An air-bearing table and its control method, device, storage medium and electronic device

Abstract

This specification discloses an air-bearing table and its control method, device, storage medium, and electronic device. The air-bearing table includes: a bottom layer, a rotating layer, and an air-bearing turntable. The air-bearing turntable is disposed between the bottom layer and the rotating layer. The bottom layer is provided with a specified number of air bearings, attitude adjustment fans, and position adjustment fans. The air bearings are configured to support the air-bearing table away from the support surface. The attitude adjustment fans are arranged at the edge of the platform below the bottom layer and are used to adjust the attitude of the bottom layer so that the bottom layer always maintains a target attitude during the rotation of the rotating layer. The position adjustment fans are arranged at the edge of the platform above the bottom layer and are used to adjust the position of the bottom layer so that the bottom layer always remains at a target position during the rotation of the rotating layer. The rotating layer is provided with a carrying platform, a momentum wheel assembly, and a momentum wheel unloading fan. The carrying platform is arranged at the uppermost part of the rotating layer and is used to carry space equipment.

Description

Technical Field

[0001] This specification relates to the technical field of spacecraft, and particularly to an air-bearing table and its control method, device, storage medium, and electronic device. Background Art

[0002] With the rapid development of space technology, troubleshooting and fault detection of space equipment have become one of the important tasks in the on-orbit space field. However, due to the high launch cost of space equipment, conducting ground simulation experiments on the movement of space equipment in space has become an effective means for verifying fault detection technology of space equipment. Currently, air-bearing tables are mainly used to conduct ground simulation experiments on space equipment. The air-bearing table uses the air film formed between the air-bearing and the support plane by high-pressure gas to support the main body, and this free movement with extremely low friction provides good conditions for simulating the microgravity environment.

[0003] However, the current structure of the air-bearing table is difficult to achieve precise control of the self-rotation of space equipment while also precisely controlling the position of space equipment, which has limited the ground simulation experiments of space equipment, resulting in poor simulation effects and even being unable to detect potential safety hazards that may exist during the actual operation of space equipment.

[0004] Therefore, how to precisely control the self-rotation and position of space equipment during ground simulation experiments, improve the simulation experiment effect, and further accurately detect faults of space equipment is an urgent problem to be solved. Summary of the Invention

[0005] This specification provides an air-bearing table and its control method, device, storage medium, and electronic device to partially solve the above problems existing in the prior art.

[0006] This specification adopts the following technical solutions:

[0007] This specification provides an air-bearing table, including: a bottom layer, a rotating layer, and an air-bearing turntable. The air-bearing turntable is disposed between the bottom layer and the rotating layer and is used to connect the bottom layer and the rotating layer;

[0008] The bottom layer is provided with a specified number of air bearings, at least two groups of attitude adjustment fans, and at least four groups of position adjustment fans. The air bearings are disposed at the bottom of the bottom layer and are used to support the air-bearing table away from the support surface;

[0009] The attitude adjustment fan is arranged at the edge of the platform below the bottom layer and is used to adjust the attitude of the bottom layer after receiving a specified control signal, so that the bottom layer always maintains a target attitude during the rotation of the rotating layer. The position adjustment fan is arranged at the edge of the platform above the bottom layer and is used to adjust the position of the bottom layer after receiving the specified control signal, so that the bottom layer always stays at a target position during the rotation of the rotating layer;

[0010] The rotating layer is provided with a bearing platform, a momentum wheel assembly and a momentum wheel unloading fan. The bearing platform is arranged at the topmost of the rotating layer and is used to carry space equipment. The momentum wheel assembly is used to control the rotation of the rotating layer. The momentum wheel unloading fan is used to adjust the rotation speed of the momentum wheel assembly after detecting that the rotation speed of the momentum wheel assembly exceeds the rated rotation speed.

[0011] Optionally, a rotating component and a fixed component are arranged on the air-bearing turntable;

[0012] The fixed component is connected to the bottom layer, the rotating component is connected to the rotating layer, and the air-bearing turntable offsets the friction between the fixed component and the rotating component through air supply.

[0013] Optionally, the at least two groups of attitude adjustment fans are equidistantly arranged at the edge of the platform below the bottom layer, and each group of attitude adjustment fans includes two sub-fans with opposite directions.

[0014] Optionally, the at least four groups of position adjustment fans are equidistantly arranged at the edge of the platform above the bottom layer, and each group of position adjustment fans includes two sub-fans with opposite directions.

[0015] Optionally, an air storage tank and a pressure reducing valve are arranged on the bottom layer;

[0016] The air storage tank stores a specified gas. The pressure reducing valve is used to adjust the air pressure of the specified gas conveyed by the air storage tank to obtain a decompressed gas, and the decompressed gas is introduced into the air-bearing and the air-bearing turntable through a hose;

[0017] The air-bearing is used to discharge the introduced decompressed gas below the air-bearing platform, so that the air-bearing platform leaves the support surface.

[0018] Optionally, an industrial control computer is arranged on the bottom layer;

[0019] The industrial control computer is used to send a position control signal to the position adjustment fan, send an attitude control signal to the attitude adjustment fan, and send a speed control signal carrying a target speed to the single-chip microcomputer arranged in the rotating layer;

[0020] The position adjustment fan is used to adjust the position of the air floating platform according to the position control signal, and the attitude adjustment fan is used to adjust the attitude of the bottom layer according to the attitude control signal.

