CN115979687A - Low-cost four-axis rotary table refitting method based on three-axis rotary table - Google Patents
Low-cost four-axis rotary table refitting method based on three-axis rotary table Download PDFInfo
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- CN115979687A CN115979687A CN202211429742.7A CN202211429742A CN115979687A CN 115979687 A CN115979687 A CN 115979687A CN 202211429742 A CN202211429742 A CN 202211429742A CN 115979687 A CN115979687 A CN 115979687A
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Abstract
The invention belongs to the technical field of aviation semi-physical simulation, and discloses a low-cost four-axis turntable refitting method based on a three-axis turntable. The method is based on a common three-axis turntable, a high-speed rolling system is additionally arranged on the three-axis turntable, meanwhile, a three-axis pitching shaft rotates 90 degrees, the four-axis turntable required by a project is skillfully obtained by using a mode of 3+1, the test requirement of the project on four axes is met, a large amount of manpower and material resources are saved, and the method has high economic value.
Description
Technical Field
The invention belongs to the technical field of aviation semi-physical simulation, relates to a tool for testing and evaluating an aircraft, and particularly relates to a low-cost four-axis rotary table refitting method based on a three-axis rotary table.
Background
The vertical launching aircraft adopts a vertical launching technology, and the vertical launching aircraft can rotate at a large angle exceeding +/-90 degrees in yaw, pitch and roll directions, so that certain difficulty is brought to semi-physical simulation. Because the conventional three-axis turntable used for semi-physical simulation of a control system takes vertical three axes as an example, the axial sequence from outside to inside is yaw-pitch-roll, and when the pitch angle is close to +/-90 degrees, the changes of the attitude angle and the angular speed of the aircraft cannot be normally reflected, and the phenomenon is called as the kinematic singularity of the turntable or the self-locking of the turntable.
From the physical structure of the turntable, as shown in fig. 1, when the pitching middle frame rotates to ± 90 degrees, the motion axes of the outer frame and the inner frame of the vertical three-axis turntable coincide, so that the turntable loses one degree of freedom, and the motion simulation of three degrees of freedom in space cannot be realized. Therefore, the vertical launching omnidirectional cruising semi-physical simulation test based on the conventional three-axis turntable vertical launching aircraft cannot be completed.
Aiming at the limitation of the conventional three-axis turntable, a four-axis simulation turntable application scheme is proposed in the industry, as shown in fig. 2. This type of four-axis turret has an axis sequence "yaw-pitch-yaw-roll" and it can be seen that there are two yaw frames. In the use process, four frame angular motion instructions can be reasonably planned, the frame is driven to move to drive the load to rotate, so that three attitude angles are reproduced, the phenomenon that the turntable is kinematically strange is avoided on the basis of ensuring that the expected attitude is obtained, and the attitude simulation of the full trajectory and large-angle maneuvering of the vertical-launching type cruise missile can be realized.
However, the existing four-axis rotary table in China has very low inventory, the purchase of one set of four-axis rotary table requires at least over 400 thousands of expenses, and the purchase period can also be as long as over 1 year. A new mode is urgently required to be searched for completing the full-track simulation of the vertical hair type aircraft.
Disclosure of Invention
In order to solve the problems, the invention provides a low-cost four-axis turntable modification method based on a three-axis turntable, which can obtain the four-axis turntable at a low cost in a short time so as to meet the test requirements of projects on four axes.
The technical scheme of the invention is as follows:
a low-cost four-axis turntable modification method based on a three-axis turntable is characterized in that a high-speed rolling system is installed on an original rolling inner frame of the three-axis turntable, the high-speed rolling system is used for simulating rolling of an aircraft, the original rolling inner frame is used for simulating yawing of the aircraft, an original pitching middle frame is used for simulating pitching of the aircraft, and an original yawing outer frame is used for simulating yawing of the aircraft.
Furthermore, the high-speed rolling system is provided with a rectangular clamp which is fixed on a mounting surface of an original rolling inner frame of the three-axis rotary table, and the high-speed rolling system can rotate around the central axis on the original rolling inner frame.
