CN112985694B - Method and system for balancing mass center of triaxial air bearing table - Google Patents
Method and system for balancing mass center of triaxial air bearing table Download PDFInfo
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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
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/30—Compensating imbalance
- G01M1/32—Compensating imbalance by adding material to the body to be tested, e.g. by correcting-weights
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/12—Static balancing; Determining position of centre of gravity
- G01M1/122—Determining position of centre of gravity
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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
- G01M1/00—Testing static or dynamic balance of machines or structures
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Abstract
The invention provides a method and a system for adjusting the mass center of a triaxial air bearing table to balance, wherein the method for adjusting the mass center of the triaxial air bearing table to balance comprises the following steps: step 1, flywheel wheel control is carried out on the triaxial air bearing table in a horizontal state, and horizontal direction balance adjustment is carried out according to the gesture measured by the first gesture measuring instrument; step 2: and (3) utilizing flywheel wheel control to incline and bias the triaxial air bearing table, and carrying out vertical direction balance adjustment according to the gesture measured by the second gesture measuring instrument. The invention does not depend on the quality characteristics of the triaxial air bearing table, adopts the laser tracker and the auto-collimator to jointly determine the pose, improves the adjustment precision, can quickly eliminate the influence of gravity interference moment, shortens the adjustment time, and can provide guarantee for the follow-up full-physical ground simulation test.
Description
Technical Field
The invention relates to rigid body dynamics and attitude control, in particular to a method and a system for adjusting the mass center balance of a triaxial air bearing table.
Background
The triaxial air bearing is utilized to form an approximately friction-free environment, is used for simulating a zero-gravity friction-free space environment, realizes triaxial free rotation, and is widely used for ground full-physical simulation test of a spacecraft. Because the spherical air bearing shaft is used for supporting the table top, the stepping of the air bearing table can simulate the attitude movement of a satellite, and can also effectively simulate the attitude coupling mechanics of the satellite.
When the center of mass of the triaxial air bearing table and the center of sphere of the air bearing ball are not coincident, gravity interference moment can be generated. In order to ensure the effectiveness of the ground simulation test, the interference moment of the triaxial air bearing table needs to be ensured to meet the requirements of the task simulation test. Therefore, the mass center balancing work is needed, the deflection of the mass center and the air bearing ball center of the triaxial air bearing table is reduced, and the influence of gravity interference moment is eliminated.
Currently, few effective methods are available for balancing the center of mass of a triaxial air bearing table. The mass center balance method with more mass centers is a compound pendulum periodic method, and when the period of the air bearing table is longer, the test result shows that the periodic quantity measured by sensitive devices such as a gyroscope is not high in precision, and the high-precision balance requirement cannot be met. The automatic balancing device of the triaxial air bearing table is theoretically provided in paper 'triaxial air bearing table automatic balancing and disturbance moment test' (see the "space science journal" 2009, 29 volume 1 st, page numbers 34-38) through document retrieval, yang Xiubin, golden light, xu Kai and the like, but no implementation method is provided. Patent document CN105300597a discloses a method and a device for balancing the mass center of a triaxial air bearing table, which are used for evaluating gravity disturbance moment of the triaxial air bearing table through rotational speed feedback of a flywheel so as to compensate the eccentric amount, but the method is used for measuring the rotational inertia of a platform, analyzing the acceleration of the flywheel according to data, and has complex and tedious process and difficult rapid adjustment.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a method and a system for balancing the mass center of a triaxial air bearing table.
The invention provides a method for balancing the mass center of a triaxial air bearing table, which comprises the following steps:
step 2: and (3) utilizing flywheel wheel control to incline and bias the triaxial air bearing table, and carrying out vertical direction balance adjustment according to the gesture measured by the second gesture measuring instrument.
Preferably, the first attitude measurement instrument adopts an auto-collimator, and the second attitude measurement instrument adopts a laser tracker.
Preferably, the step 1 includes the steps of:
step 1.1: the air bearing table is in a suspension state through pre-adjusting balance;
step 1.2: flywheel control is carried out, the expected attitude angle is [0, gamma ], and gamma is the initial Euler angle of the table body;
step 1.3: judging the deviation of the first attitude angle, if the deviation of the current attitude angle and the expected attitude angle
Or->
Then mass center adjustment is performed by using the mass block, wherein +.>
Representing the angular deviation of the X-axis attitude, +.>
Representing Y-axis attitude angle deviation; otherwise, enter step 1.4;
step 1.4: judging the deviation of the second attitude angle, if the deviation of the current attitude angle and the expected attitude angle
Or->
Then use the corresponding shaftThe mass center of the balancing motor is adjusted; otherwise, finishing the balance adjustment of the mass center in the horizontal direction;
preferably, the first attitude angle is larger than the second attitude angle.
