Equivalent static base test method and device for movable base erecting and rotating device

Abstract

The invention provides an equivalent static base test method and device for a movable base erecting and rotating device. The method is used for solving the technical problem that the design cost input of a movable base is high due to the mass load requirement for the performance of the movable base when the tracking capability of the erecting and rotating device is verified. The equivalent static base test method for the movable base erecting and rotating device comprises the steps that a motion space coordinate system is established, and the motion state of the movable base erecting and rotating device is quantitatively collected; state decoupling is carried out on the motion state in the motion space according to the target attitude angle; according to the decoupled motion state, state peak values of the erecting motion and the rotating motion are determined; the state peak values of the erecting motion and the rotating motion under the movable base are equivalent to the equivalent angles of the erecting motion and the rotating motion under the static base through an equivalent assumption sine method. The test of equivalently verifying the movable base by the static base is realized, and the design and cost investment on the hardware structure of the movable base is reduced.

Description

Technical Field

[0001] This invention relates to the field of composite motion technology for equipment, specifically to a test method and apparatus for an equivalent static base of a dynamic base erection and rotation device. Background Technology

[0002] The moving-base erection and rotation device is mainly used in control systems for radar, air-to-air launch, and other fields. Through elevation and azimuth movements, it drives the radar, rocket, and other loads to the target attitude angles (i.e., target elevation and azimuth angles), while simultaneously isolating the swaying of the moving base to achieve constant aiming at the target. Because the roll and pitch of the moving base affect the elevation and azimuth attitude angles of the erection and rotation device, the control system needs to drive the device to aim and track the target attitude angles in real time until the operation is complete. This requires stable erection and rotation under heavy loads and good dynamic characteristics.

[0003] During the aiming control process of the moving base, the erecting and slewing device and its load generally have large mass characteristics. In the laboratory, to verify the servo performance of the erecting and slewing device under the design algorithm, the moving base must also have corresponding load-bearing capacity. This also places high performance requirements on the actuators of the moving base. To reduce the investment cost of the moving base, verifying the operational performance on the static base is an urgent technical need. Finding a test method that equates the motion of the moving base to the motion state under the static base is an urgent and effective technical approach. Summary of the Invention

[0004] In view of the above problems, embodiments of the present invention provide a test method and apparatus for an equivalent static base of a dynamic base erection and slewing device. This addresses the technical problem that the high design cost of the dynamic base is caused by the mass load requirements for the dynamic base performance when verifying the tracking capability of the erection and slewing device.

[0005] The equivalent static base test method for the dynamic base erection and rotation device of this invention includes:

[0006] Establish a motion space coordinate system to quantitatively collect the motion state of the moving base erection and rotation device;

[0007] In the motion space, the motion state is decoupled according to the target attitude angle;

[0008] The peak states of the erection and rotational motions are determined based on the decoupled motion states.

[0009] By using the equivalent assumption sine method, the peak values ​​of the vertical and rotary motions under the moving base are equivalent to the equivalent angles of the vertical and rotary motions under the static base.

[0010] In one embodiment of the present invention, the quantization content includes: the target elevation angle θ and the target azimuth angle of the load. The erection angle β and rotation angle α of the erection and slewing device, the longitudinal tilt angle γ, the transverse tilt angle δ, and the longitudinal axis azimuth angle of the moving base.

[0011] In one embodiment of the present invention, the state decoupling includes:

[0012] According to the target elevation angle θ of the erecting and slewing device m Target azimuth Current longitudinal azimuth of the moving base Current pitch angle γ, current roll angle δ, combined to form the current target erection angle β m for:

[0013]

[0014] Forming the current target rotation angle α m for:

[0015]

[0016] In one embodiment of the present invention, determining the peak states of the erection and rotation motions based on the decoupled motion states includes:

[0017] Assume that within a sinusoidal period T, the pitch lags behind the roll by ΔT seconds;

[0018] Based on the current pitch angle γ of the base and the current roll angle δ of the base, the target elevation angle θ of the moving base erection and slewing device. m and target azimuth The range of values ​​within the period T of the sine wave;

[0019] Within the sinusoidal period T, at the target elevation angle θ m Target azimuth The peak vertical angular velocity ω was obtained by iterative exhaustive search over the entire value range and differential calculation. qm Peak vertical angular acceleration ε qm Peak angular velocity ω hm Peak angular acceleration ε hm .

[0020] In one embodiment of the present invention, the step of equating the peak values ​​of the vertical and horizontal motions under the moving base to the equivalent angles of the vertical and horizontal motions under the static base using the equivalent sinusoidal method includes:

[0021] The instantaneous angle is obtained by using a sinusoidal angle input signal:

[0022] Where A is the angular amplitude (or angular value), T is the period, and t is the instantaneous time.

