CN113435052B - Target pitching attitude adjusting and calculating method based on three-axis linkage - Google Patents

Target pitching attitude adjusting and calculating method based on three-axis linkage Download PDF

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CN113435052B
CN113435052B CN202110742705.0A CN202110742705A CN113435052B CN 113435052 B CN113435052 B CN 113435052B CN 202110742705 A CN202110742705 A CN 202110742705A CN 113435052 B CN113435052 B CN 113435052B
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target
moving mechanism
axis moving
hoisting
supporting
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CN113435052A (en
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杜微
赵虔�
益建朋
徐文杰
邓乐武
吴杰
王睿
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Chengdu Aircraft Industrial Group Co Ltd
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Abstract

The invention discloses a target pitching attitude adjusting and calculating method based on three-axis linkage, which relates to the technical field of microwave testing and comprises the following steps: firstly, hoisting one end of a measured target by using a hoisting system, and simultaneously hinging the other end of the measured target at the top of a supporting system, wherein the bottom of the supporting system is provided with an X-axis moving mechanism; the hoisting system, the supporting system and the X-axis moving mechanism are synchronously lifted to lift the tested target to a testing height; enabling the hoisting system and the X-axis moving mechanism to synchronously operate, enabling the hoisting system to drive one end of the measured target to ascend, and enabling the X-axis moving mechanism to drive the supporting system and the whole X-axis of the measured target to synchronously move in the positive direction at the same time, so that the measured target is in an elevation angle of + theta degrees for posture adjustment; then, reversely operating to enable the measured target to be at a depression angle of-theta degrees and adjusting the posture; and finally, calculating the actual displacement of the hoisting system in the Z direction and the support system in the X direction.

Description

Target pitching attitude adjusting and calculating method based on three-axis linkage
Technical Field
The invention relates to the technical field of microwave testing, in particular to a target pitching attitude adjusting and calculating method based on three-axis linkage.
Background
In recent years, microwave testing technology has been widely applied to electromagnetic compatibility and stealth performance tests of various products, the research direction of the microwave testing technology has been developed from the traditional external field static test to the indoor dynamic test, and a comprehensive and real test result of a tested target is obtained through a corresponding target erection posture adjusting system. The traditional outfield static test is influenced by various factors such as outdoor climate environment, poor precision and confidentiality of a measurement system and the like, the authenticity and the stability of a RCS test result of a test target cannot be guaranteed, and the indoor near field microwave test has the characteristics of good confidentiality, small climate environment influence, high application efficiency, relatively low maintenance cost and the like, and is more suitable for batch and multi-dimensional test of the target compared with other measurement modes.
Most of the existing microwave test methods aim at the test of small and medium-sized targets, the accuracy requirements can be basically met, for some large targets, the microwave test methods are difficult to control, the test accuracy of the prior art for the large targets is relatively low, the test difficulty is relatively high, and the test requirements of the prior art for more comprehensive, truer and more reliable targets cannot be met.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a target pitching attitude adjusting and calculating method based on three-axis linkage, which can test a large target with high precision and good reliability.
