A control system and method for three-dimensional centroid measurement

Abstract

A control system and method for three-dimensional center of mass measurement is disclosed. The center of mass measurement control system includes a measurement platform base, a support platform for mounting a device under test, a drive device connected at one end to the measurement platform base and at the other end to the support platform, the drive device being drivable to cause the support platform to rotate about a horizontal axis, a master controller for transmitting a control signal indicative of a target position of the support platform to a servo controller, a servo drive receiving torque information generated by the servo controller based on the control signal to output a corresponding torque to cause the drive device to move and bring the support platform to the target position, and a load cell disposed on the measurement platform base, wherein the master controller further calculates the center of mass of the device under test based on the mass of the support platform at a plurality of positions as measured by the load cell. The method of the present invention operates the center of mass measurement control system to measure the center of mass of the device under test.

Description

TECHNICAL FIELD

[0001] The present application relates to a control system for centroid measurement, and more particularly, to a control system for three-dimensional centroid measurement of an aero-engine. BACKGROUND

[0002] Centroid is a physical quantity depending on the density and volume of an object. Parameters such as mass and centroid need to be provided before an aero-engine is shipped. The aero-engine is large in size and complex in profile, and belongs to a typical irregular structure object. It is difficult to measure the centroid of the aero-engine in X, Y and Z dimensions.

[0003] Therefore, it is desirable to achieve accurate and simple measurement and positioning of the three-dimensional centroid of the aero-engine. SUMMARY

[0004] The following presents a simplified summary of one or more aspects in order to provide a basic understanding of such aspects. This summary is not an extensive overview of all contemplated aspects, and is intended to neither identify key or critical elements of all aspects nor delineate the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that is presented later.

[0005] To solve the above problems, the present application proposes a control system and method for three-dimensional centroid measurement.

[0006] According to an aspect of the present application, a centroid measurement control system is provided, which comprises: a measurement platform base; a support platform for mounting a device to be measured; a driving device connected to the measurement platform base at one end and to the support platform at the other end, the driving device being drivable to cause the support platform to rotate about a horizontal axis; a master controller for transmitting a control signal indicative of a target position of the support platform to a servo controller; a servo driver receiving torque information generated by the servo controller based on the control signal to output a corresponding torque to move the driving device and bring the support platform to the target position; and a weighing instrument arranged on the measurement platform base, wherein the master controller further calculates the centroid of the device to be measured based on the mass of the support platform at a plurality of positions measured by the weighing instrument.

[0007] According to a further embodiment of the present application, the weighing instrument comprises at least one x-direction weighing sensor and at least one y-direction weighing sensor arranged in the horizontal direction of the measurement platform base, and at least one z-direction weighing sensor arranged in the vertical direction of the measurement platform base, wherein the weighing sensors measure the mass in different directions.

[0008] According to a further embodiment of the present application, the weighing measuring instrument further comprises an angle sensor, wherein the angle sensor is configured to measure the angle between the measuring platform base and the support platform.

[0009] According to a further embodiment of the present application, the plurality of positions of the support platform comprises a horizontal position when the support platform is empty and parallel to the measuring platform base, an inclined position when the support platform is empty and at a target angle with the measuring platform base, a horizontal position when the device under test is loaded and parallel to the measuring platform base, and an inclined position when the device under test is loaded and at the target angle with the measuring platform base.

[0010] According to a further embodiment of the present application, the center of mass measuring control system further comprises a feedback unit configured to detect the current size used by the servo driver when the driving device is subjected to a torque, and to provide a feedback signal indicative of the current size to the main controller.

[0011] According to a further embodiment of the present application, the main controller is further configured to calculate a required subsequent torque based on the current size indicated in the feedback signal and the current position of the support platform, and to generate a subsequent control signal to the servo controller.

[0012] According to a further embodiment of the present application, the control system further comprises an operation device configured to at least one of display a target angle between the measuring platform base and the support platform, or input a target position of the support platform, or display the center of mass of the device under test.

[0013] According to an aspect of the present application, there is provided a method for measuring a center of mass, comprising: generating a control signal indicative of a target position of a support platform, wherein the support platform is located on a measuring platform base and configured to mount a device under test; generating torque information based on the control signal and causing a servo driver to output a corresponding torque to move a driving device and bring the support platform to the target position, wherein the driving device is connected to the measuring platform base at one end and connected to the support platform at the other end; measuring the mass of the support platform at a plurality of positions; and calculating the center of mass of the device under test.

