CN114486189B - Testing device and method for comprehensive pointing precision of turntable - Google Patents
Testing device and method for comprehensive pointing precision of turntable Download PDFInfo
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- CN114486189B CN114486189B CN202210005596.9A CN202210005596A CN114486189B CN 114486189 B CN114486189 B CN 114486189B CN 202210005596 A CN202210005596 A CN 202210005596A CN 114486189 B CN114486189 B CN 114486189B
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- 238000003384 imaging method Methods 0.000 claims description 11
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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
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Abstract
The invention provides a testing device and a testing method for comprehensive pointing precision of a turntable, comprising a parking platform and a parallel light source; the parking platform is used for parking the tested turntable; the parallel light source is imaged in a camera on the turret under test. The test device and the test method can test and evaluate the comprehensive pointing precision of the turntable under the rated working condition, and obtain the change rule of the comprehensive pointing precision and the phase.
Description
Technical Field
The invention relates to the technical field of mechanical turntable pointing precision test, in particular to a comprehensive turntable pointing precision test device and method. In particular, it relates to a device and method for testing comprehensive pointing accuracy of two-dimensional turntable.
Background
The comprehensive pointing precision is an important index for measuring the performance of the two-dimensional turntable, provides an initial posture for a single machine carried by the turntable, and is one of key factors for accurately reaching a specified position. If the necessary precision is ensured when the single machine works, the comprehensive pointing precision must be evaluated and controlled when the two-dimensional turntable is developed.
At present, a mathematical statistical method is mostly adopted for the evaluation method of the comprehensive pointing precision of the two-dimensional turntable, the calculation method generally lists pointing errors generated by various factors, then carries out square addition on various errors of the same kind, obtains the average value of the errors, and finally carries out algebraic operation on the static pointing errors and the dynamic pointing errors after the mean square processing. Because various errors are not simultaneously in the maximum value and the phase angle which are identical, the calculation result obtained by the maximum value error statistical method is safe, but has limited value, and the true pointing precision of the product cannot be reflected.
The Chinese patent document with the publication number of CN109084960A discloses a system and a method for testing the pointing precision of a double-parallel light tube type tracking turntable, wherein the testing system comprises a pointing precision testing device and a placing platform, the placing platform is placed in front of the pointing precision testing device, and the placing platform can move on the ground in front of the pointing precision testing device to find a proper measuring position; the method is particularly suitable for testing the pointing precision of the periscope type tracking turntable.
In view of the above related art, the inventor considers that the accuracy of evaluating the comprehensive pointing accuracy of the turntable by the existing mathematical statistics method is low, and therefore, it is necessary to develop a testing device for the comprehensive pointing accuracy of the turntable.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a testing device and method for comprehensive pointing precision of a turntable.
The invention provides a testing device for comprehensive pointing precision of a turntable, which comprises a parking table and a light source;
the parking platform is used for parking the tested turntable;
The light source is imaged in a camera on the turret under test.
Preferably, the testing device further comprises a rotating platform, a vertical frame, a moving platform and a rotating device;
the parking platform is penetrated with a rotating platform;
the stand is arranged on the rotating platform;
the mobile platform is movably arranged on the vertical frame;
the rotating device is arranged on the mobile platform;
The light source is mounted on the rotating device.
Preferably, the test device further comprises a console;
The rotating platform rotates around a vertical axis;
The control console controls the movement of the rotating platform, the moving platform and the rotating device.
Preferably, the rotating platform further comprises a base, a supporting shaft and a platform body;
the parking platform is penetrated with a base;
the base is rotationally connected with the supporting shaft;
the support shaft is fixedly connected with the table body;
The stand is arranged on the table body.
Preferably, the rotating platform further comprises a bearing, the bearing inner ring is connected with the base, and the bearing outer ring is connected with the supporting shaft.
Preferably, the rotating platform further comprises a sizing block for adjusting the position of the base.
Preferably, the rotating platform further comprises a speed reducer, and the support shaft is rotationally connected with the speed reducer.
