High-precision positioning and speed fixing method and device for long-distance motion simulation system

Abstract

The invention discloses a long-distance motion simulation system high-precision positioning and speed fixing method and device, the device comprises a slide rail, a slide table and a long-distance high-precision positioning and speed fixing unit, and the long-distance high-precision positioning and speed fixing unit comprises a photoelectric position marker, a high-speed signal acquisition and processing unit and a photoelectric encoder; when the sliding table passes through the photoelectric potential marker, a reflecting light path of the photoelectric potential marker is formed by using the light reflecting mirror, so that the photoelectric potential marker generates a pulse signal; the high-speed signal acquisition and processing unit acquires pulse signals in real time, marks time stamps on photoelectric potential marker signals acquired in real time, and determines absolute position data of the sliding table at the moment by taking the pulse signals transmitted by the photoelectric potential marker as a reference; the photoelectric encoder transmits a calculated distance value to the high-speed signal acquisition and processing unit; and obtaining real-time position information and instantaneous speed information of each sensing interval and the average speed of each sensing interval according to the absolute position data and the calculated distance value.

Description

Technical Field

[0001] The invention belongs to the technical field of pulley positioning devices, and in particular relates to a high-precision positioning and speed-regulating method and device for a long-distance motion simulation system. Background Art

[0002] The high-precision long-distance motion simulation system is an advanced equipment that can accurately simulate the motion state of an object over a long distance. The equipment can carry related optomechanical complex products to simulate long-distance relative motion, and perform automated testing on the detection, communication, control and other units of related optomechanical complex products. It can also cooperate with the overall excitation, measurement and control system to achieve physical or semi-physical simulation in a laboratory environment. The system can be widely used in aircraft dynamic simulation, flight control system testing, vehicle perception system simulation, suspension system simulation, physical experiments, robot motion research, motion performance test optimization of complex optomechanical equipment and other fields. It has important practical value and provides strong technical support for the development of related industries.

[0003] The high-precision long-distance motion simulation system is mainly composed of five parts: mechanical structure, transmission subsystem, drive subsystem, control subsystem, and software subsystem. Among them, the transmission subsystem is often implemented by tensioning a toothed belt to drive a slide moving on a stable track due to its requirements for long-distance high-speed motion and high-precision control. The drive and control subsystem generally adopts high-performance servo motors, high-precision photoelectric encoders, etc. to achieve functions such as speed and position control, detection and adjustment of motion parameters. CN207408828U discloses a high-precision spatial positioning AGV docking system based on single-threaded laser scanning. The micro-control unit of the docking system receives the data returned by the XY-axis laser scanning positioning radar and the AGV docking tilt angle scanning adjustment radar, and compares it with the data stored in the read-only memory in the micro-control unit, thereby controlling the AGV freight car to adjust the vehicle posture to the required position. At present, the positioning device used in this system is mainly based on the positioning radar of laser scanning.

[0004] Since the high-precision long-distance motion simulation system requires a long motion distance (often tens or even hundreds of meters) and high precision (often millimeter-level positioning and constant speed accuracy), and the long-distance mechanical transmission subsystem will introduce a large number of errors and change with the on-site working conditions, the existing motion control system that relies solely on servo motors and photoelectric encoders cannot eliminate long-distance cumulative errors and working condition change errors to meet the accuracy requirements, so it is necessary to add a long-distance high-precision positioning and constant speed device to the system. Summary of the invention

[0005] The purpose of the present invention is to overcome the deficiencies in the prior art and to propose a high-precision positioning and speed control method and device for a long-distance motion simulation system, which has the characteristics of high accuracy, fast response speed, wide adaptability, and convenient installation and maintenance. The present invention divides the long distance into several "short distances" for segmented control by setting a plurality of spaced photoelectric markers on the long-distance motion scale, using each photoelectric marker as the zero reference of each distance segment, and finally integrating them to achieve high-precision positioning and speed control of the long-distance motion simulation system, and can eliminate positioning and speed control errors in the long-distance motion control system.

