CN1232801C - High precision ultra-slow speed testing turntable with double shafts for servo test - Google Patents

Abstract

The test turntable used for high-precision ultra-low-speed dual-axis servo testing belongs to the field of motion servo technology. The displacement sensor constitutes a complementary measurement component, which realizes the measurement of the system's high-precision real-time motion parameters and system deformation; the use of the reducer located between each torque motor and the inner and outer frames realizes the conversion of micro-displacement and small displacement, large moment of inertia and Conversion of small moments of inertia to flexibly drive the test turntable with less force. When the resolution of the angular position sensor is selected to be 1", the system tracking speed is lower than 1 ("/hour second); the system angle tracking and measurement accuracy are ±1.5.

Description

Test turntable for high-precision ultra-low speed two-axis servo test

technical field

The invention belongs to the technical field of motion servo, in particular to the field of high-precision position measurement and servo tracking test turntable manufacturing of inertial navigation products.

Background technique

High-precision motion servo, especially ultra-low-speed servo system is a high-tech subject, which involves advanced technologies in different fields such as electronics, machinery, materials, optics, manufacturing, measurement, analog and digital control. The integral role of the technical field, and in particular the navigation field, is underscored. At present, a lot of research work has been done in this area at home and abroad, but the contradictions of large inertia, ultra-low speed and high precision have not been well resolved. In view of the characteristics of direct drive and single detection sensor used in existing patents and actual inertial navigation test turntables, this invention adopts a new idea of indirect drive and multi-sensor detection to solve the contradiction of large inertia, ultra-low speed and high precision. Realize the high-precision ultra-low speed control of the system.

Contents of the invention

The purpose of the present invention is to provide a test turntable for high-precision ultra-low-speed dual-axis servo test.

The present invention is characterized in that: it contains:

Inner frame structural components, which contain:

inner frame 41,

Shafts 5 _y1 and 5 _y2 are respectively fixedly connected to the inner frame 41 along the y direction of the inner frame 41,

reducer 3 _y , which is coaxially rotatably connected to shaft 5 _y1 ,

torque motor 2 _y , which is coaxially connected with reducer 3 _y and shaft 5 _y1 ,

Angular position measuring sensors 1 _y1 and 1 _y2 , wherein the sensor 1 _y1 is connected to the torque motor 2 _y , the reducer 3 _y , and the shaft 5 _y1 for coaxial rotation, and the sensor 1 _y2 is connected to the shaft 5 _y2 for coaxial rotation;

Outer frame structural components, which include:

The outer frame 42 is connected to the shafts 5 _y1 and 5 _y2 for rotation along the y direction,

Shafts 5 _x1 and 5 _x2 are respectively fixedly connected to the outer frame 42 along the x direction,

reducer 3 _x , which is coaxially rotatably connected with shaft 5 _x1 ,

Torque motor 2 _x , which is coaxially connected with reducer 3 _x , shaft 5 _x1 ,

Angular position measurement sensors _1x1 , _1x2 , wherein the sensor _1x1 is coaxially connected with the torque motor _2x , the reducer _3x , and the shaft _5x1 , and the sensor _1x2 is coaxial with the shaft _5x2 rotary connection;

Support 6, its two sides are respectively on the two positions between the outer frame 42 and the angular position measuring sensor 1 _x2 in the x direction, and between the outer frame 42 and the reducer 3x in the x direction and the axis 5 _x2 , Axis 5 _x1 coaxial swivel connection.

Experiments have proved that: when the resolution of the angular position sensor is 1", the system tracking speed is less than 1 ("/hour second), and the system angle tracking and measurement output accuracy is ±1.5".

Description of drawings

Fig. 1. the top view of test turntable of the present invention

Figure 2. It is a longitudinal sectional view of Figure 1.

Detailed ways

The present invention provides a high-precision ultra-low-speed dual-axis servo test turntable, as shown in Figure 1.2, which is mainly composed of a support, an inner and outer frame, a transmission system, a power system, and a position measurement system. It is characterized in that: high-precision angular position measurement sensor system 1 _y1 and 1 _x1 , torque motor 2 _x and 2 _y , high-precision small modulus reducer 3 _y and 3 _x pass through the intermediate shaft 5 _y1 and shaft 5 _x1 respectively and the inner frame 41 is connected with the outer frame 42; the angular position measurement sensor system 1 _y2 and 1 _x2 are respectively connected with the inner frame 41 and the outer frame 42 by using the middle shaft 5 _y2 and 5 _x2 , and the system can be balanced by adding a counterweight to the shaft 5 _y2 according to the situation ; The outer frame is connected to the support 6 via the shaft 5 _x1 and the shaft 5 _x2 and the corresponding bearings.

The detection angular position measurement sensors 1 _y1 , 1 _y2 , 1 _x1 and 1 _x2 can be connected to the control system through the electronic control interface, and are used for real-time analysis and processing of the data information fed back to realize the control of the inner frame 41 and the outer frame 42 real-time position control.

The control command drives the inner and outer ring motors 2 _y and 2 _x through a matching control system, and the motors transmit the motion to the inner frame 41 and the outer frame 42 through the reducer. The motion information of the inner frame 41 and the outer frame 42 are transmitted to the control system through the corresponding angular position measurement sensor pairs 1 _y1 , 1 _y2 , 1 _x1 and 1 _x2 respectively, so as to realize the real-time closed-loop servo control of the system.