Preferably, the stand comprises a bracket, a screw rod and a sliding block;
The support is arranged on the table body;
The screw rod is rotatably arranged on the bracket, and the screw rod threads penetrate through the moving platform;
the sliding block is arranged on the support in a sliding mode, and the sliding block limits the moving platform.
The invention provides a testing method for comprehensive pointing precision of a turntable, which comprises the following steps:
And (3) a parking step: the turntable to be tested is parked on a parking table;
the testing steps are as follows: the light source images in the camera on the tested turntable, the imaging point position of the light source in the camera on the tested turntable calculates the space angle of the light source relative to the reference axis of the tested turntable, and the comprehensive pointing precision of the tested turntable is calculated through the deviation between the actual measurement value and the ideal value of the space angle.
Preferably, in the testing step, the console controls the light source to move according to a preset track, and the camera on the tested turntable tracks the light source moving according to the preset track for imaging.
Compared with the prior art, the invention has the following beneficial effects:
1. The comprehensive pointing precision of the turntable is evaluated through the test, and more real and valuable data are obtained compared with the traditional theoretical analysis method; in the test process, the space angle of the parallel light source relative to the reference axis of the tested turntable is calculated through the imaging point position of the parallel light source in the camera carried by the tested turntable, and the comprehensive pointing precision of the tested turntable is calculated through the deviation between the actual measurement value of the space angle and the ideal value;
2. The invention can obtain the change rule of comprehensive pointing precision and phase; when the turntable moves along with the parallel light source in a test, various extreme postures can appear, the change rule of the comprehensive pointing precision and the phase can be obtained by drawing the correlation curve of the comprehensive pointing precision and the phase, and the bad working posture of the turntable can be avoided based on the change rule, so that a working interval with stable performance is obtained;
3. according to the invention, the comprehensive pointing precision of the turntable under the rated working condition is subjected to test evaluation, the real errors under different phases are obtained, the change rule of the comprehensive pointing precision and the phases is obtained, and the data support is provided for the overall precision distribution and the precision control of the turntable.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a schematic diagram of the overall structure of a testing device for comprehensive pointing accuracy of a turntable;
FIG. 2 is a schematic view of a circular platform in a turntable integrated pointing accuracy testing device of the present invention;
FIG. 3 is a schematic view of a vertical stand in the testing device for comprehensive pointing accuracy of the turntable of the present invention;
FIG. 4 is a schematic diagram of a two-dimensional rotating device in a testing device for comprehensive pointing accuracy of a turntable;
fig. 5 is a flowchart of a method for testing comprehensive pointing accuracy of a two-dimensional turntable.
Reference numerals:
base 12 slider 23 of annular platform 10
Limit 24 of support shaft 13 of vertical stand 20
Ball screw 25 of vertical platform 30 bearing 14
Two-dimensional rotating device 40 first motor and decelerator 15 second motor 26
Parallel light source 50 base 41 of table 16
Parking table 60 counterweight 17 azimuth shafting 42
Console 70 supports 21 pitch shafting 43
Sizing block 11 guide rail 22
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
The embodiment of the invention discloses a testing device for comprehensive pointing precision of a two-dimensional turntable, which is shown in fig. 1 and comprises a parking table 60, a light source, a rotating platform, a vertical frame, a moving platform, a rotating device and a control console 70. The rotary platform rotates around the central axis of the plumb. The docking station 60 is threaded through the rotating platform. The stand is arranged on the rotating platform. The movable platform is movably arranged on the vertical frame. The rotating device is mounted on the mobile platform. The light source is mounted on the rotating device. The parking station 60 is used for parking the turntable under test. The light source is imaged in a camera on the turret under test. The control console 70 integrates control elements such as an upper computer, a controller and a driver, and a control algorithm is written in the background of a user interface button through secondary development of upper computer software, the control algorithm can read or send pulse signals of the control element, and when the user button is pressed down, the algorithm operates and sends signals to the controller through a serial port to drive the rotating platform, the moving platform and the rotating device to move, and real-time positions of the moving components are transmitted back to the control console 70 through sensors to form negative feedback closed-loop control. The rotating platform comprises an annular platform 10, the moving platform comprises a vertical platform 30, the vertical frame comprises a vertical frame 20, the light source comprises a parallel light source 50, and the rotating means comprises a two-dimensional rotating means 40.
