CN112985694A - Method and system for balancing mass center of triaxial air bearing table - Google Patents
Method and system for balancing mass center of triaxial air bearing table Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/30—Compensating imbalance
- G01M1/32—Compensating imbalance by adding material to the body to be tested, e.g. by correcting-weights
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/12—Static balancing; Determining position of centre of gravity
- G01M1/122—Determining position of centre of gravity
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- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/14—Determining imbalance
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Abstract
The invention provides a method and a system for balancing the mass center of a three-axis air bearing table, wherein the method for balancing the mass center of the three-axis air bearing table comprises the following steps: step 1, performing flywheel wheel control on a three-axis air bearing table in a horizontal state, and performing horizontal direction balance adjustment according to the posture measured by a first posture measuring instrument; step 2: and (4) utilizing flywheel wheel control to incline the three-axis air bearing table by the offset angle, and carrying out vertical direction balance adjustment according to the posture measured by the second posture measuring instrument. The invention does not depend on the quality characteristics of the triaxial air bearing table, adopts the laser tracker and the autocollimator to jointly fix the attitude, improves the adjustment precision, can quickly eliminate the influence of gravity interference torque, shortens the adjustment time, and can provide guarantee for the subsequent full-physical ground simulation test.
Description
Technical Field
The invention relates to rigid body dynamics and attitude control, in particular to a method and a system for balancing the mass center of a three-axis air bearing table.
Background
The three-axis air bearing platform forms an approximate frictionless environment by utilizing an air bearing, is used for simulating a zero-gravity frictionless space environment, realizes three-axis free rotation, and is widely used for ground full-physical simulation tests of spacecrafts. Because the spherical air floating shaft is adopted to support the table top, the air floating table can simulate the attitude motion of a satellite in a stepping mode, and the attitude coupling mechanics of the satellite can be effectively simulated.
When the center of mass of the triaxial air bearing table and the center of sphere of the air bearing ball are not coincident, gravity interference torque can be generated. In order to ensure the effectiveness of the ground simulation test, the interference torque of the triaxial air bearing table needs to be ensured to meet the requirements of the task simulation test. Therefore, the center of mass balancing work needs to be carried out, the offset of the center of mass of the three-axis air bearing table and the center of the air bearing sphere is reduced, and the influence of gravity interference torque is eliminated.
At present, few effective methods for balancing the mass center of the triaxial air bearing table are available. The mass center balancing method which is more frequently used is a compound pendulum period method, and when the period of the air bearing table is longer, the test result shows that the periodic quantity measured by sensitive devices such as a gyroscope and the like has low precision, so that the requirement of high-precision balancing cannot be met. Through the research of the literature, the poplar, the golden light, the xu-kaki and the like theoretically provide a triaxial air bearing table automatic balancing device in a paper 'triaxial air bearing table automatic balancing and disturbance moment test' (see space science, journal 2009, 29, No. 1, page number 34-38), but an implementation method is not provided. Patent document CN105300597A discloses a method and a device for balancing the mass center of a three-axis air bearing table, which estimate the gravity interference moment of the three-axis air bearing table through the rotation speed feedback of a flywheel, and further compensate the eccentricity.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a method and a system for balancing the mass center of a three-axis air bearing table.
The invention provides a method for balancing the mass center of a three-axis air bearing table, which comprises the following steps:
step 2: and (4) utilizing flywheel wheel control to incline the three-axis air bearing table by the offset angle, and carrying out vertical direction balance adjustment according to the posture measured by the second posture measuring instrument.
Preferably, the first attitude measuring instrument adopts an autocollimator, and the second attitude measuring instrument adopts a laser tracker.
