A single-axis air-floating platform and its moment of inertia configuration method

Abstract

The present invention discloses a single-axis air-floating platform and a method for configuring the moment of inertia thereof. The single-axis air-floating platform comprises an air-floating bearing, a rotating platform, a plurality of configuration components, a measuring module, a calculating module, a control module and a flywheel. A target moment of inertia and a target mass are preset, and a moment of inertia error threshold of the single-axis air-floating platform is set. The single-axis air-floating platform is powered on and initialized to reach a balanced state. Based on the target moment of inertia, the target mass and the preset moment of inertia error threshold, the moment of inertia of the single-axis air-floating platform in the balanced state is precisely adjusted through the flywheel and the plurality of configuration components until the difference between the real-time moment of inertia of the single-axis air-floating platform and the preset target moment of inertia is within the preset moment of inertia error threshold range. The single-axis air-floating platform and the method for configuring the moment of inertia can linearly change the moment of inertia of the single-axis air-floating platform, thereby realizing precise configuration of the moment of inertia.

Description

Technical Field

[0001] The invention relates to the technical field of spacecraft ground physics simulation, and in particular to a single-axis air-floating platform and a method for configuring the moment of inertia of the platform. Background Art

[0002] In the field of aerospace control, especially for aircraft and spacecraft, the moment of inertia of the controlled object is of great significance to the design of the control system and is an important parameter for achieving precise, fast and maneuverable control.

[0003] The single-axis air-floating platform can simulate the high-precision frictionless microgravity environment of aircraft and spacecraft. The air-floating bearing drives the rotating platform to rotate freely on a single axis without friction, and can simulate the dynamics of the spacecraft on the ground, verify the control algorithm, etc. When simulating and verifying the control algorithm of the spacecraft, it is usually required that the moment of inertia and weight of the designed single-axis air-floating platform are precisely consistent with the moment of inertia and weight of the real spacecraft.

[0004] The traditional method is to configure the moment of inertia of the single-axis air floating table by adding or reducing the counterweight blocks on the single-axis air floating table. Although this method can adjust the moment of inertia of the single-axis air floating table, it has many disadvantages: first, the efficiency of adding or reducing the counterweight blocks is low, and the adjustment and verification process is complicated; second, when the moment of inertia changes, the weight of the single-axis air floating table also changes, and even the center of mass will change; third, the adjustment method of adding or reducing the counterweight blocks is not a linear adjustment, which leads to inaccurate configuration of the moment of inertia. Summary of the invention

[0005] In view of the above problems, the present invention proposes a single-axis air bearing platform and a method for configuring the moment of inertia thereof, which can realize the automatic and precise configuration of the moment of inertia.

[0006] On the one hand, the present invention provides a method for configuring the moment of inertia of a single-axis air bearing platform, comprising the following steps:

[0007] S1, preset target moment of inertia and target quality , set the rotation inertia error threshold of the single-axis air bearing platform;

[0008] S2, the single-axis air-floating platform is powered on and initialized, and the position of the slider when the single-axis air-floating platform is in a balanced state is set as the initial position of the slider;

[0009] S3. According to the target quality Determining Slider Quality , calculate the initial moment of inertia of the uniaxial air bearing table when the slider is in the initial position , according to the initial moment of inertia , Slider quality And the movable range of the slider to calculate the minimum moment of inertia of the single-axis air bearing table and maximum moment of inertia ;

[0010] S4. Change the target moment of inertia Respectively with the minimum moment of inertia and maximum moment of inertia Compare, if , execute S5, otherwise, execute S8;

[0011] S5. According to the target moment of inertia of the uniaxial air bearing platform With initial moment of inertia The moving distance of the slider is calculated, and the motor drives the slider to move according to the moving distance, so that the slider moves from the initial position to the target position;

[0012] S6. Calculate the real-time moment of inertia of the single-axis air bearing platform after the slider moves to the target position , according to the real-time moment of inertia and target moment of inertia Calculate the moment of inertia difference, and determine whether the moment of inertia difference is within a preset moment of inertia error threshold. If yes, execute S8; otherwise, execute S7;

[0013] S7, the control module on the single-axis air bearing platform controls the motor to drive the slider to move according to the moment of inertia difference, and returns to step S6;

[0014] S8. End the moment of inertia configuration of the single-axis air bearing table.

