CN113607072A - Backlash error calibration mechanism and method for large antenna scaling platform transmission system - Google Patents
Backlash error calibration mechanism and method for large antenna scaling platform transmission system Download PDFInfo
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- CN113607072A CN113607072A CN202110932786.0A CN202110932786A CN113607072A CN 113607072 A CN113607072 A CN 113607072A CN 202110932786 A CN202110932786 A CN 202110932786A CN 113607072 A CN113607072 A CN 113607072A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 24
- 230000005540 biological transmission Effects 0.000 title claims abstract description 18
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000005259 measurement Methods 0.000 claims abstract description 32
- 238000005452 bending Methods 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/14—Measuring arrangements characterised by the use of mechanical techniques for measuring distance or clearance between spaced objects or spaced apertures
- G01B5/16—Measuring arrangements characterised by the use of mechanical techniques for measuring distance or clearance between spaced objects or spaced apertures between a succession of regularly spaced objects or regularly spaced apertures
- G01B5/166—Measuring arrangements characterised by the use of mechanical techniques for measuring distance or clearance between spaced objects or spaced apertures between a succession of regularly spaced objects or regularly spaced apertures of gear teeth
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
- H01Q3/04—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole for varying one co-ordinate of the orientation
Abstract
The invention discloses a mechanism and a method for calibrating a backlash error of a transmission system of a large-antenna scaling platform, wherein the mechanism comprises a pitching shaft, a pitching gear, a monocular photography system, a left side driving system, a right side driving system, a contact measurement system and a controller; the pitching shaft passes through the pitching gear and is coaxially fixed; the monocular photography system and the pitching gear are in non-contact measurement, the contact measurement system and the pitching gear are in contact measurement, and the coaxiality of the pitching gear and a pitching shaft is adjusted; the driving gears of the left and right driving systems are respectively meshed with the two sides of the pitch gear, the rotation error of the pitch gear is obtained by comparing the positive and negative rotation of the single gear of the driving gear and the alternate positive and negative rotation of the double gears, the error values are respectively used as compensation values to be fed back to the left and/or right driving systems, and the error caused by the backlash in the left and/or right driving systems is calibrated. The invention has simple structure, and can respectively calibrate the error caused by the backlash in the transmission system under two working conditions by feeding back the difference value between the monocular photography system and the driving system to the driving system.
Description
Technical Field
The invention belongs to an error calibration mechanism of astronomical equipment, and particularly relates to a backlash error calibration mechanism and a method for a large antenna scaling platform transmission system.
Background
The measurement and calibration technique of the pointing error is an important subject of current research as an important means for improving the positioning accuracy of a large antenna. When the antenna executes an observation task, the pitching motion is required to be carried out in real time according to the observation requirement, and the pitching motion is reflected to the pitching gear to realize the forward and reverse rotation function.
At present, in a transmission system of a large antenna pitching gear, a common gear transmission is generally adopted. Namely, the torque of the motor is transmitted to the pitching gear through the pinion, and the antenna is driven to execute pitching action. The positive and negative rotation of the pitching gear can be realized by the positive and negative rotation of a single motor or the positive and negative rotation of a double motor in a matching mode. However, this transmission method has the following problems:
1) when the transmission gear is meshed, tooth gaps exist, the tooth gaps with different sizes can cause errors with different degrees, under the actual working condition, the tooth gaps are often uncontrollable, and a corresponding compensation mechanism and a corresponding calibration method are lacked;
2) compared with the forward and reverse rotation of a single motor, the dual-motor matched alternate forward and reverse rotation can effectively eliminate the backlash error, but the backlash error under two working conditions is relatively complex in forming mechanism, so that the backlash error cannot be accurately calibrated.
Disclosure of Invention
In order to measure and calibrate the influence of the transmission gear backlash on the antenna pointing error of a large-aperture antenna transmission system under the two conditions of single-motor forward and reverse rotation and double-motor matched alternate forward and reverse rotation, the invention designs a backlash error calibration mechanism of a large-antenna scaling platform transmission system and provides an error calibration method corresponding to the system.
The invention is realized by the following technical scheme.