Preferably, the step 1 comprises the steps of:
step 1.1: through pre-balancing, the air floating platform is in a suspension state;
step 1.2: performing flywheel control, wherein the expected attitude angle is [0,0, gamma ], and gamma is the initial Euler angle of the platform body;
step 1.3: judging the deviation of the first attitude angle, and if the deviation | delta alpha | of the current attitude angle and the expected attitude angle is more than or equal to 0.05 degrees or | delta beta | is more than or equal to 0.05 degrees, using a mass block to adjust the mass center; otherwise, entering step 1.4;
step 1.4: judging the deviation of the second attitude angle, and if the deviation of the current attitude angle and the expected attitude angle is more than or equal to 0.0005 degrees and less than or equal to 0.05 degrees or more than or equal to 0.0005 degrees and less than or equal to 0.05 degrees, carrying out mass center adjustment by using a balance adjusting motor of a corresponding shaft; otherwise, the mass center balance adjustment in the horizontal direction is finished;
preferably, the first attitude angle is greater than the second attitude angle.
Preferably, the step 2 comprises the steps of:
step 2.1: performing flywheel control, wherein the expected attitude angle is [ alpha, 0, gamma ] or [0, beta, gamma ];
step 2.2: judging the deviation of the third attitude angle, if the deviation | delta alpha | of the current attitude angle and the expected attitude angle is more than or equal to 0.02 degrees or | delta beta | is more than or equal to 0.02 degrees, carrying out mass center adjustment on the mass increasing block and the mass decreasing block at the symmetrical positions; otherwise, entering step 2.3;
step 2.3: judging the deviation of the fourth attitude angle, if the deviation of the current attitude angle and the expected attitude angle is more than or equal to 0.0005 degrees and less than or equal to 0.05 degrees or more than or equal to 0.0005 degrees and less than or equal to 0.05 degrees, carrying out mass center adjustment by using a balance adjusting motor of a corresponding shaft; otherwise, entering step 2.4;
step 2.4: the current control attitude angle alpha +1 or beta + 1;
step 2.4: judging the magnitude of the current control attitude angle, and returning to the step 2.1 when alpha is less than or equal to 3 degrees or beta is less than or equal to 3 degrees; otherwise, the mass center balance adjustment in the vertical direction is finished.
Preferably, the initial value of α or β in step 2.1 is 1 °.
Preferably, the third attitude angle is greater than the fourth attitude angle.
Preferably, when angle maneuvering is carried out, the vertical position of the mass center of the air bearing table is judged according to the actually measured attitude angle, and when the actually measured attitude angle is smaller than a target value, the mass center is indicated to be downward; and when the actually measured attitude angle is larger than the target value, representing that the center of mass is on the upper side.
The system for adjusting the balance of the mass center of the three-axis air bearing table provided by the invention comprises:
the first balancing module: the three-axis air bearing table is in a horizontal state to perform flywheel wheel control, and horizontal direction balance adjustment is performed according to the posture measured by the first posture measuring instrument;
the second balancing module: and (4) utilizing flywheel wheel control to incline the three-axis air bearing table by the offset angle, and carrying out vertical direction balance adjustment according to the posture measured by the second posture measuring instrument.
Preferably, the first attitude measuring instrument adopts an autocollimator, and the second attitude measuring instrument adopts a laser tracker.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention does not depend on the quality characteristics of the triaxial air bearing table, adopts the laser tracker and the autocollimator to jointly fix the attitude, improves the adjustment precision, can quickly eliminate the influence of gravity interference torque, shortens the adjustment time, and can provide guarantee for the subsequent full-physical ground simulation test.
2. The device for adjusting the balance of the mass center of the three-axis air bearing table has the advantages of simple structure, convenience in operation and high adjustment precision.
3. According to the method, the operation of balancing the mass center of the triaxial air bearing table is decomposed and a decomposition scheme of progressive precision detection is adopted by the mass block or the balance motor, the autocollimator and the laser tracker step by step, so that the simplification of complex problems is realized, and the purpose of precise adjustment is realized.