Further, a product mounting surface is arranged in the center of the rectangular clamp of the high-speed rolling system, and the product mounting surface can rotate relative to the mounting plate.
Furthermore, one end of the high-speed rolling system is a motor part, the other end of the high-speed rolling system is a product mounting surface, and a rectangular clamp is arranged in the middle of the high-speed rolling system; the rotating shaft of the motor part is connected with the product mounting surface to control the rotation of the product mounting surface.
Furthermore, the product mounting surface is a structure with a clamping opening, and when the aircraft test product is clamped in the clamping opening, the central point of the aircraft test product is coincided with the positive central point of the rectangular clamp.
Furthermore, the motor control of the high-speed rolling system is linked with the control of the original three-axis turntable, and the frame control logic of the original three-axis turntable is adjusted to conform to the new simulation action.
Further, the method specifically comprises the following steps:
designing a single-shaft high-speed rolling system;
designing a rectangular fixture of a high-speed rolling system, and fixing the single-shaft high-speed rolling system on a load mounting surface of an original three-shaft turntable;
step three, designing a product mounting surface on a high-speed rolling system;
and step four, rotating the pitch axis of the original three-axis rotary table by 90 degrees, additionally arranging a high-speed rolling system on the three-axis rotary table, and changing the axial sequence of the pitch axis rotated by 90 degrees from yaw-pitch-roll into yaw-pitch-yaw-roll which is consistent with the axial sequence of the conventional four-axis rotary table.
The invention has the following beneficial effects:
1. the method is based on a common three-axis turntable, a high-speed rolling system is additionally arranged on the three-axis turntable, meanwhile, a three-axis pitching shaft rotates 90 degrees, a four-axis turntable required by a project is skillfully obtained by using a mode of '3+1', and the test requirement of the project on four axes is met.
2. Because the method only designs and processes the high-speed rolling system (the single-shaft rotary table), the four-shaft rotary table can be assembled in a short time with lower cost, a large amount of manpower and material resources are saved, and the method has higher economic value.
3. The turntable modification method effectively improves the simulation test means of the vertical emission type cruise missile.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some examples of the present invention, and therefore should not be considered as limiting the scope, and that for those skilled in the art, other related drawings can be obtained according to the drawings without inventive effort.
FIG. 1 is a schematic view of a three-axis turret of the background of the invention;
FIG. 2 is a schematic diagram of a four-axis turntable according to the background art of the present invention;
FIG. 3 is a schematic diagram of the high speed scrolling system of the present invention;
FIG. 4 is another side schematic view of the high speed scrolling system of the present invention;
FIG. 5 is a model diagram of a three-axis rotary table with a high-speed rolling system;
FIG. 6 is a schematic diagram of the change of the axial sequence of the three-axis turntable in the invention;
the device comprises a rectangular clamp 1, a motor part 2, a product mounting surface 3, a three-axis turntable 4, an outer frame 5, a middle frame 6, an inner frame 7 and a rolling shaft 8.
Detailed Description
This section is an example of the present invention and is provided to explain and illustrate the technical solutions of the present invention. The embodiments of the invention and the features of the embodiments can be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the directions or positional relationships indicated in the drawings to facilitate the description of the invention and to simplify the description, but are not intended to indicate or imply that the device or case being referred to must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner and therefore are not to be construed as limiting the invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include more than one of the feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected" and "connected" should be interpreted broadly, and may be, for example, a fixed connection, a detachable connection or an integrated connection; the connection can be mechanical connection or point connection; either directly or indirectly through intervening profiles, or both. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
A low-cost four-axis turntable modification method based on a three-axis turntable is characterized in that a high-speed rolling system is installed on an original rolling inner frame of the three-axis turntable, the high-speed rolling system is used for simulating rolling of an aircraft, the original rolling inner frame is used for simulating yawing of the aircraft, an original pitching middle frame is used for simulating pitching of the aircraft, and an original yawing outer frame is used for simulating yawing of the aircraft.
The high-speed rolling system is provided with a rectangular clamp which is fixed on a mounting surface of an original rolling inner frame of the three-axis turntable, and the high-speed rolling system can rotate around a central axis on the original rolling inner frame.