The space structure layout of the present invention is compact and reasonable, and adopts the precise indirect drive power transmission mode, which realizes the conversion of micro displacement and small displacement, the conversion of large moment of inertia and small moment of inertia, and the conversion of large torque and small torque. The system is flexibly driven with a small power; the complementary measurement system is formed by using pairs of high-precision angular displacement sensors, which realizes the measurement of high-precision real-time motion parameters and system deformation, and provides high-precision closed-loop speed and position feedback. Control and compensation control and motion decoupling create conditions; multi-sensors and high-precision reducers cooperate to realize high-precision ultra-low-speed control of the system.

Detection of angular position measurement sensors 1 _y1 and 1 _x2 , 1 _y2 and 1 _x1 work in pairs to achieve accurate measurement of structural position and deformation, providing a basis for precise position control and position compensation

In the angular position measurement sensor detection system, the angular position measurement sensor 1 _y1 is connected to the inner frame 41 through the axis 5 _y1 , the angular position measurement sensor 1 _y2 is connected to the inner frame 41 through the axis 5 y2 , the angular position measurement sensor 1 _x1 is connected to the inner frame ₄₁ through the axis 5 _x1 , the angular position The measurement sensor 1 _x2 is connected to the outer frame 42 via the shaft 5 _x2 , thereby detecting the motion parameters of the inner frame 41 and the outer frame 42 and the deformation of the inner frame structural components and the outer frame structural components, and for realizing the height of the inner frame 41 and the outer frame 42 Accurate closed-loop speed and position feedback control lays the foundation.

A speed reducer 3 _y is installed between the motor 2 _y and the inner frame 41, and a speed reducer 3 _x is installed between the motor 2 _x and the outer frame 42, so that the small driving torque of the motor 2 _y and the motor 2 _x can drive a large The inner frame 41 and the outer frame 42 of the moment of inertia realize the conversion from micro displacement to small displacement, laying the foundation for solving the problem of precise control at ultra-low speed

The following are structural parameters and test data of the test turntable of the present invention:

1) Mechanical structure

Shafting type: high precision ball bearing

Load weight: 15kg

Inner frame space: 250×250×250mm ³

Orthogonality of two axes: <5″

Rotation accuracy: Inner frame: 0.4″

Frame: 1.12″

Table body dimensions: φ600mm×600mm×800mm

Table body weight: <200kg

2) Control tracking speed and accuracy

When the resolution of the angular position sensor is selected as 1″:

System tracking speed up to: <1(″/hour second)

System angle tracking and measurement output accuracy: ±1.5″

Position control range: inner frame: can be rotated at any angle

Outer frame: <±270°

The two-axis servo turntable of a domestic professional manufacturer of turntables:

When the angular position resolution sensor is 0.36″, the angular position servo accuracy is ±2″, and the tracking speed is 3.6 (″/hour second)～360000 (″/hour second)

The angular position measurement sensor adopted by the test turntable of the present invention is an inductive synchronizer, and a grating sensor or other high-precision angular displacement measurement sensors can also be used.

Claims (1)

1. The test turntable for high-precision ultra-low-speed dual-axis servo test, including inner and outer frame structure components, is characterized in that it contains: Inner frame structural components, which contain: inner frame (41), y to the first axis (5 _y1 ), y to the second axis (5 _y2 ), it is respectively fixedly connected to the inner frame (41) along the y direction of the inner frame (41), a y-axis reducer (3 _y ), which is coaxially connected with the first y-axis (5 _y1 ), The y-axis torque motor (2 _y ), which is connected with the y-axis reducer (3 _y ) and coaxially rotates y to the first axis (5 _y1 ), The y-direction first-axis angular position measurement sensor (1 _y1 ), the y-direction second-axis angular position measurement sensor (1 _y2 ), wherein, the y-direction first-axis angular position measurement sensor (1 _y1 ) and the y-axis torque motor (2 _y ), the y-axis reducer (3 _y ), and the y-direction first axis (5 _y1 ) are coaxially rotated and connected, and the y-direction second-axis angular position measurement sensor (1 _y2 ) is connected to the y-direction second axis ( _5y2 ) coaxial rotary connection; Outer frame structural components, which contain: The outer frame (42), which is respectively connected to the first axis (5 _y1 ) of y and the second axis (5 _y2 ) of y to rotate along the y direction, x to the first axis (5 _x1 ) and x to the second axis (5 _x2 ) are respectively fixedly connected to the outer frame (42) along the x direction, The x-axis reducer (3 _x ), which is coaxially connected with the x-axis to the first axis (5 _x1 ), x-axis torque motor (2 _x ), which is coaxially connected with x-axis reducer (3 _x ), x-direction to the first axis (5 _x1 ), The x-direction first-axis angular position measurement sensor (1 _x1 ), the x-direction second-axis angular position measurement sensor (1 _x2 ), wherein, the x-direction first-axis angular position measurement sensor (1 _x1 ) and the x-axis torque motor (2 _x ), x-axis reducer (3 _x ), x-direction to the first axis (5 _x1 ) coaxial rotation connection, the x-direction second-axis angular position measuring sensor (1 _x2 ), which is connected with the x-direction to the first axis Two-axis (5 _x2 ) coaxial rotary connection; The support (6), its two sides are respectively between the outer frame (42) in the x direction and the second axis angular position measuring sensor ( _1x2 ) in the x direction, and the outer frame (42) in the x direction and the x axis The two positions between the reducer (3 _x ) are coaxially connected with the x-direction second axis (5 _x2 ) and the x-direction first axis (5 _x1 ).

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