CN106781799B - A kind of high-precision direction positioning Three Degree Of Freedom air bearing simulator - Google Patents
A kind of high-precision direction positioning Three Degree Of Freedom air bearing simulator Download PDFInfo
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- CN106781799B CN106781799B CN201611241223.2A CN201611241223A CN106781799B CN 106781799 B CN106781799 B CN 106781799B CN 201611241223 A CN201611241223 A CN 201611241223A CN 106781799 B CN106781799 B CN 106781799B
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- 238000013519 translation Methods 0.000 claims abstract description 21
- 230000005486 microgravity Effects 0.000 claims abstract description 8
- 238000005259 measurement Methods 0.000 claims description 23
- 238000000034 method Methods 0.000 claims description 11
- 238000005461 lubrication Methods 0.000 claims description 4
- 230000001050 lubricating effect Effects 0.000 claims description 2
- 238000004088 simulation Methods 0.000 description 7
- 238000012795 verification Methods 0.000 description 7
- 238000013461 design Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000010200 validation analysis Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 230000003042 antagnostic effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 238000005188 flotation Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000011158 quantitative evaluation Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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- Engineering & Computer Science (AREA)
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- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
- Theoretical Computer Science (AREA)
- Business, Economics & Management (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
A kind of high-precision direction positioning Three Degree Of Freedom air bearing simulator, including translation platform and Degree Platform；Entire simulator is placed in microgravity environment by translation platform in a manner of pneumatically supported, is translatable between platform and Degree Platform and is connected, and the platform that is translatable provides power source for entire simulator；The Degree Platform includes CCD camera (1), servo-system (2), iGPS contactless receiver (3), directing mechanism inertial navigation system (5), track motion controller (6), air bearing simulator inertial navigation system (7), Degree Platform bottom plate (8)；The servo-system (2) includes being directed toward bar (21), arc guide rail (22), leading block (24), driving device (26), swivel bearing (27).
Description
Technical field
The present invention relates to a kind of high-precisions to be directed toward positioning Three Degree Of Freedom air bearing simulator, and it is micro- heavy in particular relate to a kind of space
Force environment Precision Terminal is directed toward positioning device.
Background technique
During the space of intelligent autonomous type is prominent anti-, space anti-validation verification of dashing forward is provided using air bearing simulator and is had
There is feasibility.Based on a variety of detector guidance such as infrared detector, the Active Radar installed on air bearing simulator, Guidance and control system
System is real-time to be calculated target position and guides realization target following according to program angle, and intelligent anti-verification test of dashing forward is completed.
Traditional mathematics and HWIL simulation can not each system of real simulation operating error and operating lag, be difficult to attack against each other
Anti- process and interdiction capability carry out accurate description and quantitative evaluation.Air floating platform is a kind of novel ground HWIL simulation side
Formula simulates Attack Defence process by microgravity environment, can carry out accurate description to anti-short distance antagonistic process of dashing forward, be promoted
It carries and fights anti-validation verification precision of dashing forward.In order to guarantee that two simulators are able to carry out impact simulation miss distance, while also requiring
Simulator ontology itself cannot collide, it is necessary to install simulated crash point in simulator upper end.It is contemplated that simulator controls
It is the control for simulator equivalent center, in order to reduce target seeker measurement error and ontology positioning angle measurement measurement error, usually
Wish target seeker and positioning device at equivalent center.So the design of the point of impingement will guarantee to determine target seeker angle measurement and simulator
The demand of position.
Fig. 2 is the equivalent point of impingement collision schematic diagram of two simulators, and wherein the equivalent point of impingement of simulator 1 hits for reach
Needle, and the point of impingement of simulator 2 is center formula spring lever.
It is the actual demand proposition for simulator 1 in Fig. 2 that Three Degree Of Freedom Precision Terminal, which is directed toward positioning air bearing simulator,
It develops Precision Terminal and is directed toward positioning overload of a certain purpose of research and development centre, Three Degree Of Freedom air bearing simulator institute based on air floating platform
It fights validation verification verification experimental verification demand to propose, to verify anti-validity of dashing forward, need through microgravity environment countermeasures simulation mistake
Journey, and accurate description is carried out to short distance antagonistic process, promote overload confrontation validation verification precision.