4. The three-axis air bearing platform attitude control is realized through a limited number of flywheels, and the purpose of attitude control is realized.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic diagram of a method for balancing the center of mass of a three-axis air bearing table according to the present invention;
FIG. 2 is a flow chart of a method for balancing the center of mass of a three-axis air bearing table according to the present invention;
FIG. 3 is a schematic diagram illustrating the three-axis air bearing table centroid balancing apparatus and coordinate system definition according to the present invention.
Wherein, the x-axis and the y-axis are horizontal axes, and the z-axis is vertical to the horizontal plane.
The figures show that:
1-laser tracker;
2- -laser tracker target;
3- -prism;
4-autocollimator;
5- -x direction flywheel;
6- -Y direction flywheel;
7- -z direction flywheel.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
The invention provides a method for balancing the mass center of a triaxial air bearing table, which does not depend on the mass characteristic of a platform, adjusts the mass center according to the deviation of an attitude angle, can quickly eliminate the influence of gravity interference torque, and has the technical route that the horizontal direction is adjusted firstly and then the vertical direction is adjusted. In the beginning, after the three-axis air bearing table is lifted to a set height through the jack, the jack descends and a flywheel is adopted for carrying out platform attitude control, the difference between the current attitude angle and the target attitude angle is jointly monitored through the autocollimator and the laser tracker, the mass center deviation is further judged, and a small mass block or a high-precision balance adjusting motor is selected for carrying out mass center adjustment according to the mass center eccentricity degree, so that the influence of gravity interference torque is eliminated. When the attitude angle is larger, a laser tracker is adopted for measurement; when the attitude angle is smaller, switching to the autocollimator with higher precision comprises the following steps:
Further, the step 1 comprises the following steps:
step 1.1: through pre-balancing, the air floating platform is in a suspension state;
step 1.2: performing flywheel control, wherein the expected attitude angle is [0,0, gamma ], and gamma is preferably an initial Euler angle of a platform body;
step 1.3: judging the deviation of the first attitude angle, and if the deviation | delta alpha | of the current attitude angle and the expected attitude angle is more than or equal to 0.05 degrees or | delta beta | is more than or equal to 0.05 degrees, using a mass block to adjust the mass center; otherwise, entering step 1.4; at the moment, the output torque of the flywheel is considered to be incapable of overcoming the horizontal disturbance torque, the posture needs to be stopped to be controlled, and the jack is lifted. Because the high-precision balancing motor has a limited adjusting range, a small mass block or the high-precision balancing motor is required to be used for adjusting in the relatively large mass center adjusting process.
Step 1.4: judging the deviation of the second attitude angle, and if the deviation of the current attitude angle and the expected attitude angle is more than or equal to 0.0005 degrees and less than or equal to 0.05 degrees or more than or equal to 0.0005 degrees and less than or equal to 0.05 degrees, carrying out mass center adjustment by using a balance adjusting motor of a corresponding shaft; otherwise, the mass center balance adjustment in the horizontal direction is finished, wherein the first attitude angle is larger than the second attitude angle.
Step 2: and (3) utilizing flywheel wheel control to incline the three-axis air bearing table by a bias angle, and carrying out vertical direction balance adjustment according to the posture measured by a second posture measuring instrument, wherein the second posture measuring instrument preferably adopts a laser tracker.
Further, the step 2 comprises the following steps:
step 2.1: performing flywheel control, wherein the expected attitude angle is [ alpha, 0, gamma ] or [0, beta, gamma ], and the initial value i of alpha or beta is 1 degree;
step 2.2: judging the deviation of the third attitude angle, if the deviation | delta alpha | of the current attitude angle and the expected attitude angle is more than or equal to 0.02 degrees or | delta beta | is more than or equal to 0.02 degrees, wherein | delta alpha | represents an X-axis attitude angle and | delta beta represents a Y-axis attitude angle, and adjusting the mass center at the symmetrical position by simultaneously increasing or decreasing the mass block; otherwise, entering step 2.3, judging the vertical position of the mass center of the air bearing table according to the actually measured attitude angle when performing angle maneuvering, and indicating that the mass center is deviated downwards when the actually measured attitude angle is smaller than a target value; when the actually measured attitude angle is larger than the target value, representing that the center of mass is on the upper side; meanwhile, the balance weight at the symmetrical position is used for ensuring that the mass center in the horizontal direction is unchanged.