[0014] According to a further embodiment of the present application, the method further comprises generating a feedback signal based on the current size used by the servo driver when detecting the torque experienced by the driving device; calculating a required subsequent torque based on the current size indicated in the feedback signal and the current position of the support platform; and sending a subsequent control signal generated based on the required subsequent torque to the servo controller.

[0015] According to an aspect of the present application, there is provided a device for measuring center of mass, comprising: a memory configured to store instructions; and one or more processors communicatively coupled with the memory, wherein the one or more processors are configured to: generate a control signal indicating a target position of a support platform, wherein the support platform is located on a measurement platform base and is used to mount a device under test; generate torque information based on the control signal and cause a servo driver to output a corresponding torque to move a driving device and bring the support platform to the target position, wherein the driving device is connected to the measurement platform base at one end and connected to the support platform at the other end; measure the mass of the support platform at a plurality of positions; and calculate the center of mass of the device under test.

[0016] To the accomplishment of the foregoing and related ends, the one or more aspects comprise the features hereinafter fully described and particularly pointed out in the claims. The following description and the annexed drawings set forth in detail certain illustrative features of the one or more aspects. These features are indicative, however, of but a few of the various ways in which the principles of various aspects can be employed. This description is intended to include all such aspects and their equivalents. BRIEF DESCRIPTION OF DRAWINGS

[0017] So that the above-recited features of the present application can be understood in detail, a more particular description, briefly summarized above, can be had by reference to various aspects, some of which are illustrated in the appended drawings. It is to be noted, however, that the appended drawings illustrate only certain typical aspects of this application and are therefore not to be considered limiting of its scope, for the description can admit to other equally effective aspects.

[0018] In the drawings:

[0019] Figures 1A-1B is a diagram illustrating a device for three-dimensional center of mass measurement, Figure 1C is a diagram illustrating a coordinate system for three-dimensional center of mass measurement.

[0020] Figure 2 is a structural schematic diagram illustrating a control system for three-dimensional center of mass measurement according to an embodiment of the present application.

[0021] Figure 3 is a structural schematic diagram illustrating a master controller for three-dimensional center of mass measurement according to an embodiment of the present application. DETAILED DESCRIPTION

[0022] The detailed description set forth below, in connection with the appended drawings, is intended as a description of various configurations and is not intended to represent the only configurations in which the concepts described herein can be practiced. The detailed description includes specific details for the purpose of providing a thorough understanding of various concepts. However, it will be apparent to those skilled in the art that these concepts can be practiced without these specific details. In some instances, well-known components are shown in block diagram form in order to avoid obscuring such concepts.

[0023] It is to be understood that other embodiments will be apparent to those of ordinary skill in the art in view of the present disclosure, and that system, structure, process or mechanical changes can be made without departing from the scope of the present disclosure.

[0024] As appreciated by those skilled in the art, a three-point method can be employed to measure the mass center of a shaped object. Referring to Figures 1A-1C As described, three load cells S1, S2, S3 can be arranged on the measurement platform base 110. It is to be understood that while the present application shows only one load cell in each direction in the drawings, the present application is not limited to one load cell in each direction, but can include more load cells. As Figure 1C As shown in FIG. 1, in one aspect, the mass center position X c , Z c of the mass center C in the horizontal direction X, Z can be measured by the three load cells and derived from the moment equation thereof. In another aspect, for the mass center position Y c in the vertical direction Y, the push rod 120, which has its two ends connected to the measurement platform base 110 and the engine support platform 130, respectively, is driven by a driving device (e.g., a hydraulic rod, a motor, etc.) to enable the engine support platform 130 to be pivotally rotated about its horizontal axis (e.g., the horizontal axis viewed from the inside of the connection axis A between the engine support platform 130 and the measurement platform base 110), so that one end of the engine support platform 130 is tilted upward and the other end thereof is tilted downward at an angle a (or in other forms to enable the support platform to be tilted and at an angle a with the measurement platform base 110), and then the mass readings of the load cells S1, S2, S3 and the moment equation thereof are solved simultaneously to derive the mass center position Y Figure 1A

[0025] In the embodiments of the present application, the angle a can be measured by at least one angle sensor S4 (e.g., which can be an angle sensor) arranged on the measurement platform base 110. As Figure 1C ​As shown, the position of the angle sensor S4 can be movable, and it is used to measure the angle formed between the plane of the measuring platform base 110 (i.e., the horizontal plane) and the plane of the engine support platform 130. The range of angle α is generally 20° ± 5°, and preferably, angle α is 20°. A limit baffle and a photoelectric sensor can be arranged on the engine support platform 130 to limit the angle formed between the plane of the measuring platform base 110 and the plane of the engine support platform 130, and to detect the position of the limit baffle, respectively, to prevent the device under test (e.g., engine 140) from tilting excessively.