[0006] To achieve the above object, the technical solution of the present invention is as follows:

[0007] A high-precision positioning and speed-regulating device for a long-distance motion simulation system, comprising a reflector, a photopotential marker, a high-speed signal acquisition and processing unit, and a photoelectric encoder;

[0008] The photoelectric potential marker comprises a light source and a photodetector; a plurality of the photoelectric potential markers are arranged at intervals along the length direction of the full stroke, and one photoelectric potential marker is arranged at each end of the full stroke; the space between two adjacent photoelectric potential markers serves as a sensing interval;

[0009] The reflector is arranged on the side wall of the slide and faces the direction of the light source;

[0010] Each of the photoelectric potential markers and photoelectric encoders is electrically connected to a high-speed signal acquisition and processing unit;

[0011] When the slide passes by, the photoelectric potential marker uses a light reflector to form a reflective light path for the photoelectric potential marker, so that the photoelectric potential marker generates a pulse signal; the high-speed signal acquisition and processing unit acquires the pulse signal in real time, and timestamps the photoelectric potential marker signal acquired in real time, and determines the absolute position data of the slide at that moment based on the pulse signal transmitted by the photoelectric potential marker, and solves its distance value and speed value; the photoelectric encoder transmits the solved distance value and speed value to the high-speed signal acquisition and processing unit; the distance value solved by the photoelectric encoder is corrected according to the distance value solved by the absolute position data, and the speed value solved by the photoelectric encoder is corrected according to the speed characteristics extracted from the absolute position data to obtain the real-time position information and instantaneous speed information of each sensing interval, as well as the average speed of each sensing interval.

[0012] Furthermore, the high-precision positioning and speed control device of the long-distance motion simulation system also includes a transmission control box, in which a photoelectric potential marker, a high-speed signal acquisition and processing unit, a photoelectric encoder and a motor are placed; the motor is used to drive the movement of the slide on the slide rail.

[0013] Furthermore, the high-speed signal acquisition and processing unit also includes a multi-channel photoelectric potentiometer detector signal interface, an encoder signal interface, an FPGA chip, a memory and a communication interface; the multi-channel photoelectric potentiometer detector signal interface and the photoelectric encoder signal interface are respectively used to introduce external multi-channel photoelectric potentiometer detector signals and photoelectric encoder signals; the FPGA chip is used to perform data analysis and algorithm processing to calculate the real-time position and speed information of the slide for the positioning and speed control device; the memory is used to store the collected signal data and processing results for subsequent analysis and processing; the communication interface is used to communicate with the host computer, receive host computer instructions and output real-time calculation results.

[0014] A high-precision positioning and speed control method for a long-distance motion simulation system, comprising:

[0015] Step 1: Take two adjacent photopotential markers as a sensing interval, make the output of the photopotential marker that passes first be high, and calibrate the position of the photopotential marker as the reference position; make the slide pass through the full stroke of the motion to be measured along the slide rail, when the slide passes through the photopotential marker at the reference position, the light from the light source of the photopotential marker is reflected by the reflector on the slide to the photodetector of the photopotential marker to generate a pulse signal, and use the signal as the reference to calibrate the position and speed information of the slide at that moment; then, a pulse signal will be generated each time a photopotential marker is passed, so as to obtain the actual position of the slide and solve the distance value and speed value in the current sensing interval; when the photopotential marker signal at a certain reference position is triggered, it is determined that the slide has reached the actual position of this reference at that moment;

[0016] Step 2: Read the pulse count information of the photoelectric encoder, determine the moving direction of the slide along the slide rail according to the signal of the photoelectric encoder, and measure the current moving distance of the slide along the slide rail by counting the signal cycle, so as to solve the distance value and speed value of the slide passing through the sensing interval;

[0017] Step 3: According to the latest actual position of the photoelectric potential marker obtained in step 1 and the current distance value of the slide calculated, correct the distance value and speed value calculated by the photoelectric encoder in step 2 to obtain the current sliding distance value of the slide; correct the speed value calculated in step 2 in combination with the speed feature extracted in step 1 to obtain the real-time speed value.

[0018] Furthermore, according to the distance and speed values ​​obtained in step three, the real-time position and speed measurement on the slide rail is realized, and the instantaneous speed and position information, as well as the average speed of each sensing interval, can be obtained, and the speed change curve of the whole movement process can be drawn.

[0019] Furthermore, before calibration, a slide rail is set over the entire motion stroke, and a plurality of photopotential marker arrays are spaced apart on one side of the slide rail; wherein a photopotential marker is set at the start and end positions of the section to be measured; a reflector is set on the side wall of the slide, and the reflector installed on the slide is used to trigger and calibrate the distance of each photopotential marker from the starting point of the motion along the slide rail.