Further, the output torque of the flywheel cannot overcome the horizontal disturbance torque, the attitude angle needs to be reset to zero, then the control is stopped, and the jack is lifted. Similarly, because of the limited adjustment range of the high-precision balancing motor, a small mass block is required to be used for adjustment in the relatively large mass center adjustment process.
Step 2.3: judging the deviation of the fourth attitude angle, if the deviation of the current attitude angle and the expected attitude angle is more than or equal to 0.0005 degrees and less than or equal to 0.05 degrees or more than or equal to 0.0005 degrees and less than or equal to 0.05 degrees, carrying out mass center adjustment by using a balance adjusting motor of a corresponding shaft; otherwise, entering step 2.4, wherein the third attitude angle is larger than the fourth attitude angle;
step 2.4: the current control attitude angle alpha +1 or beta + 1;
step 2.4: judging the magnitude of the current control attitude angle, and returning to the step 2.1 when alpha is less than or equal to 3 degrees or beta is less than or equal to 3 degrees; otherwise, the mass center balance adjustment in the vertical direction is finished.
The invention also provides a system for balancing the mass center of the three-axis air bearing table, which comprises a first balancing module and a second balancing module, wherein the first balancing module can control the three-axis air bearing table in a horizontal state by a flywheel wheel and perform balancing in the horizontal direction according to the posture measured by the first posture measuring instrument; the second balance adjusting module can utilize flywheel wheel control to incline the offset angle of the triaxial air bearing table, and carries out vertical direction balance adjustment according to the posture measured by the second posture measuring instrument, wherein the first posture measuring instrument preferably adopts an autocollimator, and the second posture measuring instrument preferably adopts a laser tracker.
Furthermore, in the operation process of balancing the mass center of the three-axis air bearing table, a plurality of flywheels are installed on the three-axis air bearing table and used for controlling the posture of the three-axis air bearing table, and the autocollimator and the laser tracker are respectively used for detecting the posture of the three-axis air bearing table.
Further, in a specific embodiment, as shown in fig. 3, the layout of the equipment on the tested three-axis air bearing table is detected by the cooperation of the laser tracker 1 and the laser tracker target 2 during the test of the laser tracker, and the measurement is performed by projecting the laser emitted by the laser tracker 1 onto the laser tracker target 2. An autocollimator is a kind of measuring instrument that converts angle measurement into linear measurement by using the principle of autocollimation of light. The three-axis air bearing table attitude control device is widely used for small-angle measurement, flat-plate flatness measurement, guide rail flatness and parallelism measurement and the like, an autocollimator 4 is matched with a prism 3 to complete measurement, wherein 5 is an x-direction flywheel, 6 is a Y-direction flywheel, 7 is a Z-direction flywheel, and three-axis air bearing table attitude control is realized through the flywheels in three directions.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A method for balancing the mass center of a three-axis air bearing table is characterized by comprising the following steps:
step 1, performing flywheel wheel control on a three-axis air bearing table in a horizontal state, and performing horizontal direction balance adjustment according to the posture measured by a first posture measuring instrument;
step 2: and (4) utilizing flywheel wheel control to incline the three-axis air bearing table by the offset angle, and carrying out vertical direction balance adjustment according to the posture measured by the second posture measuring instrument.
2. The method of claim 1, wherein the first attitude measurement instrument is an autocollimator, and the second attitude measurement instrument is a laser tracker.
