CN1300652C - AC motor driven analogue three shaft rocking device - Google Patents
AC motor driven analogue three shaft rocking device Download PDFInfo
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- CN1300652C CN1300652C CNB2003101159727A CN200310115972A CN1300652C CN 1300652 C CN1300652 C CN 1300652C CN B2003101159727 A CNB2003101159727 A CN B2003101159727A CN 200310115972 A CN200310115972 A CN 200310115972A CN 1300652 C CN1300652 C CN 1300652C
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Abstract
The present invention relates to an analogue three-axis swinging device driven by an AC motor, which belongs to the technical field of control. The present invention comprises an AC servo controller, an AC servo motor, a rotary transformer, a speed reducer and a rotation platform, wherein the rotation platform and the horizontal plane form an angle theta. The present invention can simulate three-freedom ship swing by single-axis control in the state of TV track. The present invention aims to omit a three-axis swinging table when carry out hull disturbance experiment to a TV tracker. The present invention uses the AC servo controller to control the AC servo motor to move according to a given curve and simulates three-freedom ship swing by single-axis control in the state of TV track. A rate gyro sensitive signal is added in the orientation and pitch control of a TV tracker system to overcome the hull disturbance and improve the accuracy of TV track. The device of the present invention, which is particularly suitable for carrying out hull swing test to the TV tracker, has the advantages of simple structure, low cost and high reliability.
Description
Technical field: the invention belongs to the control technology field, relate to, the simulation three-axis swinging device that specifically a kind of alternating current generator drives to the alternating current generator servocontrol.
Background technology: when TV tracker is carried out the isolation test of hull disturbance, usually need the three-axis swinging platform to simulate the yawing of hull, rolling, pitching respectively, go out the speed of these three directions with Three Degree Of Freedom rate gyro sensitivity, be added to respectively by decoupling zero in the orientation and pitch control subsystem of TV tracker system, overcome the hull disturbance, improve the TV tracking accuracy.This three-axis swinging platform complex structure generally adopts the DC MOTOR CONTROL technology, needs three pairs of positions and velocity survey element, and the control difficulty is big and cost is high.Along with the development that exchanges control technology, the AC servo controller is applied in the servo-control system more.On function, the integrated position loop of controller, speed loop and power drive part, the kinematic parameter of control motor is easy to adjust, and control accuracy and reliability height are highly suitable in the servo-control system of assignment curve.
Summary of the invention: at the problems referred to above, the present invention will solve when TV tracker is carried out the hull rolling test, press the given curve motion with AC servo controller control alternating current generator, under the TV tracking mode, pass through single shaft control, simulation Three Degree Of Freedom ship shakes, through-rate gyro sensitivity goes out ship and shakes rate signal, be added in the orientation and pitch control subsystem of TV tracker system, overcome the hull disturbance, improve the TV tracking accuracy, purpose provides the simulation three-axis swinging device that a kind of alternating current generator drives.
The present invention includes the AC servo controller, AC servo motor, rotary transformer, speed reduction unit, rotation platform, wherein rotation platform becomes the θ angle with surface level.
The present invention press given curve with AC servo controller control AC servo motor and moves, and AC servo motor is through rotary transformer and speed reduction unit, the driven in rotation platform.Under the TV tracking mode, utilize rate gyro, carry out single shaft control, simulation Three Degree Of Freedom ship shakes.Through-rate gyro sensitivity goes out ship and shakes signal, is added in the orientation and pitch control subsystem of TV tracker system, eliminates the hull disturbance, improves the TV tracking accuracy.
AC servo controller architecture of the present invention as shown in Figure 3, given curve imports the AC servo controller into by serial communication, many curves can be stored in AC servo controller inside, select the working curve of needs by external switch, by calling to the internal functional blocks storehouse, finish X by internal functional blocks, the expansion of Y-axis curve, finish control jointly with the control routine of AC servo controller inside to curve, programmed control and control routine are called by AC servo controller internal processor and are finished automatically, control routine feedback last and rotary transformer forms closed loop, finish curve controlled is exported, drive alternating current generator and finish control task, simultaneously output position information.
AC servo controller controling circuit of the present invention as shown in Figure 2, by externally fed, be provided with enable, start, return to zero, turn clockwise, be rotated counterclockwise, reset switch.Only enabling under the effective situation, other switch could be realized its function, and AC servo motor could turn round.When starting switch enabled, AC servo controller control motor was pressed the given curve operation; When the zeroing switch enable, turn clockwise, be rotated counterclockwise switch and control the clockwise and counterclockwise constant speed rotation of AC servo motor respectively, determine the initial zero-bit of curve; When reset switch enables, the AC servo controller failure is repaired system reset.