In order to solve the technical problems, the invention adopts the following technical scheme:
a target pitching attitude adjusting and calculating method based on three-axis linkage comprises the following steps:
step S1: a hoisting system is adopted to simulate a Z-axis moving mechanism, a tested target is hoisted by the hoisting system, a hoisting point is one end of the tested target, the other end of the tested target is hinged to the top of a supporting system, the top of the supporting system is a supporting point of the tested target, an X-axis moving mechanism is arranged at the bottom of the supporting system, and the X-axis moving mechanism is used for driving the supporting system to move in the X direction;
step S2: the hoisting system, the supporting system and the X-axis moving mechanism are synchronously lifted to lift the tested target to a testing height;
step S3: after reaching the test height, enabling the hoisting system and the X-axis moving mechanism to synchronously operate, enabling the hoisting system to drive one end of the tested target to ascend, and simultaneously enabling the X-axis moving mechanism to drive the supporting system and the whole X-axis of the tested target to synchronously move in the positive direction, so that the tested target is in an elevation angle posture adjustment of + theta degrees;
step S4: then the hoisting system drives one end of the measured target to descend, and meanwhile the X-axis moving mechanism drives the supporting system and the measured target to integrally move in a negative-X direction synchronously, so that the measured target is in a depression angle of-theta degrees and is adjusted in posture;
step S5: calculating the actual displacement of the hoisting system in the Z direction and the support system in the X direction, wherein the calculation formula is as follows:
the system motion relation equation is as follows:
Figure GDA0003680501160000021
the system synchronous running time is as follows:
Figure GDA0003680501160000022
the relationship between the synchronous operation rotational speeds is:
Figure GDA0003680501160000023
the method comprises the following steps:
Figure GDA0003680501160000024
wherein L is the actual distance between the lifting point and the supporting point of the measured target, h 1 Height of lifting point from horizontal plane of measured target, h 2 The height of the supporting point from the horizontal plane of the measured target is theta, the pitch angle is theta, delta x is the moving distance of the supporting point when the pitch angle is theta, delta h is the lifting height of the lifting point when the pitch angle is theta, R is 1 、n 1 Are respectively a hoisting systemSpeed and diameter of the system in operation, R 2 、n 2 The rotating speed and the diameter of the X-axis moving mechanism during operation are respectively shown, and T is time.
Preferably, in step S1, the hoisting system hoists the tested object at a safe height of 0.5-1m in the test area.
Preferably, the hoisting system comprises a hoisting machine, and a hoisting rope is wound on the hoisting machine and used for hoisting the measured object.
Preferably, the support system comprises a plurality of support columns for supporting the object to be measured.
Preferably, X axle moving mechanism is including leading the slide, and support post slidable ground is connected at leading the slide top, leads the slide top and is provided with driving motor, and driving motor is connected with the drive lead screw, and the drive lead screw thread runs through support post.
Preferably, the X-axis moving mechanism is arranged at the bottom of the X-axis moving mechanism and used for driving the X-axis moving mechanism to move in the Y direction.
Preferably, the Y-axis moving mechanism includes a base, a support slide rail and a hydraulic slide rail are disposed on the base, and the guide slide is slidably connected to the support slide rail and the hydraulic slide rail.
The invention has the beneficial effects that:
1. the invention can synchronously adjust the vertical (Z) and horizontal (X) positions by the hoisting system and the supporting system, wherein the actual displacement in the vertical (Z) direction and the horizontal (X) direction is mainly realized according to the calculation method of the invention, scientific calculation is carried out by a mathematical formula, and the calculation precision is ensured, thereby completing the pitching attitude adjustment of the measured target, obtaining more comprehensive test results by combining the calculation, realizing the high-precision and good-reliability test of the large target, having standard operation and accurate calculation.
2. The hoisting system and the X-axis moving mechanism are automatically controlled during testing, the error is small, and the requirement of high-precision posture adjustment testing is met.
3. Before testing, the specific distance between the supporting systems can be determined according to the actual size of the tested target, and the position of the tested target in the Y direction can be adjusted through the Y-axis moving mechanism.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is a schematic diagram of a posture adjustment test of a target under test based on the method of the present invention;
fig. 2 is a schematic structural view of the integrated hoisting system, support system, X-axis moving mechanism and Y-axis moving mechanism according to the present invention.
