CN202646656U - Gravity mismatching device for backlash elimination of precise measurement radar servo system - Google Patents
Gravity mismatching device for backlash elimination of precise measurement radar servo system Download PDFInfo
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- CN202646656U CN202646656U CN 201220200695 CN201220200695U CN202646656U CN 202646656 U CN202646656 U CN 202646656U CN 201220200695 CN201220200695 CN 201220200695 CN 201220200695 U CN201220200695 U CN 201220200695U CN 202646656 U CN202646656 U CN 202646656U
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Abstract
The utility model relates to a gravity mismatching device for backlash elimination of a precise measurement radar servo system. The gravity mismatching device mainly and structurally comprises a single driving motor, a general gearbox, a pitching output gear wheel, an elevation mechanical structure antenna terminal relative to a pitching center rotating shaft and an elevation mechanical structural balancing terminal. In the adjustment process of backlash eliminating parameters, bias current caused by gravity mismatching is set into the current caused by friction torque and the current is controlled to be 10 percent to 14 percent of rated current of the elevation driving motor by integrating various factors such as the friction torque, an inertia torque and a gust torque. Therefore, the requirement of an antenna driving mechanism for backlash elimination can be realized, the tracking precision of the radar servo system is ensured and the safety and reliability of the antenna mechanical structure are also ensured. The gravity mismatching device is mainly applied to precise tracking radar elevation servo branches with medium-small calibers.
Description
Technical field
The utility model relates to aerospace measurement and control field, is specifically related to a kind of removing method of realizing Precision tracking radar elevation angle servo branch power transmission speed reducer backlash.
Background technique
Position ring, speed ring and electric current loop tricyclic structure are extensively adopted in Precision tracking radar servo-system Position Tracking Control loop.During Servo System Design, rotary inertia load and friction load are determined the Design cooling load of motor driving power in the power chain and gear reduction box gear pair when the wind loads that produces according to the normal operation wind speed of radar, maximum angular acceleration, and the maximum speed that requires according to rated speed and the radar of selected actuating motor determines the reduction speed ratio of Transmitted chains.Because the backlash amount that exists all the time in the power chain pivot pin gap by sideshake, bearing play and the attachment portion of gear to cause, and power chain is positioned at the Position Tracking Control loop, for guaranteeing that servo-system is stable and following the tracks of control accuracy, overcome by backlash and gear movement error and bring large servo noise, the gap that the loop gain of pushing the speed and bandwidth, servo-system require power chain to adopt the various gap methods that disappear to eliminate gear reduction box.
At present, the precision radar electromechanical servo system medium power Transmitted chains gear speed reducer method of eliminating backlash mainly contains spring mechanical gap, the dual-motor electricity gap that disappears that disappears.
Spring mechanical disappears and adopts in the gap radar servo system in early days morely, and the servo-system power chain adopts the gear reduction box of a symmetric configuration, as shown in Figure 1, and two couples of engaging gear Z of this gear reduction box first order
1,
Be spiral gear, respectively with symmetrical two couples of spiral gear Z
2,
Engagement, later gears at different levels are spur gear wheel.Speed reducer adds an axial force in advance by anti-backlash after installing on high speed shaft, make two spiral gear Z
1,
Axial advancement, the component that utilizes the spiral gear tooth matching angle to produce makes driven gear Z
2,
Antisymmetry is respectively rotated an angle to the left and right, thereby realizes two output gear Z
7,
The flank of tooth hold the output loading gearwheel tightly, two output gears are responsible for respectively two tight mesh transmissions that running is reverse when motor positive and inverse, thereby realize disappearing gap.
Spring mechanical disappear gap design and adjust, disappear axial force size that gap applies through spring of machinery, optimal situation is substantially the same with the integrated load of motor, and changes with outer year, so can bring the complicated of control system.Therefore, eliminate at present the axial force of backlash and fix, after the spring displacement was adjusted to certain value, axial force was just fixing.Also can eliminate reliably backlash when working under maximum load for radar, the value of axial force must be determined according to the load of maximum and the friction torque of system, in external load hour, axial force but is still so large, so that the gear train loading moment strengthens, maximum loading moment often bears in system, the wearing and tearing of gear have been accelerated, this is one of shortcoming of mechanical backlash eliminating equipment, the another one shortcoming is the inertia that the clearance elimination gear system of adding increases system, has weakened the rigidity of system, thereby has limited the bandwidth of servo-system, the tracking accuracy of reduction system, thus the spring mechanical application of gap method in the gap that disappears of servo-system that disappear reduced gradually.