[0015] Preferably, in S3, the initial moment of inertia of the uniaxial air bearing platform is calculated when the slider is at the initial position: , the specific process is as follows:

[0016] S31, preset a target speed of the flywheel, the control module controls the flywheel to rotate from a stationary state, and the flywheel drives the single-axis air-floating platform to rotate from a stationary state during the rotation process until the flywheel speed reaches the target speed;

[0017] S32, obtaining the angular velocity of the uniaxial air floating platform when the flywheel speed reaches the target speed, and calculating the speed difference when the flywheel reaches the target speed from a stationary state and the angular velocity difference of the uniaxial air floating platform;

[0018] S33, calculating the angular momentum of the flywheel according to the rotational inertia and the speed difference of the flywheel, and directly obtaining the angular momentum generated by the external resistance on the uniaxial air bearing platform according to the angular velocity of the uniaxial air bearing platform;

[0019] S34, determining the moment of inertia of the single-axis air-floating platform when the slider is not mounted according to the angular momentum generated by the external resistance on the single-axis air-floating platform, the angular momentum of the flywheel, and the angular velocity difference of the single-axis air-floating platform ;

[0020] S35, based on the moment of inertia of the single-axis air bearing table when no slider is installed The initial moment of inertia of the uniaxial air bearing table is determined by the mass of the slider and the initial position of the slider. .

[0021] Preferably, the moment of inertia of the uniaxial air bearing platform when the slider is not mounted in S34 is Specifically expressed as:

[0022] ;

[0023] In the formula, It represents the moment of inertia of the single-axis air bearing table when no slider is installed. is the angular momentum of the flywheel, is the angular momentum generated by the external resistance on the uniaxial air bearing platform, is the angular velocity difference of the uniaxial air bearing table, is the flywheel acceleration time.

[0024] Preferably, the initial moment of inertia of the uniaxial air bearing platform in S35 is The specific calculation formula is:

[0025] ;

[0026] In the formula, is the initial moment of inertia of the uniaxial air bearing platform, is the moment of inertia of the single-axis air bearing table when no slider is installed, is the mass of the slider, is the initial position of the slider.

[0027] Preferably, the minimum moment of inertia of the uniaxial air bearing platform in S3 is and maximum moment of inertia Specifically expressed as:

[0028] ;

[0029] In the formula, is the minimum moment of inertia of the uniaxial air bearing platform, is the maximum moment of inertia of the uniaxial air bearing platform, Indicates the movement distance of the slider.

[0030] On the other hand, the present invention provides a single-axis air-floating platform, which uses the above-mentioned single-axis air-floating platform moment of inertia configuration method to configure the moment of inertia of the single-axis air-floating platform during the simulation test. The single-axis air-floating platform includes: an air-floating bearing, a rotating platform, multiple configuration components, a measuring module, a computing module, a control module and a flywheel. One end of the air-floating bearing is fixed on the worktable, and the other end is fixedly installed with the rotating platform. Multiple configuration components, a measuring module, a computing module, a control module, and a flywheel are all installed on the rotating platform. The configuration components include a motor, a slide rail and a slider. The motor is used to drive the slider to move along the slide rail. The motor and the flywheel are respectively connected to the measuring module, the flywheel is connected to the control module, and the measuring module and the control module are also connected through the computing module, wherein:

[0031] The measurement module is used to obtain the real-time data corresponding to the flywheel and the motor;

[0032] The calculation module is used to receive the real-time data corresponding to the flywheel and the motor, and calculate the control amount according to the real-time data and the preset target data;

[0033] The control module is used to control the flywheel output control force according to the control quantity, control the motor to drive the slider to move along the slide rail, and adjust the rotational inertia of the single-axis air bearing platform during the rotation process.

[0034] Preferably, there are four configuration components, and the slide rails in the four configuration components are evenly distributed along the plane where the rotating platform is located.

[0035] Preferably, the slider includes a counterweight frame and a plurality of weights, and the mass of the slider can be adjusted by adding or removing the weights.

