CN104908981A - Vertical air pressure compensation device of multi-degree-of-freedom air floating platform and vertical air pressure compensation method - Google Patents
Vertical air pressure compensation device of multi-degree-of-freedom air floating platform and vertical air pressure compensation method Download PDFInfo
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- CN104908981A CN104908981A CN201510409194.5A CN201510409194A CN104908981A CN 104908981 A CN104908981 A CN 104908981A CN 201510409194 A CN201510409194 A CN 201510409194A CN 104908981 A CN104908981 A CN 104908981A
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Abstract
A vertical air pressure compensation device of a multi-degree-of-freedom air floating platform and a vertical air pressure compensation method belong to the field of full-physical simulation. In order to solve the problems that an existing vertical air pressure compensation device of the multi-degree-of-freedom air floating platform needs solenoid valves with a plurality of proportions, the structure is complicated, and the control precision of the vertical air pressure compensation method is lower, an air floating shaft comprises an air floating bearing outer sleeve and an air floating bearing inner sleeve, wherein the air floating bearing inner sleeve is mounted in a hollow air cavity of the air floating bearing outer sleeve; the air floating bearing inner sleeve does vertical movement along the inner side wall of the air floating bearing outer sleeve; the upper end of the air floating bearing inner sleeve is connected onto an air floating platform; a plurality of nozzles are mounted on the inner side wall of the air floating bearing outer sleeve; the inner side wall of the air floating bearing outer sleeve is provided with a pressure sensor for measuring pressure of the hollow air cavity; the nozzles and the pressure sensor are located between the lower ends of the air floating bearing inner sleeve and the air floating bearing outer sleeve; a grating ruler for measuring the vertical displacement of the air floating bearing inner sleeve is arranged in the air floating bearing outer sleeve along the axial direction. The vertical air pressure compensation device of the multi-degree-of-freedom air floating platform and the vertical air pressure compensation method are used for full-physical simulation tests.
Description
Technical field
The present invention relates to the vertical atmospheric pressure compensated equipment of the one of a kind of air floating platform under environment limited situation and compensation method thereof, belong to full physical simulation field.
Background technology
Spacecraft, before place in operation, must carry out the physical simulation test on ground.At present, along with the development of China's aeronautical and space technology, also drive the continuous progress in emulation field.The nothing friction microgravity environment of the simulation outer space and gesture stability are Physical Simulation Platform problems in urgent need to solve.
Multiaxis air floating platform is the core component of the full physical simulation tests such as ground survey, navigation, network service and formation control, is the support section of whole ground emulator, for ground simulation experiment provides basis.The air film that air floating platform is formed after relying on pressurized air on air bearing supports, and realizes micro tribology and micro-damped motion.Cross in simulation space in the middle of the experimental projects such as docking, the free floating condition how realizing spacecraft is vital.How air floating platform carries out simple, high-precision atmospheric pressure compensating is the Focal point and difficult point realizing its free floating condition.
In existing atmospheric pressure compensating method, patent CN202807110U proposes a kind of semi-active type gravity compensation structure, and the compensation method control accuracy that this patent proposes is lower; Patent CN1986337 proposes a kind of three-dimensional air floating platform and pneumatic gravitational compensation method, and this atmospheric pressure compensating method relates to multiple proportion magnetic valve, and control structure is complicated.
Summary of the invention
The vertical atmospheric pressure compensated equipment that the present invention seeks to solve existing multiple degree of freedom air floating platform needs the electromagnetic valve of multiple ratio, complex structure, the problem that the vertical atmospheric pressure compensating method control accuracy of multiple degree of freedom air floating platform is lower, provides a kind of vertical atmospheric pressure compensated equipment of multiple degree of freedom air floating platform and vertical atmospheric pressure compensating method.