[0021] Optionally, a fixing device is provided on the carrying platform, and the fixing device is used to fix the aerospace equipment on the carrying platform.

[0022] Optionally, a single-chip microcomputer and an inertial measurement unit are provided on the rotating layer;

[0023] The inertial measurement unit is used to measure the rotation speed of the rotating layer and send the measurement result to the single-chip microcomputer;

[0024] The single-chip microcomputer is used to receive the rotation speed control signal and send a spin control signal to the momentum wheel assembly according to the target rotation speed and the measurement result;

[0025] The momentum wheel assembly is used to control the rotating layer to spin at the target rotation speed according to the spin control signal.

[0026] Optionally, the single-chip microcomputer is further used to send a rotation speed adjustment signal to the momentum wheel unloading fan if it is determined according to the received measurement result that the rotation speed of the rotating layer exceeds the rated rotation speed;

[0027] The momentum wheel unloading fan is used to reduce the rotation speed of the momentum wheel assembly according to the rotation speed adjustment signal.

[0028] Optionally, a battery is provided on the rotating layer, and the battery is used to supply power to the single-chip microcomputer, the momentum wheel unloading fan, the momentum wheel assembly, and the inertial measurement unit.

[0029] This specification provides a control method for an air floating platform. The air floating platform is provided with a bottom layer, a rotating layer, and an air floating turntable. The air floating turntable is arranged between the bottom layer and the rotating layer and is used to connect the bottom layer and the rotating layer. The bottom layer is provided with a specified number of air bearings, at least two groups of attitude adjustment fans, and at least four groups of position adjustment fans. The rotating layer is provided with a carrying platform, a momentum wheel assembly, and a momentum wheel unloading fan, including:

[0030] Receiving a control instruction and obtaining the pose information of the bottom layer;

[0031] According to the control instruction, control the rotation of the rotating layer and the space equipment carried on the bearing platform through the momentum wheel assembly, and according to the pose information and the specified control signal, adjust the attitude of the bottom layer through the attitude adjustment fan so that the bottom layer always maintains the target attitude during the rotation of the rotating layer, and, adjust the position of the bottom layer through the position adjustment fan so that the bottom layer always stays at the target position during the rotation of the rotating layer;

[0032] After it is monitored that the rotation speed of the momentum wheel assembly exceeds the rated speed, adjust the rotation speed of the momentum wheel assembly through the momentum wheel unloading fan.

[0033] Optionally, a single-chip microcomputer is provided on the rotating layer;

[0034] According to the control instruction, controlling the rotation of the rotating layer and the space equipment carried on the bearing platform through the momentum wheel assembly specifically includes:

[0035] According to the control instruction, send a rotation speed control signal carrying the target rotation speed to the single-chip microcomputer, so that the single-chip microcomputer sends a spin control signal to the momentum wheel assembly according to the target rotation speed and the measurement result of the rotation speed of the rotating layer by the inertial measurement unit, and control the rotating layer to spin at the target rotation speed through the momentum wheel assembly.

[0036] This specification provides a control device for an air-bearing table, including:

[0037] A receiving module, which receives control instructions and obtains the pose information of the bottom layer;

[0038] A control module, according to the control instruction, controls the rotation of the rotating layer and the space equipment carried on the bearing platform through the momentum wheel assembly, and according to the pose information and the specified control signal, adjusts the attitude of the bottom layer through the attitude adjustment fan so that the bottom layer always maintains the target attitude during the rotation of the rotating layer, and, adjusts the position of the bottom layer through the position adjustment fan so that the bottom layer always stays at the target position during the rotation of the rotating layer;

[0039] An adjustment module, after it is monitored that the rotation speed of the momentum wheel assembly exceeds the rated speed, adjusts the rotation speed of the momentum wheel assembly through the momentum wheel unloading fan.

[0040] Optionally, the control module is specifically configured to send a rotation speed control signal carrying a target rotation speed to the single-chip microcomputer according to the control instruction, so that the single-chip microcomputer sends a spin control signal to the momentum wheel assembly according to the target rotation speed and the measurement result of the rotation speed of the rotating layer by the inertial measurement unit, and controls the rotating layer to spin at the target rotation speed through the momentum wheel assembly.

[0041] This specification provides a computer-readable storage medium storing a computer program, which implements the control method of the air-bearing table when executed by a processor.

[0042] This specification provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the control method of the air-bearing table is implemented.

[0043] At least one of the technical solutions adopted in this specification can achieve the following beneficial effects:

[0044] The air-bearing table provided in this specification includes a bottom layer, a rotating layer, and an air-bearing turntable. The air-bearing turntable is arranged between the bottom layer and the rotating layer. The bottom layer is provided with a specified number of air bearings, an attitude adjustment fan, and a position adjustment fan. The air bearings are used to support the air-bearing table away from the support surface. The attitude adjustment fan is arranged at the edge of the platform below the bottom layer and is used to adjust the attitude of the bottom layer so that the bottom layer always maintains a target attitude during the rotation of the rotating layer. The position adjustment fan is arranged at the edge of the platform above the bottom layer and is used to adjust the position of the bottom layer so that the bottom layer always remains at a target position during the rotation of the rotating layer. The rotating layer is provided with a carrying platform, a momentum wheel assembly, and a momentum wheel unloading fan. The carrying platform is arranged at the top of the rotating layer and is used to carry space equipment.