[0026] Therefore, conventionally, measuring the center of mass of an engine requires the following four steps: Step 1: Measure / record the mass reading of the load cell with the support platform unloaded (engine not installed); Step 2: With the support platform unloaded, after tilting the engine support platform 130 at an angle 'a', measure / record the mass reading of the load cell, and establish a torque equation to solve for the center of mass of the engine support platform when unloaded; Step 3: Zero the load cell, load the engine 140 onto the engine support platform 130, and measure / record the mass reading of the load cell; and Step 4: Tilt the engine support platform 130 again at the same angle 'a', measure / record the mass reading of the load cell, and establish a torque equation to solve for the center of mass of the engine. This method is complex and difficult to control.

[0027] Figure 2 This is a schematic diagram illustrating the structure of a control system 200 for three-dimensional centroid measurement according to an embodiment of the present invention. The control system 200 for three-dimensional centroid measurement may include several signal acquisition, processing, and control devices, which can constitute the task execution and monitoring of signal acquisition, processing, and control of the entire system through signal processing and transmission.

[0028] like Figure 2 As shown, the control system 200 for three-dimensional centroid measurement may include a main controller 201, and a measuring and control instrument 202, a weighing measuring instrument 203, a communication processing module 204, an operating device 205, and a power supply unit 206 connected thereto. In the embodiments of this application, the measuring and control instrument 202 may include a servo controller 211, a signal processing module 212, and a node device 213.

[0029] In embodiments of this application, the master controller 201 can send a control signal to the servo controller 211. This control signal can indicate a specified position including: the position of the support platform in a horizontal and tilted state when it is unloaded (without the device under test), and the position in a horizontal and tilted state when the device under test is loaded. The servo controller 211 can generate torque information based on this control signal and transmit it to the servo drive in the associated actuator (e.g., see reference 211). Figure 3The servo driver (may be a servo driver 321 in the actuator 308) can be used to drive the driving device 222 (e.g., an electric push rod 223, may be the push rod 120 in FIG. 1) to move the support platform (may be the engine support platform 130 shown in FIG. 1) to one of the specified positions. Meanwhile, the main controller 201 can receive a feedback signal (e.g., current / voltage) from the driving device 222, which indicates the current (or voltage) used by the servo driver during the movement of the driving device 222 under the torque output by the servo driver. For example, initially, in order to move the support platform to the inclined state, the main controller 201 can instruct the servo driver to output a torque to the driving device 222, which provides an initial current value M corresponding to the torque. During the movement of the driving device 222 under the torque and the support platform does not reach the inclined state, the driving device 222 will transmit a feedback signal indicating the current value N used by the servo driver back to the main controller in real time. It should be understood that as the driving device 222 approaches the specified position, the current value N will gradually decrease. Further, the main controller 201 will calculate subsequent torque information based on the current (or voltage) indicated by the feedback signal and the current position of the support platform (e.g., the distance between the current position of the support platform and the target position of the support platform). Subsequently, the main controller 201 can generate a subsequent control signal based on the subsequent torque information and send it to the servo controller to accurately and stably control the support platform to rise / fall / hold at the specified position.

[0030] In embodiments of the present application, the signal processing module 212 can collect, isolate, and modulate the signals generated by the photoelectric sensor 224 and the limit switch 225 of the control system 200, which can be transmitted back to the main controller 201 to determine whether the support platform is located at the specified position. For example, the signal processing module 212 can receive the detection signal of the photoelectric sensor 224 on the limit stop and the limit signal output by the limit switch, and process these signals. When the photoelectric sensor is close to the limit stop, the limit switch is open and outputs the limit signal; when the photoelectric sensor is far from the limit stop, the limit switch is closed and does not output the limit signal. Optionally, the signal processing module 212 can transmit the processed signals to the main controller 201. The main controller 201 can send instructions to the signal processing module 212 based at least in part on the received processed signals to immediately perform limit self-locking when the limit signal is received.

