CN112009703A - Airborne three-axis stable servo platform capable of being self-locked at will in power failure and roll eccentricity compensation method - Google Patents
Airborne three-axis stable servo platform capable of being self-locked at will in power failure and roll eccentricity compensation method Download PDFInfo
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- CN112009703A CN112009703A CN202010763868.2A CN202010763868A CN112009703A CN 112009703 A CN112009703 A CN 112009703A CN 202010763868 A CN202010763868 A CN 202010763868A CN 112009703 A CN112009703 A CN 112009703A
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- 230000005764 inhibitory process Effects 0.000 abstract description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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Abstract
The invention relates to an airborne three-axis stable servo platform capable of being self-locked at will when power failure occurs and a roll eccentricity compensation method, and belongs to the technical field of airborne reconnaissance. The brake comprises an azimuth ring, a roll ring and a pitching ring, wherein bearings in the roll ring are respectively fixed on the front end surface and the rear end surface of a roll support through bearing seats, roll shafts are respectively arranged in the bearings at the two ends, a servo motor is arranged on the front end surface of the roll support, one end of a rotating shaft of the servo motor is connected with the roll shaft, and the other end of the rotating shaft of the servo motor is connected with a band-type brake; the rotary transformer assembly and the gyroscope are fixed on the rear end face of the rolling support; an angle drive gear is mounted on the cross roller and is engaged with a gear in the rotary transformer assembly. The problem of the roll ring can't realize that arbitrary position is stable because of eccentric structure is solved. By establishing an ideal model of the roll ring, a calculation formula of the rotational inertia of the azimuth ring is obtained, then equivalent compensation is introduced into the azimuth ring, effective inhibition of roll eccentricity is realized, and the isolation index of the azimuth ring is improved.
Description
Technical Field
The invention relates to an airborne three-axis stable servo platform capable of being self-locked at will when power failure occurs and a roll eccentricity compensation method, and belongs to the technical field of airborne reconnaissance.
Background
During the flight of the aircraft, the airborne pod must bear the adverse effects of vibration, and most importantly, the directivity of the photoelectric detector is kept unchanged. The existing pod is often limited by space, weight, size and the like, and is not provided with a rolling ring; when the carrier takes off and lands, the movable parts in the platform swing violently due to inertia because of no transverse rolling ring, and key parts can be damaged.
Disclosure of Invention
In view of the above, the invention aims to provide an onboard three-axis stable servo platform capable of being self-locked at will when power is off and a roll eccentricity compensation method, so that the movable parts in the platform are prevented from swinging violently due to inertia to damage key parts when an onboard machine takes off and lands; and equivalent compensation is introduced into the azimuth ring, so that the roll eccentricity is effectively inhibited. The problem of the roll ring can't realize that the optional position is stable because of eccentric structure is solved to optional position auto-lock can be realized during the outage.
In order to achieve the purpose, the technical scheme of the invention is as follows:
an airborne three-axis stable servo platform capable of being self-locked at will when power failure occurs comprises an azimuth ring, a roll ring and a pitching ring, wherein the pitching ring is an inner ring, the azimuth ring is an outer ring, and the roll ring is a middle ring and is of an eccentric structure; the azimuth ring is positioned above the horizontal rolling ring, and the pitching ring is positioned below the horizontal rolling ring;
the transverse rolling ring comprises a transverse rolling bracket, a bearing seat, a bearing, a first transverse rolling shaft, a servo motor, a band-type brake fixing seat, an angle rotating gear, a rotary transformer assembly, a gyroscope and a second transverse rolling shaft; the servo motor is arranged on the front end surface of the cross-rolling support, one end of a rotating shaft of the servo motor is connected with the first cross-rolling shaft, and the other end of the rotating shaft of the servo motor is connected with the internal contracting brake; the rotary transformer assembly and the gyroscope are fixed on the rear end face of the rolling support; the angle transmission gear is arranged on the second transverse roller and meshed with a gear in the rotary transformer assembly; the gyroscope is used for measuring the rotating speed of the azimuth ring; when the angle output device is used, the servo motor drives the first transverse roller to rotate and drives the pitching ring and the second transverse roller to rotate, the second transverse roller drives the angle transmission gear to rotate, and the angle transmission gear drives the rotary transformer assembly to output angles when rotating.
Furthermore, the azimuth ring is fixed right above the roll support, and the pitching ring is fixed right below the roll ring through the first roll shaft and the second roll shaft.
Furthermore, the servo motor is installed on the front end face of the transverse rolling support through the servo motor fixing seat, and the rotating shaft of the servo motor is fastened with the first transverse rolling shaft through the adapter, so that the first transverse rolling shaft is driven to rotate.