[0045] As can be seen from the above method, the air-bearing table provided in this specification is divided into three parts, and can respectively adjust the attitude of the bottom layer of the air-bearing table through the attitude adjustment fan so that it always maintains a target attitude during the rotation of the rotating layer, adjust the position of the bottom layer through the position adjustment fan so that it always remains at a target position during the rotation of the rotating layer, and prevent the rotation of the air-bearing table from losing the adjustment ability through the momentum wheel unloading fan. This structure of the air-bearing table has a high degree of freedom. Compared with the existing integrated air-bearing table, the air-bearing table of this solution can achieve precise fixed-point position maintenance and high-precision controlled spin of space equipment during the simulation experiment, improve the simulation experiment effect, and further improve the accuracy of fault detection of space equipment. Description of the Drawings

[0046] The accompanying drawings described herein are used to provide a further understanding of the present specification and form a part of the present specification. The schematic embodiments of the present specification and their descriptions are used to explain the present specification and do not constitute an improper limitation of the present specification. In the drawings:

[0047] Figure 1 is a schematic structural diagram of an air-bearing stage provided in the present specification;

[0048] Figure 2 is a schematic structural diagram of an air-bearing turntable provided in the present specification;

[0049] Figure 3 is a schematic structural diagram of a rotating layer provided in the present specification;

[0050] Figure 4 is a schematic flow diagram of a control method for an air-bearing stage provided in the present specification;

[0051] Figure 5 is a schematic diagram of a control process of an air-bearing stage provided in the present specification;

[0052] Figure 6 is a schematic diagram of a control device for an air-bearing stage provided in the present specification;

[0053] Figure 7 is a kind provided in the present specification corresponding to Figure 4 schematic diagram of an industrial control computer. Detailed Description of the Preferred Embodiments

[0054] To make the objectives, technical solutions, and advantages of the present specification clearer, the technical solutions of the present specification will be clearly and completely described below in conjunction with the specific embodiments of the present specification and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present specification, rather than all the embodiments. Based on the embodiments in the present specification, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present specification.

[0055] The following will detail the technical solutions provided in each embodiment of the present specification in conjunction with the drawings.

[0056] Figure 1 An air-bearing stage provided in the present specification, the air-bearing stage includes three structural units, namely: a bottom layer 1, a rotating layer 2, and an air-bearing turntable 3.

[0057] The bottom layer 1 is located below the air-bearing platform, and is provided with a gas storage tank 10 storing a specified gas, an industrial control computer 12, a pressure reducing valve 11, a position adjustment fan 6, an attitude adjustment fan 5, and an air-bearing 4. Among them, the above-mentioned specified gas may include high-pressure gases such as air and nitrogen after high-pressure treatment, and of course may also be other gases with stable chemical properties. This specification does not make specific limitations on this.

[0058] Among them, the pressure of the specified gas in the gas storage tank 10 can be set to 30 MPa. Of course, it can also be set to other pressure values. This specification does not make specific limitations on this.

[0059] After the air-bearing platform is started, the gas storage tank 10 will reduce the pressure of the stored specified high-pressure gas through the pressure reducing valve 11, and convey the decompressed gas to the air-bearing 4 and the air-bearing turntable 3 through a hose. There can be at least three air-bearings 4, which are equidistantly arranged at the bottom of the bottom layer 1. After receiving the decompressed gas conveyed by the hose, each air-bearing 4 will release the gas to the support surface, so as to form an air film between the support surface (ground), so as to support the entire air-bearing platform to leave the support surface, thereby providing a frictionless moving environment and a micro-gravity simulation operating environment for the entire air-bearing platform.

[0060] The user can remotely log in to the industrial control computer 12 through a specified external device (such as a computer) and start the control interface, and then input the target position and the target rotation speed of the space equipment in the control interface. The industrial control computer 12 can send a rotation speed control signal to the single-chip microcomputer 14 in the rotation layer 2 according to the target rotation speed. This process will be described in detail below and will not be elaborated here.

[0061] In this specification, a specified number of image sensors (such as cameras) can be arranged around the air-bearing platform. These image sensors together constitute the pose measurement device of the air-bearing platform, and are used to collect the pose information of the bottom layer 1 of the air-bearing platform in real time. For example, six cameras can be equidistantly arranged around the air-bearing platform, and the collected pose information can be sent to the industrial control computer 12 through communication methods such as wireless network or Bluetooth.

[0062] The industrial control computer 12 can generate a specified control signal according to the pose information collected by the image sensors. The specified control signal can include an attitude control signal and a position control signal. The industrial control computer 12 can send the position control signal to each position adjustment fan 6 and send the attitude control signal to each attitude adjustment fan 5.

[0063] It should be noted that the above-mentioned specified control signal is associated with the obtained control instruction. When the control instruction is to keep the position and attitude of the bottom layer 1 at the target position and target attitude during the rotation of the rotating layer 2, the position control signal in the specified control signal can control the position adjustment fan 6 to keep the bottom layer 1 at the target position all the time, and the attitude control signal can control the attitude adjustment fan 5 to keep the bottom layer 1 at the target attitude all the time.

[0064] In this specification, the above-mentioned position is the position of the bottom layer 1 in the entire planar space, and the attitude information can be the angle or orientation of the bottom layer 1. The two together constitute the pose information.