A product mounting surface is arranged in the center of the rectangular clamp of the high-speed rolling system and can rotate relative to the mounting plate.
One end of the high-speed rolling system is a motor part, the other end of the high-speed rolling system is a product mounting surface, and a rectangular clamp is arranged in the middle of the high-speed rolling system; the rotating shaft of the motor part is connected with the product mounting surface to control the rotation of the product mounting surface.
The product mounting surface is a structure with a clamping opening, and when the aircraft test product is clamped in the clamping opening, the central point of the aircraft test product coincides with the positive central point of the rectangular clamp.
The motor control of the high-speed rolling system is linked with the control of the original three-axis turntable, and the frame control logic of the original three-axis turntable is adjusted to conform to the new simulation action.
The method specifically comprises the following steps:
designing a single-shaft high-speed rolling system;
designing a rectangular fixture of a high-speed rolling system, and fixing the single-shaft high-speed rolling system on a load mounting surface of an original three-shaft turntable;
step three, designing a product mounting surface on a high-speed rolling system;
and step four, rotating the pitching axis of the original three-axis turntable by 90 degrees, additionally arranging a high-speed rolling system on the three-axis turntable, and changing the axial sequence of the rotated pitching axis by 90 degrees from yaw-pitching-rolling into yaw-pitching-yaw-rolling, which is consistent with the axial sequence of the conventional four-axis turntable.
A specific embodiment of the present invention is described below with reference to the drawings.
First, a single-axis high-speed rolling system (single-axis turntable) is designed, which is mounted on a high-speed rolling system mounting plate, and which is rotatable about a central axis. The high-speed rolling system mounting plate needs to be matched with a loaded three-axis turntable load mounting surface. The high speed rolling system and its mounting plate are shown in fig. 3:
inspired by the application of a single-shaft high-speed rolling shaft, the high-speed rolling system and a mounting plate thereof are installed in the three-shaft turntable, and meanwhile, a pitching shaft of the three-shaft turntable is rotated by 90 degrees.
As shown in fig. 4, the three-axis rotary table is additionally provided with the high-speed rolling system, and the axial sequence of the pitch axis rotated by 90 ° is changed from yaw-pitch-roll to yaw-pitch-yaw-roll, which is consistent with the axial sequence of the four-axis rotary table in fig. 2, which means that the three-axis rotary table additionally provided with the high-speed rolling system is changed into a four-axis rotary table. According to the method for additionally installing the high-speed rolling system on the basis of the three-axis rotary table, the three-axis rotary table is successfully modified into the four-axis rotary table, and the payment cost is low.
The method comprises the following steps:
1. firstly, a single-shaft high-speed rolling system (single-shaft rotary table) is designed for adding one degree of freedom on the original three-shaft rotary table, and the problem that motion simulation of three degrees of freedom in space cannot be realized when one degree of freedom is lost by the vertical three-shaft rotary table can be solved.
2. And designing a high-speed rolling system mounting plate for connecting the single-shaft high-speed rolling system and fixing the single-shaft high-speed rolling system on the original three-shaft turntable load mounting surface.
3. And designing a user use interface on the high-speed rolling system, and communicating with a user interface of the rolling frame of the original three-axis turntable.
4. The high-speed rolling system can rotate around the central axis, and the pitching axis of the original three-axis turntable is rotated by 90 degrees in use according to the structure of the turntable and the requirements of the rotating axis sequence, so that the pitching frame, the rolling frame and the high-speed rolling system of the original turntable form a pitching-yawing-rolling axis sequence.
5. The triaxial rotary table is additionally provided with a high-speed rolling system, the shaft sequence of the pitching shaft which rotates by 90 degrees is changed into yaw-pitching-yawing-rolling from yaw-pitching-rolling, and the shaft sequence is consistent with that of the conventional four-axis rotary table, which means that the triaxial rotary table additionally provided with the high-speed rolling system is changed into the four-axis rotary table.