On one hand, the invention provides a backlash error calibration mechanism of a large antenna scaling platform transmission system, which comprises a pitching shaft, a pitching gear, a monocular photography system, a left side driving system, a right side driving system, a contact measurement system and a controller; wherein:
the pitching shaft penetrates through the pitching gear and is coaxially and fixedly connected with the pitching gear;
the monocular photography system and the pitching gear are in non-contact measurement, the contact measurement system and the pitching gear are in contact measurement, and the coaxiality of the pitching gear and a pitching shaft is adjusted;
the left driving system and the right driving system are respectively positioned at two sides of the pitch gear and are symmetrical with the pitch gear, and driving gears of the left driving system and the right driving system are respectively meshed with two sides of the pitch gear;
the controller is used for comparing the positive and negative rotation of the single gear of the driving gear and the alternate positive and negative rotation of the double gears in a matching way to obtain the rotation error of the pitching gear, the error values are respectively used as compensation values to be fed back to the left and/or right driving system, and the error caused by the backlash in the left and/or right driving system is calibrated.
With respect to the above technical solutions, the present invention has a further preferable solution:
preferably, the pitch shaft passes through the pitch gear by a support frame, and the support frame can move along the X-axis direction.
Preferably, the monocular photography system is located in the Y-axis direction of the pitch gear, and the monocular photography system includes a CCD camera and an X-axis moving stage, and the CCD camera is fixed on the X-axis moving stage and moves in the X-axis direction of the pitch gear.
Preferably, the side of the pitch gear facing the monocular photography system is attached to the target.
Preferably, the left and right driving systems respectively comprise a driving motor, a driving gear, an encoder and an X-axis moving table, the driving motor is fixed above the X-axis moving table, an output shaft of the driving motor is connected with the driving gear, and the driving gear is meshed with the driving pitch gear; the meshing backlash is adjusted by the X-axis moving table.
Preferably, the contact measurement system comprises a micrometer and a Y-axis mobile station, the micrometer is located at the top of the Y-axis mobile station, the Y-axis mobile station can move along the Y-axis direction, and the micrometer and the pitching axis are in slight contact in a measurement state.
Preferably, the micrometer is fixed on the top of the Y-axis moving table through an extension arm, and the extension arm is a bending arm.
In another aspect of the present invention, a method for calibrating backlash error of a large antenna scaling platform transmission system of the mechanism is provided, which comprises:
the contact measurement system is in contact measurement with the pitch gear, and the pitch gear is moved by the support frame to be adjusted to be coaxial with bearings at two ends of the pitch shaft;
the monocular photography system and the pitching gear are measured in a non-contact mode, and the target position of the pitching gear is obtained through the CCD camera, so that the deviation value of the pitching gear is obtained;
when a single-side motor of the left and right driving systems rotates forwards and backwards, the left and right driving systems acquire a difference value between a signal output by the encoder and a signal output by the monocular photography system and calibrate the left and right driving systems respectively as a compensation value;
when the motors on the two sides are matched to alternately rotate forwards and backwards, the left driving system and the right driving system respectively acquire signals output by the encoders and signals output by the monocular photography system to obtain signal difference values, and the controller respectively calibrates errors caused by backlash in the driving systems.
Preferably, the first driving gear and the pitch gear of the left side driving system are always meshed with the second driving gear of the right side driving system;
a first driving motor of the left side driving system rotates forwards, and a pulse signal X is output by a first encoder; a second driving motor of the right driving system rotates reversely, and a second encoder outputs a pulse signal Y;
the monocular photography system outputs a rotation pulse signal Z of a pitching axis;
feeding back a difference value alpha between the pulse signal X and the pulse signal Z to a left driving system, and calibrating an error caused by the backlash of the system by the left driving system;
the difference β between the pulse signal Y and the pulse signal Z is fed back to the right drive system, which corrects for the errors caused by the backlash in the drive system.
The difference α between the pulse signal X and the pulse signal Z satisfies: α ═ Z-X;
the difference β between the pulse signal Y and the pulse signal Z satisfies: β -Z-Y.
The backlash error calibration mechanism has the following advantages in the aspects of researching the backlash error influence mechanism of the large antenna transmission mechanism, calibrating and improving the pointing accuracy of the large antenna:
in the invention, by introducing a non-contact measurement system of photogrammetry, the additional error factor caused by installing the sensor can be reduced. Meanwhile, the non-contact system can move in a single degree of freedom through the translation table, and a target can be found on the side face of the pitching gear more accurately.
