform
It is connected, translation platform provides power source for whole simulator；
Described Degree Platform includes CCD camera (1), servo-drive system (2), iGPS contactless receivers (3), directing mechanism inertia
Navigation system (5), track motion controller (6), air supporting simulator inertial navigation system (7), Degree Platform base plate (8)；It is described
Servo-drive system (2) include point to bar (21), arc guide rail (22), leading block (24), drive device (26), swivel bearing
(27)；
Degree Platform base plate (8) is circular configuration；Arc orbit (22) is on Degree Platform base plate (8)；Point to bar (21)
The center of Degree Platform base plate (8) is connected to by swivel bearing (27), and can be around swivel bearing (27) along arc guide rail
(22) rotate；On bar (21) is pointed to leading block (24), directing mechanism inertia are provided with arc guide rail (22) cooperation
, installed in pointing on bar (21), iGPS contactless receivers (3) are installed in Degree Platform for navigation system (5) and drive device (26)
On base plate (8), the coordinate for gathering target's center's point, and the coordinate of collection is sent to track motion controller (6)；Point to
Mechanism's inertial navigation system (5) measurement points to the relative rotation angle between bar (21) and Degree Platform base plate (8) and by the angle
Degree is sent to track motion controller (6)；Track motion controller (6) carries out closed loop control according to the coordinate and rotational angle that receive
System, makes sensing bar (21) always point to target；Attitude in air supporting simulator inertial navigation system (7) measurement simulator traveling process
The angle of platform floor (8) coordinate system Z axis rotation relative to the earth, the angle is sent to track motion controller (6), track fortune
Movement controller (6) carries out track closed-loop control according to the angle of the rotation, by spray of the control on Degree Platform base plate
Pipe, eliminates Degree Platform base plate (8) coordinate system Z axis rotation relative to the earth；Point to bar (21) front end and CCD camera is installed, by CCD
Camera carries out range measurement to entering the visible ray target being arranged in target in viewing field of camera angular region.
2. simulator according to claim 1, it is characterised in that：Described drive device (26) is installed in sensing bar (21)
Above and away from the position at Degree Platform base plate (8) center.
3. simulator according to claim 1, it is characterised in that：Described arc guide rail (22) is double-decker, upper strata
It is V-type projection, coordinates with the V-groove on leading block (24), arc guide rail (22) lower floor is gear ring structure, with drive device
(26) drive gear engagement is realized to pointing to bar (21) driving along the circumferential direction.
4. simulator according to claim 3, it is characterised in that：Also include being arranged on the lubrication pointed on bar (21) soon,
Lubrication block lubricates with the V-type protrusions match of arc guide rail (22).
5. simulator according to claim 1, it is characterised in that：Sensing bar (21) stretches out the part of arc guide rail (22) extremely
It is less 1.5 times of arc guide rail (22) radius.
6. simulator according to claim 1, it is characterised in that：The return difference of the external toothing engagement of arc guide rail (22) is less than
1mm。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611241223.2A CN106781799B (en) | 2016-12-29 | 2016-12-29 | A kind of high-precision direction positioning Three Degree Of Freedom air bearing simulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611241223.2A CN106781799B (en) | 2016-12-29 | 2016-12-29 | A kind of high-precision direction positioning Three Degree Of Freedom air bearing simulator |
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| CN106781799A true CN106781799A (en) | 2017-05-31 |
| CN106781799B CN106781799B (en) | 2019-05-24 |
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| CN110456631A (en) * | 2019-08-19 | 2019-11-15 | 哈尔滨工业大学 | Planetary detection capture braking separates physics tracking device and method with device device |
| CN112382160A (en) * | 2020-11-17 | 2021-02-19 | 哈尔滨工业大学 | Six-degree-of-freedom simulator air floatation pulley system |
| CN113525733A (en) * | 2021-08-16 | 2021-10-22 | 哈尔滨工业大学 | Six-degree-of-freedom microgravity test system with double-layer structure |
| CN114572430A (en) * | 2022-04-28 | 2022-06-03 | 中国人民解放军火箭军工程大学 | Multi-degree-of-freedom test system |
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| CN106781799B (en) | 2019-05-24 |
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