[0065] There can be four or more groups of position adjustment fans 6. Each group of position adjustment fans 6 contains two sub-fans with opposite directions. Each group of position adjustment fans 6 is equidistantly arranged at the edge of the upper platform of the bottom layer 1. When receiving the above-mentioned position control signal, each group of position adjustment fans 6 controls the air floating table to move to the target position and keep at this target position during the rotation of the rotating layer 2.

[0066] There can be two or more groups of attitude adjustment fans 5. Each group of attitude adjustment fans 5 contains two sub-fans with opposite directions. Each group of attitude adjustment fans 5 is equidistantly arranged at the edge of the lower platform of the bottom layer 1. When receiving the above-mentioned attitude control signal, each group of attitude adjustment fans 5 adjusts the attitude of the bottom layer 1 of the air floating table so that it keeps the target attitude during the rotation of the rotating layer 2.

[0067] It should be noted that since the air floating bearing 4 at the bottom of the air floating table can enable the entire air floating table to leave the support surface, the friction between the air floating table and the support surface during movement can be almost ignored. Therefore, the movement of the air floating table can be controlled by the position control fan.

[0068] In addition, the support surface in this specification can be a horizontal plane made of marble. Of course, it can also be a horizontal plane of other materials. This specification does not make specific limitations on this.

[0069] The air floating turntable 3 is located between the bottom layer 1 and the rotating layer 2 and is used to connect the rotating layer 2 and the bottom layer 1. In order to describe the structure of the air floating turntable 3 in more detail, this specification also provides a schematic diagram of the structure of the air floating turntable 3, as Figure 2 shown.

[0070] Figure 2 This is a schematic diagram of the structure of the air floating turntable 3 provided by this specification.

[0071] Among them, a fixed component 16 and a rotating component 15 are arranged on the air-bearing turntable. The fixed component 16 is connected to the bottom layer 1, and the rotating component 15 is connected to the rotating layer 2. The air-bearing turntable 3 can release the decompressed gas conveyed by the hose, so as to realize the rotation of the rotating component 15 on the fixed component 16 with almost no friction. This enables the attitude of the bottom layer 1 to remain unchanged during the simulation experiment, while the rotating layer 2 rotates independently of the bottom layer 1 without friction.

[0072] The rotating layer 2 is arranged above the air-bearing turntable 3 and is connected to the rotating component 15 of the air-bearing turntable 3. In order to describe the structure of the rotating layer 2 in more detail, this specification also provides a schematic diagram of the structure of the rotating layer 2, as Figure 3 shown.

[0073] Figure 3 This is a schematic diagram of the structure of the rotating layer 2 provided by this specification.

[0074] Among them, a bearing platform 7, a momentum wheel assembly 8, a momentum wheel unloading fan 9, a single-chip microcomputer 14, a battery 18, and an inertial measurement unit 17 are arranged in the rotating layer 2.

[0075] A fixing device 13 is arranged on the bearing platform 7 for fixing the aerospace equipment ( Figure 3 not shown in the figure) placed above to prevent the aerospace equipment from slipping off the air-bearing table during the rotation and movement of the air-bearing table.

[0076] The inertial measurement unit 17 arranged in the rotating layer 2 can be composed of an inertial sensor or a speed sensor, and is used to measure the rotation speed (angular velocity) of the rotating layer 2 and return the measurement result to the single-chip microcomputer 14 in the rotating layer 2.

[0077] The single-chip microcomputer 14 can receive the measurement result of the inertial measurement unit 17 and the rotation speed control instruction sent by the industrial control computer 12 in the bottom layer 1, and send a spin control signal to the momentum wheel assembly 8 according to the above measurement result and the target rotation speed.

[0078] After receiving the above spin control signal, the momentum wheel assembly 8 can control the rotating layer 2 to drive the aerospace equipment to spin at the target rotation speed and maintain the target rotation speed after reaching it.

[0079] In addition, in order to prevent the momentum wheel assembly 8 from losing its speed regulation ability after exceeding the rated rotation speed, when the single-chip microcomputer 14 monitors that the momentum wheel assembly 8 exceeds the rated rotation speed, the single-chip microcomputer 14 can send a speed regulation signal to the momentum wheel unloading fan 9.

[0080] There can be at least two momentum wheel unloading fans 9, which are equidistantly arranged on the edge of the bearing platform 7. After receiving the above-mentioned rotational speed adjustment signal, the momentum wheel unloading fans 9 can provide a reverse thrust, thereby reducing the rotational speed of the momentum wheel assembly 8 and enabling the momentum wheel assembly 8 to resume the ability to adjust its self-rotational speed.

[0081] In addition, the rotating layer 2 is provided with a battery 18 for supplying power to the single-chip microcomputer 14, the momentum wheel unloading fans 9, the momentum wheel assembly 8, and the inertial measurement unit 17.

[0082] Figure 4 The flowchart of a control method for an air-bearing table provided in this specification includes the following steps:

[0083] S401: Receive a control instruction, and acquire the pose information of the bottom layer 1.

[0084] Before using the air-bearing table, the user needs to inflate the gas storage tank 10 to reach a specified pressure (such as 30 MPa). In addition, the user can also charge the battery 18 in the rotating layer 2 to a preset voltage value. This preset voltage value can be set according to the actual situation, and this specification does not make specific limitations on this.