In the invention, the coaxiality of the supports at the two ends of the pitching shaft is measured and adjusted by a micrometer in the contact measurement system, so that the error caused by different shafts of the supports at the two ends of the pitching shaft in the early stage of the experiment is reduced.
In the invention, the left side and the right side of the pitching gear are respectively provided with the driving system, so that the factors of the rotation error of the pitching gear under the working condition that the forward and reverse rotation of the single gear and the alternate forward and reverse rotation of the double gear are compared more conveniently and rapidly.
In the invention, the backlash between the pitch gear and the left and right driving gears can be respectively adjusted and controlled by the X-axis mobile station. The influence of the positive and negative rotation of the single gear on the rotation of the pitching gear under different tooth gaps can be conveniently analyzed.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention:
FIG. 1 is a three-dimensional schematic view of the alignment mechanism of the present embodiment;
FIG. 2 is a schematic diagram of backlash error calibration in the present invention;
FIG. 3 is a logic diagram of the difference α between the pulse signal X and the pulse signal Z according to the present invention;
FIG. 4 is a logic relationship diagram of the difference β between the pulse signal Y and the pulse signal Z according to the present invention.
In the figure: 1. a pitch axis; 2. a pitch gear; 3. a support frame; 4. a monocular photography system; 41. a CCD camera; 42. an X-axis moving stage; 5. a left side drive system; 51. a first drive motor; 52. a first drive gear; 53. a first encoder; 54. a first X-axis moving stage; 6. a right side drive system; 61. a second drive motor; 62. a second drive gear; 63. a second encoder; 63. a second X-axis moving stage; 7. a contact measurement system; 71. a micrometer; 72. and a Y-axis moving table.
Detailed Description
The present invention will now be described in detail with reference to the drawings and specific embodiments, wherein the exemplary embodiments and descriptions of the present invention are provided to explain the present invention without limiting the invention thereto.
Referring to fig. 1, the calibration mechanism provided in this embodiment includes a tilt shaft 1, a tilt gear 2, a support frame 3, a monocular photography system 4, a left side driving system 5, a right side driving system 6, a contact measurement system 7, and a controller. The pitching shaft 1 penetrates through the pitching gear 2 through the supporting frame 3, and is coaxially and fixedly connected with the pitching gear 2. The support frame 3 can move along the X-axis direction and is fixed by two bolts. The monocular photographing system 4 is located behind the pitch gear 2 (in the Y-axis direction), the left driving system 5 and the right driving system 6 are located on the left and right sides (in the X-axis direction) of the pitch gear 2, respectively, and are symmetrically distributed about the pitch axis 1, and the contact measuring system 7 is located on the left side of the pitch gear 2.
As shown in fig. 1 and 2, the monocular photography system 4 includes a CCD camera 41, an X-axis moving stage 42, and a base plate. Wherein the CCD camera 41 is fixed above the X-axis moving stage 42, and the X-axis moving stage 41 in the monocular photography system 4 can move the CCD camera 41 fixed above it in the X-axis direction, so that the CCD camera 41 finds a desired target on the pitch gear 2. The X-axis moving stage 42 can perform position adjustment in the X-axis direction before positioning and measuring the rotation angle of the pitch gear 2. The side of the pitching gear 2 facing the monocular photography system 4 is pasted with a target, and the CCD camera 41 in the monocular photography system 4 records and processes the position information of the pitching gear 2 and feeds back a pulse signal Z. When the pitch gear 2 rotates, the CCD camera 41 records and processes its motion information, outputting a pulse signal Z.
As shown in fig. 1 and 2 in conjunction, the left side driving system 5 includes a first driving motor 51, a first driving gear 52, a first encoder 53, and a first X-axis moving stage 54. The first driving motor 51 is fixed above the first X-axis moving stage 54, and an output shaft of the first driving motor 51 is connected to the first driving gear 52. The first driving gear 52 is a driving gear, and the pitch gear 2 is a driven gear, which are engaged with each other, and the backlash of the first X-axis moving stage 54 can be adjusted. The first X-axis moving stage 54 in the left side driving system 5 can move the first driving motor 51 fixed thereon in the X-axis direction, thereby adjusting the backlash between the first driving gear 52 and the pitch gear 2 in the system. The first encoder 51 of the left side driving system 5 records the rotation angle of the first driving motor 51 in the system and feeds back a pulse signal X; when the first driving motor 51 receives the pulse command to rotate, the first encoder 53 installed at the rear thereof outputs a corresponding pulse signal X.
