CN107797100A - Superminiature high-power radar servomechanism closed-loop path fictitious load platform - Google Patents
Superminiature high-power radar servomechanism closed-loop path fictitious load platform Download PDFInfo
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- CN107797100A CN107797100A CN201710997668.1A CN201710997668A CN107797100A CN 107797100 A CN107797100 A CN 107797100A CN 201710997668 A CN201710997668 A CN 201710997668A CN 107797100 A CN107797100 A CN 107797100A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/007—Subject matter not provided for in other groups of this subclass by applying a load, e.g. for resistance or wear testing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/008—Subject matter not provided for in other groups of this subclass by doing functionality tests
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Retarders (AREA)
Abstract
The invention provides a kind of Superminiature high-power radar servomechanism closed-loop path fictitious load platform, the output end of servomotor, the little gear of tumbler gear group and inertia disc group are co-axially mounted；The gear wheel of tumbler gear group, magnetic powder brake, the driving wheel of planetary reduction gear and No.1 clearance elimination gear group are co-axially mounted；Clearance elimination gear, the driving wheel of No. two clearance elimination gear groups of No.1 clearance elimination gear group are co-axially mounted；The input of the clearance elimination gears of No. two clearance elimination gear groups, yielding coupling and photoelectric encoder is co-axially mounted.The present invention can carry out load simulation to various radar servomechanism and high-power turntable, greatly reduce the volume and weight of fictitious load platform.
Description
Technical field
The present invention relates to SERVO CONTROL field, simulation and debugging for various radar servomechanism and high-power turntable.
Background technology
Domestic existing load simulating device has three classes on the analogy method of torque and rotary inertia, and one kind is using friction
Disk, flywheel simulation torque and rotary inertia, such as by a kind of " mechanical torque load of AVIC Aero-Poly Technology Establishment's invention
Analogue means " (number of patent application：CN201710233740.3；Publication number：CN106840646A), studied by Beijing plant equipment
" a kind of double servo mechanism load simulator " (number of patent application invented：CN201610946082.8；Publication number：
CN106297529A it is) and (special by " electric servomechanism load simulation system and its analogy method " of Beijing Jiaotong University's invention
Sharp application number：CN201610771926.X；Publication number：CN106323618A).It is another kind of to use booster engine or spring, flywheel mould
Intend torque and rotary inertia, " the load testing apparatus " (number of patent application such as invented by Suote Transmission Equipment Co., Ltd.：
CN201410337909.6；Publication number：CN104089766A " the servo-drive system complex load) and by Beijing Institute of Technology invented
Work condition analogue and performance testing device " (number of patent application：CN200820178534.3；Publication number：CN201302606Y).3rd
Class using magnetic powder brake and flywheel simulation torque and rotary inertia, such as by Harbin Institute of Technology invent " two-way magnetic is born
Carry simulator " (number of patent application：CN201510974848.9；Publication number：CN105575246A) and by Jiangsu University of Science and Technology send out
A kind of bright " dynamic load simulation test experiment platform and method of testing " (number of patent application：CN201410510967.4；It is open
Number：CN104267617B).Preceding two classes load simulating device is turned using frictional disk, booster engine or spring simulation torque, flywheel simulation
Dynamic inertia, and frictional disk, booster engine, spring, flywheel are on the same axis, and weight and volume is very huge.3rd class uses
Magnetic powder brake, flywheel simulation torque and rotary inertia, though partial volume is reduced with magnetic powder brake simulation torque, its magnetic
Powder brake, flywheel are all positioned on bearing axle, although weight and volume two classes than before are smaller, but still it is very big.It is in addition, above-mentioned
Load simulating device is with angular transducer and torque sensor measurement corner, torque loads and inertia load (conveying signal).
Though from the foregoing, it will be observed that at present domestic load simulating device can provide platform for the debugging of servomechanism and turntable, by
In torque load maintainer, inertia simulation mechanism and sensor on same bearing axle, high powered radar servomechanism mould is caused
It is very huge to intend load table volume and weight, the power limited of fictitious load, and be not easy to move, debugging place generally requires solid
It is fixed；If not having closed-loop path load table, radar servomechanism can only carry out closed-loop path tune after the completion of radar master station assembles
Examination, the Development Schedule of servomechanism can be so had a strong impact on, also influence radar master station simultaneously and develop and debug progress.
The content of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of Superminiature high-power radar servomechanism closed-loop path
Fictitious load platform, load simulation is carried out to various radar servomechanism and high-power turntable, greatly reduces fictitious load platform
Volume and weight, design, the debugging progress of various radar servomechanism and high-power turntable can be accelerated, realize that servomechanism is closed
Loop debugging is closed, while the efficiency to assessing various radar servomechanism has directive significance.