[0020] Furthermore, the acquisition of the speed feature in step 3 includes the following steps:

[0021] According to the data obtained in step 1, the original pulse signal output by the photoelectric potentiometer and the A and B phase output signals of the photoelectric encoder are filtered and amplified to denoise the signals; for the calculation of the position and speed information of the slide, the time domain signal is converted into a frequency domain signal using Fourier transform, and the characteristic frequency and amplitude information of the signal are extracted through spectrum analysis, thereby extracting the speed characteristics.

[0022] Furthermore, the speed value in step 2 is calculated based on the pulse count of the photoelectric encoder in a short period of time and the sampling time interval.

[0023] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0024] The present invention divides the long distance into several "short distances" for segmented control by using each photoelectric potential marker as the zero position reference of each distance on the long-distance motion scale, and finally integrates them to achieve high-precision positioning and speed control of the long-distance motion simulation system; at the same time, it can eliminate positioning and speed control errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the structure of a high-precision positioning and speed-fixing device for a long-distance motion simulation system;

[0026] Figure 2 It is a schematic diagram of the structure of the photopotential marker;

[0027] Figure 3 It is a flow chart of a calibration method for a high-precision positioning speed control device using a long-distance motion simulation system.

[0028] In the figure:

[0029] 1: Slide table; 2: Transmission control box; 3: Slide rail. DETAILED DESCRIPTION

[0030] The technical solution of the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The specific embodiments described are only used to explain the present invention. In the description of the following embodiments, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this patent and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this patent.

[0031] In the description of the following embodiments, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "set" should be understood in a broad sense, for example, it can be fixedly connected or set, or it can be detachably connected or set, or connected or set in one piece. For ordinary technicians in this field, the specific meanings of the above terms in this patent can be understood according to specific circumstances.

[0032] like Figure 1 As shown, a positioning and speed control device for a long-distance motion simulation system uses a set-up rail 3 and a moving slide 1 with a length of tens to hundreds of meters. The rail 3 at least runs through the entire stroke of the long-distance motion, and a transmission control box 2 that cooperates with the slide 1 is installed on one side of the set-up rail 3. The transmission control box 2 is used to place a long-distance high-precision positioning and speed control device and a motor. The motor is used to drive the moving slide 1 on the rail 3. The long-distance high-precision positioning and speed control device includes a reflector, a photoelectric potential marker array, a high-speed signal acquisition and processing unit, a photoelectric encoder, and a host computer.

[0033] The photoelectric marker array is an array structure composed of multiple photoelectric markers arranged side by side, which uses the photoelectric effect to detect and locate the target. Figure 2 As shown, each of the photoelectric potential markers is provided with an emitting light source and a corresponding photodetector. The light source and the photodetector are installed together to form a group of devices, and work in conjunction with the light reflector installed on the slide 1 (the light reflector is installed on the side of the slide and faces the direction of the emitting light source). Multiple groups of photoelectric potential markers are arranged near the slide rail at a certain interval along the length direction of the slide rail, and a photoelectric potential marker must be set at the beginning and end of the full stroke of motion control, and the position of each photoelectric potential marker needs to be calibrated. The height of the photoelectric potential marker is suitable for the light to be able to pass through the light reflector installed on the slide without obstruction to form a light circuit. The area between two adjacent photoelectric potential markers is used as a sensing interval.

[0034] Each of the photoelectric potential markers is connected to a high-speed signal acquisition and processing unit. When the slide 1 passes by a photoelectric potential marker in the photoelectric potential marker array on the slide rail, the light from the light source is reflected to the photodetector through the reflector on the slide, forming a reflection light path of the photoelectric potential marker so that the photodetector forms a photoelectric conversion signal, and the photoelectric potential marker generates a pulse signal input into the high-speed signal acquisition and processing unit. By detecting the pulse signal generated by each photodetector when the slide 1 moves along the slide rail 3, the time when the slide passes each bit marker is determined.

[0035] The photoelectric encoder in the transmission control box 2 is connected to the high-speed signal acquisition and processing unit, and inputs two-phase pulse signals and a zero-circuit signal (the photoelectric encoder generates a zero-circuit signal every 360° rotation) to calculate the distance and speed values ​​within a sensing interval of the photoelectric potential marker array (the area between two adjacent photoelectric potential markers is a sensing interval). Each time a photoelectric potential marker signal is triggered, the current slide distance and speed values ​​are corrected to offset the accumulated errors in the previous sensing interval movement process.