Preferably, the step 2 includes the steps of:
step 2.1: flywheel control is performed, and the expected attitude angle is [ alpha, 0, gamma ] or [0, beta, gamma ];
step 2.2: third attitude angle deviation judgment, if the deviation between the current attitude angle and the expected attitude angle
Or (b)
The mass center of the mass blocks are increased or decreased simultaneously at the symmetrical positions; otherwise, enter step 2.3;
step 2.3: fourth, judging the deviation of the attitude angle, if the deviation of the current attitude angle and the expected attitude angle is the same
Or->
The mass center is adjusted by a balance motor of the corresponding shaft; otherwise, enter step 2.4;
step 2.4: the current control attitude angle alpha+1° or beta+1°;
step 2.5: judging the size of the current control attitude angle, when
Or->
Returning to the step 2.1 when the step is performed; otherwise, the balancing of the mass center in the vertical direction is finished.
Preferably, the initial value of α or β in step 2.1 is 1 °.
Preferably, the third attitude angle is larger than the fourth attitude angle.
Preferably, when the angle maneuver is performed, the vertical position of the mass center of the air bearing table is judged according to the actually measured attitude angle, and when the actually measured attitude angle is smaller than the target value, the mass center is represented to be declined; and when the measured attitude angle is larger than the target value, representing that the centroid is upward.
The invention provides a system for balancing the mass center of a triaxial air bearing table, which comprises the following components:
a first leveling module: performing flywheel wheel control on the triaxial air bearing table in a horizontal state, and performing horizontal direction balance adjustment according to the gesture measured by the first gesture measuring instrument;
a second leveling module: and (3) utilizing flywheel wheel control to incline and bias the triaxial air bearing table, and carrying out vertical direction balance adjustment according to the gesture measured by the second gesture measuring instrument.
Preferably, the first attitude measurement instrument adopts an auto-collimator, and the second attitude measurement instrument adopts a laser tracker.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention does not depend on the quality characteristics of the triaxial air bearing table, adopts the laser tracker and the auto-collimator to jointly determine the pose, improves the adjustment precision, can quickly eliminate the influence of gravity interference moment, shortens the adjustment time, and can provide guarantee for the follow-up full-physical ground simulation test.
2. The device for adjusting the mass center of the triaxial air bearing table is simple in structure, convenient to operate and high in adjusting precision.
3. The method of the invention decomposes the operation of adjusting the mass center balance of the triaxial air bearing table, adopts a mass block or balance motor, an auto-collimator and a laser tracker progressive precision detection decomposition scheme in a grading manner, realizes the simplification of complex problems and realizes the purpose of accurate adjustment.
4. According to the three-axis air bearing table attitude control method, three-axis air bearing table attitude control is achieved through a limited number of flywheels, and the purpose of attitude control is achieved.
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 method for balancing the mass center of a triaxial air bearing table according to the present invention;
FIG. 2 is a flow chart of a method for balancing the center of mass of a triaxial air bearing table according to the present invention;
FIG. 3 is a schematic diagram of a three-axis air bearing table centroid balancing device and coordinate system definition in accordance with the present invention.
Wherein the x-axis and the y-axis are horizontal axes, and the z-axis is vertical to the horizontal plane.
The figure shows:
1- -a laser tracker;
2—a laser tracker target;
3- -a prism;
4-autocollimator;
5- -x direction flywheel;
6- -Y direction flywheel;
7- -z direction flywheel.
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 invention provides a method for adjusting the mass center of a triaxial air bearing table to balance, which is independent of the mass characteristic of a platform, can quickly eliminate the influence of gravity interference moment by adjusting the mass center according to the deviation of an attitude angle, and has the technical route that the horizontal direction is adjusted firstly and the vertical direction is adjusted secondly. And after the triaxial air bearing table is lifted to a set height through the jack at the beginning, the jack descends and adopts the flywheel to control the attitude of the platform, the difference between the current attitude angle and the target attitude angle is monitored through the combination of the auto-collimator and the laser tracker, the centroid deviation is further judged, and a small mass block or a high-precision balance-adjusting motor is selected to adjust the centroid according to the centroid eccentricity, so that the influence of gravity interference moment is eliminated. When the attitude angle is larger, a laser tracker is adopted for measurement; when the attitude angle is smaller, switching to the autocollimator with higher precision comprises the following steps:
and step 1, flywheel wheel control is carried out on the triaxial air bearing table in a horizontal state, and horizontal direction balance adjustment is carried out according to the gesture measured by the first gesture measuring instrument, wherein the first gesture measuring instrument preferably adopts an auto-collimator.