Reference numerals:
100-a hoisting system, 110-a hoisting machine, 120-a lifting rope, 200-a measured object, 300-a supporting system, 400-an X-axis moving mechanism, 410-a guide sliding seat, 420-a driving motor, 430-a driving screw rod, 500-a Y-axis moving mechanism, 510-a base, 520-a supporting slide rail and 530-a hydraulic slide rail.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the embodiments of the present invention, it should be noted that, if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are usually placed in when used, the orientations or positional relationships are only used for convenience of describing the present invention and simplifying the description, but the terms do not indicate or imply that the devices or elements indicated must have specific orientations, be constructed in specific orientations, and operate, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not require that the components be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the embodiments of the present invention, it should be further noted that unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Examples
As shown in fig. 1-2, the present embodiment provides a method for adjusting and calculating a target pitch attitude based on three-axis linkage, including the following steps:
step S1: a hoisting system 100 is adopted to simulate a Z-axis moving mechanism, a tested object 200 is hoisted by the hoisting system 100, a hoisting point is one end of the tested object 200, the other end of the tested object 200 is hinged to the top of a supporting system 300, the top of the supporting system 300 is a supporting point of the tested object 200, an X-axis moving mechanism 400 is arranged at the bottom of the supporting system 300, and the X-axis moving mechanism 400 is used for driving the supporting system 300 to move in an X direction;
step S2: the hoisting system 100, the supporting system 300 and the X-axis moving mechanism 400 are synchronously lifted to lift the tested object to the testing height;
step S3: after reaching the test height, the hoisting system 100 and the X-axis moving mechanism 400 synchronously operate, the hoisting system 100 drives one end of the tested target 200 to ascend, and meanwhile, the X-axis moving mechanism 400 drives the supporting system 300 and the tested target 200 to integrally move in the X forward direction synchronously, so that the tested target 200 is in the elevation angle posture adjustment of + theta degrees;
step S4: then the hoisting system 100 drives one end of the measured target 200 to descend, and simultaneously the X-axis moving mechanism 400 drives the supporting system 300 and the measured target 200 to integrally move in a negative-direction X direction synchronously, so that the measured target 200 is positioned at a depression angle of-theta degrees for posture adjustment;
step S5: the Z-direction actual displacement of the hoisting system 100 and the X-direction actual displacement of the support system 300 are calculated according to the following formula:
the system motion relation equation is as follows:
Figure GDA0003680501160000061
the system synchronous running time is as follows:
Figure GDA0003680501160000062
the relationship between the synchronous operation rotational speeds is:
Figure GDA0003680501160000063
the method comprises the following steps:
Figure GDA0003680501160000064
wherein L is the actual distance (unit: mm) between the suspension point and the support point of the measured object 200, and h 1 Is the height (unit: mm) h of the lifting point from the 200 horizontal plane of the measured target 2 The height (unit: mm) of the supporting point from the horizontal plane of the measured target 200 is shown, theta is a pitch angle (unit: DEG), deltax is the moving distance (unit: mm) of the supporting point when the pitch angle is theta, deltah is the lifting height (unit: mm) of the lifting point when the pitch angle is theta, R is 1 、n 1 Respectively, the rotation speed (unit: rpm) and the diameter (unit: mm) of the hoisting system 100 during operation 2 、n 2 Respectively, the (unit: rpm) and the diameter (unit: mm) of the X-axis moving mechanism 400 at the time of operation, and T is the time (unit: s).
Specifically, in step S1, when the object 200 is hoisted by the hoisting system 100, the hoisting is performed at a test area safety height of 0.5 to 2m, so as to ensure safety.
Specifically, the hoisting system 100 includes a hoisting machine 110, a hoisting rope 120 is wound on the hoisting machine 110, and the hoisting rope 120 is used for hoisting the object 200 to be measured, where the hoisting rope 120 is typically a steel wire rope.
Specifically, the supporting system 300 includes a plurality of supporting pillars for supporting the object 200 to be measured, and the supporting pillars may be separately arranged or integrated, where two supporting pillars are generally arranged.
Specifically, the X-axis moving mechanism 400 includes a guide seat 410, a support pillar is slidably connected to the top of the guide seat 410, a driving motor 420 is disposed on the top of the guide seat 410, the driving motor 420 is connected to a driving screw 430, and the driving screw 430 penetrates through the support pillar. The driving motor 420 drives the driving screw 430 to rotate, so as to drive the supporting columns to slide on the guiding slide 410, a plurality of sliding rails matched with the corresponding supporting columns can be arranged on the guiding slide 410, a group of X-axis moving mechanisms 400 can be correspondingly arranged on each supporting column to drive all the supporting columns to move synchronously, all the supporting columns can be integrated together, and at the moment, a group of X-axis moving mechanisms 400 is arranged.