The right side driving system 6 includes a second driving motor 61, a second driving gear 62, a second encoder 63, and a second X-axis moving stage 64, and is similar in structure to the left side driving system 5. The second X-axis moving stage 64 in the right-side drive system 6 can move the second drive motor 61 fixed above it in the X-axis direction, thereby adjusting the backlash between the second drive gear 62 and the pitch gear 2 in the system. The second encoder 63 of the right driving system 6 records the rotation angle of the second driving motor 61 in the system and feeds back a pulse signal Y; when the second driving motor 61 receives the pulse command to rotate, the second encoder 63 installed at the rear thereof outputs a corresponding pulse signal Y.
As shown in connection with fig. 1, the contact measurement system 7 includes a micrometer 71 and a Y-axis moving stage 72. The micrometer 71 is fixed above the Y-axis moving table 72 by a holder. The Y-axis moving stage 72 in the touch measurement system 7 can move the micrometer 71 fixed above it in the Y-axis direction, and the micrometer 71 is in slight contact with the pitch axis 1 in the measurement state. Before the calibration structure works, the contact measurement needs to be carried out on the pitching shaft 1, at the moment, the micrometer 71 in the contact measurement system 7 carries out the movement measurement on the pitching shaft 1 along with the Y-axis moving table 72, the micrometer 71 measures the relative position of the two ends of the pitching shaft 1 along the X-axis direction, and the position of one end of the pitching shaft 1 is adjusted through the support frame 3 so as to ensure that the bearings at the two ends of the pitching shaft 1 are coaxial.
In this embodiment, when the single-sided motor performs a forward/reverse rotation operation, for example, the first driving motor 51 is rotated forward/reverse, there is a difference α between the pulse signal X output from the first encoder 53 and the pulse signal Z output from the monocular photographing system 4, the difference α reflects an error caused by backlash when the single-sided motor is rotated forward/reverse, the difference α is fed back to the driving system as a compensation value, and the error caused by backlash in the driving system can be calibrated by the controller. When the double-sided motor is rotated in a forward and reverse direction alternately, for example, the first driving motor 51 rotates forward, the pulse signal X output by the first encoder 53 rotates in a reverse direction by the second driving motor 61 on the right side, and the second encoder 63 outputs a pulse signal Y. In this process, the first drive gear 52, the pitch gear 2, and the second drive gear 62 are always meshed. The difference value alpha between the pulse signal X and the pulse signal Z is fed back to the left side driving system, the error caused by the backlash in the driving system can be calibrated through the controller, the difference value beta between the pulse signal Y and the pulse signal Z is fed back to the right side driving system, and the error caused by the backlash in the driving system can be calibrated through the controller.
As shown in fig. 3 and 4, the error between the backlash can be expressed by the logical relationship:
the logical relationship of the difference value alpha between the pulse signal X and the pulse signal Z in the system satisfies: α ═ Z-X;
the logical relationship of the difference value beta between the pulse signal Y and the pulse signal Z in the system satisfies: β -Z-Y.
The embodiment can show that the structure of the invention can accurately calibrate the errors of different degrees caused by the backlash generated when the gear is meshed, thereby providing a reliable calibrating device for the measurement and calibration of the positioning accuracy and the pointing error of the large antenna.
The present invention is not limited to the above-mentioned embodiments, and based on the technical solutions disclosed in the present invention, those skilled in the art can make some substitutions and modifications to some technical features without creative efforts according to the disclosed technical contents, and these substitutions and modifications are all within the protection scope of the present invention.
Claims (10)
1. A backlash error calibration mechanism of a large antenna scaling platform transmission system is characterized by comprising a pitching shaft, a pitching gear, a monocular photography system, a left side driving system, a right side driving system, a contact measurement system and a controller; wherein:
the pitching shaft penetrates through the pitching gear and is coaxially and fixedly connected with the pitching gear;
the monocular photography system and the pitching gear are in non-contact measurement, the contact measurement system and the pitching gear are in contact measurement, and the coaxiality of the pitching gear and a pitching shaft is adjusted;
the left driving system and the right driving system are respectively positioned at two sides of the pitch gear and are symmetrical with the pitch gear, and driving gears of the left driving system and the right driving system are respectively meshed with two sides of the pitch gear;
the controller is used for comparing the positive and negative rotation of the single gear of the driving gear and the alternate positive and negative rotation of the double gears in a matching way to obtain the rotation error of the pitching gear, the error values are respectively used as compensation values to be fed back to the left and/or right driving system, and the error caused by the backlash in the left and/or right driving system is calibrated.