The vertical atmospheric pressure compensated equipment of multiple degree of freedom air floating platform of the present invention, it comprises air-bearing shafts, air-bearing shafts comprises air-bearing overcoat and air-bearing inner sleeve, air-bearing inner sleeve is arranged in the air cavity of air-bearing overcoat hollow, and air-bearing inner sleeve makes catenary motion along air-bearing overcoat madial wall; The upper end of air-bearing inner sleeve is connected on air floating platform; The madial wall of air-bearing overcoat is provided with multiple nozzle; The madial wall of air-bearing overcoat is provided with the pressure sensor of air chamber pressure in measurement; And nozzle and pressure sensor are between air-bearing inner sleeve lower end and air-bearing overcoat lower end; Air-bearing jacket internal is vertically provided with the grating scale measuring air-bearing inner sleeve vertical deviation;
This vertical atmospheric pressure compensated equipment also comprises gas cylinder, one-level pressure relief valve, second depressurized valve and switch valve, the gas output end of gas cylinder connects the gas input of one-level pressure relief valve, the gas output end of one-level pressure relief valve connects the gas input of second depressurized valve, the gas input of the gas output end connecting valve valve of second depressurized valve, the gas output end of switch valve connects multiple nozzle simultaneously.
The vertical atmospheric pressure compensating method of the vertical atmospheric pressure compensated equipment of multiple degree of freedom air floating platform of the present invention, the detailed process of this vertical atmospheric pressure compensating method is:
Step 1, in the air cavity of air-bearing overcoat hollow, be charged into high pressure gas, open position ring controller;
Step 2, according to position setting value pid regulator parameters, control the air floating platform that is connected with air-bearing inner sleeve and move to relevant position;
The position at the current air floating platform place of step 3, optical grating ruler measurement, obtains position return of value;
Step 4, by position return of value compared with position setting value, whether error in judgement is less than 0.01mm, if it is perform step 5, if otherwise return perform step 2;
Step 5, with 1 millisecond for the sampling period, pressure sensor gathers the value of gaseous tension in air cavity in 1 minute, obtains the aviation value of gaseous tension in 1 minute, using the initial value of this aviation value as atmospheric pressure compensating;
Step 6, control air floating platform according to the initial value of atmospheric pressure compensating and move to relevant position, then open position ring controller;
Step 7, with 1 millisecond for the sampling period, pressure sensor gathers the value of gaseous tension in air cavity in 1 second, obtains the aviation value of gaseous tension in 1 second, using this aviation value as air pressure a reference value;
Step 8, draw atmospheric pressure compensating curve according to air pressure a reference value, according to the trend of position setting value simulation air pressure compensated curve, make atmospheric pressure compensating curve infinitesimally close position setting value;
Step 9, obtain atmospheric pressure compensating value according to the trend of the atmospheric pressure compensating curve of simulation;
Step 10, according to atmospheric pressure compensating value control air floating platform move to relevant position, open position ring controller, air floating platform reaches stabilized conditions.
Advantage of the present invention: in the present invention, provides a kind of vertical atmospheric pressure compensating method being convenient to control, good reliability, precision much higher degree of freedom air floating table.Simulate the free floating condition of spacecraft in space.
Accompanying drawing explanation
Fig. 1 is the structural representation of the vertical atmospheric pressure compensated equipment of multiple degree of freedom air floating platform of the present invention; Fig. 2 is the schematic diagram of the vertical atmospheric pressure compensating method of the vertical atmospheric pressure compensated equipment of multiple degree of freedom air floating platform of the present invention; Fig. 3 is the electrical schematic diagram of the vertical atmospheric pressure compensated equipment of multiple degree of freedom air floating platform of the present invention.
Detailed description of the invention
Detailed description of the invention one: present embodiment is described below in conjunction with Fig. 1 and Fig. 3, the vertical atmospheric pressure compensated equipment of multiple degree of freedom air floating platform described in present embodiment, it comprises air-bearing shafts, air-bearing shafts comprises air-bearing overcoat 1 and air-bearing inner sleeve 2, air-bearing inner sleeve 2 is arranged in the air cavity of air-bearing overcoat 1 hollow, and air-bearing inner sleeve 2 makes catenary motion along air-bearing overcoat 1 madial wall; The upper end of air-bearing inner sleeve 2 is connected on air floating platform; The madial wall of air-bearing overcoat 1 is provided with multiple nozzle 3; The madial wall of air-bearing overcoat 1 is provided with the pressure sensor 5 of air chamber pressure in measurement; And nozzle 3 and pressure sensor 5 are between air-bearing inner sleeve 2 lower end and air-bearing overcoat 1 lower end; Air-bearing overcoat 1 inside is vertically provided with the grating scale 4 measuring air-bearing inner sleeve 2 vertical deviation;
This vertical atmospheric pressure compensated equipment also comprises gas cylinder 6, one-level pressure relief valve 7, second depressurized valve 8 and switch valve 9, the gas output end of gas cylinder 6 connects the gas input of one-level pressure relief valve 7, the gas output end of one-level pressure relief valve 7 connects the gas input of second depressurized valve 8, the gas input of the gas output end connecting valve valve 9 of second depressurized valve 8, the gas output end of switch valve 9 connects multiple nozzle 3 simultaneously.