The driving motor 420 is a stepping motor or a servo motor. A stepper motor is an electric motor that converts electrical pulse signals into corresponding angular or linear displacements. The rotor rotates an angle or one step before inputting a pulse signal, the output angular displacement or linear displacement is proportional to the input pulse number, and the rotating speed is proportional to the pulse frequency. The required rotation angle, speed and direction can thus be obtained by controlling the number, frequency and phase sequence of the motor windings. The servo motor can control the speed and position accuracy accurately, and can convert the voltage signal into torque and rotating speed to drive a control object. The rotation speed of the rotor of the servo motor is controlled by an input signal and can quickly respond, the servo motor is used as an actuating element in an automatic control system, has the characteristics of small electromechanical time constant, high linearity and the like, and can convert a received electric signal into angular displacement or angular speed on a motor shaft for output. The servo motor is divided into two categories of direct current servo motors and alternating current servo motors, and is mainly characterized in that when the signal voltage is zero, the signal voltage has no autorotation phenomenon, and the rotating speed is reduced at a constant speed along with the increase of the torque. The stepping motor and the servo motor can accurately control the rotating speed and the steering, and the use requirement is met.
Specifically, the device further comprises a Y-axis moving mechanism 500, wherein the Y-axis moving mechanism 500 is arranged at the bottom of the X-axis moving mechanism 400, and the Y-axis moving mechanism 500 is used for driving the X-axis moving mechanism 400 to move in the Y direction. The Y-axis moving mechanism 500 includes a base 510, a support rail 520 and a hydraulic rail 530 are disposed on the base 510, the guide slider 410 is slidably connected to the support rail 520 and the hydraulic rail 530, and the hydraulic rail 530 drives the whole X-axis moving mechanism 400 to move along the support rail 520 and the hydraulic rail 530 in the Y-direction through hydraulic driving. When the staff determines the specific spacing between the support systems 300 according to the actual size of the target 200 to be measured, the position of the target 200 to be measured in the Y direction can be adjusted by the Y-axis moving mechanism 500, and the method can be used for realizing the test of targets with different types of sizes and has a wide application range.
It should be noted that the automatic devices of the winch 110, the driving motor 420, the hydraulic sliding rail 530, etc. in the present invention can be controlled by an upper computer (not shown in the figures), which is convenient for centralized control and operation.
According to the invention, the tested target 200 is borne by one set of the hoisting system 100 and a plurality of supporting systems 300 (generally two sets of the supporting systems can be used) and ascends to the testing height synchronously, the hoisting system 100 can be installed at a fixed position at the top of a testing factory building, the traction of one position of the tested target 200 is realized through the lifting rope 120, the supporting system 300 can be installed at a fixed position in a testing area, the support of other positions of the tested target 200 can be realized, the safe bearing of the tested target is realized through one hanging traction point and a plurality of bearing supporting points, and the safety and the stability are ensured. While movement in the X-direction of all support systems 300 is achieved by the X-axis movement mechanism 400. In addition, the bottom of the X-axis moving mechanism 400 is further provided with a Y-axis moving mechanism 500 for adjusting the position of the support system 300 in the Y direction when different types of dimensional target tests are performed.
The specific principle is as follows: firstly, the specific position between the supporting systems 300 is determined by the staff according to the actual size of the tested object, the upper computer is controlled to complete the position adjustment in the Y direction, then, the installation and fixation of the tested object 200 and the hoisting system 100 and the hoisting point and the supporting point of the supporting system 300 are completed by the staff at the safe height (within 2 m), and after the related inspection is completed by the inspector, the hoisting system 100 and the supporting system 300 synchronously bear the tested object 200 and ascend to the corresponding testing height. Meanwhile, according to the pitch attitude adjustment requirement of the tested target in the test task, the winch system 100 and the support system 300 synchronously adjust the position in the vertical (Z) direction and the position in the horizontal direction (X), wherein the actual displacement in the vertical (Z) direction and the actual displacement in the horizontal (X) direction are mainly realized according to the calculation method of the invention, so that the pitch attitude adjustment of the tested target is completed, and a more comprehensive test result is obtained by combining the test system.
