CN106847005A - A kind of microminiature inertial stabilized platform experiment teaching instrument - Google Patents
A kind of microminiature inertial stabilized platform experiment teaching instrument Download PDFInfo
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- CN106847005A CN106847005A CN201610545741.7A CN201610545741A CN106847005A CN 106847005 A CN106847005 A CN 106847005A CN 201610545741 A CN201610545741 A CN 201610545741A CN 106847005 A CN106847005 A CN 106847005A
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- 238000002474 experimental method Methods 0.000 title claims abstract description 22
- 230000002452 interceptive effect Effects 0.000 claims abstract description 11
- 238000005259 measurement Methods 0.000 claims abstract description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 33
- 238000004891 communication Methods 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 5
- 238000005516 engineering process Methods 0.000 abstract description 6
- 238000011160 research Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 230000002950 deficient Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
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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
- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
- G09B23/06—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics
- G09B23/08—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics for statics or dynamics
- G09B23/10—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics for statics or dynamics of solid bodies
Abstract
The invention belongs to automate and technology of instrument and meter field, more particularly to a kind of microminiature inertial stabilized platform experiment teaching instrument, used group of device, two dimension disturbance base unit and host computer interactive device, scalable spademan to three axle speed rate rotation table devices offer disturbing signal that the instruments used for education include three axle speed rate rotation table devices, are fixed on three axle rate table internal rotors.This instruments used for education is a multifunctional unit instrument, and can realize that stabilized platform arrives three kinds of mode of operations of centrifuge to three-axle table and realizes free switching again, wherein three-axle table housing is furnished with scalable spademan, demarcated for accelerometer and centripetal force is provided, can open up accelerometer, the test of gyro and demarcate, the experiment such as attitude measurement and stability contorting, compared to the expensive same quasi-instrument of scientific research, this instruments used for education small volume, low cost, function are more, with modularization, integrated advantage, more suitable for experimental teaching, it is easy to large-scale promotion.
Description
Technical field
The present invention relates to automate and technology of instrument and meter field, more particularly to a kind of microminiature inertial stabilized platform experiment
Instruments used for education.
Background technology
The strategy of " innovation drives development " is being carried out energetically by China, and the main body innovated is the talent, so personnel training
It is to realize this strategic critical support.Science and technology popularization at present and innovative education are carried out extensively national, each universities and
Middle and primary schools attach great importance to the creative ability training of student, but generally show to lack advanced teaching equipment, university often with
Scientific research apparatus replace, and student's benefited surface is smaller, and middle and primary schools are even more deficient, and equipment level is low, and unitary function, integrated level is low, it is difficult to
Meet the demand of creative education nowadays, the innovation for seriously constraining country drives the implementation of development strategy, therefore is developed for wound
The instruments used for education of new education are very necessary.
By taking inertial technology specialized education as an example, three-axle table, tilter, centrifuge are common instruments, each unitary function,
But its cost is prohibitively expensive up to more than million yuan altogether, and it is unfavorable for practical teaching, on the other side to be, innovative education is simultaneously
Extra high accuracy is not needed, only payes attention to the displaying of the principles of science, its demand is cheap price, multifunctional all collection
Into, each student can start to use, reach staff one, independent operation.
The content of the invention
In order to effectively solve the above problems, the present invention provides a kind of microminiature inertial stabilized platform experiment teaching instrument, will
Stabilized platform, three-axle table, tilter, the function of centrifuge are integrated together, form perfect in shape and function, " a tractor serves several purposes " it is used
Property technology experiment instruments used for education, it is perfect in shape and function, simple to operate.
Concrete technical scheme of the invention is as follows：A kind of microminiature inertial stabilized platform experiment teaching instrument, the teaching
Instrument includes three axle speed rate rotation table devices, used group of device being fixed on three axle speed rate rotation table devices, gives three axle rate tables dress
Put two dimension disturbance base unit and host computer interactive device, the scalable spademan that disturbing signal is provided.
Further, the three axle speeds rate rotation table device includes turntable internal rotor, turntable center, turntable housing, turntable base
Seat and respectively control turntable internal rotor, turntable center, three controlled motors of turntable housing rotation；
The turntable internal rotor, turntable center, turntable housing are sequentially connected.
