A high-speed and high-precision target plane motion simulation device

Abstract

The present invention relates to a high-speed and high-precision target plane motion simulation device, comprising a frame, a target actuator and four drive units, each drive unit comprising a flexible cable, a servo motor with an incremental encoder and a fixed pulley group for guiding and damping the flexible cable, the servo motor and the fixed pulley group are arranged on the frame, a drum is arranged at the shaft end of the servo motor, and one end of the flexible cable is fixed on the drum; a tension sensor is arranged between each flexible cable and the target actuator; the motion simulation device also comprises a main control host computer, a motion control card and a data acquisition card, the data acquisition card collects the tension information of the flexible cable, the host computer executes the control algorithm and realizes the driving of the flexible cable through the motion control card, thereby realizing automatic control of different motion trajectories. The present invention can make the target actuator move at high speed according to the preset motion trajectory with high precision, and has a simple structure and is easy to disassemble and assemble, and is suitable for detecting the tracking performance of weapon tracking equipment in outdoor or laboratory environments.

Description

Technical Field

[0001] The invention relates to the field of target motion simulation, and in particular to a high-speed and high-precision target plane motion simulation device. Background Art

[0002] Target motion simulation refers to controlling a dynamic object to produce the expected motion (i.e., motion according to a preset motion trajectory). Target motion simulation devices can be used to detect the tracking performance of tracking equipment, and play an important role in the development, identification, combat effectiveness evaluation, training, and exercise of weapons and equipment. Traditional target motion simulation devices usually use rigid connecting rods to drive target actuators, which have complex structures, many intermediate transition links, and are difficult to accurately control. Therefore, the research on target motion simulation is of great significance. Summary of the invention

[0003] The purpose of the present invention is to provide a high-speed and high-precision target plane motion simulation device, which can make the target actuator move at high speed and high precision according to a preset motion trajectory, and has a simple structure and is easy to disassemble and assemble, and is suitable for testing the tracking performance of weapon tracking equipment in outdoor or laboratory environments.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: a high-speed and high-precision target plane motion simulation device, including a frame and a target actuator that simulates motion according to a preset motion trajectory, the frame is provided with four driving units for synchronously driving the target actuator to move, each driving unit includes a flexible cable connected to the target actuator, a servo motor for controlling the effective length and tension of the flexible cable, and a fixed pulley group for guiding and damping the flexible cable, the servo motor and the fixed pulley group are both arranged on the frame, an encoder is arranged inside the servo motor and the operation of the servo motor is controlled by a servo driver, a drum is arranged at the shaft end of the servo motor, the end of the flexible cable away from the target actuator is fixed on the drum, and the fixed pulley group at least The invention comprises two fixed pulleys, and the two fixed pulleys clamp the flexible rope between the two fixed pulleys through grooves therebetween; a tension sensor for detecting the tension of the flexible rope in real time is arranged between each flexible rope and the target actuator; the motion simulation device also comprises a main control host computer, a motion control card and a data acquisition card; the motion control card collects encoder signals and feeds them back to the main control host computer; the data acquisition card collects detection signals of the tension sensor and feeds them back to the main control host computer; the main control host computer calculates the control quantity and outputs the control quantity to the corresponding servo driver through the motion control card; the servo driver controls the operation of the servo motor to complete the closed-loop control of the length and tension of the flexible rope; the main control host computer is also connected to an input device for inputting a preset motion trajectory to the main control host computer.

[0005] Preferably, the motion simulation device further comprises an actuator motion platform, and a universal wheel is provided at the lower end of the target actuator and the target actuator contacts the actuator motion platform via the universal wheel.

[0006] Preferably, the tension sensor is threadedly connected to the target actuator.

[0007] Preferably, the fixed pulley is a bearing pulley.

[0008] Preferably, a signal amplifier is provided between the data acquisition card and the tension sensor.

[0009] Beneficial effects: The present invention can make the target actuator move at high speed and with high precision according to the preset motion trajectory, and has a simple structure and is easy to assemble and disassemble, and is suitable for testing the tracking performance of weapon tracking equipment in outdoor or laboratory environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a schematic diagram of the mechanical structure of the present invention;

[0011] Figure 2 It is a schematic diagram of the position and connection relationship of the flexible cable, fixed pulley block, drum and servo motor of the present invention;

[0012] Figure 3 It is a schematic diagram of the target actuator of the present invention and its connection relationship;

[0013] Figure 4 It is a schematic diagram of the main control host computer and its control relationship of the present invention; DETAILED DESCRIPTION

[0014] The present invention is further explained below in conjunction with the accompanying drawings, specific implementation methods and preferred embodiments.