Further, the step 1 includes the following steps:
step 1.1: the air bearing table is in a suspension state through pre-adjusting balance;
step 1.2: flywheel control is carried out, the expected attitude angle is [0, gamma ], and gamma is preferably the initial Euler angle of the table body;
step 1.3: judging the deviation of the first attitude angle, if the deviation of the current attitude angle and the expected attitude angle
Or (b)
Mass center adjustment is carried out by using a mass block; otherwise, enter step 1.4; at the moment, the flywheel output moment can not overcome the horizontal disturbance moment, the control gesture is required to be stopped, and the jack is lifted. Because the high-precision balance motor has a limited adjusting range, the small mass block or the high-precision balance motor is also required to be used for adjusting in the process of adjusting the relatively large mass center.
Step 1.4: judging the deviation of the second attitude angle, if the deviation of the current attitude angle and the expected attitude angle
Or->
The mass center is adjusted by a balance motor of the corresponding shaft; otherwise, the balance adjustment of the centroid in the horizontal direction is finished, wherein the first attitude angle is larger than the second attitude angle.
Step 2: and the three-axis air bearing table is inclined and biased by utilizing flywheel wheel control, and the vertical direction is regulated and balanced according to the gesture measured by a second gesture measuring instrument, wherein the second gesture measuring instrument preferably adopts a laser tracker.
Further, the step 2 includes the following steps:
step 2.1: performing flywheel control, wherein the expected attitude angle is [ alpha, 0, gamma ] or [0, beta, gamma ], and the initial value i of alpha or beta is 1 degree;
step 2.2: third attitude angle deviation judgment, if the deviation between the current attitude angle and the expected attitude angle
Or (b)
Wherein->
Representing the angular deviation of the X-axis attitude, +.>
Representing Y-axis attitude angle deviation, and performing mass center adjustment on mass blocks which are increased or decreased simultaneously at symmetrical positions; otherwise, step 2.3 is entered, when the angle maneuver is performed, the vertical position of the mass center of the air bearing table is judged according to the actually measured attitude angle, and when the actually measured attitude angle is smaller than the target value, the mass center is represented to be declined; when the measured attitude angle is larger than the target value, the centroid is represented to be upward; meanwhile, the balance weights at symmetrical positions are used for guaranteeing that the mass center in the horizontal direction is unchanged.
Further, the flywheel output torque cannot overcome the horizontal disturbance torque, the attitude angle needs to be zeroed, then control is stopped, and the jack is lifted. Also, because of the limited range of adjustment of the high precision balancing motor, small masses are also required for adjustment during such relatively large center of mass adjustments.
Step 2.3: fourth, judging the deviation of the attitude angle, if the deviation of the current attitude angle and the expected attitude angle is the same
Or->
The mass center is adjusted by a balance motor of the corresponding shaft; otherwise, step 2.4 is entered, wherein the third attitude angle is greater than the fourth attitude angle;
step 2.4: the current control attitude angle alpha+1° or beta+1°;
step 2.5: judging the size of the current control attitude angle, when
Or->
Returning to the step 2.1 when the step is performed; otherwise, the balancing of the mass center in the vertical direction is finished.
The invention also provides a system for adjusting the mass center of the triaxial air bearing table to balance, which comprises a first balance adjusting module and a second balance adjusting module, wherein the first balance adjusting module can perform flywheel wheel control on the triaxial air bearing table in a horizontal state and perform horizontal direction balance according to the gesture measured by the first gesture measuring instrument; the second balance module can utilize flywheel wheel control to incline and bias the triaxial air bearing table, and can carry out vertical direction balance adjustment according to the gesture measured by the second gesture measuring instrument, wherein the first gesture measuring instrument preferably adopts an autocollimator, and the second gesture measuring instrument preferably adopts a laser tracker.
Further, in the operation process of balancing the mass center of the triaxial air bearing table, a plurality of flywheels are arranged on the triaxial air bearing table and used for controlling the posture of the triaxial air bearing table, and the autocollimator and the laser tracker are respectively used for detecting the posture of the triaxial air bearing table.
Further, in a specific embodiment, as shown in fig. 3, a device layout on a tested triaxial air bearing table is shown, when a laser tracker is tested, detection is performed by matching the laser tracker 1 with the laser tracker target 2, and laser emitted by the laser tracker 1 is projected onto the laser tracker target 2 for measurement. An autocollimator is a type of metrology instrument that uses the principle of autocollimation of light to convert angular measurements into linear measurements. The three-axis air bearing table attitude control device is widely used for small-angle measurement, flat plate flatness measurement, guide rail flatness and parallelism measurement and the like, and the auto-collimator 4 is matched with the prism 3 to complete measurement, wherein 5 is an x-direction flywheel, 6 is a Y-direction flywheel, 7 is a Z-direction flywheel, and three-axis air bearing table attitude control is realized through the three-direction flywheel.