Further, the three axle speeds rate rotation table device also includes the turntable electric supply installation powered to device and turntable communication
Module, the controlled motor connects the host computer interactive device by the turntable communication module.
Further, any opposite end of the turntable internal rotor is connected in the turntable center, and the turntable and turned
Son can be rotated on two axial directions of turntable internal rotor connection end；
The both sides of the disconnected turntable internal rotor of turntable center connect the turntable housing, and the turntable center is around two
The axial direction of turntable center connection end is rotated；
The turntable housing generally " U " type, bottom connection pedestal, extends two connection turntable centers on pedestal
Turntable housing fixing end.
Further, the used group of device is arranged on one side of the turntable internal rotor in contrast to object disposing platform.
Further, the MEMS inertia component includes three MEMS gyroscopes, three mems accelerometers, three MEMS
Magnetometer and main control chip；The sensitive axes of three MEMS gyroscopes are mutually orthogonal, three mems accelerometers it is quick
Sense axle is mutually orthogonal, and the sensitive axes of three MEMS magnetometers are mutually orthogonal, wherein three MEMS gyroscopes, three MEMS add
The measurements of the chest, waist and hips coordinate system that speedometer, three MEMS magnetometers are constituted is the same coordinate system；
The main control chip connects the controlled motor by drive circuit；
Further, the two dimension disturbance base unit includes that disturbance pedestal upper plate, disturbance pedestal lower shoe, X-axis are disturbed
Dynamic device, Y-axis disturbance device；
The disturbance pedestal upper plate center connects the disturbance pedestal lower shoe by flake bearing, and in X-axis side
X-axis disturbance device is set up, Y-axis disturbance device is set in the Y-axis direction, the X-axis disturbance device Y-axis disturbance device is
Upper end is hinged on disturbance pedestal upper plate, and lower end is fixed on disturbance pedestal lower shoe.
Further, the two dimension disturbance base unit is also including dress of being powered to the disturbance that two dimension disturbance base unit is powered
Communicator is put and disturbs, the X-axis disturbance device, Y-axis disturbance device connect the host computer friendship by disturbing communicator
Mutual device.
Further, the instruments used for education also include scalable spademan device；
The scalable spademan device includes being connected to basic spademan on turntable housing, rotation spademan component and one can
The hinge end of fixed accelerometer；The hinge end connects basic spademan by rotating spademan component；
The rotation spademan quantity is 2-6 or 8, is sequentially connected, and size is from one end of the basic spademan of connection to connection
The other end at hinge end is sequentially reduced；Accelerometer is arranged on spademan, known turning is input into turntable housing by host computer
Speed, there is provided centripetal force demarcates accelerometer.
The connected rotation spademan of any two is fixedly connected by card slot type structure；
Large scale rotation spademan in the connected rotation spademan of any two includes a basic wing plate and in wing plate
The limiting plate that groove structure is constituted with wing plate that both sides are extended；
The rotation spademan of small size is placed in the space that the wing plate and groove structure are constituted.
Further, the host computer interactive device can realize attitude show with storage and can realize turning table control and
Disturbance pedestal control.
Further, after rate table is switched under stabilized platform pattern, used group calculates attitude real-time Transmission to interior
Rotor electric machine, center motor, housing motor carry out pose stabilization control, realize stabilized platform function.
Brief description of the drawings
Fig. 1 three-axle steady platform schematic diagrames；
Fig. 2 disturbs pedestal front view；
Fig. 3 disturbs pedestal top view；
The used group theory diagrams of Fig. 4；
Fig. 5 platform stable schematic diagrams；
Fig. 6 host computer interactive interface schematic diagrames；
Fig. 7 experiment teaching instruments system constitutes schematic diagram.
Specific embodiment
The present invention is further explained below in conjunction with Figure of description and specific embodiment.
As shown in figure 1, being the three axle speed rate rotation table devices 1 proposed in the present invention, the three axle speeds rate rotation table device 1 includes
Pedestal 11, turntable housing 12, turntable center 13, turntable internal rotor 14, host computer and power interface 15, center motor 16, interior turn
Sub-motor 17, inner rotor bearing 18, scalable spademan 19, MEMS inertia component 110, wherein housing motor is in base interior.For
Facilitate teaching demonstration, three-axle table overall dimensions are 400*500*500mm or so, but are not limited to this.Turntable internal rotor 14,
Turntable center 13, turntable housing 12 are orthogonal, are connected with bearing by motor.Can realize that position is controlled by upper computer software
System and speed control, can functionally realize the dynamic static demarcating of gyroscope.