[0031] In embodiments of the present application, the node device 213 can receive instructions sent by the main controller 201 to perform operations on at least one controlled device 220, perform self-locking control, etc. Wherein, the controlled device 220 can only include the support platform when the support platform is empty, and can include the support platform and the device under test when the support platform is loaded with the device under test.

[0032] In embodiments of this application, the weighing measuring instrument 203 may include one or more weighing sensors 228 and angle sensors 229, which may be weighing sensors S1, S2, S3 and angle sensors S4 on the measuring platform base 110 in FIG. 1. The readings of the weighing sensors S1, S2, S3 and angle sensors S4 can be transmitted to the main controller 201 in real time online.

[0033] In embodiments of this application, the communication processing module 204 can convert different signals sent from at least one communication node 226 in the control system 200 into signals required by the control system 200. The at least one communication node 226 may include: a measuring and control instrument 202 connected to the main controller, a weighing measuring instrument 203, a communication processing module 204, an operating device 205, a power supply unit 206, a controlled device 220, and / or any communication node in this application that needs to transmit and receive signals.

[0034] In embodiments of this application, the operating device 205 may be a computer monitor or an operable flat panel display. It may include a main control display and devices for receiving user commands, such as a microphone for capturing user voice, a camera for detecting user posture / gestures / movements, and touch sensors integrated under the display screen. Additionally or alternatively, the operating device 202 may receive user commands, such as voice input, touch input on the main control display, or keyboard input. For example, the operating device 205 may display / set the size of angle α, display / set the target position of the support platform, or read the center of gravity data of the device under test (e.g., an engine).

[0035] In the embodiments of this application, the power supply unit 206 can provide DC and / or AC power to the measuring and control instrument 202, the weighing measuring instrument 203, the communication processing module 204, the operation display device 205, and / or other devices in the control system 200 as needed.

[0036] Figure 3 This is a schematic diagram illustrating the structure of a main controller 300 for three-dimensional centroid measurement according to an embodiment of the present invention.

[0037] In embodiments of this application, the main controller 300 of the three-dimensional centroid measurement and control system may include: a main control circuit board 301, and a detection unit 302 and a power supply unit 306 connected to it via a communication unit 303. In embodiments of this application, the main control circuit board 301 may include: at least one microprocessor core control circuit 311A ​​and / or 311B (collectively referred to herein as microprocessor core control circuit 311), a differential amplifier circuit 312, and an isolation circuit 313, the functions of which will be described in detail below.

[0038] In the embodiments of this application, the detection unit 302 can detect the controlled device 320 through an angle sensor and a position sensor (e.g., it can be...). Figure 2 The system can monitor the location of at least one controlled device 220 and transmit information about its location status back to the main control circuit board 301 of the main controller to achieve real-time monitoring of the controlled device 320.

[0039] In the embodiments of this application, the communication unit 303 may include an RS 232 interface, a CAN interface, a network interface, etc., which can use different communication technologies to connect the various communication nodes together communicatively.

[0040] In embodiments of this application, the power supply unit 306 (e.g., may be connected with...) Figure 2 The power supply unit 206 (same as above) provides power to the main control circuit board 301, communication unit 303, and actuator 308 (discussed in detail below). An additional or alternative ground can be provided, through the voltage detection and acquisition module in the power supply unit 306, to monitor and compare the power supply status of the main controller 300, determining whether the main controller 300's power consumption is normal. By converting the current and implementing redundancy design, the power supply unit 306 can reliably output the acquisition and detection data. The additional or alternative ground may also include a power supply cable and a fuse for powering various circuit modules.

[0041] In embodiments of this application, the actuator 308 may include a servo driver 321 and a drive device 322 / electric actuator 323. A current detection and acquisition module within the servo driver 321 can acquire its drive current to the drive device 322 and feed the drive current back to the servo controller to determine whether the support platform is in a horizontal or tilted state. Additionally or alternatively, the servo driver 321 may also acquire signals from the angle module 229 and determine the tilted or horizontal position of the support platform based at least in part on the feedback drive current and tilt angle.