Further, install the band-type brake fixing base on the servo motor fixing base, the band-type brake is installed on the band-type brake fixing base, and the rotating part and the servo motor axis of rotation of band-type brake link to each other. The brake and the servo motor are connected into a whole, so that the function of arbitrary self-locking is realized after power failure.
Furthermore, the left side and the right side of the rolling support are respectively provided with a limiting structure. When the load of the rolling ring rotates, the limiting function is achieved, and the rolling support is prevented from being damaged.
A roll eccentricity compensation method of an airborne three-axis stable servo platform capable of being self-locked at will after power failure is achieved, and the method comprises the following steps:
(1) calculating the moment of inertia J of the azimuth ring:
the rotating parts (comprising a bearing, a transverse roller, a switching seat, a servo motor, a band-type brake and an angle rotating gear) of the pitching ring and the transverse rolling ring are set to be L in length and m in mass1The vertical distance between the mass center of the rod and the transverse rolling shaft is H; moment of inertia of the rod is J1(ii) a Setting the mass of the part (including a rolling bracket, a bearing seat, a servo motor fixing seat, a band-type brake fixing seat, a rotary transformer assembly and a gyroscope) which only does azimuth motion as m2Moment of inertia of J2；
When m is1When the azimuth axis is rotated by an angle theta around the transverse rolling axis, the azimuth axis is moved to m in parallel1At the center of mass of m1The moment of inertia about the translated axis is set to J11，J11Comprises the following steps:
m1the eccentric inertia of the center of mass rotating around the azimuth axis is set to J12，J12Comprises the following steps:
J12＝m1(Hsinθ)2
the moment of inertia J of the azimuth ring is:
(2) and introducing equivalent compensation in the azimuth ring according to the calculated rotational inertia of the azimuth ring, so as to realize the compensation of the roll eccentricity.
Advantageous effects
The platform is internally provided with a transverse rolling ring structure, and the transverse rolling ring is provided with a servo motor and a band-type brake, so that the problem that a movable part in the platform violently swings due to inertia to damage a key part when the carrier takes off or lands is solved.
A calculation formula of the rotational inertia of the azimuth ring is obtained by establishing an ideal model of the roll ring, and then equivalent compensation is introduced into the azimuth ring, so that the roll eccentricity is effectively inhibited, and the isolation index of the azimuth ring is improved to a great extent.
Drawings
FIGS. 1-3 are schematic structural views of a stabilized servo stage according to the present invention;
FIG. 4 is a schematic view of a portion of the structure of FIG. 3;
FIG. 5 is a schematic view of the roll-ring configuration of the present invention;
FIG. 6 is a schematic view of a portion of the structure of FIG. 5;
FIG. 7 is a view of a portion of the structure of FIG. 5 from direction B;
FIGS. 8-9 are schematic views of the roll ring position relative to the azimuth axis;
FIG. 10 is a schematic block diagram of an azimuth circle equivalent compensation;
the device comprises a transverse rolling support 1, a bearing seat 2, a bearing 3, a first transverse rolling shaft 4, an adapter seat 5, a servo motor 6, a servo motor fixing seat 7, a band-type brake 8, a band-type brake fixing seat 9, an angle transmission gear 10, a rotary transformer assembly 11, a gyroscope 12, a transverse rolling ring 13, an azimuth ring 14, a pitch ring 15, a limiting structure 16 and a second transverse rolling shaft 17.
Detailed Description
The present invention will be described in further detail with reference to specific examples.
As shown in fig. 1-7, an airborne three-axis stable servo platform capable of arbitrary self-locking in case of power failure comprises an azimuth ring 14, a roll ring 13 and a pitch ring 15, wherein the pitch ring 15 is an inner ring, the azimuth ring 14 is an outer ring, and the roll ring 15 is a middle ring and is an eccentric structure; the azimuth ring 14 is positioned above the horizontal rolling ring 13, and the pitching ring 15 is positioned below the horizontal rolling ring;
the transverse rolling ring 15 comprises a transverse rolling support 1, a bearing seat 2, a bearing 3, a first transverse rolling shaft 4, a servo motor 6, a band-type brake 8, a band-type brake fixing seat 9, an angle rotating gear 10, a rotary transformer assembly 11, a gyroscope 12 and a second transverse rolling shaft 17; the bearings 3 are respectively fixed on the front end face and the rear end face of the transverse rolling support 1 through the bearing seats 2, the bearings 3 at the front end and the rear end are respectively provided with a first transverse rolling shaft 4 and a second transverse rolling shaft 17, the servo motor 6 is arranged on the front end face of the transverse rolling support 1, one end of the rotating shaft of the servo motor 6 is connected with the first transverse rolling shaft 4, and the other end of the rotating shaft of the servo motor 6 is connected with the band-type brake 8; the rotary transformer assembly 11 and the gyroscope 12 are fixed on the rear end face of the rolling support 1; the angle drive gear 10 is mounted on the second traverse shaft 17, and the angle drive gear 10 is meshed with a gear in the resolver assembly 11; the gyroscope 12 is used for measuring the rotation speed of the azimuth ring 14; when the angle output device is used, the servo motor 6 drives the first transverse roller 4 to rotate and drives the pitching ring 15 and the second transverse roller 17 to rotate, the second transverse roller 17 drives the angle transmission gear 10 to rotate, and the angle transmission gear drives the rotary transformer 11 component to output angles when rotating.