The present invention can simulate Three Degree Of Freedom and wave by single shaft control under the TV tracking mode.TV tracker is fixed on the tilter horizontal base to become on the rotation platform at θ angle, operation curve is by the switch control AC servo controller of control circuit, AC servo controller control AC servo motor drives the tilter pedestal by speed reduction unit and moves along a curved path in surface level, the yawing of simulation ship.In order to measure, and a single-degree-of-freedom and two-freedom rate gyro have been installed additional because of hull waves disturbance to TV tracker orientation and angular altitude.The single-degree-of-freedom rate gyro is installed on the support of tracker, and input shaft is parallel with Z-axis; The two-freedom rate gyro is installed in the azimuth rotation part of tracker, and an input shaft is parallel with transverse axis, and another input shaft is parallel with the vertical line that Z-axis and transverse axis are formed the plane.Gyro is installed like this, is not had the decoupling zero relation between the three degree of freedom rate signal.When tracker carries out the TV tracking to target, because the tilter horizontal base is done sinusoidal the rotation, the three degree of freedom rate gyro is measured because of the tilter horizontal base waves orientation and the angular altitude speed that produces, and can directly be added in the tracker, improves tracking accuracy.
When static target being carried out TV when following the tracks of, target orientation and high low velocity and acceleration under deck coordinate system are equivalent to ship fully and shake, and principle is as follows:
Earth coordinates as shown in Figure 4, y is a direct north.The coordinate of static point target is ux, uy, and uz, then position angle and the angular altitude of target under earth coordinates is respectively: a, e, the pitch angle ps of tracker pedestal is θ; Roll angle sa is O; Yaw angle is: k=α * sin (w*t); α is that tilter is made sinusoidal amplitude of rotating, and w is the cycle.Ulx, uly, ulz are respectively the deck coordinate of target, and the target terrestrial coordinate to deck coordinate conversion formula is:
ulx＝cos(e)*(cos(sa)*sin(a-k)+sin(sa)*sin(ps)*cos(a-k))-sin(e)*sin(sa)*cos(ps)；
uly＝cos(e)*cos(ps)*cos(a-k)+sin(e)*sin(ps)；
ulz＝cos(e)*(sin(sa)*sin(a-k)-cos(sa)*sin(ps)*cos(a-k))+sin(e)*cos(sa)*cos(ps)；
Height and the position angle ec ac of target under deck coordinate system is respectively:
ec＝sin
-1(ulz/(ulx
2+uly
2)
1/2) ac＝tg
-1(ulx，uly)
Ec ac is carried out single order and second-order differential respectively, obtain the speed and the acceleration of the orientation of target under deck coordinate system and height.Do sinusoidal motion amplitude and cycle by the angle theta and the pedestal that change tilter pedestal and surface level, can obtain different speed and acceleration.Speed and acceleration are done sinusoidal motion by pedestal and are produced, and are equivalent to disturbance velocity and acceleration that ship shakes generation.When TV was followed the tracks of static target, pedestal was equivalent to the yawing of ship as sine swing, because the tilter pedestal becomes the θ angle with surface level, cause pitching and rolling by yawing, therefore, this tilter can be simulated three-axis swinging fully, and checking is installed rate gyro additional to overcoming the effect that ship shakes disturbance.The present invention successfully is applied to certain TV tracker and waves experiment, under the TV tracking mode, can simulate three-axis swinging.
Description of drawings:
Fig. 1 is a structural representation of the present invention, also is specification digest drawings and embodiments synoptic diagram.1 is the AC servo controller among the figure, 2 AC servo motor, and 3 rotary transformers, 4 speed reduction units, 5 rotation platforms, 6 TV tracker, wherein rotation platform becomes the θ angle with surface level.
Fig. 2 is the control circuit figure of AC servo controller 1.
Fig. 3 is the structural diagrams intention of AC servo controller 1.
Fig. 4 is tilter earth coordinates synoptic diagram.
Embodiment: AC servo controller 1 of the present invention and AC servo motor 2 can be selected German Lenze company product for use, and AC servo controller 1 is selected 9300 serial cam types for use, and AC servo motor 2 is selected the rotary transformer feedback for use, revolve to become precision and be 1/2048.
1 programming need be operated under lenze " GDC " development environment to the AC servo controller, respectively X-axis and Y-axis is carried out initialization, and editor's curve also can connect several curve smoothings.According to working method, determine peripheral gauge tap, by to AC servo controller 1 inside door array program, gauge tap is linked on the function corresponding piece, finish control function.Carry out rolling test when TV is followed the tracks of, according to waving index, determine curve type, the curve input controller determining just can carry out rolling test by the control of peripheral gauge tap.
Claims (4)
1, a kind of simulation three-axis swinging device of alternating current generator driving is characterized in that including AC servo controller (1), AC servo motor (2), and rotary transformer (3), speed reduction unit (4), rotation platform (5), wherein rotation platform (5) becomes the θ angle with surface level; Press the given curve motion with AC servo controller (1) control AC servo motor (2), AC servo motor (2) is through rotary transformer (3) and speed reduction unit (4) driven in rotation platform (5); Under the TV tracking mode, utilize the degree of freedom rate gyro, carry out single shaft control, simulation Three Degree Of Freedom ship shakes, and through-rate gyro sensitivity goes out ship and shakes signal, is added in the orientation and pitch control subsystem of TV tracker (6).