Specifically, the testing device includes an annular platform 10, a vertical stand 20, a vertical platform 30, a two-dimensional rotating device 40, a parallel light source 50, a parking platform 60 and a control platform 70, wherein the annular platform 10 is horizontally placed on the ground as a whole and realizes a rotating motion around a vertical axis, the vertical stand 20 is vertically fixed on one side of the annular platform 10, the vertical platform 30 mounted thereon realizes a linear motion along a vertical direction, the two-dimensional rotating device 40 mounted with the parallel light source 50 is mounted on the vertical platform 30, the parking platform 60 is fixed on the ground and is positioned at a rotating center of the annular platform 10 for parking a tested product, and the control platform 70 is arranged outside a motion envelope of the moving part and is used for controlling and driving the moving part. Under the input signal of the console 70, the annular platform 10 and the vertical platform 30 perform rotational movement and linear movement respectively, and can reach any position in the cylindrical surface taking the central axis of the annular platform 10 as an axis, the distance from the vertical stand 20 to the central axis of the annular platform 10 as a radius, and the movement stroke of the vertical platform 30 performing linear movement along the vertical stand 20 as a height, and the two-dimensional rotating device 40 realizes the posture adjustment of the parallel light source 50 at any position. The two-dimensional rotating device 40 has a function of mounting a single unit such as an autocollimator, a camera, and a light source, and provides a rotation motion in both azimuth and pitch directions for the mounted single unit. The parallel light source 50 provides parallel light to the overall system. The parking table 60 is placed on the horizontal ground at rest, and the two-dimensional turntable to be tested is parked during testing. The control console 70 integrates control elements such as an upper computer, a controller and a driver, and through secondary development of software, a control algorithm is written in the background of a user interface button, the control algorithm can read or send pulse signals of the control element, when the user button is pressed down, the algorithm operates and sends signals to the controller through a serial port, the rotary motion of the annular platform 10, the linear motion of the vertical platform 30 and the two-axis rotation of the two-dimensional rotating device 40 are driven, and real-time positions of the moving parts are transmitted back to the control console 70 through sensors to form negative feedback closed-loop control, so that the parallel light source 50 reaches a preset position and a preset gesture. The test device and the method can carry out test evaluation on the comprehensive pointing precision of the two-dimensional turntable under the rated working condition, and obtain the change rule of the comprehensive pointing precision and the phase.
As shown in fig. 1 and 2, the rotary platform further includes a base 12, a support shaft 13, a bearing 14, a sizing block 11, a table body 16, a counterweight 17, a first motor, and a decelerator 15. The parking stand 60 is inserted through the base 12, and both the central axes thereof are coincident and are placed on the ground. The base 12 is rotatably connected to the support shaft 13. The support shaft 13 is screwed with the table body 16. A vertical stand 20 is provided on the table body 16. The inner ring of the bearing 14 is connected with the base 12, and the outer ring of the bearing 14 is connected with the supporting shaft 13. The sizing block 11 is a wedge type heavy sizing block, the end face of the bottom of the sizing block is placed on the ground, and the top of the sizing block is in threaded connection with the base 12 and is used for adjusting the levelness of the base 12 and guaranteeing the movement precision of the rotating platform. The first motor and decelerator are mounted on an end surface of the base 12. The output shaft of the first motor is connected with the high speed stage of the speed reducer, and the low speed stage of the speed reducer is connected with the supporting shaft 13. The speed reducer generally adopts a planet gear harmonic speed reducer. The counterweight 17 is mounted on the table body 16 in a 180 deg. orientation relative to the location of the stand 20.