[0036] The above-mentioned single-axis air floating platform and its rotational inertia configuration method, the single-axis air floating platform includes an air floating bearing, a rotating platform, multiple configuration components, a measurement module, a calculation module, a control module and a flywheel, preset target rotational inertia and target mass, set the rotational inertia error threshold of the single-axis air floating platform, the single-axis air floating platform is powered on and initialized to reach a balanced state, based on the target rotational inertia, target mass and the preset rotational inertia error threshold, the rotational inertia of the single-axis air floating platform in the balanced state is accurately adjusted through the flywheel and multiple configuration components until the difference between the real-time rotational inertia of the single-axis air floating platform and the preset target rotational inertia is within the preset rotational inertia error threshold range, the above-mentioned system and rotational inertia configuration method can linearly change the rotational inertia of the single-axis air floating platform to achieve accurate configuration of the rotational inertia. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a flow chart of a method for configuring the moment of inertia of a single-axis air bearing platform in one embodiment of the present invention;

[0038] Figure 2 It is a schematic diagram of the overall structure of a single-axis air floating platform in one embodiment of the present invention;

[0039] Figure 3 It is a schematic diagram of the installation position of the configuration component on the rotating platform in one embodiment of the present invention.

[0040] Description of reference numerals:

[0041] 1. Air bearing;

[0042] 2. Rotate the platform;

[0043] 3. Configuration components; 31. Motor; 32. Slide rail; 33. Slider. DETAILED DESCRIPTION

[0044] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings.

[0045] See also Figure 1 , Figure 1 The figure is a flow chart of a method for configuring the moment of inertia of a single-axis air bearing platform in one embodiment of the present invention.

[0046] A method for configuring the moment of inertia of a single-axis air bearing platform, the method comprising the following steps:

[0047] S1, preset target moment of inertia and target quality , Set the rotational inertia error threshold of the single-axis air bearing table.

[0048] Target moment of inertia and target quality Specifically, it is the moment of inertia and mass corresponding to the spacecraft to be simulated, which is a theoretical design value. The purpose of the moment of inertia configuration of the single-axis air bearing platform is to make the moment of inertia of the single-axis air bearing platform as close to the target moment of inertia as possible during the test, so as to better perform simulation tests.

[0049] S2. The single-axis air bearing platform is powered on and initialized. The position of the slider when the single-axis air bearing platform is in a balanced state is set as the initial position of the slider.

[0050] The initial leveling is mainly to adjust the center of mass balance of the single-axis air bearing table. The moment of inertia can be adjusted through the initial leveling, but the precise configuration of the moment of inertia cannot be achieved.

[0051] S3. According to the target quality Determining Slider Quality , calculate the initial moment of inertia of the uniaxial air bearing table when the slider is in the initial position , according to the initial moment of inertia , Slider quality And the movable range of the slider to calculate the minimum moment of inertia of the single-axis air bearing table and maximum moment of inertia .

[0052] Furthermore, in S3, the initial moment of inertia of the uniaxial air bearing platform is calculated when the slider is at the initial position: , the specific process is as follows:

[0053] S31. A target speed of the flywheel is preset, and the control module controls the flywheel to rotate from a stationary state. During the rotation of the flywheel, the single-axis air-floating platform is driven to rotate from a stationary state until the flywheel speed reaches the target speed.

[0054] S32, obtaining the angular velocity of the uniaxial air floating platform when the flywheel speed reaches the target speed, and calculating the speed difference of the flywheel and the angular velocity difference of the uniaxial air floating platform when the flywheel reaches the target speed from a stationary state.

[0055] S33. Calculate the angular momentum of the flywheel according to the rotational inertia and the rotational speed difference of the flywheel, and directly obtain the angular momentum of the uniaxial air bearing platform caused by the external resistance according to the angular velocity of the uniaxial air bearing platform.

[0056] The specific formula for calculating the angular momentum of the flywheel is:

[0057] (1)

[0058] In the formula, is the angular momentum of the flywheel, is the moment of inertia of the flywheel, is the angular acceleration of the flywheel, is the flywheel speed difference, For the time difference.

[0059] Calculation of the angular momentum generated by external resistance on the uniaxial air bearing table (when the moment of inertia is large or the accuracy of the moment of inertia is high, the external resistance cannot be ignored):

[0060] The flywheel outputs torque to make the single-axis air-floating platform run at a low angular velocity (not exceeding the set maximum angular velocity). Take multiple angular velocity test points for testing. After the real-time angular velocity of the single-axis air-floating platform reaches the set preset angular velocity and lasts for a period of time, the flywheel speed difference is used to determine the angular velocity of the platform. Calculate the angular momentum provided by the flywheel , during the period of time when the uniaxial air-floating platform remains stable after reaching the preset angular velocity, only the flywheel and the external resistance are doing work, from which we can know:

[0061] (2)

[0062] In the formula, is the angular momentum generated by the external resistance on the uniaxial air bearing platform, is the moment of inertia of the uniaxial air bearing platform, is the angular acceleration of the uniaxial air bearing table.