[0085] Then the user can turn on the switches of the bottom layer 1 and the rotating layer 2 so that the battery 18 can supply power to all components. In addition, the user also needs to start the industrial control computer 12 and the image sensors arranged around the air-bearing table. At the same time, the user also needs to open the cut-off valve of the gas storage tank 10 to adjust the pressure reducing valve 11 to a lower target output pressure, so that the gas in the gas storage tank 10 can be decompressed by the pressure reducing valve 11, and then the decompressed gas can be input into the air-bearing turntable 3 and the air-bearing 4 through a hose.

[0086] Of course, the above-mentioned rotating layer 2, bottom layer 1, and industrial control computer 12 can also be controlled by a comprehensive switch. In this way, the rotating layer 2, bottom layer 1, and industrial control computer 12 can be turned on or off simultaneously through this comprehensive switch.

[0087] The user can control the industrial control computer 12 through an external device (such as a computer) and start the control interface, and then input the target position and the target rotational speed of the rotating layer 2 in the control interface to generate a control instruction.

[0088] The industrial control computer 12 of the air-bearing table can receive a control instruction containing the target position and the target rotational speed, and acquire the pose information of the bottom layer 1 collected by the image sensor.

[0089] S402: According to the control instruction, control the rotation of the rotating layer 2 and the space equipment carried on the bearing platform 7 through the momentum wheel assembly 8, and adjust the attitude of the bottom layer 1 through the attitude adjustment fan 5 according to the pose information and the specified control signal, so that the bottom layer 1 always maintains the target attitude during the rotation of the rotating layer 2, and, adjust the position of the bottom layer 1 through the position adjustment fan 6, so that the bottom layer 1 always stays at the target position during the rotation of the rotating layer 2.

[0090] Specifically, the above-mentioned specified control signal includes a position control signal and an attitude control signal. The industrial control computer 12 can send a position control signal to the position adjustment fan 6 according to the above pose information through a Pulse Width Modulation (PWM) signal generator, so that the position adjustment fan 6 controls the air-bearing table to move to the target position and stay at the target position according to this position control signal. In addition, the industrial control computer 12 can also send an attitude control signal to the attitude adjustment fan 5, so that each group of attitude adjustment fans 5 adjusts the attitude of the bottom layer 1 of the air-bearing table to always maintain the target attitude.

[0091] At the same time, the industrial control computer 12 can send a rotational speed control instruction to the single-chip microcomputer 14 in the rotating layer 2. The single-chip microcomputer 14 sends a spin control signal to the momentum wheel assembly 8 according to the target rotational speed included in this control instruction and the measurement result of the inertial measurement unit 17.

[0092] Among them, a communication connection can be established between the industrial control computer 12 of the bottom layer 1 and the single-chip microcomputer 14 of the rotating layer 2 through means such as wireless or Bluetooth, and the rotational speed control instruction containing the target rotational speed is transmitted.

[0093] After receiving the above spin control signal, the momentum wheel assembly 8 drives the motor of the momentum wheel assembly 8 through the motor drive module. At the same time, the inertial measurement unit 17 of the rotating layer 2 feeds back the self-rotation speed of the rotating layer 2 to the single-chip microcomputer 14 of the rotating layer 2, and makes the rotating layer 2 unit stable at the target rotational speed through the principle of conservation of momentum. In this way, the rotating layer 2 can drive the space equipment to maintain the target rotational speed for spinning after reaching the target rotational speed.

[0094] S403: After monitoring that the rotational speed of the momentum wheel assembly 8 exceeds the rated rotational speed, adjust the rotational speed of the momentum wheel assembly 8 through the momentum wheel unloading fan 9.

[0095] During the process of controlling the aerospace equipment to spin on the air-bearing table, in order to avoid the momentum wheel assembly 8 losing its speed regulation ability after exceeding the rated speed, when the single-chip microcomputer 14 monitors that the momentum wheel assembly 8 stalls after exceeding the rated speed, the single-chip microcomputer 14 can send a speed regulation signal to the momentum wheel unloading fan 9. The above-mentioned rated speed can be set according to the actual situation, and this specification does not make specific limitations on this.

[0096] When the momentum wheel unloading fan 9 receives the above speed regulation signal, it can provide a reverse thrust, thereby reducing the speed of the momentum wheel assembly 8 and enabling the momentum wheel assembly 8 to resume its speed regulation ability for the spin speed.

[0097] For the convenience of understanding, this specification provides a schematic diagram of the control process of the air-bearing table, as Figure 5 shown.

[0098] Figure 5 This is a schematic diagram of the control process of the air-bearing table provided in this specification.

[0099] Among them, the server sends a control instruction to the industrial control computer 12 at the bottom layer 1 of the air-bearing table. The industrial control computer 12, according to this control instruction, sends an attitude control signal and a position control signal to the attitude adjustment fan 5 and the position adjustment fan 6 respectively through the PWM signal generator to adjust the position and attitude of the bottom layer 1. Among them, the pose information of the bottom layer 1 can be collected by an external attitude measurement device and sent to the industrial control computer 12.

[0100] At the same time, the industrial control computer 12 can also send a rotation control instruction to the single-chip microcomputer 14 on the rotating layer 2. The single-chip microcomputer 14, according to the target speed included in this rotation control instruction and the speed of the rotating layer 2 measured by the inertial measurement unit 17, drives the motor of the momentum wheel assembly 8 through the motor drive module to adjust the angular velocity of the spin of the rotating layer 2.