[0036] The high-speed signal acquisition and processing unit determines the absolute position data of the slide 1 at this moment based on the pulse signal transmitted by the photoelectric potential marker array, and corrects the distance value and speed value calculated by the incremental pulse data obtained by the system through the photoelectric encoder, so as to achieve the effect of improving accuracy and eliminating errors. The high-speed signal acquisition and processing unit includes a multi-channel photoelectric potential marker detector signal interface, a photoelectric encoder signal interface, a high-speed data processing unit, a field programmable gate array (FPGA) chip, a memory, a communication interface, etc. The multi-channel photoelectric potential marker detector signal interface and the photoelectric encoder signal interface are used to introduce external multi-channel photoelectric potential marker detector signals and photoelectric encoder signals, and have the characteristics of high response speed and low noise, which can ensure the accurate transmission of signals. The high-speed data processor processes the collected signals in real time, including filtering, amplification, denoising and other operations, to improve the quality and reliability of the signals. The field programmable gate array (FPGA) chip performs data analysis and algorithm processing, such as Fourier transform, spectrum analysis, feature extraction, etc., to solve the real-time position and speed information of the slide for the system. The memory is used to store the collected signal data and processing results for subsequent analysis and processing. The communication interface is used to communicate with the host computer, receive host computer instructions and output real-time calculation results.

[0037] like Figure 3 As shown, the specific method of applying the high-precision positioning and speed control device of the long-distance motion simulation system to a certain distance and speed detection includes:

[0038] Step 1: Set a slide rail 3 in the full stroke of long-distance movement, and install a photoelectric potential marker array on one side of the slide rail 3 along the length direction of the slide rail; wherein, a photoelectric potential marker is respectively set at the starting and ending positions of the section to be measured, and two adjacent photoelectric potential markers are spaced at a fixed interval; a matching reflector is set on the side wall of the slide, and the light source and photoelectric detector of the photoelectric potential marker are arranged on the same side of the slide rail in conjunction with the slide reflector, and the distance of each photoelectric potential marker from the initial point along the slide rail is calibrated (i.e., position calibration is performed), and it can be stably and effectively triggered in conjunction with the slide reflector.

[0039] Step 2: Connect the trigger signal lines of several photoelectric potential markers of the section to be tested to the multi-channel data acquisition device of the high-speed signal acquisition and processing unit in sequence, connect the photoelectric encoder signal line to the photoelectric encoder acquisition end of the high-speed signal acquisition and processing unit, place the slide at the starting position of the section to be tested, make the photoelectric potential marker at the starting position output a high level, and calibrate the position of the photoelectric potential marker at the trigger starting position as the reference position.

[0040] Step 3: Start measuring and make the slide pass through the section to be measured along the slide rail. When the slide passes a photopotential marker, the light from the light source of the photopotential marker is reflected by the reflector on the slide to the photodetector to generate a pulse signal. The system uses this signal as a reference to calibrate the position and speed information of the slide at that moment.

[0041] The high-speed signal acquisition and processing unit receives the pulse signals of the multi-channel photoelectric detector and the A and B phase output signals from the photoelectric encoder; determines the moving direction of the slide along the slide rail according to the A and B phase output signals of the photoelectric encoder, and measures the moving distance and real-time speed of the slide along the slide rail by counting the incremental pulse signals;

[0042] When the corresponding photoelectric potential mark pulse signal is received, the current position of the slide is updated to the corresponding position of the photoelectric potential mark and used as the new starting position. The photoelectric encoder count is reset and counted again. The current moving distance of the slide along the slide rail can be expressed as:

[0043] Current sliding distance = the distance corresponding to the latest photoelectric potential mark + the distance calculated by the photoelectric encoder

[0044] In this way, high-precision real-time position and speed measurement on the slide rail is achieved through segmented control, and accurate instantaneous speed and position information, as well as the average speed of each sensing interval, can be obtained, and the speed change curve of the entire movement process can be drawn.

[0045] In the above-mentioned high-precision positioning and speed control method for long-distance motion simulation system, in order to further improve the measurement accuracy, the original pulse signal output from the photodetector needs to undergo a series of signal conditioning operations. First, the pulse signals output by the multi-channel photodetector and the A and B phase output signals of the photoelectric encoder are filtered to remove high-frequency noise interference in the signal. This can be achieved by using a low-pass filter, and the cutoff frequency should be reasonably designed according to the operating frequency and noise characteristics of the system to ensure the integrity of the signal within the effective signal frequency range, while maximally suppressing the high-frequency noise components.