[0042] In the embodiments of this application, the isolation circuit 313 in the main control circuit board 301 can receive analog current or voltage signals input from upstream devices outside the main control circuit board 301. It uses an isolation amplifier chip to isolate and filter out interference signals from the analog current or voltage signals, obtaining high-precision current or voltage signals. Alternatively, the isolation circuit 313 can use a small-multiplier operational amplifier chip to convert the high-precision current or voltage signals into signals that can be received by the differential amplifier circuit 312, and then into high-precision signals that can be read by the microprocessor core control circuit 311. For example, the isolation circuit 313 can convert and isolate the input signals (including small analog current or voltage signals with interference noise) from the detection unit 302, the x-axis weighing sensor 331, the y-axis weighing sensor 332, the z-axis weighing sensor 333 on the measuring platform base, and / or other sensors, removing input interference and improving the accuracy of the input signals.

[0043] In the embodiments of this application, the differential amplifier circuit 312 in the main control circuit board 301 can use a differential amplifier to amplify the analog current / voltage signal received from the isolation circuit 313, improve signal distinguishability, and solve the zero drift problem. Therefore, the current / voltage signal after passing through the differential amplifier circuit 312 can be more stable, resulting in more precise control of downstream devices.

[0044] In the embodiments of this application, such as Figure 3 As shown, the main control circuit board 301 may contain two microprocessor core control circuits 311A / 311B, which simultaneously receive / detect signals and feedback signals, and respectively calculate and output control commands to provide redundant control over the actuator 308 (e.g., including a servo driver 321, a drive device 322, and a push rod 323). When one of the two microprocessor core control circuits 311A / 311B fails, the other microprocessor core control circuit can automatically take over control, thereby improving the reliability of the control system 200. It should be understood that various functions of the present invention can also be achieved with one or more processor core control circuits.

[0045] In the embodiments of this application, the microprocessor core control circuit 311A / 311B can simultaneously receive signals from other modules / units, realizing, for example... Figure 2 At least one communication node 226 interacts with the signal and can process and convert the received digital or analog signals. For example, the microprocessor core control circuit 311 can receive signals from a weighing instrument (e.g., Figure 2 The weighing instrument 203 and / or other modules receive signals such as the weight information of the support platform detected by the x-axis weighing sensor 331, y-axis weighing sensor 332, and z-axis weighing sensor 333, and the weight information of the support platform detected by the angle sensor (e.g., Figure 2The system includes angle information of the support platform detected by angle sensor 229, position information of the limit baffle detected by photoelectric sensor, voltage / current information transmitted by feedback unit 324, and position information transmitted by detection unit. Alternatively, the microprocessor core control circuit 311A / 311B can receive data collected by the three weighing sensors 331, 332, and 333 and the angle sensor in the weighing instrument when the support platform is unloaded and when it is loaded with the device under test. Using intelligent control methods, it can measure, calculate, and position the center of mass of the device under test, while simultaneously adjusting and controlling the horizontal or tilted state of the device under test on the support platform.

[0046] In another embodiment of this application, the microprocessor core control circuit 311 can control... Figure 2 The servo controller 211, signal processing module 212, and node device 213 in the central measurement and control instrument 202 perform real-time online adjustment, control, and feedback processing. For example, the microprocessor core control circuit 311 can output control commands to the servo controller 211, which can control the servo driver 321, thereby enabling the drive device 322 (e.g., which may be a...) Figure 2 The drive device 222) / electric actuator 323 (for example, may be Figure 2 The push rod 223 in the system moves towards a designated position. It can also receive and detect the current and / or voltage magnitudes that indicate the torque information for the servo driver to drive the drive device 322, measured by the feedback unit 324 (e.g., a feedback sensor) of the control system. Based on these current and / or voltage magnitudes and the current position of the support platform, it can calculate the required subsequent torque information and generate subsequent control signals to send to the servo driver, thereby achieving autonomous and precise positioning control of the rise or fall of the drive device 322 and the electric push rod 323. Additionally or alternatively, the microprocessor core control circuit 311 can perform analog-to-digital conversion and data processing on the voltage and / or current signals transmitted by the feedback unit 324, and send them to the node device (e.g., Figure 3 The node device 213 in the middle sends commands to control the controlled device 320. It should be understood that, although in ​ In the structural diagram of the main controller 300, the feedback unit 324 is located outside the drive device 322. However, it should be understood that the feedback unit 324 can be integrated inside the drive device 322.

[0047] In another embodiment of this application, the main controller 300 can use an ARM microprocessor as the core processor to ensure stable system function and performance, accurate processing of complex data, and real-time monitoring of system position and status. For example, the microprocessor used can be an STM32F103ZET6.

