CN110597300B - Counterweight calculation method for pitching module of laser tracking measurement system - Google Patents

Counterweight calculation method for pitching module of laser tracking measurement system Download PDF

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CN110597300B
CN110597300B CN201910459538.1A CN201910459538A CN110597300B CN 110597300 B CN110597300 B CN 110597300B CN 201910459538 A CN201910459538 A CN 201910459538A CN 110597300 B CN110597300 B CN 110597300B
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counterweight
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gravity center
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pitching
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CN110597300A (en
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陈洪芳
孙若水
李长亮
宋辉旭
石照耀
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Beijing University of Technology
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    • G05—CONTROLLING; REGULATING
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Abstract

The invention discloses a counterweight calculation method for a pitching module of a laser tracking measurement system, which calculates a calculation method for a tail balance counterweight under the condition of integral gravity center deviation of a horizontal rotary platform of the laser tracking system. In the laser tracking system, if the gravity center of the horizontal rotary platform is shifted, the control difficulty of a pitching motion motor of the laser tracking system can be greatly improved. The counterweight calculation method provided by the invention can effectively design a reasonable counterweight for the laser tracking system, reduce the control difficulty of the pitching motion motor and improve the precision of the laser tracking measurement system.

Description

Counterweight calculation method for pitching module of laser tracking measurement system
Technical Field
The invention relates to the field of laser measurement, in particular to a method for calculating a balance weight of a laser tracking measurement system of a pitching module of the laser tracking measurement system.
Background
The laser tracking system is used for measuring the large-size geometric dimension and the dynamic track of a space, and is measurement equipment which is urgently needed by large-scale scientific engineering and high-end equipment manufacturing. In order to realize space dynamic target tracking and measurement, a laser tracking system is required to accurately detect the relative change of the position of a dynamic target in real time and perform high-speed servo control through the pitch angle of a tracking control unit. The measuring light beam can always ensure the quick aiming and tracking of the center of the space moving target, thereby realizing the real-time tracking and accurate measurement of the large-range and long-distance moving target. The laser tracking and measuring system mainly comprises a two-dimensional slewing mechanism capable of realizing automatic tracking and an interference length measuring system. The tracking control system has the characteristics of quick response, no static error, small tracking error, stable and reliable work and the like. However, since the center of gravity of the laser head part (pitch module) of the laser tracking system generates an eccentricity with the rotation axis of the pitch motor, the eccentricity increases the difficulty of high-speed servo control of the pitch motor, which makes it difficult to adjust the motor control parameters to a proper value.
Disclosure of Invention
The invention aims to calculate the mass of a balancing weight block of a pitching module of a laser tracking measurement system, and provides a calculation method for calculating the mass of the balancing weight block. According to the invention, the design of the balancing weight is added to the pitching module part of the traditional laser tracking and measuring system, the balancing weight is used for balancing the mass of the laser head part, and the central point of the pitching part of the laser tracking and measuring system is positioned at the position of the rotation axis of the pitching motor, so that the design can effectively reduce the difficulty of high-speed servo control of the pitching motor, and a better motor control effect is achieved.
As shown in fig. 1 and 2, the pitch module of the laser tracking and measuring system includes a laser head part, a pitch connecting bracket 13 and a weight stack. The counterweight group and the laser head part are fixedly connected on the pitching connecting support 13 by bolts. The counterweight group consists of two counterweight blocks I14, a counterweight support plate 15, two counterweight connecting plates 16 and a counterweight block II17, and the counterweight group consists of two counterweight blocks I and one counterweight block II. Two counterweight connecting plates 16 are symmetrically arranged at two sides of the counterweight supporting plate 15, two counterweight blocks I14 are symmetrically distributed at two sides of one counterweight connecting plate 16, and a counterweight block II17 is arranged at one side of the other counterweight connecting plate 16;
the laser head part comprises a photoelectric receiver 1, a BS lens and lens holder 2, a PBS lens and lens holder 3, a 1/4 wave plate and wave plate holder 4, a diaphragm 5, a convex lens and lens holder 6, a laser holder 7, a PSD circuit board 8, a light path carrying bottom plate 9, a light path carrying connecting plate 10, a vertical fine adjustment knob 11 and a horizontal fine adjustment knob 12, and a black light-tight shell 19. As shown in fig. 1, the center of gravity of the whole laser head part is deviated to one side, and for the convenience of adjusting the control system, the weight of the tail counterweight needs to be designed in the pitching connecting bracket 13 to balance the weight of the laser head part.