[0063] Since the angular velocity remains constant, the angular acceleration of the uniaxial air bearing table ,so The flywheel speed difference can be measured , test time difference , the angular momentum generated by the external resistance on the uniaxial air bearing table can be calculated as:

[0064] (3)

[0065] After testing multiple angular velocity test points, the corresponding relationship between the angular momentum generated by the external resistance on the uniaxial air floating table and the angular velocity of the single air floating table can be obtained. Based on this relationship, when the angular velocity of the single-axis air floating table is known, the angular momentum generated by the external resistance on the uniaxial air floating table can be directly determined.

[0066] S34, determining the moment of inertia of the single-axis air-floating platform when the slider is not mounted according to the angular momentum generated by the external resistance on the single-axis air-floating platform, the angular momentum of the flywheel, and the angular velocity difference of the single-axis air-floating platform .

[0067] Furthermore, the moment of inertia of the uniaxial air bearing platform when the slider is not mounted in S34 is Specifically expressed as:

[0068] (4)

[0069] In the formula, It represents the moment of inertia of the single-axis air bearing table when no slider is installed. is the angular momentum of the flywheel, is the angular momentum generated by the external resistance on the uniaxial air bearing platform, is the angular velocity difference of the uniaxial air bearing table, is the flywheel acceleration time.

[0070] S35, based on the moment of inertia of the single-axis air bearing table when no slider is installed The initial moment of inertia of the uniaxial air bearing table is determined by the mass of the slider and the initial position of the slider. .

[0071] Furthermore, the initial moment of inertia of the uniaxial air bearing platform in S35 The specific calculation formula is:

[0072] (5)

[0073] In the formula, is the initial moment of inertia of the uniaxial air bearing platform, is the moment of inertia of the single-axis air bearing table when no slider is installed, is the mass of the slider, is the initial position of the slider.

[0074] Get the initial moment of inertia of the uniaxial air bearing table After that, according to the initial moment of inertia , Slider quality , and the movable range of the slider to calculate the minimum moment of inertia of the single-axis air bearing table and maximum moment of inertia .

[0075] Minimum moment of inertia of the single-axis air bearing table in S3 and maximum moment of inertia Specifically expressed as:

[0076] ;

[0077] In the formula, is the minimum moment of inertia of the uniaxial air bearing platform, is the maximum moment of inertia of the uniaxial air bearing platform, Indicates the movable range of the slider.

[0078] From equations (6)-1 and (6)-2, it can be seen that the minimum moment of inertia and the maximum moment of inertia are related to the mass and movable range of the slider. On the premise of ensuring the target mass of the air bearing platform, increasing the mass of the slider can expand the adjustment range of the moment of inertia. In addition, the size of the rotating platform on the single-axis air bearing platform determines the length of the slide rail, and the movable range of the slider is equal to the length of the slide rail.

[0079] S4. Change the target moment of inertia Respectively with the minimum moment of inertia and maximum moment of inertia Compare, if , execute S5, otherwise, execute S8;

[0080] It should be noted that if the target moment of inertia is less than the minimum moment of inertia, that is, , or the target moment of inertia is greater than the maximum moment of inertia, that is , indicating that the preset target moment of inertia is too small or too large, and has exceeded the load-bearing range of the single-axis air-floating platform. At this time, the process directly jumps to step S8 to end the moment of inertia configuration of the single-axis air-floating platform.

[0081] S5. According to the target moment of inertia of the uniaxial air bearing platform With initial moment of inertia The moving distance of the slider is calculated, and the motor drives the slider to move according to the moving distance, so that the slider moves from the initial position to the target position.

[0082] Specifically, calculate the target moment of inertia of the uniaxial air bearing platform With initial moment of inertia The difference in the moment of inertia between the two is calculated based on the difference in the moment of inertia, and the moving distance of the slider is calculated based on the moving distance. The motor is controlled to drive the slider to move from the initial position to the target position. Since the position of the slider has changed, the moment of inertia of the single-axis air bearing table will also change.