Simulator 1 requires during the motion, and infrared target equivalent point pointing accuracy requirement is higher, and the present invention is using high-precision
It spends inertial navigation system to feed back as platform, is combined control using cold air nozzle and flywheel, establishes air bearing simulator along yaw axis
Stabilized platform.It is designed using arc guide rail, while improving long armed lever rigidity, using independent inertial navigation system as long armed lever appearance
Bar closed-loop control system is directed toward in state angle feed-back, building end, improves end and is directed toward positioning accuracy.
Summary of the invention
Technology of the invention solves the problems, such as: overcome the deficiencies of the prior art and provide a kind of high-precision be directed toward positioning three from
By degree air bearing simulator.
The technical solution of the invention is as follows: a kind of high-precision direction positioning Three Degree Of Freedom air bearing simulator, including translation
Platform and Degree Platform；
Entire simulator is placed in microgravity environment by translation platform in a manner of pneumatically supported, and be translatable platform and Degree Platform
Between be connected, the platform that is translatable for entire simulator provides power source；
The Degree Platform includes CCD camera, servo-system, iGPS contactless receiver, directing mechanism inertial navigation
System, track motion controller, air bearing simulator inertial navigation system, Degree Platform bottom plate；The servo-system includes referring to
To bar, arc guide rail, leading block, driving device, swivel bearing；
Degree Platform bottom plate is circular configuration；Arc orbit is mounted on Degree Platform bottom plate；It is directed toward bar and passes through rotary shaft
The center for being connected to Degree Platform bottom plate is held, and can be rotated around swivel bearing along arc guide rail；Be directed toward bar on circular arc
Leading block is provided at guide rail cooperation, directing mechanism inertial navigation system and driving device, which are mounted on, to be directed toward on bar, iGPS
Contactless receiver is mounted on Degree Platform bottom plate, is sent for acquiring the coordinate of target's center's point, and by the coordinate of acquisition
To track motion controller；The relative rotation angle between bar and Degree Platform bottom plate is directed toward in the measurement of directing mechanism inertial navigation system
It spends and the angle is sent to track motion controller；Coordinate and rotational angle are closed track motion controller based on the received
Ring control makes direction bar always point to target；It is flat that air bearing simulator inertial navigation system measures posture in simulator traveling process
The angle of platform bottom plate coordinate system Z axis rotation relative to the earth, is sent to track motion controller, track motion controller for the angle
Track closed-loop control is carried out according to the angle of the rotation, by controlling the jet pipe being mounted on Degree Platform bottom plate, eliminates posture
Coordinate system Z axis rotates platform floor relative to the earth；Be directed toward bar front end install CCD camera, by CCD camera to enter viewing field of camera
The visible light target being mounted in target in angular region carries out range measurement.
The driving device is mounted on direction bar and the position far from Degree Platform bottom plate center.
The arc guide rail is double-layer structure, and upper layer is V-type protrusion, is cooperated with the V-groove on leading block, circular arc is led
Rail lower layer is gear ring structure, and realization is engaged with the driving gear of driving device and is driven in the circumferential direction to bar is directed toward.
It further include being mounted on that the lubrication being directed toward on bar is fast, the V-type protrusions match for lubricating block and arc guide rail lubricates.
The part for being directed toward bar stretching arc guide rail is at least 1.5 times of arc guide rail radius.
The return difference of the outer gear ring engagement of arc guide rail is less than 1mm.
The advantages of the present invention over the prior art are that:
(1) realize that the long armed lever end of microgravity environment is accurately directed to location technology.Scheme uses air bearing simulator bonding machine
Electric servo system realization, method particularly includes: air bearing simulator and direction lever system have independent pose monitoring and closed-loop control
System, end are directed toward bar and carry out SERVO CONTROL by stabilized platform of air floating table, realize that the end high precision position and posture of long armed lever is directed toward
Positioning.
(2) design of air bearing simulator center is installed on using iGPS receiver, realizes air bearing simulator position control and appearance
State control separation.Specifically: iGPS is installed on simulator center, by constructing position-force control system, realizes mould
Quasi- device high precision position control.Laser closed-loop control system is constructed by air bearing simulator inertial navigation system, is realized to three certainly
By the accurate control and adjusting of degree air bearing simulator ontology posture.Electromechanical servo is constructed by directing mechanism inertial navigation system to close
Ring control system is realized and is directed toward the control of bar High-precision angle to end.