As shown in fig. 2, the overall mechanical structure of the laser tracking measurement system is a pitch module 18. The pitch module 18 is fixed with the pitch axis motor through bolts. As shown in FIG. 3, an O-XYZ coordinate system is established by respectively taking the center of the standard sphere as an origin O and the horizontal and vertical revolving axes as X and Z axes. The entire horizontal swiveling and rotating part is divided into a front pitching half 20 and a rear pitching half 21 as shown in fig. 5 by using the XOZ plane as a dividing plane.
As shown in FIG. 3, let the space coordinate of the center of gravity point of the first half of the horizontal revolution be A (x)1，y1，z1) The center of the standard sphere is the origin O (0, 0, 0) of the space coordinate system, and the space coordinate of the center of gravity of the back half of the horizontal revolution is B (x)2，y2，z2) The space coordinate of the gravity center point of the tail frame part is C (x)3，y3，z3) The space coordinate of the gravity center point of the counterweight group is D (x)4，y4，z4). Let the mass of the pitching front half be m1Tail stock part mass m2The mass of the counterweight group is m3The latter half mass of the horizontal revolution is (m)2+m3)。
The counterweight group is used for balancing the mass of the pitching front half part 20, and the central point of the pitching part of the laser tracking and measuring system is positioned at the position of the rotation axis of the pitching motor, so that the design can reduce the difficulty of PID (proportion integration differentiation) adjustment of motor control, and a better motor control effect is achieved. As shown in fig. 4, the gravity center point B is a composite gravity center point of the gravity center point C and the gravity center point D, and the gravity center point B is located on the extension line of the AO straight line. The AB is used as a lever, the origin O is used as a lever supporting point, and the equation is satisfied: m is1·|AO|＝(m2+m3) | OB |, wherein: | AO | is the distance of the line segment AO; | OB | is the distance of the line segment OB.
The method adopted by the invention comprises the following steps:
step 1: drawing a three-dimensional graph of the laser tracking measurement system, and matching a coordinate system of the three-dimensional graph with a coordinate system of the mathematical model. The AB is used as a lever, the origin O is used as a lever supporting point, and the equation is satisfied:
m1·|AO|＝(m2+m3) [ OB ] | (1) wherein: | AO | is the distance of the line segment AO; | OB | is the distance of the line segment OB; m is1Mass of the pitching front half part; m is2Is the tail stock part mass; m is3Is the weight of the balancing weight.
Step 2: giving mass or density to all parts in the three-dimensional model, and calculating the space coordinate of the center of gravity of the front half part of the pitching as A (x) through matlab1，y1，z1) The space coordinate of the gravity center point of the tail frame part is C (x)3，y3，z3) The space coordinate of the gravity center point of the balancing weight is D (x)4，y4，z4) Mass m of front half of pitch1Tail stock part mass m2. X in the spatial coordinates of gravity center point of matching set4For an unknown quantity, it needs to be solved to obtain y4、z4In known amounts.
And step 3: calculating the linear equation of AO and the length of | AO |, | OB |
Figure RE-GDA0002230120870000031
Figure RE-GDA0002230120870000032
Figure RE-GDA0002230120870000033
And 4, step 4: calculating the space coordinate equation of the synthesized gravity center point B
Figure RE-GDA0002230120870000034
In the right side of the equation, divide by m2And x4The unknown quantity, the rest are the known quantity obtained by calculation.
And 5: substituting the space coordinate equation (5) of the synthesized gravity center point B into the AO linear equation (2) to obtain the following equation:
Figure RE-GDA0002230120870000035
calculating according to an equation to obtain x4The specific numerical value of (1).
Step 6: substituting the space coordinate equation (5) of the synthesized gravity center point B into | OB | length equation (4) yields the following equation:
Figure RE-GDA0002230120870000036
substituting | AO | length formula (3) and | OB | length formula (7) into the lever theorem equation (1) to obtain the equation:
Figure RE-GDA0002230120870000041
the mass m of the counterweight is obtained according to equation (8)3。
Compared with the prior art, the laser tracking measurement system is easy to have the situation that the PID (proportion integration differentiation) of the motor is not adjusted to be ideal under the condition of not adding a balance weight, so that the conditions of jitter after the motor is electrified, target loss in the tracking process and the like occur. After the counter weight is added, the torque required by the rotation of the motor is reduced to a great extent, the difficulty of high-speed servo control of the pitching motor is effectively reduced, and a better motor control effect is achieved.
Drawings
FIG. 1 is a top view of a laser tracking measurement system.
Fig. 2 is a schematic diagram of a laser tracking measurement system.