In the following, taking a certain target L of 7350mm and h1+ h2 of 0.823 as an example, the change of the Z-direction synchronous driving displacement of the hoisting system 100 and the X-direction synchronous driving displacement of the supporting system 300 when the target realizes the ± 30 ° pitch angle adjustment is calculated as follows:
Figure GDA0003680501160000081
Figure GDA0003680501160000091
finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.

Claims (7)

1. A target pitching attitude adjusting and calculating method based on three-axis linkage is characterized by comprising the following steps:
step S1: a hoisting system is adopted to simulate a Z-axis moving mechanism, a tested target is hoisted by the hoisting system, a hoisting point is one end of the tested target, the other end of the tested target is hinged to the top of a supporting system, the top of the supporting system is a supporting point of the tested target, an X-axis moving mechanism is arranged at the bottom of the supporting system, and the X-axis moving mechanism is used for driving the supporting system to move in the X direction;
step S2: the hoisting system, the supporting system and the X-axis moving mechanism are synchronously lifted to lift the tested target to a testing height;
step S3: after reaching the test height, enabling the hoisting system and the X-axis moving mechanism to synchronously operate, enabling the hoisting system to drive one end of the tested target to ascend, and simultaneously enabling the X-axis moving mechanism to drive the supporting system and the whole X-axis of the tested target to synchronously move in the positive direction, so that the tested target is in an elevation angle posture adjustment of + theta degrees;
step S4: then the hoisting system drives one end of the measured target to descend, and meanwhile the X-axis moving mechanism drives the supporting system and the measured target to integrally move in a negative-X direction synchronously, so that the measured target is in a depression angle of-theta degrees and is adjusted in posture;
step S5: calculating the actual displacement of the hoisting system in the Z direction and the support system in the X direction, wherein the calculation formula is as follows:
the system motion relation equation is as follows:
Figure FDA0003680501150000011
the system synchronous running time is as follows:
Figure FDA0003680501150000012
the relationship between the synchronous operation rotational speeds is:
Figure FDA0003680501150000013
the method comprises the following steps:
Figure FDA0003680501150000014
wherein L is the actual distance between the lifting point and the supporting point of the measured target, h 1 Height of lifting point from horizontal plane of measured target, h 2 The height of the supporting point from the horizontal plane of the measured target is shown as theta, the pitch angle is shown as theta, delta x is the moving distance of the supporting point when the pitch angle is theta, delta h is the lifting height of the lifting point when the pitch angle is theta, and R is 1 、n 1 Respectively the rotation speed and the diameter R of the hoisting system in operation 2 、n 2 The rotating speed and the diameter of the X-axis moving mechanism during operation are respectively shown, and T is time.
2. The method as claimed in claim 1, wherein the step S1 is performed at a safety height of a test area of 0.5-1m when the target is hoisted by a hoisting system.
3. The target pitching attitude adjustment and calculation method based on the three-axis linkage as claimed in claim 1 or 2, wherein the hoisting system comprises a hoist, and a lifting rope is wound on the hoist and used for hoisting the measured target.
4. The method of claim 1, wherein the support system comprises a plurality of support columns, and the support columns are used for supporting the target to be measured.
5. The method for adjusting and calculating the target pitch attitude based on the three-axis linkage as claimed in claim 4, wherein the X-axis moving mechanism comprises a guide carriage, the support column is slidably connected to a top of the guide carriage, a driving motor is disposed on the top of the guide carriage, the driving motor is connected to a driving screw, and the driving screw penetrates through the support column.
6. The method for adjusting and calculating the target pitching attitude based on the three-axis linkage as claimed in claim 5, further comprising a Y-axis moving mechanism, wherein the Y-axis moving mechanism is disposed at the bottom of the X-axis moving mechanism, and the Y-axis moving mechanism is used for driving the X-axis moving mechanism to move in the Y direction.
7. The method for adjusting and calculating the target pitch attitude based on the three-axis linkage as claimed in claim 6, wherein the Y-axis moving mechanism comprises a base, a support slide rail and a hydraulic slide rail are disposed on the base, and the guide slide is slidably connected to the support slide rail and the hydraulic slide rail.
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