[0083] S6. Calculate the real-time moment of inertia of the single-axis air bearing platform after the slider moves to the target position , according to the real-time moment of inertia and target moment of inertia The moment of inertia difference is calculated to determine whether the moment of inertia difference is within a preset moment of inertia error threshold. If yes, step S8 is executed; otherwise, step S7 is executed.

[0084] Specifically, the moment of inertia error threshold can be set to the target moment of inertia ±2% of the real-time moment of inertia and target moment of inertia The moment of inertia difference is calculated and compared with the moment of inertia error threshold. If the moment of inertia difference is within the moment of inertia error threshold, the moment of inertia configuration of the single-axis air bearing table can be ended. Otherwise, the position of the slider needs to be adjusted again according to the moment of inertia difference to perform the next round of adjustment on the moment of inertia of the single-axis air bearing table.

[0085] S7. The control module on the single-axis air bearing platform controls the motor to drive the slider to move according to the moment of inertia difference, and returns to step S6.

[0086] S8. End the moment of inertia configuration of the single-axis air bearing table.

[0087] By configuring the moment of inertia of the single-axis air-floating platform using the above method, the moment of inertia of the single-axis air-floating platform can be linearly changed to achieve precise configuration of the moment of inertia.

[0088] In another embodiment, see Figure 2A single-axis air-floating platform, using the above-mentioned single-axis air-floating platform moment of inertia configuration method to configure the moment of inertia of the single-axis air-floating platform during the simulation test, the single-axis air-floating platform includes: a single-axis floating bearing 1, a rotating platform 2, multiple configuration components 3, a measurement module, a calculation module, a control module and a flywheel, one end of the air-floating bearing 1 is fixed on the worktable, the other end of the air-floating bearing 1 is fixedly installed with the rotating platform 2, the inside of the bearing interacts through the air film, multiple configuration components 3, a measurement module, a calculation module, a control module and a flywheel are all installed on the upper surface of the rotating platform 2, the configuration component 3 includes a motor 31, a slide rail 32 and a slider 33, the motor 31 is used to drive the slider 33 to move along the slide rail 32, the motor 31 and the flywheel are respectively connected to the measurement module, the flywheel is also connected to the control module, the measurement module and the control module are also connected through the calculation module, wherein:

[0089] The measurement module is used to obtain the real-time data corresponding to the flywheel and the motor 31 and send it to the calculation module;

[0090] The calculation module is used to receive the real-time data corresponding to the flywheel and the motor 31, and calculate the control amount according to the real-time data and the preset target data;

[0091] The control module is used to control the flywheel output control force according to the control amount, control the motor 31 to drive the slider 33 to move along the slide rail 32, and adjust the rotational inertia of the single-axis air-floating platform during the rotation process.

[0092] Specifically, when adjusting the moment of inertia of the single-axis air floating platform, the original leveling device and counterweight on the single-axis air floating platform are first used to perform initial leveling of the single-axis air floating platform so that the single-axis air floating platform is in a balanced state. The specific structure of the leveling device, the installation position of the leveling device and the counterweight, and the specific method of initial leveling through the leveling device and the counterweight can be referred to the relevant records in the application number 202310068290.2, and the invention name is a large-scale single-axis air floating platform semi-physical simulation system and its working method, which will not be described in detail here.

[0093] In order to facilitate subsequent operations and calculations, when the single-axis air bearing table is in a balanced state, the position of the slider is generally in the middle of the slide rail.

[0094] Next, the rotational inertia of the single-axis air floating table is precisely adjusted through multiple configuration components. Since the amplitude of adjusting the rotational inertia of the single-axis air floating table by the configuration components is relatively small, it is suitable for scenes with small rotational inertia and high requirements for rotational inertia accuracy. The resistance of the single-axis air floating table is generally not considered. When the rotational inertia requires to be particularly precise, the resistance of the single-axis air floating table needs to be considered.