[0101] In addition, when the motor of the momentum wheel assembly 8 reaches the rated speed, the single-chip microcomputer 14 can send a speed regulation signal to the momentum wheel unloading fan 9 to reduce the speed of the motor of the momentum wheel assembly 8 through this momentum wheel unloading fan 9.

[0102] As can be seen from the above method, the air-bearing table provided in this specification is divided into three parts, and the attitude of the bottom layer 1 of the air-bearing table can be adjusted by the attitude adjustment fan 5 respectively to keep it in the target attitude all the time. The position of the air-bearing table can be adjusted by the position adjustment fan 6 to keep it in the target position all the time. And the rotation of the air-bearing table is prevented from losing the adjustment ability by adjusting the momentum wheel unloading fan 9. The air-bearing table with this structure has a relatively high degree of freedom. Compared with the existing integrated air-bearing table, the air-bearing table in this solution can achieve accurate fixed-point position holding and high-precision controlled spin of aerospace equipment during the simulation experiment, improving the simulation experiment effect and further improving the accuracy of fault detection of aerospace equipment.

[0103] In addition, this solution adopts a structural form in which the rotating layer 2 and the bottom layer 1 are independent. The bottom layer 1 unit adjusts the position independently, and the rotating layer 2 unit adjusts the self-rotation speed independently. And they are connected by the air-bearing turntable 3, enabling almost frictionless rotation between the bottom layer 1 unit and the rotating layer 2 unit, and realizing fixed-point position holding and high-precision controlled spin in three degrees of freedom in the plane.

[0104] The position adjustment fan and the attitude adjustment fan are used as the adjustment power sources for the pose of the bottom layer 1. The position adjustment fan 6 and the attitude adjustment fan 5 are independent of each other, with a simple structure, getting rid of the pose coupling problem, and this driving method without using gas jet can increase the single inflation use time of the air-bearing table.

[0105] The momentum wheel assembly 8 is used to adjust the spin angular velocity of the rotating layer 2 unit, with high adjustment accuracy, and the rotation speed control error is stable within 2%. And after the momentum wheel assembly 8 reaches the rated speed, the momentum wheel speed can be reduced by the momentum wheel unloading fan 9 to restore the adjustment ability of the momentum wheel assembly 8.

[0106] Based on the same idea, this specification also provides a corresponding control device for the air-bearing table, as shown in Figure 6.

[0107] Figure 6 It is a schematic diagram of a control device for an air-bearing table provided in this specification, including:

[0108] A receiving module 601, which is used to receive control instructions and obtain the pose information of the bottom layer 1;

[0109] The control module 602 is configured to control the rotation of the space equipment carried on the rotating layer 2 and the carrying platform 7 through the momentum wheel assembly 8 according to the control instruction, and adjust the attitude of the bottom layer 1 through the attitude adjustment fan 5 according to the pose information and the specified control signal, so that the bottom layer 1 always maintains the target attitude during the rotation of the rotating layer 2, and adjust the position of the bottom layer 1 through the position adjustment fan 6, so that the bottom layer 1 always stays at the target position during the rotation of the rotating layer 2;

[0110] The adjustment module 603 is configured to adjust the rotation speed of the momentum wheel assembly 8 through the momentum wheel unloading fan 9 after detecting that the rotation speed of the momentum wheel assembly 8 exceeds the rated rotation speed.

[0111] Optionally, the control module 602 is specifically configured to send a rotation speed control signal carrying the target rotation speed to the single-chip microcomputer 14 according to the control instruction, so that the single-chip microcomputer 14 sends a spin control signal to the momentum wheel assembly 8 according to the target rotation speed and the measurement result of the rotation speed of the rotating layer 2 by the inertial measurement unit 17, and controls the rotating layer 2 to spin at the target rotation speed through the momentum wheel assembly 8.

[0112] This specification also provides a computer-readable storage medium, which stores a computer program that can be used to execute the above Figure 1 provided control method of an air-bearing table.

[0113] This specification also provides Figure 7 a schematic structural diagram of an electronic device corresponding to Figure 1 as shown. As Figure 7 described, at the hardware level, the electronic device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory. Of course, it may also include other hardware required for other services. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to implement the above Figure 4 described control method of the air-bearing table. Of course, in addition to the software implementation method, this specification does not exclude other implementation methods, such as logic devices or a combination of software and hardware. That is to say, the execution subject of the following processing flow is not limited to each logic unit, and can also be hardware or logic devices.

[0114] For an improvement in a technology, it can be clearly distinguished whether it is an improvement in hardware (e.g., improvement in circuit structures such as diodes, transistors, switches, etc.) or an improvement in software (improvement in method processes). However, with the development of technology, many improvements in method processes today can be regarded as direct improvements in hardware circuit structures. Almost all designers obtain the corresponding hardware circuit structure by programming the improved method process into the hardware circuit. Therefore, it cannot be said that an improvement in a method process cannot be implemented with a hardware entity module. For example, a Programmable Logic Device (PLD) (such as a Field Programmable Gate Array (FPGA)) is such an integrated circuit whose logic function is determined by the user's programming of the device. Designers can program themselves to "integrate" a digital system on a piece of PLD without having to ask a chip manufacturer to design and fabricate a dedicated integrated circuit chip. Moreover, nowadays, instead of manually fabricating integrated circuit chips, this programming is mostly implemented using "logic compiler" software, which is similar to the software compiler used in program development and writing. The original code before compilation also has to be written in a specific programming language, which is called Hardware Description Language (HDL), and there is not only one type of HDL, but many types, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. Currently, the most commonly used are VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should also be clear that as long as the method process is slightly logically programmed with the above-mentioned several hardware description languages and programmed into the integrated circuit, it is easy to obtain the hardware circuit that implements the logical method process.