In present embodiment, the air cavity of air-bearing overcoat 1 hollow is used for equalization gas pressure.
Detailed description of the invention two: present embodiment is described further embodiment one, is filled with high pressure gas in the air cavity of air-bearing overcoat 1 hollow, and in the process that air-bearing inner sleeve 2 is vertically moved, the pressure in air cavity keeps constant.
Detailed description of the invention three: present embodiment is described below in conjunction with Fig. 2, the vertical atmospheric pressure compensating method of the vertical atmospheric pressure compensated equipment of multiple degree of freedom air floating platform described in present embodiment, the detailed process of this vertical atmospheric pressure compensating method is:
Step 1, in the air cavity of air-bearing overcoat 1 hollow, be charged into high pressure gas, open position ring controller;
Step 2, according to position setting value pid regulator parameters, control the air floating platform that is connected with air-bearing inner sleeve 2 and move to relevant position;
Step 3, grating scale 4 measure the position at current air floating platform place, obtain position return of value;
Step 4, by position return of value compared with position setting value, whether error in judgement is less than 0.01mm, if it is perform step 5, if otherwise return perform step 2;
Step 5, with 1 millisecond for the sampling period, pressure sensor 5 gathers the value of gaseous tension in air cavity in 1 minute, obtains the aviation value of gaseous tension in 1 minute, using the initial value of this aviation value as atmospheric pressure compensating;
Step 6, control air floating platform according to the initial value of atmospheric pressure compensating and move to relevant position, then open position ring controller;
Step 7, with 1 millisecond for the sampling period, pressure sensor 5 gathers the value of gaseous tension in air cavity in 1 second, obtains the aviation value of gaseous tension in 1 second, using this aviation value as air pressure a reference value;
Step 8, draw atmospheric pressure compensating curve according to air pressure a reference value, according to the trend of position setting value simulation air pressure compensated curve, make atmospheric pressure compensating curve infinitesimally close position setting value;
Step 9, obtain atmospheric pressure compensating value according to the trend of the atmospheric pressure compensating curve of simulation;
Step 10, according to atmospheric pressure compensating value control air floating platform move to relevant position, open position ring controller, air floating platform reaches stabilized conditions.
Claims (3)
1. the vertical atmospheric pressure compensated equipment of multiple degree of freedom air floating platform, it is characterized in that, it comprises air-bearing shafts, air-bearing shafts comprises air-bearing overcoat (1) and air-bearing inner sleeve (2), air-bearing inner sleeve (2) is arranged in the air cavity of air-bearing overcoat (1) hollow, and air-bearing inner sleeve (2) makes catenary motion along air-bearing overcoat (1) madial wall; The upper end of air-bearing inner sleeve (2) is connected on air floating platform; The madial wall of air-bearing overcoat (1) is provided with multiple nozzle (3); The madial wall of air-bearing overcoat (1) is provided with the pressure sensor (5) of air chamber pressure in measurement; And nozzle (3) and pressure sensor (12) are positioned between air-bearing inner sleeve (2) lower end and air-bearing overcoat (1) lower end; Air-bearing overcoat (1) inside is vertically provided with the grating scale (4) measuring air-bearing inner sleeve (2) vertical deviation;
This vertical atmospheric pressure compensated equipment also comprises gas cylinder (6), one-level pressure relief valve (7), second depressurized valve (8) and switch valve (9), the gas output end of gas cylinder (6) connects the gas input of one-level pressure relief valve (7), the gas output end of one-level pressure relief valve (7) connects the gas input of second depressurized valve (8), the gas input of the gas output end connecting valve valve (9) of second depressurized valve (8), the gas output end of switch valve (9) connects multiple nozzle (3) simultaneously.
2. the vertical atmospheric pressure compensated equipment of the multiple degree of freedom air floating platform described in 1 will be removed according to right, it is characterized in that, high pressure gas are filled with in the air cavity of air-bearing overcoat (1) hollow, in the process that air-bearing inner sleeve (2) is vertically moved, the pressure in air cavity keeps constant.