The technical solution adopted for the present invention to solve the technical problems is：A kind of Superminiature high-power radar servomechanism closes
Close loop analog load table, including servomotor, tumbler gear group, inertia disc group, magnetic powder brake, planetary reduction gear, No.1
Clearance elimination gear group, No. two clearance elimination gear groups, yielding coupling and photoelectric encoder.
The output end of the servomotor, the little gear of tumbler gear group and inertia disc group are co-axially mounted；The commutating tooth
The gear wheel of wheel group, magnetic powder brake, the driving wheel of planetary reduction gear and No.1 clearance elimination gear group are co-axially mounted, and No.1 disappears gap tooth
The clearance elimination gear of wheel group, the driving wheel of No. two clearance elimination gear groups are co-axially mounted, clearance elimination gear, the elasticity connection of No. two clearance elimination gear groups
The input of axle device and photoelectric encoder is co-axially mounted.
Described inertia disc component sheets design, inertia disc is dismounted according to different demands.
The output end of the described servomotor and pinion shaft of tumbler gear group, photoelectric encoder input and elasticity connection
Axle device is connected by adapter flange dish.
The beneficial effects of the invention are as follows：
(1) high power load torque is simulated with ultra-small volume
The fictitious load platform uses resistance caused by magnetic powder brake as loading moment, and magnetic powder brake is located at one-level
After deceleration, volume, the weight of magnetic powder brake are significantly reduced, is realized big with the load table simulation of ultra-small volume, weight
The design of power radar servomechanism, it is the ingenious innovation in design.
(2) simulation of staged loading moment and rotary inertia is realized
According to different turntable follow-up systems debugging needs, the size of loading moment and rotary inertia is adjustable.According to tune
Whole voltage swing can adjust the torque of magnetic powder brake, so as to adjust loading moment；Turned with the simulation of brick pattern detachable inertia disc
Dynamic inertia, realizes the simulation of staged rotary inertia.
(3) simulation precision is high
For the fictitious load platform gearratio up to 500~2000, data running part uses clearance elimination gear, effectively eliminates
Driving error, truly simulating turntable servomechanism parameters.
(4) debugging of servomechanism closed-loop path is realized
The fictitious load platform has photoelectric encoder interface arrangement, code that can be with mounting flange diameter within 120mm
Disk, can the truly various high-power servomechanism closed-loop path debugging of simulation so as to form the servomechanism with position ring.
By the fictitious load platform, the kinematic parameter of various high-power servomechanisms is successfully found out.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the fundamental diagram of the present invention；
In figure, 1- servomotors, 2- tumbler gear groups, 3- inertia disc groups, 4- magnetic powder brakes, 5- planetary reduction gears, 6-
Clearance elimination gear group, 7- clearance elimination gear groups, 8- yielding couplings, 9- photoelectric encoders.
Embodiment
The present invention is further described with reference to the accompanying drawings and examples, and the present invention includes but are not limited to following implementations
Example.
Fictitious load platform provided by the invention can simulate the loading moment, rotary inertia, transmission of various high-power turntables
Than, there is provided high precision position measurement data, can meet the needs of large-scale turntable follow-up system debugging.
Described Superminiature high-power radar servomechanism closed-loop path fictitious load platform is by servomotor 1, tumbler gear
Group 2, inertia disc group 3, magnetic powder brake 4, planetary reduction gear 5, clearance elimination gear group 6, clearance elimination gear group 7, yielding coupling 8, light
The grade of photoelectric coder 9 forms.Maximum 12000N.m loading moment, 2160kg.m2 rotary inertia, 500~2000 can be simulated
Gearratio, meet the needs of various large-scale turntable follow-up systems debugging.
Servomotor 1, the little gear of tumbler gear group 2, inertia disc group 3 are on the 1st axle (motor shaft), tumbler gear group 2
Gear wheel, magnetic powder brake 4, planetary reduction gear 5, the driving wheel of clearance elimination gear group 6 on the 2nd axle, clearance elimination gear group 6 disappears
On the 3rd axle, clearance elimination gear, yielding coupling 8, the photoelectricity of clearance elimination gear group 7 are compiled for gap gear, the driving wheel of clearance elimination gear group 7
Code device 9 is on the 4th axle (bearing axle).