The turntable internal rotor 14, turntable center 13, turntable housing 12 respectively by inner rotor motor 17, center motor 16 and
Housing motor control, the turntable internal rotor 14, turntable center 13, turntable housing 12 are sequentially connected.The three axles rate table
Device 1 also includes the turntable electric supply installation powered to device and turntable communication module, it is above-mentioned it is interior, in, housing motor pass through institute
State turntable communication module and connect the host computer interactive device.
Any opposite end of specially described turntable internal rotor 14 is connected in the turntable center 13, and the turntable and turned
Son 14 can be rotated on two axial directions of turntable inside casing connection end；
The both sides of the disconnected turntable internal rotor 14 of turntable center 13 connect the turntable housing 12, the turntable center
13 rotate around two axial directions of turntable center connection end；
The turntable housing 12 generally " U " type, the bottom connection pedestal 11 of turntable housing 12, in the turntable housing 12
Bottom on extend two turntable housing fixing ends of connection turntable center 13.
This outer turret internal rotor 14 is equipped with conducting slip ring with the junction of turntable center 13, outside turntable center 13 and turntable
The junction of frame 14 is equipped with conducting slip ring, and turntable housing 12 is equipped with conducting slip ring, facilitates electric signal with the junction of pedestal 11
Transmission.
As shown in Figures 2 and 3, it is the two dimension disturbance base unit 2 that the present invention is provided, the two dimension disturbance base unit 2
Including disturbance pedestal upper plate 21, disturbance pedestal lower shoe 22, X-axis push-rod electric machine 23, Y-axis push-rod electric machine 25, flake bearing 24.
The two dimension disturbance base unit 2 can provide X-axis, Y-axis angle of inclination.Angle of inclination can be given by upper computer software.Two dimension
Disturbance base unit 2 can be used as stabilized platform interference signal source.X-axis, Y-axis are mutually orthogonal and are independent of each other.Pedestal upper plate 21
For carrying three-axle table, area is more than three-axle table pedestal 11.
The center of disturbance pedestal upper plate 21 by flake bearing 24 connect it is described disturb pedestal lower shoe 22, and
X-axis push-rod electric machine 23 is set in X-direction, Y-axis push-rod electric machine 25, the X-axis push-rod electric machine 23 and Y are set in the Y-axis direction
Axle push-rod electric machine 25 is upper end and is hinged on disturbance pedestal upper plate 21, and lower end is fixed on disturbance pedestal lower shoe 22.
The two dimension disturbance base unit 2 also includes disturbing two dimension the disturbance electric supply installation of the power supply of base unit 2 and disturbs
Dynamic communicator, the X-axis push-rod electric machine 23 and Y-axis push-rod electric machine 25 connect the host computer interaction by disturbing communicator
Device.
As shown in figure 4, be the MEMS inertia component 110 that provides of the present invention, the MEMS inertia component including：X-axis
MEMS gyro, Y-axis MEMS gyro, Z axis MEMS gyro, three gyros are mutually orthogonal；X-axis MEMS adds table, Y-axis MEMS plus table, Z axis
MEMS adds table, and three add table mutually orthogonal；X-axis MEMS magnetometers, Y-axis MEMS magnetometers, Z axis MEMS magnetometers, three magnetic strength
Meter is mutually orthogonal.Sensor analog signals are converted into data signal by 9 passage ADC, and being then delivered to master controller carries out attitude
Resolving obtains course angle, the angle of pitch, roll angle.
Three MEMS gyros, three MEMS add table and three MEMS magnetometers while being integrated in microminiature
On sensing head, in (10-50) * (10-50) mm, the sensing head surface area is the 1/ of inside casing area to the sensitive area of bed
10-1/2, under the size, gyroscope, Jia Biao and magnetometer can accurately measure gathered data, and feed back, it is ensured that in microminiature
Under stabilized platform experiment teaching instrument small size, while realizing that high-precision attitude is measured.
The attitude information that MEMS inertia component is used in platform stable is obtained.As shown in figure 5, being transmitted after obtaining attitude information
To inside casing motor, center motor, housing motor, output pitching, roll, the adjustment in course carry out attitude updating, reach platform steady
Determine purpose.