(3) testing scheme is overlooked using high pixel CCD camera, it can be achieved that all visible light targets in viewing field of camera angular region
Non-cpntact measurement, effectively prevent greatly apart from high-precision two-dimensional non-cpntact measurement problem.Specifically: it is installed additional being directed toward bar end
High pixel CCD camera, camera can realize the high-precision range measurement to visible light target in its market scope, and this programme is quasi- to be selected
The serial 5,000,000 pixel high-speed CCD cameras of the FZ5 of OMRON, camera resolution 2500X1900, then prospect theory measurement accuracy can
To reach: 0.06 (mm/ pixel) considers algorithm control precision and camera fields of view boundary distortion effects, program position measurement essence
: less than 0.5 (mm) is spent, to realize planar high precision non-contact measurement.
Detailed description of the invention
Fig. 1 is simulator schematic diagram of the present invention；
Fig. 2 is present invention translation platform schematic diagram；
Fig. 3 is Degree Platform schematic diagram of the present invention；
Fig. 4 is CCD camera non-touching measurement principles figure of the present invention.
Specific embodiment
Air-flotation type motion simulator can in the case that ground be used to Simulated Spacecraft microgravity space operation, this is to grind
A kind of distinctive ground full physical simulation method is directly connect compared with mathematical simulation with hardware during the spacecrafts such as satellite processed
Entry loop examines the function and performance ten of actual control system for verifying the correctness of spacecraft control conceptual design
Divide important.
As shown in Figure 1, Three Degree Of Freedom air bearing simulator of the present invention includes translation platform and Degree Platform；The master of Degree Platform
Wanting function is that control is directed toward bar and is accurately directed to and to the pose real-time control of simulator；Translation platform major function is by flat
Entire simulator is placed in microgravity environment by face air-bearing in a manner of pneumatically supported；It is translatable solid between platform and Degree Platform
Even, translation platform provides power source for entire simulator；Each part is described in detail separately below.
(1) pose platform
Degree Platform includes CCD camera 1, servo-system 2, iGPS contactless receiver 3, directing mechanism inertial navigation system
5, track motion controller 6, air bearing simulator inertial navigation system 7, Degree Platform bottom plate 8；The servo-system 2 includes referring to
To bar 21, arc guide rail 22, leading block 24, driving device 26, swivel bearing 27；
Degree Platform bottom plate 8 is circular configuration；Arc orbit 22 is mounted on Degree Platform bottom plate 8；Bar 21 is directed toward to pass through
Swivel bearing 27 is connected to the center of Degree Platform bottom plate 8, and can rotate around swivel bearing 27 along arc guide rail 22；Referring to
To on bar 21 be provided with leading block 24, directing mechanism inertial navigation system 5 and driving device at 22 cooperation of arc guide rail
26 are mounted on direction bar 21, and iGPS contactless receiver 3 is mounted on the center of Degree Platform bottom plate 8, for acquiring mesh
The coordinate of central point is marked, and the coordinate of acquisition is sent to track motion controller 6；Directing mechanism inertial navigation system 5 measures
The angle is simultaneously sent to track motion controller 6 by the relative rotation angle be directed toward between bar 21 and Degree Platform bottom plate 8；Track
Coordinate and rotational angle carry out closed-loop control to motion controller 6 based on the received, make to be directed toward bar 21 always by driving device 26
It is directed toward target；Air bearing simulator inertial navigation system 7 measures the coordinate relative to the earth of Degree Platform bottom plate 8 in simulator traveling process
It is the angle of Z axis rotation, which is sent to track motion controller 6, track motion controller 6 is according to the angle of the rotation
Track closed-loop control is carried out, by controlling the jet pipe being mounted on Degree Platform bottom plate, eliminates Degree Platform bottom plate 8 relative to the earth
The rotation of coordinate system Z axis.
In order to reduce the requirement to driving device driving precision, driving device 26 of the present invention, which may be mounted at, to be directed toward on bar 21
And the position far from 8 center of Degree Platform bottom plate.
