A large-angle attitude angle measurement device and method for a three-axis air bearing platform

A technology of measuring device and air-floating platform, which is applied in the directions of measuring device, measuring angle, surveying and mapping and navigation, etc., can solve the problems of measuring accuracy not meeting the requirements of technical indicators, gyroscope occupying a large space of instrument platform, increasing project cost, etc. High-precision angular position control, fast tracking, and reduced complexity effects

CN109470200BActive Publication Date: 2021-03-23HARBIN INST OF TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2021-03-23

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Abstract

The invention provides a device and a method for measuring a large-angle attitude angle of a triaxial air-bearing table, and belongs to the technical field of high-accuracy attitude control and measurement. A triaxial mechanical electric tracking turntable is installed on the outer side of a triaxial air-bearing table system, an eddy current displacement sensor is installed on the triaxial mechanical electric tracking turntable, a metal block is installed on the inner side of an instrument platform of the triaxial air-bearing table, the triaxial mechanical electric tracking turntable is controlled to track in real time after the triaxial air-bearing table moves, so that the measurement value l of the eddy current displacement sensor is not changed, the attitude angle of the triaxial air-bearing table is obtained by reading the moving angle value of the triaxial mechanical electric tracking turntable, and the numerical relationship of the error of the attitude angle of the triaxial air-bearing table and the related parameter is also analyzed. The device is high in measurement accuracy, does not occupy the space of the instrument platform, and has the advantages of real-time measurement, fast tracking, 360-degree full-revolving measurement and the like.
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Description

technical field

[0001] The invention relates to a large-angle attitude angle measuring device and method for a three-axis air bearing platform, belonging to the technical field of high-precision attitude control and measurement. Background technique

[0002] As satellite model loads have higher and higher requirements for platform functions, the attitude and orbit control subsystem, as an important satellite subsystem, carries the key tasks for the success of the entire satellite. Many models require full physical tests to verify the corresponding functional models. As the core equipment of the full physical simulation test of the ground vehicle, the three-axis air bearing table has a small frictional moment when it is airborne, and can simulate the special mechanical environment of the satellite in orbit. Among them, the three-axis air bearing attitude measurement device is the key equipment of the three-axis air bearing, which is used to realize the real-time measurement a...

Examples

Embodiment 1

[0052] The outer ring part 3 of the three-axis mechanical electric tracking turntable in the large-angle attitude angle measuring device of the three-axis air bearing platform adopts an outer rotor motor, which can reduce the complexity of the mechanical structure. The structure of the three-axis air flotation table is the base 1 of the three-axis air flotation table whose bottom end is pressed on the adjustment pad iron. , used to connect the base 1 of the three-axis air bearing table and the large-angle attitude angle measuring device of the three-axis air-floating table, the large-angle attitude angle measuring device is installed on the column 2 of the three-axis air bearing table, and the three-axis machine of the large-angle attitude angle measuring device The static part of the outer ring shaft of the electric tracking turntable, the motor stator and the fixed shaft of the outer ring are installed on the column 2 of the three-axis air flotation table, and the 7 parts of ...

Embodiment 2

[0054] The three-axis mechanical and electric tracking turntable can not only be used for the large-angle attitude angle measurement of the three-axis air bearing platform by installing the eddy current displacement sensor 9, but also can use the device of the present invention to install a four-face on the inner ring part 6 of the three-axis mechanical and electric tracking turntable. Body prism, two orthogonal photoelectric autocollimators are installed on the instrument platform of the air bearing platform to replace the eddy current displacement sensor 9 and the metal block 10 structural scheme to measure the large-angle attitude angle of the three-axis air bearing platform.

Embodiment 3

[0056] When the rotation center of the three-axis air bearing table does not coincide with the rotation center of the three-axis mechanical electric tracking turntable, it is assumed that the three-axis air bearing table rotation center, the three-axis mechanical electric tracking turntable rotation center, and the installation position of the eddy current displacement sensor are on a straight line , the motion angle a of the three-axis air bearing table, the motion angle b of the three-axis mechanical electric tracking turntable and the installation position R of the eddy current displacement sensor are deduced 2 , metal block installation position R 1 , The relationship between the measured value l of the eddy current displacement sensor and the misalignment error d of the center of rotation:

[0057]

[0058] Use Matlab to find the numerical relationship between the attitude angle measurement error of the three-axis air bearing platform and other parameters:

[0059] (1...