[0015] Reference Figure 1-4A high-speed and high-precision target plane motion simulation device comprises a frame 1 and a target actuator 2 that performs simulated motion according to a preset motion trajectory. The frame 1 is provided with four driving units for synchronously driving the target actuator 2 to move. Each driving unit comprises a flexible cable 3 connected to the target actuator 2, a servo motor 4 for controlling the effective length (effective length refers to the distance from the flexible cable entry position to the geometric center of the target actuator, and the entry position refers to the position where the two fixed pulleys described below clamp the flexible cable) and the tension of the flexible cable 3, and a fixed pulley group 5 for guiding and damping the flexible cable 3. The servo motor 4 and the fixed pulley group 5 are connected to the target actuator 2. The wheel groups 5 are all arranged on the frame 1, the servo motor 4 is provided with an encoder (incremental rotary encoder) inside and the operation of the servo motor 4 is controlled by a servo driver, the shaft end of the servo motor 4 is provided with a drum 6, the end of the flexible cable 3 away from the target actuator 2 is fixed on the drum 6, the fixed pulley group 5 includes at least two fixed pulleys (the two fixed pulleys clamp the flexible cable to reduce the lateral vibration and longitudinal vibration of the flexible cable, and one fixed pulley guides the flexible cable, and the fixed pulley that plays a guiding role can be one of the above two fixed pulleys, or can be set separately), the fixed pulley group 5 preferably uses only two fixed pulleys, and the fixed pulleys are preferably bearing pulleys, and the two fixed pulleys are preferably fixed pulleys. The fixed pulley clamps the flexible cable 3 between the two fixed pulleys through the grooves of the two fixed pulleys; a tension sensor 7 for real-time detection of the tension of the flexible cable 3 is provided between each flexible cable 3 and the target actuator 2, and the connection mode of the tension sensor 7 and the target actuator 2 is preferably a threaded connection. The motion simulation device also includes a main control host computer, a motion control card and a data acquisition card. The motion control card is connected to the encoder of the servo motor 4 through a servo driver, and the motion control card collects the encoder signal and feeds it back to the main control host computer. The input end of the data acquisition card is connected to the signal output end of the tension sensor, and the output end of the data acquisition card is connected to the signal output end of the tension sensor. The output end is connected to the main control host computer, the data acquisition card collects the detection signal of the tension sensor 7 and feeds it back to the main control host computer, the main control host computer is connected to the servo driver through the motion control card, the main control host computer solves the control amount and outputs the control amount to the corresponding servo driver (referring to the servo driver corresponding to the encoder of the collected signal or the tension sensor) through the motion control card, the servo driver controls the servo motor 4 to operate, completes the closed-loop control of the length and tension of the flexible cable 3, thereby realizing the motion trajectory control of the target actuator 2; the main control host computer is also connected to an input device for inputting a preset motion trajectory to the main control host computer. Preferably, the motion simulation device also includes an actuator motion platform 8, and the lower end of the target actuator 2 is provided with a universal wheel 9 and contacts the actuator motion platform 8 through the universal wheel 9. Preferably, a signal amplifier 10 is also provided between the data acquisition card and the tension sensor 7.

[0016] Working principle: The preset motion trajectory is input to the main control host computer through the input device. After the main control host computer solves the problem through the software, it outputs the control quantity to the four servo drives through the motion control card. The control process and signal solution of the main control host computer are as follows:

[0017] (1) Establish a rectangular coordinate system O-xy on the motion plane, and set the entry position of the four flexible cables to A. i (i=1,2,3,4), the geometric center of the target actuator is set to P(x,y), and the effective length of the four cables is set to L i (i=1,2,3,4);

[0018] (2) deriving a parametric equation of point P according to a preset motion trajectory equation, which is used to calculate the coordinates of point P at any time t;

[0019] For example, if the preset motion trajectory is a circle, the trajectory equation is x 2 +y 2 =R 2 ;

[0020] The corresponding parametric equation is

[0021] Where R and ω are constants, t is the independent variable, and (x, y) is the coordinate of point P at time t;

[0022] (3) Using the parametric equation, calculate the coordinates of point P at the current time t0 and the next time t0+Δt (where Δt represents the time interval) for later use;

[0023] (4) The lengths L of the four flexible cables are obtained based on the coordinate parameter equation of point P. i The equation about t is used to calculate the length L of the four cables at any time t i =||L V ||=||PA i ||(i=1,2,3,4); find the lengths of the four cables at time t0 and time t0+Δt;

[0024] (5) The length equations of the four flexible cables are differentiated with respect to t, and their first-order derivative is the cable velocity V i Equation, the second derivative is the cable acceleration a i Equation; used to calculate the velocity and acceleration of the flexible cable at any time t;