Specifically, the annular platform 10 is composed of a sizing block 11, a base 12, a support shaft 13, a bearing 14, a first motor, a decelerator, a table body 16 and a counterweight 17. The sizing block 11 is a wedge type heavy sizing block, the bottom end surface of the sizing block is placed on the ground, the top of the sizing block is in threaded connection with the base 12, the height of the top surface can be adjusted within a certain range, the horizontal adjustment of the base 12 is realized through the linkage of a plurality of sizing blocks 11, and the movement precision of a rotating platform is ensured. The bearing 14 is generally a four-point angular contact bearing, the inner ring of the bearing 14 is in transition fit connection with the base 12, and the outer ring of the bearing 14 is in transition fit connection with the supporting shaft 13. The first motor and decelerator are mounted on an end surface of the base 12. The first motor is typically a stepper motor, the decelerator is typically a planetary gear harmonic decelerator, and the rotational movement of the first motor is transferred to the support shaft 13 after the decelerator. The platform body 16 forms the outer shell of the annular platform 10, one side of which is provided with an interface of the vertical stand 20, and the other side of which is provided with a counterweight 17.
As shown in fig. 1 and 3, the stand includes a bracket 21, a screw, a slider 23, a guide rail 22, a stopper 24, and a second motor 26. The stand 21 is provided on the table body 16. The screw is rotatably arranged on the bracket 21, and the screw thread penetrates through the moving platform. The sliding block 23 is slidably arranged on the bracket 21, and the sliding block 23 limits 24 on the moving platform. The screw includes a ball screw 25.
Specifically, the vertical stand 20 includes a bracket 21, a guide rail 22, a slider 23, a limit 24, a ball screw 25, and a second motor 26, and the slider 23 is linearly movable in a vertical direction on the stand. The holder 21 is mounted on the table 16 side and is mounted as a linear motion machine. The guide rail 22 provides a moving track for the sliding block 23, and limit positions 24 are arranged at two ends of the guide rail 22. The limit 24 is typically a metal stop cut from standard angle iron or angle aluminum. The ball screw 25 is mounted on the central axis of the guide rail 22. The second motor 26 is typically a stepper motor mounted on the end of the ball screw 25 to provide rotational movement to the ball screw 25. The back of the vertical platform 30 has a threaded hole matching the ball screw 25, is connected to the ball screw 25 through the threaded hole, and has a hole site connected to the slider 23, and is screwed to the slider 23 through the hole site. The vertical platform 30 is movable in a straight line along the guide rail 22 by the second motor 26 and the slider 23.
As shown in fig. 1 and 4, the two-dimensional rotating device 40 has a U-O structure, and includes a base 41, an azimuth axis 42, and a pitch axis 43, where the two orthogonal axes have functions of automatic angular position and automatic angular velocity, and can be automatically locked at any angular position according to program requirements. The base 41 is threadedly coupled to the vertical platform 30. The azimuth shaft system 42 is rotatably connected with the base 41 and can rotate around the horizontal shaft by 0-360 degrees. The pitching axis system 43 is rotationally connected with the azimuth axis system, and can realize-65-245 degrees of rotation around the pitching axis. The pitch axis 43 provides a split clip interface and associated hole site for mounting the parallel light source 50, and the parallel light source 50 can be secured by screw tightening.
The measured piece is a two-dimensional turntable capable of carrying a camera, the space angle of the parallel light source 50 relative to the reference axis of the two-dimensional turntable can be calculated according to the imaging point position of the parallel light source 50 in the camera of the two-dimensional turntable, and the comprehensive pointing precision of the two-dimensional turntable is calculated according to the deviation between the actual measurement value and the ideal value of the space angle.