3. The method for balancing the center of mass of the three-axis air bearing table according to claim 1, wherein the step 1 comprises the following steps:
step 1.1: through pre-balancing, the air floating platform is in a suspension state;
step 1.2: performing flywheel control, wherein the expected attitude angle is [0,0, gamma ], and gamma is the initial Euler angle of the platform body;
step 1.3: judging the deviation of the first attitude angle, and if the deviation | delta alpha | of the current attitude angle and the expected attitude angle is more than or equal to 0.05 degrees or | delta beta | is more than or equal to 0.05 degrees, using a mass block to adjust the mass center; otherwise, entering step 1.4;
step 1.4: judging the deviation of the second attitude angle, and if the deviation of the current attitude angle and the expected attitude angle is more than or equal to 0.0005 degrees and less than or equal to 0.05 degrees or more than or equal to 0.0005 degrees and less than or equal to 0.05 degrees, carrying out mass center adjustment by using a balance adjusting motor of a corresponding shaft; otherwise, the mass center balance adjustment in the horizontal direction is finished.
4. The method of balancing the center of mass of a three-axis air bearing table of claim 3, wherein the first attitude angle is greater than the second attitude angle.
5. The method for balancing the center of mass of the three-axis air bearing table according to claim 1, wherein the step 2 comprises the steps of:
step 2.1: performing flywheel control, wherein the expected attitude angle is [ alpha, 0, gamma ] or [0, beta, gamma ];
step 2.2: judging the deviation of the third attitude angle, if the deviation | delta alpha | of the current attitude angle and the expected attitude angle is more than or equal to 0.02 degrees or | delta beta | is more than or equal to 0.02 degrees, carrying out mass center adjustment on the mass increasing block and the mass decreasing block at the symmetrical positions; otherwise, entering step 2.3;
step 2.3: judging the deviation of the fourth attitude angle, if the deviation of the current attitude angle and the expected attitude angle is more than or equal to 0.0005 degrees and less than or equal to 0.05 degrees or more than or equal to 0.0005 degrees and less than or equal to 0.05 degrees, carrying out mass center adjustment by using a balance adjusting motor of a corresponding shaft; otherwise, entering step 2.4;
step 2.4: the current control attitude angle alpha +1 or beta + 1;
step 2.4: judging the magnitude of the current control attitude angle, and returning to the step 2.1 when alpha is less than or equal to 3 degrees or beta is less than or equal to 3 degrees; otherwise, the mass center balance adjustment in the vertical direction is finished.
6. The method of balancing the center of mass of a three-axis air bearing table according to claim 5, wherein the initial value of α or β in step 2.1 is 1 °.
7. The method of balancing the center of mass of a three-axis air bearing table of claim 5, wherein the third attitude angle is greater than the fourth attitude angle.
8. The method for balancing the center of mass of the triaxial air bearing table according to claim 5, wherein when angle maneuvering is performed, the vertical position of the center of mass of the air bearing table is judged according to the actually measured attitude angle, and when the actually measured attitude angle is smaller than a target value, the center of mass is indicated to be downward; and when the actually measured attitude angle is larger than the target value, representing that the center of mass is on the upper side.
9. A system for balancing the mass center of a three-axis air bearing table is characterized by comprising:
the first balancing module: the three-axis air bearing table is in a horizontal state to perform flywheel wheel control, and horizontal direction balance adjustment is performed according to the posture measured by the first posture measuring instrument;
the second balancing module: and (4) utilizing flywheel wheel control to incline the three-axis air bearing table by the offset angle, and carrying out vertical direction balance adjustment according to the posture measured by the second posture measuring instrument.
10. The system for balancing the center of mass of a three-axis air bearing table according to claim 9, wherein the first attitude measurement instrument is an autocollimator, and the second attitude measurement instrument is a laser tracker.
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| CN116923738A (en) * | 2023-08-18 | 2023-10-24 | 哈尔滨工业大学 | Digital intelligent adjusting device and method for quality characteristics of satellite attitude control full-physical simulation platform |
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