Triaxial air bearing table high-precision attitude angle and angular velocity measuring device

A measuring device and technology of an air bearing table, which is applied in the field of measurement, can solve problems such as difficulty in achieving high precision, inapplicability of three-axis air bearing table measurement, and complex mechanisms.

Active Publication Date: 2013-08-07
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] During the test, the three-axis air-floor table needs to dynamically provide the attitude information such as the angle and angular velocity of the air-floor table through the attitude measurement system in order to complete the closed-loop control. (such as resolvers, inductive synchros, photoelectric encoders, gratings, etc.) are not suitable

Method used

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  • Triaxial air bearing table high-precision attitude angle and angular velocity measuring device
  • Triaxial air bearing table high-precision attitude angle and angular velocity measuring device
  • Triaxial air bearing table high-precision attitude angle and angular velocity measuring device

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Effect test

Embodiment 1

[0040] Example 1: Combining figure 1 , the present invention 1. a kind of three-axis air bearing platform high-precision attitude angle and angular velocity measuring device, comprise laser tracker 1, intelligent probe 2, gyroscope 3, two photoelectric autocollimators 4, four-sided prism 5 and data The processor 6, the laser tracker 1 is installed under the three-axis air flotation table, the intelligent probe 2 is fixed on the instrument platform of the three-axis air flotation table, the intelligent probe 2 has a target positioning system, and the laser tracker 1 cooperates with The intelligent measuring head 2 can track and determine the three-dimensional angle and the moving three-dimensional distance of the intelligent measuring head 2 rotating (usually installed and fixed with the target object to be measured), the gyroscope 3 and the four-sided prism 4 are fixed on the three-axis air bearing table On the instrument platform, two photoelectric autocollimators 4 are ortho...

Embodiment 2

[0050] combine figure 2 , the present invention utilizes the installation relation of two photoelectric autocollimators and prism to do as follows:

[0051] The prism used should be installed on the instrument platform near the outer edge to ensure the field of view. During the experiment, the prism and the instrument platform of the air bearing table move together, the optical axes of the two autocollimators are installed on the base under the stage in an orthogonal relationship, and their light pipes are respectively aligned with the two orthogonal prisms of the prism. On the reflective surface, each autocollimator can measure the two-dimensional attitude information of the prism, and the three-degree-of-freedom attitude angle measurement of the instrument platform can be given according to the measurement data of the two photoelectric autocollimators.

[0052] In addition, the specific value of the "small angle" motion range mentioned above (the typical value is usually ±...

Embodiment 3

[0054] The present invention utilizes the Kalman filter fusion of the laser tracker and the gyroscope to obtain attitude information during large-angle operation, and the specific steps are as follows:

[0055] Step 1: Use the deviation quaternion and gyro drift to form a six-dimensional vector as a non-redundant representation of the filter state, and the measurement equation of the filter can be obtained through the output of the laser tracker. Let the system state equation be as follows:

[0056] X · ( t ) = F ( t ) X ( t ) + ...

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Abstract

The invention discloses a triaxial air bearing table high-precision attitude angle and angular velocity measuring device. According to the invention, an intelligent measuring head, a gyroscope, and a four-side prism are arranged on an instrument platform of the triaxial air bearing table. A laser tracker is arranged below the triaxial air bearing table. Two photoelectric autocollimators are orthogonally arranged below the triaxial air bearing table. During large-angle movement, data of the gyroscopes and the laser tracker are subjected to Kalman filtering fusion, such that angle and angular velocity information of the air bearing table is obtained. During small-angle movement, data of the two photoelectric autocollimators are directly combined, such that angle and angular velocity information of the air bearing table can be obtained. With the device provided by the invention, non-contact, high-precision, and dynamic measuring of the attitude angle and angular velocity of the triaxial air bearing table can be realized. The device is also suitable for attitude angle measuring of a uniaxial air bearing table.

Description

technical field [0001] The invention relates to measurement technology, in particular to a high-precision attitude angle and angular velocity measurement device for a three-axis air bearing platform. Background technique [0002] The three-axis air bearing platform relies on the air film formed between the air bearing and the bearing seat by compressed air to make the simulation platform float, so as to realize the relative motion condition of approximately frictionless, so as to simulate the impact of space vehicles such as satellites in outer space. The mechanical environment with small disturbance torque. As a space vehicle motion simulator, the three-axis air bearing platform is an important means and method in the process of space vehicle development for the full physical simulation experiment of the satellite control system to test the performance of the system. [0003] During the test, the three-axis air-floor table needs to dynamically provide the attitude informat...

Claims

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Application Information

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IPC IPC(8): G01C1/00G01C19/56G01C21/10
Inventor 李莉夏红伟马广程王常虹马闯任顺清凌明祥王艳敏刘川
Owner HARBIN INST OF TECH
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