Claims (8)
1. A low-cost four-axis turntable modification method based on a three-axis turntable is characterized in that a high-speed rolling system is installed on an original rolling inner frame of the three-axis turntable, the high-speed rolling system is used for simulating rolling of an aircraft, the original rolling inner frame is used for simulating yawing of the aircraft, an original pitching middle frame is used for simulating pitching of the aircraft, and an original yawing outer frame is used for simulating yawing of the aircraft.
2. The method for modifying the low-cost four-axis rotary table based on the three-axis rotary table as claimed in claim 1, wherein the high-speed rolling system comprises a rectangular fixture fixed on the mounting surface of the original rolling inner frame of the three-axis rotary table, and the high-speed rolling system can rotate around the central axis on the original rolling inner frame.
3. The low-cost four-axis turntable refitting method based on the three-axis turntable is characterized in that the product mounting surface is arranged in the center of the rectangular clamp of the high-speed rolling system and can rotate relative to the mounting plate.
4. The low-cost four-axis turntable refitting method based on the three-axis turntable is characterized in that one end of the high-speed rolling system is a motor part, the other end of the high-speed rolling system is a product mounting surface, and a rectangular clamp is arranged in the middle of the high-speed rolling system; the rotating shaft of the motor part is connected with the product mounting surface to control the rotation of the product mounting surface.
5. The low-cost four-axis turntable refitting method based on the three-axis turntable is characterized in that the product mounting surface is of a structure with a clamping opening, and when an aircraft test product is clamped in the clamping opening, the center point of the aircraft test product is coincided with the positive center point of the rectangular clamp.
6. The low-cost four-axis turntable refitting method based on the three-axis turntable as claimed in claim 1, wherein the motor control of the high-speed rolling system is linked with the control of the original three-axis turntable, and the frame control logic of the original three-axis turntable is adjusted to conform to the new simulation action.
7. The low-cost four-axis turntable refitting method based on the three-axis turntable as claimed in claim 1, is characterized by comprising the following steps:
designing a single-shaft high-speed rolling system;
designing a rectangular fixture of a high-speed rolling system, and fixing the single-shaft high-speed rolling system on a load mounting surface of an original three-shaft turntable;
designing a product mounting surface on a high-speed rolling system;
and step four, rotating the pitching axis of the original three-axis turntable by 90 degrees, additionally arranging a high-speed rolling system on the three-axis turntable, and changing the axial sequence of the rotated pitching axis by 90 degrees from yaw-pitching-rolling into yaw-pitching-yaw-rolling, which is consistent with the axial sequence of the conventional four-axis turntable.
8. The low-cost four-axis turntable refitting method based on the three-axis turntable as claimed in claim 7, further comprising a step five of integrating the rotation control of the high-speed rolling system and the rotation control of the three-axis turntable on the same platform and adjusting the rotation rate to be the same.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211429742.7A CN115979687A (en) | 2022-11-14 | 2022-11-14 | Low-cost four-axis rotary table refitting method based on three-axis rotary table |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211429742.7A CN115979687A (en) | 2022-11-14 | 2022-11-14 | Low-cost four-axis rotary table refitting method based on three-axis rotary table |
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| CN115979687A true CN115979687A (en) | 2023-04-18 |
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| CN202211429742.7A Pending CN115979687A (en) | 2022-11-14 | 2022-11-14 | Low-cost four-axis rotary table refitting method based on three-axis rotary table |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117074798A (en) * | 2023-08-11 | 2023-11-17 | 河北斐然科技有限公司 | Satellite antenna test turntable applied to navigation function aircraft |
| CN117074798B (en) * | 2023-08-11 | 2024-05-17 | 河北斐然科技有限公司 | Satellite antenna test turntable applied to navigation function aircraft |
-
2022
- 2022-11-14 CN CN202211429742.7A patent/CN115979687A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117074798A (en) * | 2023-08-11 | 2023-11-17 | 河北斐然科技有限公司 | Satellite antenna test turntable applied to navigation function aircraft |
| CN117074798B (en) * | 2023-08-11 | 2024-05-17 | 河北斐然科技有限公司 | Satellite antenna test turntable applied to navigation function aircraft |
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