[0023] The angular velocity can be obtained by differentiation: Angular acceleration is:

[0024] The correlation equations between the angular amplitude and period time and the peak signal are as follows:

[0025] Based on the peak vertical angular velocity ω qm Peak vertical angular acceleration ε qm Peak angular velocity ω hm Peak angular acceleration ε hm form:

[0026] The sine curve of the target elevation angle is:

[0027]

[0028] The sine curve of the target rotation angle is:

[0029]

[0030] The equivalent static base test device for the dynamic base erection and rotation device of this invention is characterized by comprising:

[0031] The memory is used to store the program code in the process of the equivalent static base test method of the above-mentioned base erection and rotation device;

[0032] A processor for executing the program code.

[0033] The equivalent static base test device for the dynamic base erection and rotation device of this invention includes:

[0034] The spatial data acquisition module is used to establish a motion spatial coordinate system and quantitatively acquire the motion state of the moving base erection and rotation device;

[0035] The motion state decoupling module is used to decouple the motion state in the motion space according to the target attitude angle;

[0036] The motion peak formation module is used to determine the state peaks of the erection and rotation motions based on the decoupled motion states.

[0037] The equivalent sine simulation module is used to convert the peak values ​​of the vertical and rotary motions under the moving base into equivalent angles of the vertical and rotary motions under the static base by using the equivalent assumed sine method.

[0038] In one embodiment of the present invention, the motion state decoupling module forms the target rotation angle:

[0039]

[0040] Target vertical angle:

[0041]

[0042] The target elevation angle of the erection and slewing device is θ. m The target azimuth is The current longitudinal azimuth angle of the moving base is The current pitch angle is γ, and the current roll angle is δ.

[0043] In one embodiment of the present invention, the motion peak forming module obtains the peak value of the vertical angular velocity ω. qm Peak vertical angular acceleration ε qm Peak angular velocity ω hm Peak angular acceleration ε hm .

[0044] In one embodiment of the present invention, the equivalent sine simulation module uses a sinusoidal angle input signal as follows:

[0045] Where A is the angular amplitude (or angular value), T is the period, and t is the instantaneous time.

[0046] Angular velocity is:

[0047]

[0048] Angular acceleration is:

[0049]

[0050] The correlation equations between the angular amplitude and period time and the peak signal are as follows:

[0051]

[0052] The resulting sine curve of the vertical target angle is:

[0053]

[0054] The sine curve of the target rotation angle is:

[0055]

[0056] The equivalent static base test method and apparatus for the moving base erection and rotation device of this invention uses a periodic angular motion sinusoidal quantity to represent the complex state of the moving base during periodic motion, and simulates the complex motion state of the moving base through a target angle sinusoidal curve of the static base. This achieves equivalent verification of the moving base test using a static base, reducing the design and cost investment in the hardware structure of the moving base. Simultaneously, it decouples the device from the load in both height and azimuth directions under changes in the yaw and pitch angles of the moving base, simplifying the algorithmic complexity of the equivalent test process and improving test efficiency and accuracy. It can effectively verify the tracking capability of the erection and rotation device in the moving base state. Attached Figure Description

[0057] Figure 1 The diagram shown is a schematic flowchart of the equivalent static base test method of the dynamic base erection and rotation device according to an embodiment of the present invention.

[0058] Figure 2 The diagram shows the formation of the main motion parameters in the equivalent static base test method of the dynamic base erection and rotation device according to an embodiment of the present invention.

[0059] Figure 3 The diagram shows the motion space coordinate system OXYZ and the target elevation angle and azimuth angle in the equivalent static base test method of the dynamic base erection and rotation device according to an embodiment of the present invention.

[0060] Figure 4 The diagram shows the coordinate system OX1Y1Z1 of the moving base and the erection and rotation angles of the moving base erection and rotation device in the equivalent static base test method of the moving base erection and rotation device according to an embodiment of the present invention.

[0061] Figure 5 The diagram shown is a schematic representation of the longitudinal and transverse tilt angles of the moving base in the motion space coordinate system OXYZ in the equivalent static base test method of the moving base erection and rotation device according to an embodiment of the present invention.

[0062] Figure 6 The diagram shown is a schematic diagram of the longitudinal axis azimuth angle of the moving base in the motion space coordinate system OXYZ in the equivalent static base test method of the moving base erection and rotation device according to an embodiment of the present invention.

[0063] Figure 7 The diagram shown is a schematic diagram of the equivalent static base test device of the dynamic base erection and rotation device according to an embodiment of the present invention. Detailed Implementation

[0064] To make the objectives, technical solutions, and advantages of this invention clearer and more understandable, the invention will be further described below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0065] An embodiment of the present invention provides a test method for the equivalent static base of the dynamic base erection and rotation device, as follows: Figure 1 As shown. In Figure 1 In this embodiment, the following are included:

[0066] Step 100: Establish a motion space coordinate system and quantitatively collect the motion state of the moving base erection and rotation device.