In order to improve the pointing accuracy for being directed toward bar, this programme uses arc guide rail drive scheme.Arc guide rail is using double-deck
Structure, guide rail upper layer be V-type protrusion design be directed toward bar leading block 24 cooperate, leading block 24 have V-groove can with lead
The V-type protrusion of rail tightly engages realization guiding role.Guide rail lower layer is gear ring structure, is engaged with the driving gear of driving device 26
Realize driving effect, arc guide rail is as shown in Figure 3.For the friction that reducing mechanism relative motion generates, pacify on being directed toward bar 21
The V-type protrusions match of dress lubrication block, lubrication block and arc guide rail 22 lubricates.
The part for being directed toward the stretching arc guide rail 22 of bar 21 is at least 1.5 times of 22 radius of arc guide rail.Bar 21 is directed toward to stretch out
CCD camera is installed in the front end of arc guide rail part, is mounted in target by CCD camera to entering in viewing field of camera angular region
Visible light target carries out range measurement.
According to project actual demand, it is desirable that accurately measure the distance between object in a two-dimensional environment.It is existing non-to connect
Touch sensor is not well positioned to meet application demand, designs scheme as shown in Figure 4, realizes striker using high pixel CCD camera
The two-dimension high-precision non-cpntact measurement of target.Specifically: high pixel CCD camera 1 is installed additional being directed toward bar end, and camera can be realized pair
The high-precision range measurement (A is another visible light target in figure) of visible light target B in its market scope, this programme is quasi- to be selected
The serial 5,000,000 pixel high-speed CCD cameras of the FZ5 of OMRON, camera resolution 2500X1900, then prospect theory measurement accuracy can
To reach: 0.06 (mm/ pixel) considers algorithm control precision and camera fields of view boundary distortion effects, program position measurement essence
: less than 0.5 (mm) is spent, to realize planar high precision non-contact measurement.The present invention is overlooked using high pixel CCD camera and is surveyed
Examination scheme, it can be achieved that in viewing field of camera angular region all visible light targets non-cpntact measurement, effectively prevent greatly apart from high-precision
Spend two-dimentional non-cpntact measurement problem.
The return difference of the outer gear ring engagement of arc guide rail (2) is less than 1mm.
(2) be translatable platform
Translation platform schematic diagram as shown in Figure 2, translation platform include lifting column 13, the control of the first pneumatic circuit 14, first
15, three plane air-bearings 16 of device, translation stage+module panel 17 and translation platform lithium battery；Be translatable stage+module panel
17 be circle；Three plane air-bearings 16 are evenly arranged on translation 17 lower surface of stage+module panel, are used to support translation platform；It rises
Drop column 13, the first pneumatic circuit 14 and the first controller 15 are installed in translation 17 upper surface of stage+module panel, and lifting column
13 are located at the center of translation stage+module panel 17, and lifting column 13 is telescopic lifting column, and the first pneumatic circuit 14 is used for
It is supplied for three plane air-bearings 16；First controller 15 receives the enabled instruction of ground control system and height adjustment refers to
It enables, turning on and off for the first pneumatic circuit 14 is controlled according to the enabled instruction of ground control system, is instructed according to height adjustment
Control the lifting of lifting column 13；First controller 15 is also used to acquire the pressure of the first pneumatic circuit 14 and exports and controls to ground
System.When the hypotony of the first pneumatic circuit 14, the first controller 15 generates alarm signal.
Motor is housed in lifting column 13, the first controller 15 controls the lifting of lifting column 13 by control motor.
Translation platform lithium battery is mounted on translation 17 upper surface of stage+module panel, for being translation platform power.TP is flat
Platform is floating in the horizontal plane by three plane air-bearings 6,
The content being not described in detail in description of the invention belongs to the well-known technique of professional and technical personnel in the field.