FIG. 3 is a schematic diagram of a laser tracking measurement system with a weight block calculation
FIG. 4 is a schematic view of the front half of a horizontal rotation of a laser tracking measurement system
FIG. 5 is a schematic diagram of the rear half of horizontal rotation of a laser tracking measurement system
The labels in the figure are: 1-photoelectric receiver, 2-BS lens and lens holder, 3-PBS lens and lens holder, 4-1/4 wave plate and wave plate holder, 5-diaphragm, 6-convex lens and lens holder, 7-laser holder, 8-PSD circuit board, 9-optical path carrying bottom plate, 10-optical path carrying connecting plate, 11-vertical fine tuning knob, 12-horizontal fine tuning knob, 13-pitching connecting bracket, 14-counterweight block I, 15-counterweight supporting plate, 16-counterweight connecting plate, 17-counterweight block II, 18-horizontal revolving part, 19-black opaque shell, 20-pitching front half part, 21-pitching rear half part
Detailed Description
Step 1: drawing a three-dimensional graph of the laser tracking measurement system, and matching a coordinate system of the three-dimensional graph with a coordinate system of the mathematical model. The AB is used as a lever, the origin O is used as a lever supporting point, and the equation is satisfied:
m1·|AO|＝(m2+m3)·|OB| (1)
in the formula: | AO | is the distance of the line segment AO; | OB | is the distance of the line segment OB; m is1Mass of the pitching front half part; m is2Is the tail stock part mass; m is3Is the weight of the balancing weight.
Step 2: giving a mass or density to all parts in the three-dimensional model, wherein the mass of the photoelectric receiver 1 is 0.079 kg; the mass of the BS lens and the lens holder 2 is 0.023 kg; the mass of the PBS lens and the lens holder 3 is 0.026 kg; 1/4 the mass of the wave plate and the wave plate frame 4 is 0.021 kg; the mass of the diaphragm 5 is 0.013 kg; the mass of the convex lens and the lens holder 6 is 0.179 kg; the laser holder 7 has a mass of about 0.155 kg; the mass of the PSD circuit board 8 is about 0.053 kg; the light path carrying bottom plate 9 is made of aluminum alloy, and the material density is 2.820g/cm 3; the material of the light path carrying connecting plate 10 is 45 steel, and the material density is 7.850g/cm3(ii) a The material of the vertical fine adjustment knob 11 is 45 steel, and the material density is 7.850g/cm3(ii) a The material of the horizontal fine adjustment knob 12 is 45 steel, and the density of the material is 7.850g/cm3The pitch connecting bracket 13 is made of 45 steel and has the material density of 7.850g/cm3(ii) a The counterweight block I14 is made of lead and has the density of 11.370g/cm3(ii) a The material of the counterweight support plate 15 is 45 steel, and the material density is 7.850g/cm3(ii) a The material of the counterweight connecting plate 16 is 45 steel, and the material density is 7.850g/cm3(ii) a The counterweight block II17 is made of lead and has the density of 11.370g/cm3(ii) a Black colorThe opaque outer shell 19 is abs plastic and has a density of 1.060 g/cm3. The space coordinates A (31.253, 132.368, -0.749) of the gravity center point of the front half part of the pitch are calculated by software, the space coordinates of the gravity center point of the tail frame part are C (-5.639, -104.813, 20.996), and the space coordinates of the gravity center point of the counterweight block are D (x)4-128.782, 44.330), the front half mass of revolution m17.712kg, tailstock part mass m2＝2.120kg。
And step 3: calculating the length of the linear equation of AO and the line segments | AO | and | OB |
Figure RE-GDA0002230120870000051
|AO|＝136.008
(3)
Figure RE-GDA0002230120870000052
And 4, step 4: calculating the space coordinate equation of the synthesized gravity center point B
Figure RE-GDA0002230120870000053
In the right side of the equation, divide by m2And x4 are unknown quantities, and the rest are known quantities calculated by software.