[0115] The controller can be implemented in any suitable manner. For example, the controller can take the form of, for example, a microprocessor or a processor and a computer-readable medium storing computer-readable program code (such as software or firmware) executable by the (micro)processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, and an embedded microcontroller. Examples of the controller include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that in addition to implementing the controller in the form of pure computer-readable program code, it is entirely possible to logically program the method steps to enable the controller to be implemented in the form of logic gates, switches, ASICs, programmable logic controllers, embedded microcontrollers, etc. to achieve the same function. Therefore, such a controller can be considered a hardware component, and the devices included therein for implementing various functions can also be regarded as the structures within the hardware component. Or even, the devices for implementing various functions can be regarded as either software modules for implementing the method or the structures within the hardware component.

[0116] The systems, devices, modules, or units illustrated in the above embodiments can be specifically implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer can be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or any combination of these devices.

[0117] For the convenience of description, when describing the above devices, they are described separately as various units according to their functions. Of course, when implementing this specification, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0118] Those skilled in the art should understand that the embodiments of this specification can be provided as a method, a system, or a computer program product. Therefore, this specification can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, this specification can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) containing computer-usable program code.

[0119] This specification is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the specification. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, embedded processors, or other programmable data processing devices to generate a machine, such that the instructions executed by the processors of the computer or other programmable data processing devices produce means for implementing the functions specified in one or more of the flows Figure 1 one or more of the flows and / or blocks Figure 1 one or more of the blocks for implementing the specified functions.

[0120] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, such that the instructions stored in the computer-readable memory produce a manufacture including instruction means for implementing the functions specified in one or more of the flows Figure 1 one or more of the flows and / or blocks Figure 1 one or more of the blocks.

[0121] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more of the flows Figure 1 one or more of the flows and / or blocks Figure 1 one or more of the blocks.

[0122] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and a memory.

[0123] The memory may include non-permanent memory in the form of computer-readable media, random access memory (RAM), and / or non-volatile memory such as read-only memory (ROM) or flash RAM. The memory is an example of computer-readable media.

[0124] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0125] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0126] Those skilled in the art will appreciate that the embodiments of this specification may be provided as methods, systems or computer program products. Therefore, this specification may take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, this specification may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0127] This specification may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. This specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0128] Each embodiment in this specification is described in a progressive manner. For the same or similar parts among the embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple. For the relevant parts, reference can be made to the corresponding description in the method embodiment.

[0129] The above are only the embodiments of this specification and are not intended to limit this specification. For those skilled in the art, various modifications and changes can be made to this specification. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this specification shall be included within the scope of the claims of this specification.

Claims

1. An air bearing table, characterized in that, Comprising: A bottom layer, a rotating layer and an air-floating turntable. The air-floating turntable is arranged between the bottom layer and the rotating layer and is used to connect the bottom layer and the rotating layer; The bottom layer is provided with a specified number of air-floating bearings, at least two groups of attitude adjustment fans and at least four groups of position adjustment fans. The air-floating bearings are arranged at the bottom of the bottom layer and are used to support the air-floating platform away from the support surface; The attitude adjustment fans are arranged at the edge of the platform below the bottom layer and are used to adjust the attitude of the bottom layer after receiving a specified control signal, so that the bottom layer always maintains a target attitude during the rotation of the rotating layer. The position adjustment fans are arranged at the edge of the platform above the bottom layer and are used to adjust the position of the bottom layer after receiving the specified control signal, so that the bottom layer always remains at a target position during the rotation of the rotating layer; The rotating layer is provided with a bearing platform, a momentum wheel assembly and a momentum wheel unloading fan. The bearing platform is arranged at the topmost of the rotating layer and is used to carry space equipment. The momentum wheel assembly is used to control the rotation of the rotating layer. The momentum wheel unloading fan is used to adjust the speed of the momentum wheel assembly after detecting that the speed of the momentum wheel assembly exceeds the rated speed; 2. The air floating table according to claim 1, wherein A rotating part and a fixed part are arranged on the air-floating turntable; The fixed part is connected to the bottom layer, the rotating part is connected to the rotating layer, and the air-floating turntable offsets the friction between the fixed part and the rotating part through air supply; 3. The air floating table according to claim 1, characterized in that, The at least two groups of attitude adjustment fans are equidistantly arranged at the edge of the platform below the bottom layer, and each group of attitude adjustment fans contains two sub-fans with opposite directions; 4. The air-bearing stage according to claim 1, wherein, The at least four groups of position adjustment fans are equidistantly arranged at the edge of the platform above the bottom layer, and each group of position adjustment fans contains two sub-fans with opposite directions; 5. The air floating table according to claim 1, characterized in that, The bottom layer is provided with an air storage tank and a pressure reducing valve; The air storage tank stores a specified gas. The pressure reducing valve is used to adjust the air pressure of the specified gas conveyed by the air storage tank to obtain a decompressed gas, and the decompressed gas is introduced into the air-floating bearing and the air-floating turntable through a hose; The air-floating bearing is used to discharge the introduced decompressed gas downward below the air-floating platform, so that the air-floating platform leaves the support surface; 6. The air floating table according to claim 1, wherein The bottom layer is provided with an industrial control computer; The industrial control computer is used to send a position control signal to the position adjustment fan, an attitude control signal to the attitude adjustment fan, and a speed control signal carrying a target speed to a single-chip microcomputer arranged in the rotating layer; The position adjustment fan is used to adjust the position of the air-floating platform according to the position control signal, and the attitude adjustment fan is used to adjust the attitude of the bottom layer according to the attitude control signal; 7. The air-bearing stage according to claim 1, wherein A fixing device is arranged on the bearing platform, and the fixing device is used to fix the space equipment on the bearing platform; 8. The air floating table according to claim 6, characterized in that, The rotating layer is provided with a single-chip microcomputer and an inertial measurement unit; The inertial measurement unit is used to measure the rotation speed of the rotating layer and send the measurement result to the single-chip microcomputer; The microcontroller is used to receive the rotational speed control signal, and send a spin control signal to the momentum wheel assembly according to the target rotational speed and the measurement result; The momentum wheel assembly is used to control the rotating layer to spin at the target rotational speed according to the spin control signal.