The present invention can also realize the free switching of centrifuge and rate table, and the important device of switching is scalable exhibition
The wing, as shown in Fig. 1 19, a set of scalable spademan is made up of three block length square metals version and two hinges, is separately mounted to speed
The rate turntable housing left and right sides.When accelerometer is demarcated, spademan is stretched out, accelerometer is fixedly mounted on spademan end.And
Rotated with certain speed by PC control housing motor, there is provided accelerometer demarcates required centripetal force.When need not mark
When determining accelerometer, spademan is shunk back on rate table housing wall.
In another embodiment, the scalable spademan device can be replaced the basic exhibition including being connected on turntable housing
The wing, rotation spademan component and a hinge end that accelerometer can be fixed；The hinge end is by rotating spademan component linker
Plinth spademan；
The rotation spademan quantity is 2-6 or 8, is sequentially connected, and size is from one end of the basic spademan of connection to connection
The other end at hinge end is sequentially reduced；Accelerometer is arranged on spademan, known turning is input into turntable housing by host computer
Speed, there is provided centripetal force demarcates accelerometer.
The connected rotation spademan of any two is fixedly connected by card slot type structure；
Large scale rotation spademan in the connected rotation spademan of any two includes a basic wing plate and in wing plate
The limiting plate that groove structure is constituted with wing plate that both sides are extended；
The rotation spademan of small size is placed in the space that the wing plate and groove structure are constituted.
As shown in fig. 6, be host computer interactive interface proposed by the present invention, including：Attitude stores display portion and turns
Platform control section.Attitude display portion is shown including 3D, curve shows and numerical monitor, and display is switched by serial ports with storage and selected
Logical or closing.Turning table control part includes that gyroscope is demarcated, adds table to demarcate and disturbance pedestal control.Wherein gyroscope is demarcated, can
Optional position is gone to by PC control three-axle table internal rotor, center, housing or random time is run with arbitrary speed, also
Can be operated under speed change pattern and sway mode.Accelerometer is demarcated and rotated by turntable housing, there is provided known centripetal force.Disturb
The controllable pedestal X-axis in moving base control section, Y-axis push-rod electric machine, realize the disturbance effect of pitching, roll.
By the present invention, the miniaturization of experiment teaching instrument is capable of achieving, realizes the teaching experiment target of staff one.
Claims (10)
1. a kind of microminiature inertial stabilized platform experiment teaching instrument, it is characterised in that the instruments used for education include three axle speed rates
Rotation table device, the MEMS inertia component being fixed on three axle speed rate rotation table devices, give three axle speed rate rotation table devices provide disturbance letter
Number two dimension disturbance base unit and host computer interactive device.
2. a kind of microminiature inertial stabilized platform experiment teaching instrument according to claim 1, it is characterised in that described three
Axle speed rate rotation table device include turntable internal rotor, turntable center, turntable housing, rotary table base and respectively control turntable internal rotor,
Turntable center, three controlled motors of turntable housing rotation；
The turntable internal rotor, turntable center, turntable housing are sequentially connected.
3. a kind of microminiature inertial stabilized platform experiment teaching instrument according to claim 2, it is characterised in that described three
Axle speed rate rotation table device also includes turntable electric supply installation and the turntable communication module powered to device, and the controlled motor passes through institute
State turntable communication module and connect the host computer interactive device.
4. a kind of microminiature inertial stabilized platform experiment teaching instrument according to claim 2, it is characterised in that described turn
Any opposite end of platform internal rotor connects the turntable center, and the turntable internal rotor can be around two turntable internal rotor connections
Rotated on the axial direction at end；
The both sides of the disconnected turntable internal rotor of turntable center connect the turntable housing, and the turntable center is around two turntables
The axial direction of center connection end is rotated；
The turntable housing generally " U " type, bottom connection pedestal, extends two turntables of connection turntable center on pedestal
Housing fixing end.
5. a kind of microminiature inertial stabilized platform experiment teaching instrument according to claim 4, it is characterised in that described used
Group device is arranged on one side of the turntable internal rotor in contrast to object disposing platform.