And 5: substituting the space coordinate equation (5) of the synthesized gravity center point B into the AO linear equation (2) to obtain the following equation:
Figure RE-GDA0002230120870000061
calculating according to an equation to obtain x4＝-49.584。
Step 6: substituting the space coordinate equation (5) of the synthesized gravity center point B into | OB | length equation (4) yields the following equation:
Figure RE-GDA0002230120870000062
substituting | AO | length formula (3) and | OB | length formula (7) into the lever theorem equation (1) to obtain the equation:
Figure RE-GDA0002230120870000063
the mass m of the counterweight is obtained according to equation (8)3＝2.748kg
The pitching module 18 of the laser tracking measurement system can be effectively balanced back and forth through the calculated counterweight data, and the whole gravity center is placed on the rotation axis of the pitching motor, so that the difficulty of motor control and adjustment is reduced.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention, and many modifications are possible in the present embodiments, as those skilled in the art will recognize. The general principles defined herein may be embodied in other specific embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (2)

1. The utility model provides a calculate laser and track measurement system counter weight model which characterized in that: the pitching module of the laser tracking measurement system comprises a laser head part, a pitching connecting support (13) and a counterweight group; the counterweight group and the laser head part are fixedly connected on the pitching connecting support (13) by bolts; the counterweight group consists of two counterweight blocks I (14), a counterweight support plate (15), two counterweight connecting plates (16) and a counterweight block II (17), and the two counterweight blocks I and the counterweight block II form a counterweight group; two counterweight connecting plates (16) are symmetrically arranged at two sides of a counterweight supporting plate (15), two counterweight blocks I (14) are symmetrically distributed at two sides of one counterweight connecting plate (16), and a counterweight block II (17) is arranged at one side of the other counterweight connecting plate (16);
the integral gravity center of the laser head part is deviated to one side, and the weight of a tail balancing weight is designed in the pitching connecting bracket (13) to balance the weight of the laser head part; the integral mechanical structure of the laser tracking measurement system is a pitching module (18); the pitching module (18) is fixed with the pitching shaft motor through a bolt; respectively taking the center of a standard sphere as an original point O, and respectively taking a horizontal revolving shaft and a vertical revolving shaft as an X axis and a Z axis to establish an O-XYZ coordinate system; dividing the whole horizontal rotation part into a pitching front half part (20) and a pitching rear half part (21) by taking an XOZ plane as a dividing plane; let the space coordinate of the center of gravity point of the front half of the horizontal rotation be A (x)1，y1，z1) The center of the standard sphere is the origin O (0, 0, 0) of the space coordinate system, and the space coordinate of the center of gravity of the back half of the horizontal revolution is B (x)2，y2，z2) The space coordinate of the gravity center point of the tail frame part is C (x)3，y3，z3) The space coordinate of the gravity center point of the balancing weight is D (x)4，y4，z4) (ii) a Let the mass of the first half of revolution be m1Tail stock part mass m2Mass of the balancing weight is m3The latter half mass of the horizontal revolution is (m)2+m3) (ii) a The gravity center point B is a synthesized gravity center point of the gravity center point C and the gravity center point D, and the gravity center point B is positioned on the extension line of the AO straight line; the AB is used as a lever, the origin O is used as a lever supporting point, and the equation is satisfied: m is1·|AO|＝(m2+m3)·|OB|。
2. A method for calculating the counterweight of a laser tracking measurement system is characterized by comprising the following steps:
the method comprises the following specific steps:
step 1: drawing a three-dimensional graph of the laser tracking measurement system, and matching a coordinate system of the three-dimensional graph with a coordinate system of the mathematical model; the AB is used as a lever, the origin O is used as a lever supporting point, and the equation is satisfied:
m1·|AO|＝(m2+m3)·|OB| (1)
step 2: giving the mass or density to all the parts in the three-dimensional model, and calculating the space coordinate A (x) of the gravity center point of the first half of the horizontal revolution1，y1，z1) Center of gravity of tail stock partPoint space coordinate is C (x)3，y3，z3) The space coordinate of the gravity center point of the balancing weight is D (x)4，y4，z4) Mass m of front half of revolution1Tail stock part mass m2(ii) a Wherein x is in space coordinate of gravity center point of balancing weight4For an unknown quantity, it needs to be solved to obtain y4，z4Is a known amount;
and step 3: calculating the linear equation of AO and the length of | AO |, | OB |
Figure RE-FDA0002257104470000021
Figure RE-FDA0002257104470000022
Figure RE-FDA0002257104470000023
And 4, step 4: calculating the space coordinate equation of the synthesized gravity center point B
Figure RE-FDA0002257104470000024
In the right side of the equation, divide by m2And x4The unknown quantity, and the rest are known quantities calculated by software;
and 5: substituting the space coordinate equation (5) of the synthesized gravity center point B into the AO linear equation (2) to obtain the following equation:
Figure RE-FDA0002257104470000025
calculating according to an equation to obtain x4The specific numerical values of (a);
step 6: substituting the space coordinate equation (5) of the synthesized gravity center point B into | OB | length equation (4) yields the following equation:
Figure RE-FDA0002257104470000026
substituting | AO | length formula (3) and | OB | length formula (7) into the lever theorem equation (1) to obtain the equation:
Figure RE-FDA0002257104470000027
the mass m of the counterweight is obtained according to equation (8)3。
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