3. based on the vertical atmospheric pressure compensating method of the vertical atmospheric pressure compensated equipment of multiple degree of freedom air floating platform described in claim 1, it is characterized in that, the detailed process of this vertical atmospheric pressure compensating method is:
Step 1, in the air cavity of air-bearing overcoat (1) hollow, be charged into high pressure gas, open position ring controller;
Step 2, according to position setting value pid regulator parameters, control the air floating platform that is connected with air-bearing inner sleeve (2) and move to relevant position;
Step 3, grating scale (4) measure the position at current air floating platform place, obtain position return of value;
Step 4, by position return of value compared with position setting value, whether error in judgement is less than 0.01mm, if it is perform step 5, if otherwise return perform step 2;
Step 5, with 1 millisecond for the sampling period, pressure sensor (5) gathers the value of gaseous tension in air cavity in 1 minute, obtains the aviation value of gaseous tension in 1 minute, using the initial value of this aviation value as atmospheric pressure compensating;
Step 6, control air floating platform according to the initial value of atmospheric pressure compensating and move to relevant position, then open position ring controller;
Step 7, with 1 millisecond for the sampling period, pressure sensor (5) gathers the value of gaseous tension in air cavity in 1 second, obtains the aviation value of gaseous tension in 1 second, using this aviation value as air pressure a reference value;
Step 8, draw atmospheric pressure compensating curve according to air pressure a reference value, according to the trend of position setting value simulation air pressure compensated curve, make atmospheric pressure compensating curve infinitesimally close position setting value;
Step 9, obtain atmospheric pressure compensating value according to the trend of the atmospheric pressure compensating curve of simulation;
Step 10, according to atmospheric pressure compensating value control air floating platform move to relevant position, open position ring controller, air floating platform reaches stabilized conditions.
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| CN201510409194.5A CN104908981B (en) | 2015-07-13 | 2015-07-13 | The vertical atmospheric pressure compensated equipment of multiple degrees of freedom air floating platform and vertical atmospheric pressure compensating method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106564630A (en) * | 2016-11-09 | 2017-04-19 | 上海卫星工程研究所 | Gravity balance and follow-up system for deployment of large-scale parabolic cylindrical antenna |
| CN108583944A (en) * | 2018-03-12 | 2018-09-28 | 上海卫星工程研究所 | The non-contact feeder of the air supporting Physical Simulation Platform of open type multistage gas film sealing |
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| US6622579B1 (en) * | 1999-07-20 | 2003-09-23 | Aerolas Gmbh Aerostatische Lager-Lasertechnik | Bearing arrangement for tension forces and bearing head therefor |
| EP1674198A1 (en) * | 2004-12-22 | 2006-06-28 | Fanuc Ltd | Air balance structure |
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| CN104057467A (en) * | 2014-06-13 | 2014-09-24 | 哈尔滨工业大学 | Air bearing type mechanical arm gravity compensation device based on annular air floating platform |
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2015
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Patent Citations (7)
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| US5725435A (en) * | 1993-08-13 | 1998-03-10 | De Castro Faria; Mario Sergio | Electro-mechanical amusement simulator with gravitational effects |
| US5501114A (en) * | 1993-09-28 | 1996-03-26 | National Aerospace Laboratory Of Science & Technology | Three-dimensional free motion apparatus |
| US6622579B1 (en) * | 1999-07-20 | 2003-09-23 | Aerolas Gmbh Aerostatische Lager-Lasertechnik | Bearing arrangement for tension forces and bearing head therefor |
| EP1674198A1 (en) * | 2004-12-22 | 2006-06-28 | Fanuc Ltd | Air balance structure |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106564630A (en) * | 2016-11-09 | 2017-04-19 | 上海卫星工程研究所 | Gravity balance and follow-up system for deployment of large-scale parabolic cylindrical antenna |
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| CN108583944A (en) * | 2018-03-12 | 2018-09-28 | 上海卫星工程研究所 | The non-contact feeder of the air supporting Physical Simulation Platform of open type multistage gas film sealing |
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Inventor after: Liu Yang Inventor after: Li Li Inventor after: Fu Zhenxian Inventor before: Cui Ying Inventor before: Wang Yan Inventor before: Li Zehui Inventor before: Peng Hanzhang Inventor before: Li Zongzhe Inventor before: Liu Qixun Inventor before: Huang Cheng Inventor before: Zhou Naixin |
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