2, the simulation three-axis swinging device that alternating current generator according to claim 1 drives, it is characterized in that given curve imports AC servo controller (1) into by serial communication, many curves of AC servo controller (1) storage inside, select the working curve of needs by external switch, through calling to the internal functional blocks storehouse, finish X by internal functional blocks, the expansion of Y-axis curve, finish control jointly with the inner control routine of AC servo controller (1) to curve, wherein X-axis is the time of yawing curve, and Y-axis is the amplitude motor anglec of rotation just of yawing curve; Programmed control and control routine are called by AC servo controller (1) internal processor and are finished automatically, control routine feedback last and rotary transformer (3) forms closed loop, finish curve controlled output, drive AC servo motor (2) and finish control task, simultaneously output position information.
3, the simulation three-axis swinging device of alternating current generator driving according to claim 2, it is characterized in that AC servo controller (1) is by externally fed, be provided with enable, start, return to zero, turn clockwise, be rotated counterclockwise, reset switch, enabling under the effective situation, other switch is realized its task separately, makes AC servo motor (2) running; When starting switch enabled, AC servo controller (1) control AC servo motor (2) was pressed the given curve operation; When the zeroing switch enable, turn clockwise, be rotated counterclockwise switch and control the clockwise and counterclockwise constant speed rotation of AC servo motor (2) respectively, determine the initial zero-bit of curve; When reset switch enables, to AC servo controller (1) fault restoration, system reset.
4, the simulation three-axis swinging device of alternating current generator driving according to claim 3, it is characterized in that TV tracker (6) is fixed on the rotation platform (5) that becomes the θ angle with the tilter horizontal base, operation curve is by switch control AC servo controller (1), AC servo controller (1) control AC servo motor (2) drives the tilter pedestal by speed reduction unit (4) and moves along a curved path in surface level, the yawing of simulation ship; The degree of freedom rate gyro is a single-degree-of-freedom and two-freedom rate gyro, the single-degree-of-freedom rate gyro is installed on the support of TV tracker (6), input shaft is parallel with Z-axis, the two-freedom rate gyro is installed in the azimuth rotation part of TV tracker (6), an input shaft is parallel with transverse axis, and another input shaft is parallel with the vertical line that Z-axis and transverse axis are formed the plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2003101159727A CN1300652C (en) | 2003-12-25 | 2003-12-25 | AC motor driven analogue three shaft rocking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2003101159727A CN1300652C (en) | 2003-12-25 | 2003-12-25 | AC motor driven analogue three shaft rocking device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1554991A CN1554991A (en) | 2004-12-15 |
| CN1300652C true CN1300652C (en) | 2007-02-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2003101159727A Expired - Fee Related CN1300652C (en) | 2003-12-25 | 2003-12-25 | AC motor driven analogue three shaft rocking device |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100459376C (en) * | 2007-03-13 | 2009-02-04 | 王晨光 | Novel high power DC generator |
| CN100452633C (en) * | 2007-04-26 | 2009-01-14 | 北京航空航天大学 | A magnetic levitation counteractive flying wheel |
| CN102564456B (en) * | 2011-12-29 | 2014-12-03 | 深迪半导体(上海)有限公司 | Device and method for testing three-axis micro gyroscope |
| CN103674842A (en) * | 2013-12-20 | 2014-03-26 | 河北汉光重工有限责任公司 | Telemetering rotary table |
| CN103955234B (en) * | 2014-05-15 | 2016-09-28 | 上海海事大学 | The TT&C system of a kind of boats and ships Three-shaft swinging test bed and investigating method |
| CN104121929B (en) * | 2014-06-13 | 2016-09-21 | 北京航天控制仪器研究所 | A kind of three-axis swinging platform |
| CN105930595A (en) * | 2016-04-27 | 2016-09-07 | 中国人民解放军63680部队 | Ship sway isolation degree static testing method based on tracking reality target |
| CN107796615B (en) * | 2017-12-08 | 2020-01-07 | 广州中臣碧阳船舶科技有限公司 | Swing test platform |
| CN111462573B (en) * | 2020-04-24 | 2022-02-22 | 沈阳工业大学 | Platform is swayd to slope rotation axis formula |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6007338A (en) * | 1997-11-17 | 1999-12-28 | Disney Enterprises, Inc. | Roller coaster simulator |
| CN2370925Y (en) * | 1998-11-09 | 2000-03-29 | 刘江河 | Driving mechanism for imitating cradle motion |
| CN2454760Y (en) * | 2000-12-14 | 2001-10-17 | 中国科学院长春光学精密机械与物理研究所 | Double-freedon gyro stable controlling device |
-
2003
- 2003-12-25 CN CNB2003101159727A patent/CN1300652C/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6007338A (en) * | 1997-11-17 | 1999-12-28 | Disney Enterprises, Inc. | Roller coaster simulator |
| CN2370925Y (en) * | 1998-11-09 | 2000-03-29 | 刘江河 | Driving mechanism for imitating cradle motion |
| CN2454760Y (en) * | 2000-12-14 | 2001-10-17 | 中国科学院长春光学精密机械与物理研究所 | Double-freedon gyro stable controlling device |
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|---|---|
| CN1554991A (en) | 2004-12-15 |
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