[0046] Next, the filtered signal is amplified to increase the weak signal amplitude to a level range suitable for high-speed signal acquisition and processing units. During the signal amplification process, the stability and linearity of the amplification factor must be ensured to avoid introducing additional distortion.

[0047] In order to better extract useful information from the collected data, the system uses FPGA for efficient data analysis and algorithm processing. Inside the FPGA, the signal can be denoised, using algorithms such as mean filtering and median filtering to further eliminate the influence of residual noise.

[0048] For the calculation of the position and speed information of the slide, the time domain signal is converted into a frequency domain signal using Fourier transform, and the characteristic frequency and amplitude information of the signal are extracted through spectrum analysis. The pulse signal output by the photoelectric encoder will show spectrum characteristics related to the movement frequency of the slide in the frequency domain. By analyzing these characteristics, the movement speed of the slide can be calculated more accurately. At the same time, feature extraction operations can be performed to extract key features closely related to the position and speed of the slide from complex signal data. These features can be information such as the amplitude and phase of specific frequency components.

[0049] During the processing, the moving direction of the slide can be determined based on the phase relationship between the output signals of the A and B phases of the photoelectric encoder. For the calculation of the slide position, on the one hand, the position information of the slide is updated based on the trigger signal of the photoelectric potential marker, the current position of the slide is updated to the position corresponding to the latest photoelectric potential marker, and the photoelectric encoder count is cleared; on the other hand, in the interval between the photoelectric potential markers, the incremental pulse signal count output by the photoelectric encoder is combined with its pulse equivalent (i.e., the displacement represented by each pulse) to calculate the photoelectric encoder count resolution distance through an algorithm, and finally the current moving distance of the slide along the slide rail is obtained. The real-time speed information of the slide can be calculated based on the pulse count and sampling time interval of the photoelectric encoder in a short period of time, and corrected in combination with the speed feature information extracted from the frequency domain analysis to achieve high-precision real-time speed measurement.

[0050] In addition, when drawing the curve, FPGA is used to process and store the speed data in real time to ensure the real-time update and accuracy of the speed curve. In the algorithm processing process, the sliding window technology can be used, combined with the timestamp information, to perform weighted processing on the data at different times to improve the smoothness and reliability of the speed and position information. Through this method of combining signal conditioning, FPGA data analysis and algorithm processing, the system can achieve high-precision real-time position and speed measurement of the slide, providing an accurate technical means for the motion monitoring of the slide on the long-distance slide rail.

[0051] Although the preferred embodiments of the present invention have been described above in conjunction with the accompanying drawings, the present invention is not limited to the above-mentioned specific embodiments, which are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which fall within the scope of protection of the present invention.

Claims

1. A high-precision positioning and speed control device for a long-distance motion simulation system, characterized in that: It includes a reflector, a photopotential marker, a high-speed signal acquisition and processing unit and a photoelectric encoder; The photopotential marker comprises a light source and a photodetector; A plurality of the photoelectric potential markers are arranged at intervals along the length direction of the full range of motion, and the space between two adjacent photoelectric potential markers serves as a sensing interval; The reflector is arranged on the side wall of the slide and faces the direction of the light source; Each of the photoelectric potential markers and photoelectric encoders is electrically connected to a high-speed signal acquisition and processing unit; When the photoelectric potential marker passes by the slide (1), a reflective mirror is used to form a reflection light path of the photoelectric potential marker, so that the photoelectric potential marker generates a pulse signal; the high-speed signal acquisition and processing unit acquires the pulse signal in real time, and timestamps the photoelectric potential marker signal acquired in real time, and determines the absolute position data of the slide (1) at the current moment based on the pulse signal transmitted by the photoelectric potential marker, and solves its distance value and speed value; the photoelectric encoder transmits the solved distance value and speed value to the high-speed signal acquisition and processing unit; the distance value solved by the photoelectric encoder is corrected according to the distance value solved by the absolute position data, and the speed value solved by the photoelectric encoder is corrected according to the speed characteristics extracted from the absolute position data to obtain the real-time position information and instantaneous speed information of each sensing interval, as well as the average speed of each sensing interval.