[0048] The present invention also provides an apparatus for measuring the centroid, which may include a memory and one or more processors. It should be noted that the apparatus for measuring the centroid may also include other components not shown, such as a receiver, executable software (code), etc. These components may be in electronic communication via one or more buses. The processor may include intelligent hardware devices (e.g., general-purpose processors, digital signal processors (DSPs), central processing units (CPUs), microcontrollers, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), programmable logic devices, discrete gate or transistor logic components, discrete hardware components, or any combination thereof). In some cases, the processor may be configured to operate a memory array using a memory controller. In other cases, the memory controller may be integrated into the processor. The processor may be configured to execute computer programs stored in the memory to perform various functions (e.g., functions or tasks supporting access to a network for intelligent terminal devices based on a dedicated SSID). The memory may include random access memory (RAM) and read-only memory (ROM). The memory may store computer-readable, computer-executable software including instructions that, when executed, cause the processor to perform the various functions described herein.

[0049] The control system for three-dimensional centroid measurement of the present invention has been described in detail above with reference to the accompanying drawings. Compared with existing centroid measurement devices, this control system for three-dimensional centroid measurement has outstanding technical features and significant advantages, such as:

[0050] 1. Achieve accurate positioning of the controlled equipment and automatic calculation of the centroid measurement;

[0051] 2. The centroid measurement and control system is simple, easy to operate, and highly efficient;

[0052] 3. It features redundant control technology, reducing manual intervention and improving reliability; and

[0053] 4. Using a differential amplifier circuit to amplify small signals improves discriminability and solves the zero-drift problem, making control more stable and precise.

[0054] 5. Use isolation circuits to filter out interference signals to obtain high-precision current or voltage signals.

[0055] The control system for three-dimensional centroid measurement according to the present invention has been described in full and detailed above with reference to the accompanying drawings. Those skilled in the art, after reading the above text, will fully understand that the control system for three-dimensional centroid measurement described in this invention can achieve accurate positioning of the controlled device and measurement and control calculation of the centroid, and its reliability, practicality, and convenience are self-evident.

[0056] The preceding description is provided to enable any person skilled in the art to practice the various aspects described herein. Various modifications to these aspects will be readily apparent to those skilled in the art, and the universal principles defined herein may be applied to other aspects. Therefore, the claims are not intended to be limited to the aspects shown herein, but should be granted the full scope consistent with the language of the claims, wherein references to the element having “a” are not intended to mean “one and only one” (unless specifically stated otherwise) but rather “one or more.” Unless specifically stated otherwise, the term “some” refers to one or more. The phrase “at least one” referring to a list of items means any combination of these items, including a single member. As an example, “at least one of a, b, or c” is intended to cover: at least one a; at least one b; at least one c; at least one a and at least one b; at least one a and at least one c; at least one b and at least one c; and at least one a, at least one b, and at least one c. All structural and functional equivalents of the various aspects described throughout this disclosure that are now or hereafter known to a person skilled in the art are expressly incorporated herein by reference and are intended to be covered by the claims. Furthermore, nothing disclosed herein is intended to be made public, whether or not such disclosure is explicitly stated in the claims.

[0057] Throughout this specification, reference has been made to "embodiments," meaning that a particular described feature, structure, or characteristic is included in at least one embodiment. Therefore, the use of these phrases may refer to more than one embodiment. Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0058] However, those skilled in the art will recognize that these embodiments can be practiced without one or more specific details or using other methods, resources, materials, etc. In other cases, well-known structures, resources, or operations are not shown or described in detail merely for the purpose of observing obscure aspects of the embodiments.

[0059] While embodiments and applications have been described and illustrated, it should be understood that the embodiments are not limited to the precise configurations and resources described above. Various modifications, substitutions, and improvements that will be apparent to those skilled in the art may be made in the arrangement, operation, and details of the methods and systems disclosed herein without departing from the scope of the claimed embodiments.