2. The mechanism of claim 1, wherein the pitch axis passes through the pitch gear via a support frame, and the support frame is capable of moving along the X-axis.
3. The mechanism of claim 1, wherein the monocular camera system is located in the Y-axis direction of the pitch gear, the monocular camera system comprises a CCD camera and an X-axis moving stage, and the CCD camera is fixed to the X-axis moving stage and moves along the X-axis direction of the pitch gear.
4. The mechanism of claim 3, wherein the tilt gear is attached to the target on a side of the monocular photography system.
5. The mechanism of claim 1, wherein the left and right driving systems respectively comprise a driving motor, a driving gear, an encoder and an X-axis moving stage, the driving motor is fixed above the X-axis moving stage, an output shaft of the driving motor is connected with the driving gear, and the driving gear is engaged with the pitching gear; the meshing backlash is adjusted by the X-axis moving table.
6. The mechanism of claim 1, wherein the contact measurement system comprises a micrometer and a Y-axis moving stage, the micrometer is located on the top of the Y-axis moving stage, the Y-axis moving stage can move along the Y-axis direction, and the micrometer and the pitching axis slightly contact in the measurement state.
7. The mechanism of claim 6, wherein the micrometer is fixed to the top of the Y-axis moving table through an extension arm, and the extension arm is a bending arm.
8. A method for calibrating backlash error of a large antenna scaling platform drive system of a mechanism according to any one of claims 1 to 7, comprising:
the contact measurement system is in contact measurement with the pitch gear, and the pitch gear is moved by the support frame to be adjusted to be coaxial with bearings at two ends of the pitch shaft;
the monocular photography system and the pitching gear are measured in a non-contact mode, and the target position of the pitching gear is obtained through the CCD camera, so that the deviation value of the pitching gear is obtained;
when a single-side motor of the left and right driving systems rotates forwards and backwards, the left and right driving systems acquire a difference value between a signal output by the encoder and a signal output by the monocular photography system and calibrate the left and right driving systems respectively as a compensation value;
when the motors on the two sides are matched to alternately rotate forwards and backwards, the left driving system and the right driving system respectively acquire signals output by the encoders and signals output by the monocular photography system to obtain signal difference values, and the controller respectively calibrates errors caused by backlash in the driving systems.
9. The method for calibrating the backlash error of the transmission system of the large antenna scaling platform of claim 8, wherein the first driving gear and the pitch gear of the left driving system are always meshed with the second driving gear of the right driving system;
a first driving motor of the left side driving system rotates forwards, and a pulse signal X is output by a first encoder; a second driving motor of the right driving system rotates reversely, and a second encoder outputs a signal pulse Y;
the monocular photography system outputs a rotation pulse signal Z of a pitching axis;
feeding back a difference value alpha between the pulse signal X and the pulse signal Z to a left driving system, and calibrating an error caused by the backlash of the system by the left driving system;
the difference β between the pulse signal Y and the pulse signal Z is fed back to the right drive system, which corrects for the errors caused by the backlash in the drive system.
10. The method for calibrating the backlash error of the transmission system of the large antenna scaling platform according to claim 9, wherein the difference α between the pulse signal X and the pulse signal Z satisfies the following condition: α ═ Z-X;
the difference β between the pulse signal Y and the pulse signal Z satisfies: β -Z-Y.
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| CN202110932786.0A CN113607072B (en) | 2021-08-13 | 2021-08-13 | Large antenna scaling platform transmission system backlash error calibration mechanism and calibration method |
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| CN202110932786.0A CN113607072B (en) | 2021-08-13 | 2021-08-13 | Large antenna scaling platform transmission system backlash error calibration mechanism and calibration method |
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| CN113607072B CN113607072B (en) | 2024-03-15 |
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| CN113607072B (en) | 2024-03-15 |
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