[0025]

[0026]

[0027] Find the changing speed and acceleration of the four cables at time t0;

[0028] (6) The linear velocity of the drum is consistent with the speed of the flexible cable. The angular velocity of the drum is calculated based on the linear velocity of the drum. The angular velocity of the servo motor is consistent with the angular velocity of the drum. The calculation of the angular acceleration of the servo motor is similar to the acceleration. The number of revolutions of the servo motor within the time Δt is calculated based on the angular velocity. The servo driver controls the servo motor to rotate according to the calculated angular velocity and angular acceleration. The incremental rotary encoder inside the servo motor detects the speed of the servo motor in real time and feeds it back to the motion control card through the servo driver. After being solved by the main control host computer, the control signal is transmitted to the motion control card. The speed of the servo motor is adjusted by the servo driver to form a closed-loop control to achieve the speed control of the flexible cable retraction and extension. The length of the flexible cable retraction and extension is measured according to the number of revolutions of the drum to achieve the length control of the driven flexible cable.

[0029] (7) Using the Jacobian matrix formula J d ·T=m p ·a p Calculate the theoretical value T of the force on each cable when the target actuator moves from time t0 to time t0+Δt; where J d is the Jacobian matrix obtained based on the coordinates of point P, m P is the mass of the target actuator, a p It is the acceleration of the target actuator; the actual value of the tension of each flexible cable is measured in real time through the tension sensor, and the data is transmitted to the data acquisition card through the force amplifier. After processing and analysis by the data acquisition card, it is transmitted to the main control industrial computer. If the measured flexible cable tension is higher than the set maximum breaking force or less than the set minimum tension, an alarm signal is issued. If it is within the range of the set minimum tension and the maximum breaking force and is different from the theoretical value, the servo motor is adjusted to complete the closed-loop control of the flexible cable tension;

[0030] (8) When the target actuator completes the motion state from time t0 to time t0+Δt, (3)-(8) are repeated, thereby achieving high-precision and high-speed motion of the target actuator according to the preset motion trajectory.

[0031] The above embodiments are merely for explaining the technical concept of the present invention, and any replacement and improvement that does not deviate from the basic concept of the present invention should be included in the protection scope of the present invention.

Claims

1. A high-speed and high-precision target plane motion simulation device, characterized in that: The invention comprises a frame (1) and a target actuator (2) for performing simulated motion according to a preset motion trajectory. The frame (1) is provided with four drive units for synchronously driving the target actuator (2) to move. Each drive unit comprises a flexible cable (3) connected to the target actuator (2), a servo motor (4) for controlling the effective length and tension of the flexible cable (3), and a fixed pulley block (5) for guiding and damping the flexible cable (3). The servo motor (4) and the fixed pulley block (5) are both arranged on the frame (1). An encoder is arranged inside the servo motor (4) and the operation of the servo motor (4) is controlled by a servo driver. A reel (6) is arranged at the shaft end of the servo motor (4). One end of the flexible cable (3) away from the target actuator (2) is fixed on the reel (6). The fixed pulley block (5) comprises at least two fixed pulleys. The two fixed pulleys are arranged on the shaft end of the servo motor (4). The pulley clamps the flexible rope (3) between the two fixed pulleys through the grooves therebetween; a tension sensor (7) for real-time detection of the tension of the flexible rope (3) is provided between each flexible rope (3) and the target actuator (2); the motion simulation device further comprises a main control host computer, a motion control card and a data acquisition card; the motion control card acquires encoder signals and feeds them back to the main control host computer; the data acquisition card acquires detection signals of the tension sensor (7) and feeds them back to the main control host computer; the main control host computer calculates the control quantity and outputs the control quantity to the corresponding servo driver through the motion control card; the servo driver controls the operation of the servo motor (4) to complete the closed-loop control of the length and tension of the flexible rope (3), thereby realizing the motion trajectory control of the target actuator (2); the main control host computer is also connected to an input device for inputting a preset motion trajectory to the main control host computer; The motion simulation device further comprises an actuator motion platform (8), and a universal wheel (9) is provided at the lower end of the target actuator (2) and contacts the actuator motion platform (8) via the universal wheel (9); The tension sensor (7) is threadedly connected to the target actuator (2).

2. A high-speed and high-precision target plane motion simulation device according to claim 1, characterized in that: The fixed pulley is a bearing pulley.

3. A high-speed and high-precision target plane motion simulation device according to claim 1, characterized in that: A signal amplifier (10) is also provided between the data acquisition card and the tension sensor (7).

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