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System and method for accurate positioning control under overweight environment

A technology of precise positioning and control system, applied in the direction of control, measuring device, instrument, etc. using feedback, it can solve the problems of easy deformation of its own structure, inability to achieve precise positioning of multi-axis robot system, difficulty of precise positioning of the system, etc. Reliability and safety, low weight, high positioning accuracy and repeatability

Inactive Publication Date: 2012-11-14
GENERAL ENG RES INST CHINA ACAD OF ENG PHYSICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] When the geotechnical centrifugal robot works in an overweight environment, it not only needs to provide a large loading force in all directions, but also has to withstand the overweight environment. Its own structure is easily deformed, which makes the precise positioning of the system very difficult.
Existing position positioning methods cannot achieve accurate positioning for multi-axis robot systems with tool replacement in an overweight environment

Method used

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  • System and method for accurate positioning control under overweight environment
  • System and method for accurate positioning control under overweight environment

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0043] like figure 1 As shown, the precise positioning control system in the overweight environment is a uniaxial positioning control system, the drive unit of the uniaxial positioning control system is 1 set, and the number of magnetic grid sensors in the uniaxial positioning control system is 1 , the servo motor is installed vertically on the base plate; the controlled mobile bracket is fixed on the slider of the linear guide rail, and moves with the slider; the screw is installed on the base plate through the screw support seat, and one end directly extends into the hollow shaft of the motor Inside, the lead screw nut is connected to the controlled mobile bracket; the magnetic head of the magnetic grid sensor is fixed on the mobile bracket, and the magnetic strip of the magnetic grid sensor is installed on the base plate. When working, the servo motor drives the lead screw to rotate, and the lead screw nut drives the controlled moving bracket connected with it to move on th...

Embodiment 2

[0053] like figure 2 As shown, the precise positioning control system in the overweight environment is a dual-axis positioning control system, the drive unit is two sets, the drive unit is divided into a first drive unit and a second drive unit, and the first drive unit includes A first servo motor, a first servo driver, and a first resolver, and the second drive unit includes a second servo motor, a second servo driver, and a second resolver. The communication interfaces of the servo drivers in the two sets of drive units are all connected to the communication interfaces of the motion controller. The control principle of each single axis in the dual-axis positioning control system is basically the same as that of the single-axis positioning control system. The first resolver and the second resolver are used to measure the speeds of the first servo motor and the second servo motor respectively. The grid sensor and the second magnetic grid sensor respectively measure the disp...

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Abstract

The invention discloses a system and a method for accurate positioning control under the overweight environment. The system for accurate positioning control comprises a driving unit, an industrial personal computer, a magnetic grid sensor and a motion controller, wherein the driving unit comprises a servo motor, a servo actuator and a rotary transformer. When the span of a controlled moving support is small, one set of driving unit is used for performing single-axis positioning control on the controlled moving support; and when the span of a moved support is overlarge, two sets of driving units are adopted for synchronously driving two sides of the controlled moving support to perform double-axis positioning control. The system is high in positioning accuracy and repeatability precision, has large loading capacity and is suitable for accurate positioning of the large-range controlled moving support under the overweight environment. Under a 100g of centrifugal field, the positioning accuracy of the system is superior to 0.2mm, and the largest bearing force exceeds 18000N. For achieving double-axis positioning control under the high centrifugal field, two axes are regarded as the same axis for performing synchronous control, and reliability and safety of the system are improved.

Description

technical field [0001] The invention relates to a control system and method, in particular to a precise positioning control system and control method in an overweight environment. Background technique [0002] Geotechnical centrifuge provides an important research method for geotechnical centrifuge simulation test and has been developed rapidly. Since the birth of the world's first geotechnical centrifuge at Columbia University in the United States in 1931, there are now more than 200 geotechnical centrifuges in the world. These centrifuges have made important contributions to the world's geotechnical testing and civil construction. [0003] Accurate positioning technology in overweight environment is one of the key technologies in the development of geotechnical centrifugal robots. Because the geotechnical centrifugal robot runs according to the preset program during the centrifugal test, the tool head needs to complete complex movements in the narrow space of the model b...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D3/12G01N3/00
Inventor 余小勇冉光斌洪建忠黎启胜王新伦张宁平赵宝忠彭丽琼
Owner GENERAL ENG RES INST CHINA ACAD OF ENG PHYSICS
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