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," and the like indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the devices or elements being referred to must have a specific orientation, be configured and operated in a specific orientation, and are not to be construed as limiting the present application.
Those skilled in the art will appreciate that the systems, apparatus, and their respective modules provided herein may be implemented entirely by logic programming of method steps such that the systems, apparatus, and their respective modules are implemented as logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc., in addition to the systems, apparatus, and their respective modules being implemented as pure computer readable program code. Therefore, the system, the apparatus, and the respective modules thereof provided by the present invention may be regarded as one hardware component, and the modules included therein for implementing various programs may also be regarded as structures within the hardware component; modules for implementing various functions may also be regarded as being either software programs for implementing the methods or structures within hardware components.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention 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 invention. The embodiments of the present application and features in the embodiments may be combined with each other arbitrarily without conflict.
Claims (8)
1. The method for balancing the mass center of the triaxial air bearing table is characterized by comprising the following steps of:
step 1, flywheel wheel control is carried out on the triaxial air bearing table in a horizontal state, and horizontal direction balance adjustment is carried out according to the gesture measured by the first gesture measuring instrument;
the step 1 comprises the following steps:
step 1.1: the air bearing table is in a suspension state through pre-adjusting balance;
step 1.2: flywheel control is carried out, the expected attitude angle is [0, gamma ], and gamma is the initial Euler angle of the table body;
step 1.3: judging the deviation of the first attitude angle, if the deviation of the current attitude angle and the expected attitude angle
Or (b)
Then mass center adjustment is performed by using the mass block, wherein +.>
Representing the angular deviation of the X-axis attitude, +.>
Representing Y-axis attitude angle deviation; otherwise, enter step 1.4;
step 1.4: judging the deviation of the second attitude angle, if the deviation of the current attitude angle and the expected attitude angle
Or->
The mass center is adjusted by a balance motor of the corresponding shaft; otherwise, finishing the balance adjustment of the mass center in the horizontal direction;
step 2: utilizing flywheel wheel control to incline and bias the triaxial air bearing table, and carrying out vertical direction balance adjustment according to the gesture measured by the second gesture measuring instrument;
the step 2 comprises the following steps:
step 2.1: flywheel control is performed, and the expected attitude angle is [ alpha, 0, gamma ] or [0, beta, gamma ];
step 2.2: third attitude angle deviation judgment, if the deviation between the current attitude angle and the expected attitude angle
Or (b)
The mass center of the mass blocks are increased or decreased simultaneously at the symmetrical positions; otherwise, enter step 2.3;
step 2.3: fourth, judging the deviation of the attitude angle, if the deviation of the current attitude angle and the expected attitude angle is the same
Or->
The mass center is adjusted by a balance motor of the corresponding shaft; otherwise, enter step 2.4;
step 2.4: the current control attitude angle alpha+1° or beta+1°;
step 2.5: judging the size of the current control attitude angle, when
Or->
Returning to the step 2.1 when the step is performed; otherwise, the balancing of the mass center in the vertical direction is finished.
2. The method of claim 1, wherein the first attitude measurement instrument employs an auto-collimator and the second attitude measurement instrument employs a laser tracker.
3. The method of claim 1, wherein the first attitude angle is greater than the second attitude angle.
4. The method of claim 1, wherein the initial value of α or β in step 2.1 is 1 °.
5. The method of claim 1, wherein the third attitude angle is greater than the fourth attitude angle.
6. The method for balancing the mass center of the triaxial air bearing table according to claim 1, characterized in that when the angle maneuver is performed, the vertical position of the mass center of the air bearing table is judged according to the measured attitude angle, and when the measured attitude angle is smaller than the target value, the mass center is represented to be declined; and when the measured attitude angle is larger than the target value, representing that the centroid is upward.
7. A system for balancing a center of mass of a three-axis air bearing table, wherein the method for balancing a center of mass of a three-axis air bearing table according to any one of claims 1 to 6 comprises:
a first leveling module: performing flywheel wheel control on the triaxial air bearing table in a horizontal state, and performing horizontal direction balance adjustment according to the gesture measured by the first gesture measuring instrument;
a second leveling module: and (3) utilizing flywheel wheel control to incline and bias the triaxial air bearing table, and carrying out vertical direction balance adjustment according to the gesture measured by the second gesture measuring instrument.
8. The system of claim 7, wherein the first attitude measurement instrument employs an auto-collimator and the second attitude measurement instrument employs a laser tracker.
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| CN116923738B (en) * | 2023-08-18 | 2024-04-05 | 哈尔滨工业大学 | Digital intelligent adjusting device and method for quality characteristics of satellite attitude control full-physical simulation platform |
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