Unlock instant, AI-driven research and patent intelligence for your innovation.

On-line identification system and inertia algorithm for the moment of inertia of a large-scale three-axis air-floating table

A technology of moment of inertia and air bearing table, applied in the field of control, can solve problems such as inability to identify on-line, measurement, and input signal selection method not detailed enough

Active Publication Date: 2022-06-07
HARBIN INST OF TECH
View PDF12 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, it needs to move the mass block on the air bearing table, which cannot be measured without changing the overall air bearing table, and it is difficult to ensure that the center of mass of the air bearing table remains at the center of rotation of the air bearing table during the movement process, and three times of movement If the center of mass shifts during the process, it will generate a gravitational disturbance moment and affect the measurement process
[0004] Application Publication No.: CN102620886A, application publication date August 1, 2012, published the "Two-step On-orbit Identification Combined Spacecraft Moment of Inertia Estimation Method" Selecting the moment of inertia in a certain direction of the spacecraft as a benchmark, the moment of inertia was normalized EKF is used to filter and estimate the system state quantity, and the least squares method is used for identification, but the measurement data needs to be obtained for offline identification, and online identification cannot be performed.
[0005] Master's degree thesis "Research on Online Identification Algorithm of Mass Characteristics of Satellites and Air-floating Platforms", author: Wang Shuting published in June 2006, using the thruster as the actuator, an online identification method for the moment of inertia of the air-floating platform considering the disturbance torque is given. However, the moment of inertia of the air bearing platform used for simulation is small, and the specific selection method for the input signal is not detailed enough

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • On-line identification system and inertia algorithm for the moment of inertia of a large-scale three-axis air-floating table
  • On-line identification system and inertia algorithm for the moment of inertia of a large-scale three-axis air-floating table
  • On-line identification system and inertia algorithm for the moment of inertia of a large-scale three-axis air-floating table

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0045] like figure 1 — image 3 , An online identification technology for the moment of inertia of a large-scale three-axis air-floating table involved in this embodiment includes: a design scheme of the identification system for the moment of inertia of the three-axis air-floating table and an algorithm derivation for the moment of inertia of the three-axis air-bearing table.

[0046] The design scheme of the moment of inertia identification system of the three-axis air-floating platform, including data processing system 1, display system 2, support and protection system 3, attitude measurement and control system of the three-axis air-floating platform 4, wireless transmission system 5, balance adjustment system 6 and Power supply system 7. The relationship between the above seven systems is as follows: Data processing system 1 performs data processing on the output signal from the on-stage measurement and control system to identify the moment of inertia, display system 2 di...

Embodiment 2

[0048] The derivation of the moment of inertia algorithm of the three-axis air-floating table:

[0049] One algorithm for moment of inertia measurement

[0050] The scheme of identifying the moment of inertia is as follows: use the flywheel as the actuator of the system to input to the air flotation table, measure the angular velocity through the gyroscope as the output of the system, and establish the following dynamic equation:

[0051]

[0052]

[0053] where J f is the moment of inertia of the flywheel, ω f is the rotational speed of the flywheel, J is the moment of inertia of the air-floating table, and ω is the angular velocity of the air-bearing table. In formula (2), since the moment of inertia is large and the attitude control is always performed at a small angle during the identification process, eliminating the small amount in the formula and modifying the position of the input and output can be obtained:

[0054]

[0055] where J -1 is the inverse matrix...

Embodiment 3

[0084] The identification of the moment of inertia of the three-axis air flotation table in this system is a prerequisite for the air flotation table to complete other tasks. Since the three-axis air flotation table needs to be adjusted and balanced before it works, the moment of inertia will change, so as long as the routine The system composed of the three-axis air-floating table has the devices and functions described in this system, and the moment of inertia of the three-axis air-floating table can be identified after other systems complete the required hardware installation and adjustment and balance.

[0085] The system adopts the structure of measurement and control system on the platform, calculation and display control of the host computer system on the platform, wireless communication between the monitoring and control system on the platform and the host computer system on the platform. The off-stage host computer system sends commands, the on-stage measurement and co...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention provides an on-line identification system and an inertia algorithm for the moment of inertia of a large three-axis air bearing platform, belonging to the technical field of control. The invention includes: a design scheme of a moment of inertia identification system of a three-axis air-floating platform and an algorithm derivation of the moment of inertia of the three-axis air-floating platform. The design scheme of the moment of inertia identification system of the three-axis air bearing platform includes: data processing system, display system, support and protection system, attitude measurement and control system of the three-axis air bearing platform, wireless transmission system, balance adjustment system and power supply system. The present invention is an online identification technology for the moment of inertia of a large-scale three-axis air bearing platform, which can perform online identification of the moment of inertia for different large-mass air bearing platforms used in various systems. Compared with other existing solutions, it can identify the rotation online Inertia, and there is no need to change the hardware structure during the identification process.

Description

technical field [0001] The invention relates to an online identification technology for the moment of inertia of a large-scale three-axis air-floating table, and belongs to the technical field of control. Background technique [0002] The moment of inertia of the triaxial air flotation platform is an important physical quantity for it to complete the simulation task of facing the spacecraft on the ground. After installing all kinds of measuring instruments, the triaxial air flotation table needs to be adjusted and balanced before it can work. This condition determines that the moment of inertia of the triaxial air flotation table is difficult to obtain by directly analyzing the mass. After the air-floating table is installed, its moment of inertia is identified, which provides a basis for the measurement tasks that require the moment of inertia of the air-floating table in other algorithms. [0003] Application publication number: CN105987788A, application publication date ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G01M1/10G06F17/16
CPCG01M1/10G06F17/16
Inventor 夏红伟李泽宁马广程李莉马长波
Owner HARBIN INST OF TECH