Claims (5)
1. a kind of high-precision is directed toward positioning Three Degree Of Freedom air bearing simulator, it is characterised in that: including translation platform and Degree Platform；
Entire simulator is placed in microgravity environment by translation platform in a manner of pneumatically supported, is translatable between platform and Degree Platform
It is connected, the platform that is translatable provides power source for entire simulator；
The Degree Platform includes CCD camera (1), servo-system (2), iGPS contactless receiver (3), directing mechanism inertia
Navigation system (5), track motion controller (6), air bearing simulator inertial navigation system (7), Degree Platform bottom plate (8)；It is described
Servo-system (2) include be directed toward bar (21), arc guide rail (22), leading block (24), driving device (26), swivel bearing
(27)；
Degree Platform bottom plate (8) is circular configuration；Arc guide rail (22) is mounted on Degree Platform bottom plate (8)；It is directed toward bar (21)
The center of Degree Platform bottom plate (8) is connected to by swivel bearing (27), and can be around swivel bearing (27) along arc guide rail
(22) it rotates；Be directed toward bar (21) on arc guide rail (22) cooperation at be provided with leading block (24), directing mechanism inertia
Navigation system (5) and driving device (26), which are mounted on, to be directed toward on bar (21), and iGPS contactless receiver (3) is mounted on Degree Platform
On bottom plate (8), track motion controller (6) are sent to for acquiring the coordinate of target's center's point, and by the coordinate of acquisition；It is directed toward
Mechanism inertial navigation system (5) measurement is directed toward the relative rotation angle between bar (21) and Degree Platform bottom plate (8) and by the angle
Degree is sent to track motion controller (6)；Coordinate and rotational angle carry out closed loop control to track motion controller (6) based on the received
System makes direction bar (21) always point to target by driving device (26), and the arc guide rail (22) is double-layer structure, upper layer
For the V-groove cooperation in V-type protrusion, with leading block (24), arc guide rail (22) lower layer is gear ring structure, with driving device
(26) driving gear engagement is realized drives direction bar (21) in the circumferential direction；Air bearing simulator inertial navigation system (7)
The angle for measuring Degree Platform bottom plate (8) coordinate system Z axis rotation relative to the earth in simulator traveling process, which is sent to
Track motion controller (6), track motion controller (6) carry out track closed-loop control according to the angle of the rotation, pass through control
The jet pipe being mounted on Degree Platform bottom plate, eliminating Degree Platform bottom plate (8), coordinate system Z axis rotates relative to the earth；It is directed toward bar
(21) CCD camera is installed in front end, by CCD camera to the visible light target being mounted in target in entrance viewing field of camera angular region
Carry out range measurement.
2. simulator according to claim 1, it is characterised in that: the driving device (26), which is mounted on, is directed toward bar (21)
Position upper and far from Degree Platform bottom plate (8) center.
3. simulator according to claim 1, it is characterised in that: further include be mounted on be directed toward bar (21) on lubrication it is fast,
The V-type protrusions match for lubricating block and arc guide rail (22) lubricates.
4. simulator according to claim 1, it is characterised in that: be directed toward bar (21) and stretch out the part of arc guide rail (22) extremely
It is less 1.5 times of arc guide rail (22) radius.
5. simulator according to claim 1, it is characterised in that: the return difference of the outer gear ring engagement of arc guide rail (22) is less than
1mm。
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| CN201611241223.2A CN106781799B (en) | 2016-12-29 | 2016-12-29 | A kind of high-precision direction positioning Three Degree Of Freedom air bearing simulator |
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| CN201611241223.2A CN106781799B (en) | 2016-12-29 | 2016-12-29 | A kind of high-precision direction positioning Three Degree Of Freedom air bearing simulator |
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| CN106781799B true CN106781799B (en) | 2019-05-24 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110456631B (en) * | 2019-08-19 | 2022-12-09 | 哈尔滨工业大学 | Planet detection capture brake and device separation physical tracking device and method |
| CN112382160B (en) * | 2020-11-17 | 2022-08-02 | 哈尔滨工业大学 | Six-degree-of-freedom simulator air floatation pulley system |
| CN113525733B (en) * | 2021-08-16 | 2022-03-08 | 哈尔滨工业大学 | Six-degree-of-freedom microgravity test system with double-layer structure |
| CN114572430B (en) * | 2022-04-28 | 2024-02-27 | 中国人民解放***箭军工程大学 | Multi-degree-of-freedom test system |
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| KR20120077287A (en) * | 2010-12-30 | 2012-07-10 | 한국항공우주연구원 | Zero gravity simulation device for satellite deployable antenna assembly and test |
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