The embodiment of the invention also provides a method for testing the comprehensive pointing precision of the two-dimensional turntable, as shown in fig. 1 and 5, comprising the following steps: the conversion step: the actual track of the observed target of the tested two-dimensional turntable is converted into the motion track and the pointing gesture of the parallel light source 50, and a corresponding algorithm is programmed to input into the console 70. And (3) a parking step: the turntable to be tested is parked on the parking station 60.
The testing steps are as follows: the light source images in the camera on the tested turntable, the imaging point position of the light source in the camera on the tested turntable calculates the space angle of the light source relative to the reference axis of the tested turntable, and the comprehensive pointing precision of the tested turntable is calculated through the deviation between the actual measurement value and the ideal value of the space angle. The console 70 controls the light source to move along a preset trajectory, and the camera on the turret under test tracks the imaging of the light source moving along the preset trajectory. The parallel light source 50 moves along a preset trajectory by the annular stage 10, the vertical stand 20, the vertical stage 30, and the two-dimensional rotating device 40. The camera carried by the tested two-dimensional turntable starts tracking imaging, the space angle of the parallel light source 50 relative to the reference axis of the tested two-dimensional turntable is calculated according to the imaging point of the parallel light source 50 in the camera, and the comprehensive pointing precision of the tested two-dimensional turntable is calculated through the deviation between the actual measurement value and the ideal value of the space angle.
The calculation formula of the space angle actual measurement value θ of the parallel light source 50 relative to the reference axis of the two-dimensional turntable to be measured is as follows:
where Δ is the distance of the imaging point of the parallel light source 50 in the camera from the origin of the phase plane and f is the focal length of the camera.
The calculation formula of the pointing error E of the tested turntable is as follows:
E＝|θ-θR|
Where θ is an actual measurement value of the spatial angle of the parallel light source 50 with respect to the reference axis of the two-dimensional turntable, and θ R is an ideal value of the spatial angle of the parallel light source 50 with respect to the reference axis of the two-dimensional turntable.
Repeating the steps of: repeating the steps for 5 times, thereby obtaining a test result. Comprehensive pointing precision of turntableThe specific calculation formula of (2) is as follows:
Wherein E i is the pointing error of the tested turntable in the ith test, and the interval of i is 1-6.
Aiming at the problem that the existing mathematical statistics method cannot accurately evaluate the comprehensive pointing precision of the two-dimensional turntable, the invention provides a device and a method for testing the comprehensive pointing precision of the two-dimensional turntable.
In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.
The foregoing describes specific embodiments of the present application. It is to be understood that the application is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the application. The embodiments of the application and the features of the embodiments may be combined with each other arbitrarily without conflict.
Claims (9)
1. The method for testing the comprehensive pointing precision of the turntable is characterized by comprising the following steps of:
And (3) a parking step: the tested turntable is parked on a parking table (60);
The testing steps are as follows: the method comprises the steps that a light source images in a camera on a tested turntable, the space angle of the light source relative to a reference axis of the tested turntable is calculated by the imaging point position of the light source in the camera on the tested turntable, the comprehensive pointing precision of the tested turntable is calculated through the deviation between a real measurement value of the space angle and an ideal value, a control console (70) controls the light source to move according to a preset track, and the camera on the tested turntable tracks the light source moving according to the preset track to image;
the testing device for the comprehensive pointing precision of the turntable comprises a parking table (60), a control table (70) and a light source;
the parking table (60) is used for parking the tested turntable;
the light source images in a camera on the tested turntable;
The light source comprises a parallel light source (50);
When the turntable moves along with the parallel light source in a test, for various extreme postures, a change rule of the comprehensive pointing precision and the phase is obtained by drawing a correlation curve of the comprehensive pointing precision and the phase, and the bad working posture of the turntable is avoided based on the change rule, so that a working interval with stable performance is obtained;
and (3) performing test evaluation on the comprehensive pointing precision of the turntable under the rated working condition to obtain real errors under different phases, obtaining the change rule of the comprehensive pointing precision and the phases, and providing data support for integral precision distribution and precision control of the turntable.