Servomotor 1 realizes primary speed-down by tumbler gear group 2, then realizes double reduction by planetary reduction gear 5, most
Gap gear train 6,7 is offseted by two afterwards with photoelectric encoder 9 to couple.To reduce volume as far as possible, inertia disc group 3 is arranged on the 1st
It is coaxial with servomotor 1 on axle.Magnetic powder brake 4 is located at after primary speed-down, on the 2nd axle, tumbler gear group 2
Gear wheel is coupled by positive coupling with magnetic powder brake 4.Tumbler gear is provided between servomotor 1 and photoelectric encoder 9
Group 2, planetary reduction gear 5, clearance elimination gear group 6, clearance elimination gear group 7, yielding coupling 8.Photoelectric encoder 9 passes through yielding coupling
8 couple with clearance elimination gear group 7.
Inertia disc group 3 is arranged on the 1st axle according to transmission principle by the fictitious load platform, coaxial with servomotor 1, is made
The volume minimization of inertia disc group 3.Inertia disc group 3 presses burst design, and the quantity of inertia disc can be dismounted according to different demands, is realized
The simulation of staged rotary inertia.
Magnetic powder brake 4 is located at after primary speed-down, on the 2nd axle.Made using resistance caused by magnetic powder brake 4
For loading moment, than using frictional disk, booster engine or spring simulation torque, volume, weight have the reduction of essence.One-level subtracts
Speed effectively reduces the rotating speed of magnetic powder brake 4, and planetary reduction gear 5, clearance elimination gear group 6, clearance elimination gear group 7 expand mould
Intend load, magnetic powder brake 4 is arranged on jackshaft, be the ingenious innovation in design.
The fictitious load platform is in servomotor 1 to being designed with tumbler gear group 2, planetary reduction gear between photoelectric encoder 9
5th, clearance elimination gear group 6, clearance elimination gear group 7, by adjusting the gearratio of clearance elimination gear group 6, clearance elimination gear group 7,500 can be simulated~
2000 resultant gear ratio.Clearance elimination gear group 6, clearance elimination gear group 7 can eliminate transmission sideshake, and yielding coupling 8 eliminates photoelectric coding
The alignment error of device 9, to ensure the transmitting accuracy of closed-loop path.
The fictitious load platform servomotor 1, the interface of photoelectric encoder 9 are provided with adapter flange dish, can connect different shaped
Number servomotor and photoelectric encoder.
The fictitious load stylobate body uses aluminium alloy monoblock cast, and the machine of significantly reducing adds the weight of difficulty and load table.
Compact-sized, volume is 618mm × 453mm × 265mm, very compact, is turned than using frictional disk, booster engine or spring simulation
Square, volume, weight reduction more than 97%.
As shown in Figure 1：
Servomotor 1 provides power for Superminiature high-power radar servomechanism closed-loop path fictitious load platform.
Tumbler gear group 2 realizes primary speed-down.
The fictitious load rotary inertia of inertia disc group 3.
The fictitious load torque of magnetic powder brake 4.
Planetary reduction gear 5 realizes double reduction.
Clearance elimination gear group 6 realizes that three-level is slowed down and eliminates transmission sideshake.
Clearance elimination gear group 7 realizes that level Four is slowed down and eliminates transmission sideshake.
Yielding coupling 8 eliminates the alignment error of photoelectric encoder 9.
Photoelectric encoder 9 is fictitious load platform position measurement element.
Superminiature high-power radar servomechanism closed-loop path fictitious load platform operation principle is as shown in Figure 2：
Magnetic powder brake on magnetic powder brake display control combination access fictitious load platform, by adjusting magnetic powder brake
The control electric current of display control combination, can adjust the load torque of servomechanism, simulate the negative of servomechanism under time of day
Carrier strip part；By adjusting the inertia disc group on fictitious load platform, the inertia condition of servomechanism under time of day is simulated.
Photoelectric encoder access servo antrol on fictitious load platform and driving are combined, as servo antrol and driving group
The position sensor of conjunction, with forming position closed loop；The access servo antrol of servomotor on fictitious load platform and driving are combined,
The increment code wheel or rotary transformer carried on servomotor is as velocity sensor, to form speed closed loop；Servomotor with
The motor driver that servo antrol and driving group are closed forms current closed-loop.
The three rings closure debugging mode of electric current loop, speed ring, position ring under servomechanism object simulating state formed above,
By adjusting the kinematic parameter of servomechanism control strategy, control algolithm, electric current loop, speed ring, position ring, make servo antrol and
Driving combination is optimal state of a control.