[0095] Furthermore, there can be multiple configuration components 3, and in order to ensure the stability of the single-axis air-floating platform during the rotation process, multiple configuration components 3 are arranged in pairs and evenly distributed along the plane where the rotating platform 2 is located. In addition, considering the overall weight and test accuracy of the single-axis air-floating platform, the configuration components 3 can be 2, 4 or 6. In this embodiment, 4 configuration components 3 are evenly spaced and arranged along the plane where the rotating platform 2 is located. Figure 3 There are four configuration components 3, and the slide rails 32 in the four configuration components are evenly distributed along the plane where the rotating platform 2 is located. The motor 31 is arranged at one end of the slide rail 32 and close to the center of the rotating platform 2. The four evenly distributed configuration components coincide with the X-axis and Y-axis of the plane where the rotating platform 2 is located, respectively.

[0096] Specifically, when the rotational inertia of the single-axis air-floating platform is precisely adjusted by configuring component 3, the calculation module calculates the target rotational inertia of the single-axis air-floating platform according to the target rotational inertia of the single-axis air-floating platform. With initial moment of inertia The moving distance of the slider 33 is calculated, and the motor 31 controls the slider 33 to move along the slide rail 32 according to the moving distance, so that the slider 33 moves from the initial position to the target position. At this time, since the position of the slider 33 has changed, the moment of inertia of the rotational inertia of the single-axis air floating platform will also change accordingly.

[0097] Furthermore, the slider 33 includes a counterweight frame and a plurality of weights, and the mass of the slider 33 can be adjusted by adding or removing the weights.

[0098] Specifically, the slider 33 is designed as a combination of a counterweight frame and a plurality of weights. Not only can the moment of inertia of the uniaxial air floating platform be changed by moving the position of the slider 33, but the mass of the slider 33 can also be adjusted by adding weights, thereby better realizing the precise adjustment of the moment of inertia of the uniaxial air floating platform.

[0099] The above-mentioned single-axis air floating platform and its rotational inertia configuration method, the single-axis air floating platform includes an air floating bearing, a rotating platform, multiple configuration components, a measurement module, a calculation module, a control module and a flywheel, preset target rotational inertia and target mass, set the rotational inertia error threshold of the single-axis air floating platform, the single-axis air floating platform is powered on and initialized to reach a balanced state, based on the target rotational inertia, target mass and the preset rotational inertia error threshold, the rotational inertia of the single-axis air floating platform in the balanced state is accurately adjusted through the flywheel and multiple configuration components until the difference between the real-time rotational inertia of the single-axis air floating platform and the preset target rotational inertia is within the preset rotational inertia error threshold range, the above-mentioned system and rotational inertia configuration method can linearly change the rotational inertia of the single-axis air floating platform to achieve accurate configuration of the rotational inertia.

[0100] The above is a detailed introduction to a single-axis air-floating platform and a method for configuring the moment of inertia thereof provided by the present invention. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the core idea of ​​the present invention. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, the present invention can also be improved and modified in a number of ways, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A method for configuring the moment of inertia of a single-axis air bearing platform, characterized in that: The method comprises the following steps: S1, preset target moment of inertia and target quality , set the rotation inertia error threshold of the single-axis air bearing platform; S2, the single-axis air-floating platform is powered on and initialized, and the position of the slider when the single-axis air-floating platform is in a balanced state is set as the initial position of the slider; S3. According to the target quality Determining Slider Quality , calculate the initial moment of inertia of the uniaxial air bearing table when the slider is in the initial position , according to the initial moment of inertia , Slider quality And the movable range of the slider to calculate the minimum moment of inertia of the single-axis air bearing table and maximum moment of inertia ; S4. Change the target moment of inertia Respectively with the minimum moment of inertia and maximum moment of inertia Compare, if , execute S5, otherwise, execute S8; S5. According to the target moment of inertia of the uniaxial air bearing platform With initial moment of inertia The moving distance of the slider is calculated, and the motor drives the slider to move according to the moving distance, so that the slider moves from the initial position to the target position; S6. Calculate the real-time moment of inertia of the single-axis air bearing platform after the slider moves to the target position , according to the real-time moment of inertia and target moment of inertia Calculate the moment of inertia difference, and determine whether the moment of inertia difference is within a preset moment of inertia error threshold. If yes, execute S8; otherwise, execute S7; S7, the control module on the single-axis air bearing platform controls the motor to drive the slider to move according to the moment of inertia difference, and returns to step S6; S8. End the moment of inertia configuration of the single-axis air bearing table.