The azimuth ring 14 is fixed right above the roll support 1, and the pitch ring 15 is fixed right below the roll ring 13 through the first roll shaft 4 and the second roll shaft 17.
The servo motor 6 is installed on the front end face of the transverse rolling support 1 through a servo motor fixing seat 7, and a rotating shaft of the servo motor 6 is fastened with the first transverse rolling shaft 4 through the adapter 5 so as to drive the first transverse rolling shaft 4 to rotate.
Install band-type brake fixing base 9 on the servo motor fixing base 7, band-type brake 8 is installed on band-type brake fixing base 9, and the rotating part of band-type brake 8 links to each other with servo motor 6 axis of rotation. The internal contracting brake 8 and the servo motor 6 are connected into a whole, so that the self-locking function can be realized after power failure.
The left side and the right side of the rolling support 1 are respectively provided with a limiting structure 16. When the load of the cross rolling ring 13 rotates, the limiting function is achieved, and the cross rolling support 1 is prevented from being damaged.
A roll eccentricity compensation method of an airborne three-axis stable servo platform capable of being self-locked at will after power failure is achieved, and the method comprises the following steps:
(1) calculating the moment of inertia J of the azimuth ring:
as shown in fig. 8, the moment of inertia J of the azimuth ring is related to two parts: the rotating part (which does azimuth motion and roll motion and comprises a bearing, a roll shaft, a switching seat, a servo motor, a band-type brake and an angle rotating gear) of a pitching ring and a roll ring is assumed to have the length of L and the mass of m1The vertical distance between the center of mass of the rod and the transverse rolling shaft is H, and the rotational inertia is assumed to be J1. The other part is a part (comprising a rolling bracket, a bearing seat, a servo motor fixing seat, a band-type brake fixing seat, a rotary transformer assembly and a gyro) which only does azimuth motion, and the mass of the part is assumed to be m2Moment of inertia of J2。
The moment of inertia J of the azimuth ring is:
as shown in fig. 9, whenm1When rotated through an angle theta about the transverse axis, m1Moment of inertia J1Related to θ, a change occurs; and m is2Moment of inertia J2Remain unchanged.
The azimuth axis is moved in parallel to m according to the parallel axis theorem1At the center of mass of m1The moment of inertia about the translated axis is assumed to be J11At this time J11Comprises the following steps:
and m is1The eccentric inertia of the center of mass rotating around the azimuth axis is assumed to be J12Then J is12Comprises the following steps:
J12＝m1(H sinθ)2
the moment of inertia J of the azimuth ring is obtained as follows:
(2) according to a calculation formula of the rotational inertia of the azimuth ring, equivalent compensation is introduced into the azimuth ring, and effective inhibition of roll eccentricity is achieved.
Example 1
In the airborne three-axis stable servo platform with arbitrary self-locking during power failure, L is 0.538m, and H is 0.058m, m1＝8.970Kg，J2＝0.085.62Kg·m2And theta is-8 degrees, and is substituted into an azimuth ring rotational inertia formula to calculate J:
the actually measured rotational inertia is compared with the theoretical calculation J, the error is within 1 percent, and the feasibility of the calculation mode is further verified.
Aiming at the change of azimuth inertia caused by a horizontal rolling ring, equivalent compensation is introduced into the azimuth ring, and the specific processing method is as follows: and (3) calculating the interference torque d according to the current input motor driving voltage u and the output motor rotating speed n, then equivalently using the interference torque d as the motor voltage, and reversely compensating the motor voltage to the input end of the motor. As shown in fig. 10, input u is a motor driving voltage, input d is an interference torque, output n is a motor rotation speed, Km, Ke, L, and R are a mechanical constant, an electrical constant, an inductance, and a resistance of the motor, respectively, J is an azimuth circle moment of inertia, 1/gn(s) is a reciprocal of a controlled object transfer function, and q(s) is a second-order low-pass filter. 1/Gn(s), Q(s) are given by the formula:
the isolation contrast results of the azimuth rings after the external interference signal is added are shown in table 1.