The dual-motor electricity disappear gap at present in, use in the gap that disappears of the orientation of heavy caliber radar servo system, pitching servo branch more, it overlaps independently by two, and electric current loop and power amplifier drive respectively two actuating motors, two actuating motors connect respectively structurally on identical two retarders, the output pinion of two retarders meshes the load gearwheel jointly, as shown in Figure 2.
Two instructions of overlapping electric current loop are independently distributed by the speed loop with bias circuitry, control that two drive motor make two retarders in the situation that static opposite biasing moment realize the disappearing function of gap that produces, shown in Fig. 3 (a).
In the situation of antenna load running, size according to speed command produces different current loop control instructions, when speed command hour, the not homonymy Surface of action that makes the speed reducer output pinion be engaged on all the time the load gearwheel by the current loop control motor is eliminated the backlash of servo-system; When speed command was larger, speed ring command assignment circuit made two retarders be engaged on the side of the same name of gearwheel by two motors of current loop control, jointly finishes the driving of load.Shown in Fig. 3 (b), M
ZBe the comprehensive moment that dual-motor produces, M
1, M
2Be respectively the moment that direct current actuating motor 1 and direct current actuating motor 2 produce.The comprehensive at present Precision tracking radar gap technological method applicable cases that disappears, the spring mechanical gap-eliminating structure is complicated, system inertia is large, rigidity is low, and the double-motor anti-backlash cost is high, circuit and adjustment are complicated.
The model utility content
The purpose of this utility model provides the disappear gravity mismatch device of gap of a kind of precision instrumentation radar servo, not only can realize the gap requirement that disappears of pedestal, guarantee the tracking accuracy of radar servo system, also guaranteed the safe and reliable of antenna mechanical structure simultaneously.
The technical solution of the utility model is: the disappear gravity mismatch device of gap of a kind of precision instrumentation radar servo, it is characterized in that being that this gravity mismatch device comprises drive motor, the single output reducer casing of single input, speed reducer output gear and pitching output gearwheel, in the single output reducer casing of single input, be provided with four groups of gears, radar antenna elevation angle live axle and pitching output gearwheel are rigidly connected, be added with balancing weight in radar antenna elevation angle mechanical structure antenna end or afterbody, the bias current that the gravity mismatch causes be set to the electric current that causes greater than friction torque and with this Current Control elevation angle drive motor rated current 12% ± 2% between.
Speed reducer in the power chain of the utility model antenna elevation angle branch road is the logical speed reducer of a Daepori, as shown in Figure 4, the speed reducer velocity ratio is according to the radar antenna rotating speed, the parameters such as elevation angle drive motor rated speed are selected, radar antenna elevation angle live axle and speed reducer output Large Gear Shaft During are rigidly connected, this moment, antenna elevation angle mechanical structure was with respect to elevation angle central rotating shaft gravitational equilibrium no longer, but protected precision work gustiness according to antenna, protecting precision work acceleration and friction condition has a mind to elevation angle mechanical structure antenna end counterweight or elevation angle mechanical structure tail balancing weight.
With respect to elevation angle mechanical structure central rotating shaft, in the situation that the configuration of antenna elevation angle mechanical structure antenna end is heavier, when the elevation angle is moved up or down, upwards (or downwards) that the downward moment of gravity of dependence mismatch makes the elevation angle export fan-shaped gearwheel drives Surface of action and is close to all the time speed reducer, thereby reaches the purpose of eliminating backlash.Obviously, namely be under same antenna rotation rate, the output torque of servo drive motor was unbalanced when antenna moved up and down, the moment of the more downward driven antenna output of the moment of actuating motor output is large during the driven antenna that makes progress; On the contrary, in the heavier situation of elevation angle mechanical structure afterbody configuration, above each situation is just in time opposite.Calculate through correlation analysis, in the situation that gravity mismatch degree is identical, the antenna head counterweight gap effect that disappears is better than the antenna tail balancing weight gap that disappears.