2. The method for configuring the moment of inertia of a single-axis air bearing table according to claim 1, wherein: In S3, the initial moment of inertia of the uniaxial air bearing table is calculated when the slider is in the initial position. , the specific process is as follows: S31, preset a target speed of the flywheel, the control module controls the flywheel to rotate from a stationary state, and the flywheel drives the single-axis air-floating platform to rotate from a stationary state during the rotation process until the flywheel speed reaches the target speed; S32, obtaining the angular velocity of the uniaxial air floating platform when the flywheel speed reaches the target speed, and calculating the speed difference when the flywheel reaches the target speed from a stationary state and the angular velocity difference of the uniaxial air floating platform; S33, calculating the angular momentum of the flywheel according to the rotational inertia and the speed difference of the flywheel, and directly obtaining the angular momentum generated by the external resistance on the uniaxial air bearing platform according to the angular velocity of the uniaxial air bearing platform; S34, determining the moment of inertia of the single-axis air-floating platform when the slider is not mounted according to the angular momentum generated by the external resistance on the single-axis air-floating platform, the angular momentum of the flywheel, and the angular velocity difference of the single-axis air-floating platform ; S35, based on the moment of inertia of the single-axis air bearing table when no slider is installed The initial moment of inertia of the uniaxial air bearing table is determined by the mass of the slider and the initial position of the slider. .

3. The method for configuring the moment of inertia of a single-axis air bearing table according to claim 2, wherein: The moment of inertia of the single-axis air bearing table when no slider is installed in S34 Specifically expressed as: ； In the formula, It represents the moment of inertia of the single-axis air bearing table when no slider is installed. is the angular momentum of the flywheel, is the angular momentum generated by the external resistance on the uniaxial air bearing platform, is the angular velocity difference of the uniaxial air bearing table, is the flywheel acceleration time.

4. The method for configuring the moment of inertia of a single-axis air bearing table according to claim 3, characterized in that: Initial moment of inertia of the single-axis air bearing stage in S35 The specific calculation formula is: ； In the formula, is the initial moment of inertia of the uniaxial air bearing platform, is the moment of inertia of the single-axis air bearing table when no slider is installed, is the mass of the slider, is the initial position of the slider.

5. The method for configuring the moment of inertia of a single-axis air bearing table according to claim 4, characterized in that: Minimum moment of inertia of the single-axis air bearing table in S3 and maximum moment of inertia Specifically expressed as: ； In the formula, is the minimum moment of inertia of the uniaxial air bearing platform, is the maximum moment of inertia of the uniaxial air bearing platform, Indicates the movement distance of the slider.

6. A uniaxial air bearing platform, characterized in that: The rotational inertia configuration method of a single-axis air-floating platform as claimed in any one of claims 1 to 5 is used to configure the rotational inertia of the single-axis air-floating platform during a simulation test. The single-axis air-floating platform comprises: an air-floating bearing (1), a rotating platform (2), a plurality of configuration components (3), a measuring module, a computing module, a control module and a flywheel. One end of the air-floating bearing (1) is fixedly mounted on a work surface, and the other end is fixedly mounted on the rotating platform (2). The plurality of configuration components (3), the measuring module, the computing module, the control module and the flywheel are all mounted on the rotating platform (2). The configuration component (3) comprises a motor (31), a slide rail (32) and a slider (33). The motor (31) is used to drive the slider (33) to move along the slide rail (32). The motor (31) and the flywheel are respectively connected to the measuring module, the flywheel is connected to the control module, and the measuring module and the control module are also connected via the computing module. The measurement module is used to obtain real-time data corresponding to the flywheel and the motor (31); The calculation module is used to receive real-time data corresponding to the flywheel and the motor (31), and calculate the control amount according to the real-time data and preset target data; The control module is used to control the flywheel output control force according to the control amount, control the motor (31) to drive the slider (33) to move along the slide rail (32), and adjust the rotational inertia of the single-axis air-floating platform during the rotation process.

7. The uniaxial air bearing platform according to claim 6, characterized in that: Specifically, there are four configuration components (3), and the slide rails (32) in the four configuration components are evenly distributed along the plane where the rotating platform (2) is located.

8. The uniaxial air bearing platform according to claim 7, characterized in that: The slider (33) comprises a counterweight frame and a plurality of weights, and the mass of the slider (33) can be adjusted by adding or removing the weights.

Images