Embodiments of the invention are as shown in figure 1, by servomotor 1, tumbler gear group 2, inertia disc group 3, magnetic powder brake
4th, planetary reduction gear 5, clearance elimination gear group 6, clearance elimination gear group 7, yielding coupling 8, photoelectric encoder 9 etc. form, and install respectively
On the 1st axle (motor shaft)~the 4th axle (bearing axle), 4 axles are arranged on matrix by roller bearings.
Servomotor 1, the little gear of tumbler gear group 2, inertia disc group 3 are on the 1st axle (motor shaft), to avoid servo electric
Excessive bending moment is born in the rotating shaft of machine 1, and inertia disc group 3 is arranged close at rolling bearing.
The gear wheel of tumbler gear group 2, magnetic powder brake 4, planetary reduction gear 5, the driving wheel of clearance elimination gear group 6 are the 2nd
On axle, magnetic powder brake 4 is arranged on after tumbler gear group 2, that is, be have passed through primary speed-down, passed through positive coupling and commutating tooth
The gear wheel connection of wheel group 2, planetary reduction gear 5 are arranged on the other end of the gear wheel of tumbler gear group 2.
Clearance elimination gear group 6 and clearance elimination gear group 7 are provided with after planetary reduction gear 5, by adjusting two groups of teeth wheel transmission
Gearratio, 500~2000 resultant gear ratio can be simulated.To reduce volume as far as possible, using the useful space, clearance elimination gear group 6
Clearance elimination gear, the driving wheel of clearance elimination gear group 7 are arranged on the 3rd axle, the clearance elimination gear of clearance elimination gear group 7, yielding coupling 8,
Photoelectric encoder 9 is arranged on the 4th axle (bearing axle).
Servomotor 1 realizes primary speed-down by tumbler gear group 2, then realizes double reduction by planetary reduction gear 5, most
Gap gear train 6,7 is offseted by two afterwards with photoelectric encoder 9 to couple.Inertia disc group 3 is used for simulating rotary inertia, to subtract as far as possible
Small size, inertia disc group 3 is arranged on the 1st axle, coaxial with servomotor 1.Magnetic powder brake 4 is used for fictitious load torque, position
In tumbler gear group 2 i.e. after primary speed-down, on the 2nd axle, the gear wheel of tumbler gear group 2 by positive coupling with
Magnetic powder brake 4 couples.Tumbler gear group 2, planetary reduction gear 5, the gap that disappears tooth are provided between servomotor 1 and photoelectric encoder 9
Wheel group 6, clearance elimination gear group 7, the simulation of resultant gear ratio 500~2000 pass through tumbler gear group 2, planetary reduction gear 5, clearance elimination gear
Group 6, the joint of clearance elimination gear group 7 are realized.Photoelectric encoder 9 is coupled by yielding coupling 8 with clearance elimination gear group 7, to eliminate peace
Fill error.
According to transmission principle, rotary inertia and gearratio it is square directly proportional, to make the volume minimization of inertia disc group 3,
Inertia disc group 3 is arranged on the 1st axle, it is coaxial with servomotor 1.Inertia disc group 3 presses burst design, building block assembling, increase
Or dismounting inertia disc is very convenient, the quantity of inertia disc can be dismounted according to different demands, realize the simulation of staged rotary inertia.
According to transmission principle, rotating torque is directly proportional to gearratio, and rotating speed is inversely proportional with gearratio.In the magnetic system of taking into account
In the case of the rotating speed and braking moment of dynamic device 4, to make the volume minimization of magnetic powder brake 4, magnetic powder brake 4 is positioned at commutation
After gear train 2 i.e. primary speed-down, before planetary reduction gear 5, clearance elimination gear group 6, clearance elimination gear group 7, on the 2nd axle.
Using torque caused by magnetic powder brake 4 as loading moment, than using frictional disk, booster engine or spring simulation torque, body
Product, weight have the reduction of essence.Primary speed-down significantly reduces the rotating speed of magnetic powder brake 4, and driving-chain rear end planet
The numerical value of fictitious load torque greatly improved in the gearratio that decelerator 5, clearance elimination gear group 6, clearance elimination gear group 7 provide, and realizes
It is the ingenious innovation in design with small-power magnetic powder brake simulation high power load torque.Can according to adjustment voltage swing
The torque of magnetic powder brake is adjusted, so as to adjust loading moment.