When utilizing elevation angle gravity mismatch to disappear gap, its main purpose is exactly to utilize driving Surface of action one side that makes elevation angle gearwheel under moment that mismatch gravity produces and the acting in conjunction of motor output torque to be close to all the time the one side of the output gear that drives speed reducer.But, thereby too formulistic design might make the gravity mismatch threaten too much the safety of antenna.Therefore, in the design of A/W mismatch parameter, in the situation that consider friction torque, moment of inertia and fitful wind moment, the bias current that general all gravity mismatches cause is set to the electric current that causes greater than friction torque and with 12% (± 2%) of this Current Control in elevation angle drive motor rated current, so not only can realize the gap requirement that disappears of pedestal, guarantee the tracking accuracy of radar servo system, also guaranteed the safe and reliable of antenna mechanical structure simultaneously.
The utility model will adopt the common speed reducer of single input, single export structure, break through simultaneously the traditional antenna structure requires balanced adjustment in pitch orientation restriction, the proposition elevation angle gravity mismatch of the novelty gap method that disappears, thereby in making, small aperture antenna elevation angle mechanical structure obviously simplifies, overcome the disappear deficiency of gap and double-motor anti-backlash of spring mechanical, significantly the reduction system realizes cost and adjustment difficulty, has guaranteed simultaneously the good gap performance that disappears.
Description of drawings
Fig. 1 is the disappear gear-box gear train structural drawing of gap of spring mechanical.
Fig. 2 is double-motor anti-backlash connection figure.
Fig. 3 a is double-motor anti-backlash transmission principle figure.
Fig. 3 b is dual-motor moment relations of distribution schematic diagram.
Fig. 4 is the utility model elevation angle gravity mismatch gap-eliminating structure figure.
Fig. 5 increases the gravity mismatch elevation angle that disappears before and after the gap to follow the tracks of curve of accidental error figure.
Embodiment
The design of Radar Servo structural system has been simplified in gravity mismatch the disappear application of gap method in the elevation angle greatly.But consider driving power, system frequency and Radar Antenna Structure safety, only recommend with elevation angle gravity mismatch disappear the gap method be applied in, small-bore (antenna diameter is below 7 meters) radar servo system structure disappears in the gap.The antenna structure elevation angle drives the single-link driving that link only adopts common speed reducer in the specific design, specifically as shown in Figure 4.This gravity mismatch device comprises drive motor, the single output reducer casing 2 of single input, speed reducer output gear 3 and pitching output gearwheel 4, in the single output reducer casing 2 of single input, be provided with four groups of gears, radar antenna 1 elevation angle live axle and pitching output gearwheel 4 are rigidly connected, and are added with balancing weight 5 in radar antenna elevation angle mechanical structure antenna end or afterbody.
Be the disappear gap performance that disappears of gap method of checking elevation angle gravity mismatch, existing the gravity mismatch gap method that disappears be applied to certain model monopulse radar that a cover was worked 30 years, relatively to adopt the disappear tracking accuracy of radar servo system before and after the gap method of gravity mismatch.This model monopulse radar scanner seat orientation driving device structure and elevation angle driving device structural dynamic driving sprocket roller box adopt the spring mechanical gap mode that disappears.Through the operation in 30 years, because wearing and tearing, the anti-backlash performance variation of driving mechanism, particularly speed reduction gear box obviously increase the drive gap at the elevation angle, transmission stiffness and precise decreasing were more, and the tracking data precision can not satisfy index request.Consider the maintenance cost of speed reducer, determine to lay down the tail balancing weight piece in the situation that do not change original gear case box structure, adopt the gravity mismatch gap that disappears to improve the tracking random error of elevation angle branch road.