2. The method for testing the comprehensive pointing accuracy of a turntable according to claim 1, wherein the following calculation steps are adopted for the parallel light source (50):
calculating the actual measurement value of the space angle of the parallel light source (50) relative to the reference axis of the turntable to be measured ；
Wherein,Is the distance of the imaging point of the parallel light source (50) in the camera relative to the origin of the phase plane,Is the focal length of the camera;
Calculating the pointing error of the turntable to be tested ；
Wherein,Is the actual measurement value of the spatial angle of the parallel light source (50) relative to the reference axis of the turntable to be measured,Is the ideal value of the space angle of the parallel light source (50) relative to the reference axis of the turntable to be measured;
The above steps were repeated 5 times in total.
3. The method for testing comprehensive pointing accuracy of a turntable according to claim 1, wherein the testing device further comprises a rotating platform, a stand, a moving platform and a rotating device;
the parking platform (60) is penetrated with a rotating platform;
the stand is arranged on the rotating platform;
the mobile platform is movably arranged on the vertical frame;
the rotating device is arranged on the mobile platform;
The light source is mounted on the rotating device.
4. The method for testing comprehensive pointing accuracy of a turntable according to claim 3, wherein the rotating platform rotates around a vertical axis;
The console (70) controls the movement of the rotating platform, the moving platform and the rotating device.
5. A method for testing comprehensive pointing accuracy of a turntable according to claim 3, wherein the rotating platform further comprises a base (12), a supporting shaft (13) and a table body (16);
The parking platform (60) penetrates through the base (12);
The base (12) is rotationally connected with the supporting shaft (13);
the support shaft (13) is fixedly connected with the table body (16);
the stand is arranged on the table body (16).
6. The method for testing comprehensive pointing accuracy of a turntable according to claim 5, wherein the rotating platform further comprises a bearing (14), an inner ring of the bearing (14) is connected with the base (12), and an outer ring of the bearing (14) is connected with the supporting shaft (13).
7. The method for testing comprehensive pointing accuracy of a turntable according to claim 5, wherein the rotating platform further comprises a sizing block (11) for adjusting the position of the base (12).
8. The method for testing comprehensive pointing accuracy of a turntable according to claim 7, wherein the rotating platform further comprises a speed reducer, and the support shaft (13) is rotatably connected with the speed reducer.
9. The method for testing the comprehensive pointing accuracy of the turntable according to claim 5, wherein the stand comprises a bracket (21), a screw and a slider (23);
The bracket (21) is arranged on the table body (16);
The screw rod is rotatably arranged on the bracket (21), and the screw rod is threaded through the moving platform;
the sliding block (23) is arranged on the support (21) in a sliding mode, and the sliding block (23) limits the moving platform.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105973187A (en) * | 2016-06-20 | 2016-09-28 | 上海卫星装备研究所 | High-precision motion measurement device for satellite |
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| US6939061B2 (en) * | 2002-01-31 | 2005-09-06 | Alps Electric Co., Ltd. | Turntable device and optical apparatus |
| CN106226759B (en) * | 2016-08-22 | 2018-08-28 | 中国科学院西安光学精密机械研究所 | Tracking stability testing device and method |
| CN109084960B (en) * | 2018-07-03 | 2020-06-26 | 长春理工大学 | Double-parallel-light-tube type tracking and aiming turntable pointing accuracy testing system and method |
| CN108956101B (en) * | 2018-08-20 | 2024-05-07 | 中国科学院上海技术物理研究所 | Device and method for measuring change of visual axis of camera |
| CN113137978A (en) * | 2021-05-08 | 2021-07-20 | 上海航天电子通讯设备研究所 | Two-dimensional pointing mechanism precision measurement device |
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| CN105973187A (en) * | 2016-06-20 | 2016-09-28 | 上海卫星装备研究所 | High-precision motion measurement device for satellite |
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| Title |
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| 陈雅璐等.卫星地面测角***环境温度误差补偿方法.《航天器工程》.2021,第30卷(第4期),第142-149页. * |
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