6. a kind of microminiature inertial stabilized platform experiment teaching instrument according to claim 5, it is characterised in that described
MEMS inertia component includes three MEMS gyroscopes, three mems accelerometers, three MEMS magnetometers and main control chips；Three
The sensitive axes of the MEMS gyroscope are mutually orthogonal, and the sensitive axes of three mems accelerometers are mutually orthogonal, described in three
The sensitive axes of MEMS magnetometers are mutually orthogonal, wherein three MEMS gyroscopes, three mems accelerometers, three MEMS magnetometers
The measurements of the chest, waist and hips coordinate system for being constituted is the same coordinate system；
The main control chip connects the controlled motor by drive circuit.
7. a kind of microminiature inertial stabilized platform experiment teaching instrument according to claim 1, it is characterised in that described two
Dimension disturbance base unit includes disturbance pedestal upper plate, disturbance pedestal lower shoe, X-axis disturbance device, Y-axis disturbance device；
The disturbance pedestal upper plate center connects the disturbance pedestal lower shoe by flake bearing, and in the X-axis direction
X-axis disturbance device is set, Y-axis disturbance device is set in the Y-axis direction, the X-axis disturbance device Y-axis disturbance device is upper end
It is hinged on disturbance pedestal upper plate, lower end is fixed on disturbance pedestal lower shoe.
8. a kind of microminiature inertial stabilized platform experiment teaching instrument according to claim 7, it is characterised in that described two
Dimension disturbance base unit also includes the disturbance electric supply installation and disturbance communicator powered to two dimension disturbance base unit, the X
Axle disturbance device, Y-axis disturbance device connect the host computer interactive device by disturbing communicator.
9. a kind of microminiature inertial stabilized platform experiment teaching instrument according to claim 4, it is characterised in that the religion
Learning instrument also includes scalable spademan device；
The scalable spademan device includes that the basic spademan being connected on turntable housing, rotation spademan component and one can be fixed
The hinge end of accelerometer；The hinge end connects basic spademan by rotating spademan component；
The rotation spademan quantity is 2-6 or 8, is sequentially connected, and size is from connecting one end of basic spademan to connecting hinge
The other end at end is sequentially reduced；The connected rotation spademan of any two is fixedly connected by card slot type structure；
Large scale rotation spademan in the connected rotation spademan of any two includes a basic wing plate and in wing plate both sides
That extends constitutes the limiting plate of groove structure with wing plate；
The rotation spademan of small size is placed in the space that the wing plate and groove structure are constituted.
10. a kind of microminiature inertial stabilized platform experiment teaching instrument according to claim 1, it is characterised in that described
Host computer interactive device can realize that attitude is shown with storage and can realize turning table control and disturbance pedestal control.
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| CN201610545741.7A CN106847005A (en) | 2016-07-13 | 2016-07-13 | A kind of microminiature inertial stabilized platform experiment teaching instrument |
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| CN201610545741.7A CN106847005A (en) | 2016-07-13 | 2016-07-13 | A kind of microminiature inertial stabilized platform experiment teaching instrument |
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| CN107907154A (en) * | 2017-11-15 | 2018-04-13 | 北京无线电测量研究所 | A kind of three axis horizontal revolving tables of large-scale band temperature control box high accuracy |
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| CN109445419A (en) * | 2018-12-07 | 2019-03-08 | 中国科学院长春光学精密机械与物理研究所 | A kind of the opto-electric stabilization holder and its test method of teaching-oriented |
| CN109584701A (en) * | 2018-12-07 | 2019-04-05 | 中国科学院长春光学精密机械与物理研究所 | A kind of the opto-electric stabilization holder and its test method of teaching-oriented |
| CN110057384A (en) * | 2019-05-30 | 2019-07-26 | 中国船舶重工集团公司第七0七研究所 | Accelerometer test macro and method based on 902C-3 type double axle table |
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| CN108825941A (en) * | 2018-05-03 | 2018-11-16 | 长春工业大学 | A kind of Airborne Camera ground motion test device of multiaxis cooperative motion |
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| CN109584701A (en) * | 2018-12-07 | 2019-04-05 | 中国科学院长春光学精密机械与物理研究所 | A kind of the opto-electric stabilization holder and its test method of teaching-oriented |
| CN110057384A (en) * | 2019-05-30 | 2019-07-26 | 中国船舶重工集团公司第七0七研究所 | Accelerometer test macro and method based on 902C-3 type double axle table |
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