This model monopulse radar elevation angle branch road drive motor rated current is 15.5A, the current of electric that elevation angle branch road friction torque causes is 0.8A approximately, adjust through detail parameters, decision is unloaded 15Kg counterweight lead with elevation angle mechanical structure afterbody, with antenna elevation angle mechanical structure head counterweight, overcome approximately 1.6A of bias current that mismatch causes when making antenna elevation angle be in zero degree.In the situation that various external conditions are identical, follow the tracks of the extraterrestrial target checking by reality, adopt the gravity mismatch to disappear the forward and backward radar of gap elevation angle tracking data random error as shown in Figure 5, random error was followed the tracks of at the elevation angle when dotted line adopted spring mechanical to disappear gap for maintenance driving front chain among the figure, and solid line is that Transmitted chains increases the gravity mismatch and disappears and follow the tracks of random error after the gap method.As seen from Figure 5, power chain increases the gravity mismatch and disappears that elevation angle branch road tracking data random error reduces nearly 50% after the gap mode.
Therefore, the elevation angle gravity mismatch gap pattern that disappears can realize the gap requirement that disappears of radar elevation angle servo system structure.
Claims (1)
1. the precision instrumentation radar servo gravity mismatch device of gap that disappears, it is characterized in that this gravity mismatch device comprises drive motor, single input single output reducer casing (2), speed reducer output gear (3) and pitching output gearwheel (4), in single single output reducer casing of input (2), be provided with four groups of gears, radar antenna (1) elevation angle live axle and pitching output gearwheel (4) are rigidly connected, be added with balancing weight (5) in radar antenna (1) elevation angle mechanical structure antenna end or afterbody, the bias current that the gravity mismatch causes be set to the electric current that causes greater than friction torque and with this Current Control elevation angle drive motor rated current 12% ± 2% between.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201220200695 CN202646656U (en) | 2012-05-07 | 2012-05-07 | Gravity mismatching device for backlash elimination of precise measurement radar servo system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201220200695 CN202646656U (en) | 2012-05-07 | 2012-05-07 | Gravity mismatching device for backlash elimination of precise measurement radar servo system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105162365A (en) * | 2015-09-29 | 2015-12-16 | 中国人民解放军63680部队 | Shipborne satellite communication station dual-motor driving system bias current self-adaptive system |
| CN105276137A (en) * | 2014-06-11 | 2016-01-27 | 桂林航天工业学院 | Dual-axle seat deadweight anti-backlash numerical control displacement machine |
| CN107991661A (en) * | 2017-11-23 | 2018-05-04 | 武汉万集信息技术有限公司 | A kind of mechanical laser radar and its ballasting method |
| CN113985835A (en) * | 2021-09-14 | 2022-01-28 | 北京无线电测量研究所 | Method for estimating mechanical characteristic parameters of large-antenna radar servo system |
| CN116436343A (en) * | 2023-06-15 | 2023-07-14 | 成都熊谷加世电器有限公司 | Motor control method and system based on non-whole gear ring double-gear meshing mechanism |
-
2012
- 2012-05-07 CN CN 201220200695 patent/CN202646656U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105276137A (en) * | 2014-06-11 | 2016-01-27 | 桂林航天工业学院 | Dual-axle seat deadweight anti-backlash numerical control displacement machine |
| CN105162365A (en) * | 2015-09-29 | 2015-12-16 | 中国人民解放军63680部队 | Shipborne satellite communication station dual-motor driving system bias current self-adaptive system |
| CN105162365B (en) * | 2015-09-29 | 2017-07-28 | 中国人民解放军63680部队 | Boat-carrying satellite communication station dual-motor drive system bias current Adaptable System |
| CN107991661A (en) * | 2017-11-23 | 2018-05-04 | 武汉万集信息技术有限公司 | A kind of mechanical laser radar and its ballasting method |
| CN113985835A (en) * | 2021-09-14 | 2022-01-28 | 北京无线电测量研究所 | Method for estimating mechanical characteristic parameters of large-antenna radar servo system |
| CN113985835B (en) * | 2021-09-14 | 2023-09-29 | 北京无线电测量研究所 | Mechanical characteristic parameter estimation method for large antenna radar servo system |
| CN116436343A (en) * | 2023-06-15 | 2023-07-14 | 成都熊谷加世电器有限公司 | Motor control method and system based on non-whole gear ring double-gear meshing mechanism |
| CN116436343B (en) * | 2023-06-15 | 2023-08-29 | 成都熊谷加世电器有限公司 | Motor control method and system based on non-whole gear ring double-gear meshing mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130102 Termination date: 20130507 |