9. The air floating table according to claim 8, wherein The microcontroller is further used to, if it is determined according to the received measurement result that the rotational speed of the momentum wheel assembly exceeds the rated rotational speed, send a rotational speed adjustment signal to the momentum wheel unloading fan; The momentum wheel unloading fan is used to reduce the rotational speed of the momentum wheel assembly according to the rotational speed adjustment signal.

10. The air floating table according to claim 8, wherein, The rotating layer is provided with a battery, and the battery is used to supply power to the microcontroller, the momentum wheel unloading fan, the momentum wheel assembly, and the inertial measurement unit.

11. A control method for an air-bearing table, characterized in that, The air-bearing table is provided with a bottom layer, a rotating layer, and an air-bearing turntable. The air-bearing turntable is arranged between the bottom layer and the rotating layer and is used to connect the bottom layer and the rotating layer. The bottom layer is provided with a specified number of air bearings, at least two groups of attitude adjustment fans, and at least four groups of position adjustment fans. The rotating layer is provided with a carrying platform, a momentum wheel assembly, and a momentum wheel unloading fan, including: Receiving a control instruction, and acquiring the pose information of the bottom layer; According to the control instruction, controlling the rotating layer and the space equipment carried on the carrying platform to rotate through the momentum wheel assembly, and adjusting the attitude of the bottom layer through the attitude adjustment fans according to the pose information and the specified control signal, so that the bottom layer always maintains the target attitude during the rotation of the rotating layer, and adjusting the position of the bottom layer through the position adjustment fans, so that the bottom layer always stays at the target position during the rotation of the rotating layer; After it is monitored that the rotational speed of the momentum wheel assembly exceeds the rated rotational speed, adjusting the rotational speed of the momentum wheel assembly through the momentum wheel unloading fan.

12. The method according to claim 11, wherein The rotating layer is provided with a microcontroller; According to the control instruction, controlling the rotating layer and the space equipment carried on the carrying platform to rotate through the momentum wheel assembly, specifically including: According to the control instruction, sending a rotational speed control signal carrying the target rotational speed to the microcontroller, so that the microcontroller sends a spin control signal to the momentum wheel assembly according to the target rotational speed and the measurement result of the rotational speed of the rotating layer by the inertial measurement unit, and controls the rotating layer to spin at the target rotational speed through the momentum wheel assembly.

13. A control device for an air bearing table, characterized in that, The air-bearing table is provided with a bottom layer, a rotating layer, and an air-bearing turntable. The air-bearing turntable is arranged between the bottom layer and the rotating layer and is used to connect the bottom layer and the rotating layer. The bottom layer is provided with a specified number of air bearings, at least two groups of attitude adjustment fans, and at least four groups of position adjustment fans. The rotating layer is provided with a carrying platform, a momentum wheel assembly, and a momentum wheel unloading fan, including: A receiving module, which receives a control instruction and acquires the pose information of the bottom layer; The control module, according to the control instruction, controls the rotation of the rotating layer and the space equipment carried on the bearing platform through the momentum wheel assembly, and according to the pose information and the specified control signal, adjusts the attitude of the bottom layer through the attitude adjustment fan so that the bottom layer always maintains the target attitude during the rotation of the rotating layer, and adjusts the position of the bottom layer through the position adjustment fan so that the bottom layer always stays at the target position during the rotation of the rotating layer; The adjustment module, after detecting that the rotation speed of the momentum wheel assembly exceeds the rated speed, adjusts the rotation speed of the momentum wheel assembly through the momentum wheel unloading fan.

14. The device according to claim 13, characterized in that, The control module is specifically configured to send a rotation speed control signal carrying the target rotation speed to the single-chip microcomputer according to the control instruction, so that the single-chip microcomputer sends a spin control signal to the momentum wheel assembly according to the target rotation speed and the measurement result of the rotation speed of the rotating layer by the inertial measurement unit, and controls the rotating layer to spin at the target rotation speed through the momentum wheel assembly.

15. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, and when the computer program is executed by a processor, the method described in any one of claims 11 to 12 above is implemented.

16. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the program, the method described in any one of claims 11 to 12 above is implemented.

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