TABLE 1
It is apparent from table 1 that the accuracy of the obtained isolation index is higher in the case of considering the eccentricity caused by the equivalent compensation and the roll rotation of the azimuth ring.
In summary, the invention includes but is not limited to the above embodiments, and any equivalent replacement or local modification made under the spirit and principle of the invention should be considered as being within the protection scope of the invention.
Claims (6)
1. The utility model provides a servo platform is stabilized to machine of arbitrary auto-lock of outage which characterized in that: the device comprises an azimuth ring (14), a roll ring (13) and a pitch ring (15), wherein the pitch ring (15) is an inner ring, the azimuth ring (14) is an outer ring, and the roll ring (15) is a middle ring; the azimuth ring (14) is positioned above the horizontal rolling ring (13), and the pitching ring (15) is positioned below the horizontal rolling ring;
the transverse rolling ring (15) comprises a transverse rolling bracket (1), a bearing seat (2), a bearing (3), a first transverse rolling shaft (4), a servo motor (6), a band-type brake (8), a band-type brake fixing seat (9), an angle rotating gear (10), a rotary transformer assembly (11), a gyroscope (12) and a second transverse rolling shaft (17); the front end face and the rear end face of the transverse rolling support (1) are respectively fixed with bearings (3) through bearing seats (2), a first transverse rolling shaft (4) and a second transverse rolling shaft (17) are respectively installed in the bearings (3) at the front end and the rear end, a servo motor (6) is installed on the front end face of the transverse rolling support (1), one end of a rotating shaft of the servo motor (6) is connected with the first transverse rolling shaft (4), and the other end of the rotating shaft of the servo motor (6) is connected with a band-type brake (8); the rotary transformer assembly (11) and the gyroscope (12) are fixed on the rear end face of the rolling support (1); the angle transmission gear (10) is arranged on the second transverse roller (17), and the angle transmission gear (10) is meshed with a gear in the rotary transformer assembly (11); the gyro (12) is used for measuring the rotation speed of the azimuth ring (14).
2. The airborne three-axis stable servo platform capable of arbitrary self-locking during power failure according to claim 1, wherein: the azimuth ring (14) is fixed right above the roll support (1), and the pitch ring (15) is fixed right below the roll ring (13) through a first roll shaft (4) and a second roll shaft (17).
3. The airborne three-axis stable servo platform capable of arbitrary self-locking during power failure according to claim 1, wherein: the servo motor (6) is installed on the front end face of the transverse rolling support (1) through a servo motor fixing seat (7), and a rotating shaft of the servo motor (6) is fastened with the first transverse rolling shaft (4) through an adapter (5).
4. The airborne three-axis stable servo platform capable of arbitrary self-locking during power failure according to claim 1, wherein: install band-type brake fixing base (9) on servo motor fixing base (7), band-type brake (8) are installed on band-type brake fixing base (9), and the rotating part of band-type brake (8) links to each other with servo motor (6) axis of rotation.
5. The airborne three-axis stable servo platform capable of arbitrary self-locking during power failure according to claim 1, wherein: the left side and the right side of the rolling support (1) are respectively provided with a limiting structure (16).
6. The utility model provides a roll off-centre compensation method of servo platform is stabilized to machine-carried triaxial of arbitrary auto-lock cuts off power supply which characterized in that: the method comprises the following steps:
(1) calculating the moment of inertia J of the azimuth ring:
the rotating parts of the pitching ring and the rolling ring are set to be L in length and m in mass1The vertical distance between the mass center of the rod and the transverse rolling shaft is H; moment of inertia of the rod is J1(ii) a The part of the mass which only does azimuth motion is set as m2Moment of inertia of J2；
When m is1When the azimuth axis is rotated by an angle theta around the transverse rolling axis, the azimuth axis is moved to m in parallel1At the center of mass of m1The moment of inertia about the translated axis is set to J11，J11Comprises the following steps:
m1the eccentric inertia of the center of mass rotating around the azimuth axis is set to J12，J12Comprises the following steps:
J12＝m1(Hsinθ)2
the moment of inertia J of the azimuth ring is:
(2) and introducing equivalent compensation in the azimuth ring according to the calculated rotational inertia of the azimuth ring, so as to realize the compensation of the roll eccentricity.
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