2. The high-precision positioning and speed control device for a long-distance motion simulation system according to claim 1, characterized in that: The long-distance motion simulation system also includes a transmission control box (2) in which a photoelectric potential marker, a high-speed signal acquisition and processing unit, a photoelectric encoder and a motor are placed; the motor is used to drive the slide table (1) on the slide rail (3) to move.

3. The high-precision positioning and speed control device for a long-distance motion simulation system according to claim 1, characterized in that: The high-speed signal acquisition and processing unit also includes a multi-channel photoelectric potentiometer detector signal interface, an encoder signal interface, an FPGA chip, a memory and a communication interface; the multi-channel photoelectric potentiometer detector signal interface and the photoelectric encoder signal interface are respectively used to introduce external multi-channel photoelectric potentiometer detector signals and photoelectric encoder signals; the FPGA chip is used to perform data analysis and algorithm processing to solve the real-time position and speed information of the slide for the system; the memory is used to store the collected signal data and processing results for subsequent analysis and processing; the communication interface is used to communicate with the host computer, receive host computer instructions and output real-time calculation results.

4. A high-precision positioning and speed control method for a long-distance motion simulation system, comprising: Step 1: Two adjacent photoelectric potential markers are used as a sensing interval, and the output of the photoelectric potential marker that passes first is made high, and the position of the photoelectric potential marker is calibrated as the reference position; the slide (1) is made to pass through the full stroke of the movement to be measured along the slide rail (3), and when the slide (1) passes through the photoelectric potential marker located at the reference position, the light from the light source of the photoelectric potential marker is reflected by the reflector on the slide (1) to the photoelectric detector of the photoelectric potential marker to generate a pulse signal, and the position and speed information of the slide at the current moment is calibrated with the pulse signal as the reference; subsequently, a pulse signal is generated each time a photoelectric potential marker is passed, so as to obtain the actual position of the slide and solve the distance value and speed value in the current sensing interval; when the photoelectric potential marker signal at a certain reference position is triggered, it is determined that the slide has reached the actual position of this reference at that moment; Step 2: Read the pulse count information of the photoelectric encoder, determine the moving direction of the slide along the slide rail according to the signal of the photoelectric encoder, and measure the current moving distance of the slide along the slide rail by counting the signal cycle, so as to solve the distance value and speed value of the slide passing through the sensing interval; Step 3: According to the latest actual position of the photoelectric potential marker obtained in step 1 and the current distance value of the slide calculated, correct the distance value and speed value calculated by the photoelectric encoder in step 2 to obtain the current sliding distance value of the slide; correct the speed value calculated in step 2 in combination with the speed feature extracted in step 1 to obtain the real-time speed value.

5. The high-precision positioning and speed control method for a long-distance motion simulation system according to claim 4, characterized in that: According to the distance and speed values ​​obtained in step 3, the real-time position and speed measurement on the slide rail is realized, and the instantaneous speed and position information, as well as the average speed of each sensing interval, are obtained, and the speed change curve of the entire movement process is drawn.

6. The high-precision positioning and speed control method for a long-distance motion simulation system according to claim 4, characterized in that: Before calibration, a slide rail (3) is arranged at the full travel of the movement, and a plurality of photoelectric potential marker arrays are arranged at intervals on one side of the slide rail (3); wherein a photoelectric potential marker is arranged at the start and end positions of the section to be measured; and a reflector is arranged on the side wall of the slide, and the reflector installed on the slide is used to trigger and calibrate the distance of each photoelectric potential marker from the start point of the movement along the slide rail.

7. The high-precision positioning and speed control method for a long-distance motion simulation system according to claim 4, characterized in that: The acquisition of the speed feature in step 3 includes the following steps: According to the data obtained in step 1, the original pulse signal output by the photoelectric potentiometer and the A and B phase output signals of the photoelectric encoder are filtered and amplified to denoise the signals; for the calculation of the position and speed information of the slide, the time domain signal is converted into a frequency domain signal using Fourier transform, and the characteristic frequency and amplitude information of the signal are extracted through spectrum analysis, thereby extracting the speed characteristics.

8. The high-precision positioning and speed control method for a long-distance motion simulation system according to claim 4, characterized in that: The speed value in step 2 is calculated based on the pulse count of the photoelectric encoder in a short period of time and the sampling time interval.

Images