Claims

1. A centroid measurement and control system, comprising: Measurement platform base; A support platform, used to mount the device under test; A driving device, one end of which is connected to the base of the measuring platform and the other end of which is connected to the support platform, is capable of being driven to make the support platform rotate about a horizontal axis. The main controller is used to transmit control signals indicating the target position of the support platform to the servo controller; A servo drive receives torque information generated by the servo controller based on the control signal and outputs a corresponding torque to move the drive device and drive the support platform to the target position. A feedback unit detects the magnitude of the current being used by the servo driver when the drive device is subjected to torque, and provides a feedback signal indicating the magnitude of the current to the main controller; as well as The weighing instrument is arranged on the base of the measuring platform. The main controller further calculates the center of mass of the device under test based on the mass of the support platform at multiple positions measured by the weighing instrument, and calculates the required subsequent torque based on the current magnitude indicated in the feedback signal and the current position of the support platform. A differential amplifier in the main controller amplifies the input signal received from the isolation circuit in the main controller to remove drift of the input signal. The input signal includes the feedback signal, and a subsequent control signal generated based on the required subsequent torque is sent to the servo controller. Two microprocessor core control circuits in the main controller simultaneously receive the feedback signal and respectively calculate the subsequent control signal for redundant control.

2. The centroid measurement and control system as described in claim 1, characterized in that, The weighing instrument includes: At least one x-axis load cell and at least one y-axis load cell are arranged in the horizontal direction on the base of the measuring platform, and At least one z-axis load cell is arranged in the vertical direction of the base of the measuring platform. The weighing sensor measures mass in different directions.

3. The centroid measurement and control system as described in claim 2, characterized in that, The weighing instrument further includes: An angle sensor, wherein the angle sensor is used to measure the angle between the base of the measuring platform and the support platform.

4. The centroid measurement and control system as described in claim 1, characterized in that, The support platform includes multiple locations: The horizontal position of the support platform when it is unloaded and the base of the measuring platform is parallel to the support platform; the inclined position of the support platform when it is unloaded and the base of the measuring platform is at the target angle between the support platform and the base of the measuring platform; the horizontal position when the device under test is loaded and the base of the measuring platform is parallel to the support platform; and the inclined position when the device under test is loaded and the base of the measuring platform is at the target angle between the support platform and the base of the measuring platform.

5. The control system as described in claim 1, characterized in that, The main controller further calculates the required subsequent torque based on the current magnitude indicated in the feedback signal and the current position of the support platform, and generates subsequent control signals to send to the servo controller.

6. The centroid measurement and control system as described in claim 1, characterized in that, The control system further includes an operating device, the operating device being used for at least one of the following operations: Displays the target angle between the base of the measurement platform and the support platform. Or input the target location of the support platform, Or display the centroid of the device under test.

7. A method for measuring the centroid, comprising: A control signal is generated to indicate the target position of the support platform, wherein the support platform is located on the base of the measuring platform and is used to mount the device under test; Based on the control signal, torque information is generated and the servo driver outputs the corresponding torque to move the drive device and drive the support platform to the target position. One end of the drive device is connected to the base of the measuring platform and the other end is connected to the support platform. Measure the mass of the support platform at multiple locations; as well as Calculate the centroid of the device under test; The method further includes: The feedback signal is generated based on the magnitude of the current being used by the servo driver when the torque applied to the driving device is detected. A differential amplifier is used to amplify the input signal received from the isolation circuit to remove the drift of the input signal, wherein the input signal includes the feedback signal; Based on the current magnitude indicated in the feedback signal and the current position of the support platform, two microprocessor core control circuits are used to calculate the required subsequent torque for redundant control; and The subsequent control signal generated based on the required subsequent torque is sent to the servo controller.

8. An apparatus for measuring the center of mass, comprising: A memory configured to store instructions; as well as One or more processors communicatively coupled to the memory, wherein the one or more processors are configured to: A control signal is generated to indicate the target position of the support platform, wherein the support platform is located on the base of the measuring platform and is used to mount the device under test; Based on the control signal, torque information is generated and the servo driver outputs the corresponding torque to move the drive device and drive the support platform to the target position. One end of the drive device is connected to the base of the measuring platform and the other end is connected to the support platform. Measure the mass of the support platform at multiple locations; and Calculate the centroid of the device under test; The one or more processors are further configured to: The feedback signal is generated based on the magnitude of the current being used by the servo driver when the torque applied to the driving device is detected. A differential amplifier is used to amplify the input signal received from the isolation circuit to remove the drift of the input signal, wherein the input signal includes the feedback signal; Based on the current magnitude indicated in the feedback signal and the current position of the support platform, two microprocessor core control circuits are used to calculate the required subsequent torque for redundant control; and The subsequent control signal generated based on the required subsequent torque is sent to the servo controller.

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