The fictitious load platform is in servomotor 1 to being designed with tumbler gear group 2, planetary reduction gear between photoelectric encoder 9
5th, clearance elimination gear group 6, clearance elimination gear group 7, yielding coupling 8, to realize big gearratio, planetary reduction gear 5 with smaller size smaller
It is driven using third-level planetary, gearratio is up to 262.Tumbler gear group 2, planetary reduction gear 5 are fixed drive ratio, clearance elimination gear group
6th, the gearratio of clearance elimination gear group 7 is adjustable, by adjusting the gearratio of clearance elimination gear group 6, clearance elimination gear group 7,500 can be simulated~
2000 resultant gear ratio.Clearance elimination gear group 6, clearance elimination gear group 7 can eliminate transmission sideshake, and yielding coupling 8 eliminates photoelectric coding
The alignment error of device 9, to ensure the transmitting accuracy of closed-loop path.
The fictitious load platform servomotor 1, the interface of photoelectric encoder 9 are provided with adapter flange dish, can connect different shaped
Number servomotor and photoelectric encoder, it is versatile.
The fictitious load stylobate body uses aluminium alloy monoblock cast, and the machine of not only reducing adds the weight of difficulty and load table,
Reduce assembling link, also improve assembly precision.The fictitious load platform structure is extremely compact, the installation land productivity as far as possible of driving-chain
With the useful space, volume is 618mm × 453mm × 265mm, very compact, than using frictional disk, booster engine or spring simulation
Torque, volume, weight reduction more than 97%.
Domestic existing load simulating device uses frictional disk, booster engine or bullet mostly on torque and the simulation of rotary inertia
Spring simulates torque, flywheel simulation rotary inertia, and frictional disk, booster engine, spring, flywheel are on the same axis, weight and volume
It is very huge.Minority simulates torque earlier above using magnetic powder brake, flywheel simulation torque and rotary inertia with magnetic powder brake
Though one kind reduces volume, its magnetic powder brake, flywheel are all positioned on bearing axle, for simulation high power load, weight
Amount and volume are still very big.
Superminiature high-power radar servomechanism closed-loop path fictitious load platform is using magnetic powder brake, flywheel simulation torque
And rotary inertia, magnetic powder brake are placed in jackshaft, flywheel is placed in motor shaft.Relative to the load for simulating same power
Platform, weight and volume are only the 3% of domestic congenerous load table at present.
Current domestic load simulating device is with angular transducer and torque sensor measurement corner, loading moment, this mould
Intend load table using photoelectric encoder as measuring cell, driving error is eliminated using clearance elimination gear group, yielding coupling eliminates
Alignment error, it ensure that high-precision closed-loop path simulation.
This fictitious load platform can debug needs according to different product servomechanism, and the size of loading moment and rotary inertia is
It is adjustable.Servomotor, photoelectric encoder interface are provided with adapter flange dish, can connect the servomotor and light of different model
Photoelectric coder, it is versatile.
Claims (3)
1. a kind of Superminiature high-power radar servomechanism closed-loop path fictitious load platform, including servomotor, tumbler gear group,
Inertia disc group, magnetic powder brake, planetary reduction gear, No.1 clearance elimination gear group, No. two clearance elimination gear groups, yielding coupling and photoelectricity
Encoder, it is characterised in that：The output end of the servomotor, the little gear of tumbler gear group and inertia disc group are co-axially mounted；
The gear wheel of the tumbler gear group, magnetic powder brake, the driving wheel of planetary reduction gear and No.1 clearance elimination gear group are co-axially mounted；
Clearance elimination gear, the driving wheel of No. two clearance elimination gear groups of No.1 clearance elimination gear group are co-axially mounted；The gap that disappears of No. two clearance elimination gear groups
The input of gear, yielding coupling and photoelectric encoder is co-axially mounted.
2. Superminiature high-power radar servomechanism closed-loop path fictitious load platform according to claim 1, its feature exist
In：Described inertia disc component sheets design, inertia disc is dismounted according to different demands.
3. Superminiature high-power radar servomechanism closed-loop path fictitious load platform according to claim 1, its feature exist
In：The output end of the described servomotor and pinion shaft of tumbler gear group, photoelectric encoder input and yielding coupling
Connected by adapter flange dish.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710997668.1A CN107797100A (en) | 2017-10-24 | 2017-10-24 | Superminiature high-power radar servomechanism closed-loop path fictitious load platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710997668.1A CN107797100A (en) | 2017-10-24 | 2017-10-24 | Superminiature high-power radar servomechanism closed-loop path fictitious load platform |
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| Publication Number | Publication Date |
|---|---|
| CN107797100A true CN107797100A (en) | 2018-03-13 |
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ID=61534348
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710997668.1A Pending CN107797100A (en) | 2017-10-24 | 2017-10-24 | Superminiature high-power radar servomechanism closed-loop path fictitious load platform |
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Application publication date: 20180313 |