[0067] Those skilled in the art will understand that establishing a three-dimensional coordinate system in the motion space can quantify the motion posture and motion state of the moving base erection and rotation device.

[0068] In one embodiment of the present invention, a spatial coordinate system OXYZ defined by a geodetic coordinate system is used, such as... Figure 3 As shown. (North is on the right) Figure 3 In the diagram, the origin O is set at the center of the steering gear, OX points due east and is parallel to the horizontal plane, OY points due north and is parallel to the horizontal plane and perpendicular to OX, and OZ points upward and is perpendicular to the horizontal plane.

[0069] In one embodiment of the present invention, the base coordinate system OX1Y1Z1 is as follows: Figure 4 As shown. In Figure 4 In the center, the origin O is located at the center of the steering gear. Looking from the rear of the stationary base to the front, the horizontal axis OX1 of the base points to the right side of the device and is parallel to the mounting surface of the slewing device. The vertical axis OY1 of the base points to the front of the slewing device and is parallel to the mounting surface of the slewing device. The vertical axis OZ1 of the base points upward and is perpendicular to the mounting surface of the slewing device.

[0070] In one embodiment of the present invention, the elevation angle and azimuth angle of the load target attitude are as follows: Figure 3 As shown. In Figure 3 In this context, the elevation angle θ is the angle between the load's longitudinal axis and the horizontal plane. 0 degrees is when the load's longitudinal axis is horizontal; positive is when the load is tilted upwards, and negative is when it is tilted downwards. Azimuth angle. The angle between the projection of the load's longitudinal axis onto the horizontal plane and true north (see...) Figure 6 The load's longitudinal axis projection points to 0 degrees due north, 90 degrees due east, 180 degrees due south, and 270 degrees due west.

[0071] In one embodiment of the present invention, the erection angle and rotation angle of the erection and rotation device are as follows: Figure 4 As shown. In Figure 4In the diagram, the erection angle β is the angle through which the erecting device rotates around the trunnion during erection. The erection angle can be measured by installing an erection angle sensor on the erection trunnion of the erecting device. Zero is the angle when the longitudinal axis of the erecting device is parallel to the base; positive is when rotating upwards around the trunnion, and negative is the opposite. The slewing angle α is the angle through which the slewing device rotates relative to its center position around the central axis of the turntable during slewing. The slewing angle can be measured by installing a slewing bearing on the slewing device and placing a slewing angle sensor at the center of rotation. Viewed from the rear of the base to the front, zero is the slewing angle when the device is in its center position; positive is when rotating to the right, and negative is the opposite.

[0072] In one embodiment of the present invention, the longitudinal tilt angle and the transverse tilt angle of the moving base are as follows: Figure 5 As shown. In Figure 5 In the diagram, the longitudinal tilt angle γ of the base is the angle between the longitudinal axis of the moving base and the horizontal plane. When viewed from the rear to the front of the base, a positive longitudinal tilt angle is when the front of the base is higher than the rear, and vice versa. The transverse tilt angle δ of the base is the angle between the transverse axis of the moving base and the horizontal plane. When viewed from the rear to the front of the base, a positive transverse tilt angle is when the left transverse axis is higher than the right transverse, and vice versa.

[0073] In one embodiment of the present invention, the azimuth angle of the longitudinal axis of the moving base is as follows: Figure 6 As shown. In Figure 6 In the middle, the azimuth angle of the longitudinal axis of the moving base The angle between the projection of the moving base's longitudinal axis onto the horizontal plane and the north direction is measured using a laser inertial navigation system. The projection of the moving base's longitudinal axis points to 0 degrees north, 90 degrees east, 180 degrees south, and 270 degrees west. There is a deviation in the azimuth angle between the moving base and the attitude of the load target when the moving base is swaying.

[0074] Step 200: Decouple the motion state in the motion space according to the target attitude angle.

[0075] Because the roll and pitch cause a large tilt angle to the base of the erecting and slewing device, there is a significant coupling effect in both the elevation and azimuth directions. Therefore, during the follow-up tracking process, the device's motion speed and required acceleration are coupled. As the elevation angle changes, the azimuth angle also changes accordingly. Therefore, how to achieve angle decoupling under this method is both the key and the challenge.

[0076] The target attitude angle of the load is determined by the target elevation angle θ. m and target azimuth Composition. The motion state of the moving base erection and rotation device to achieve the target attitude angle is decoupled in the two dimensions of rotation and erection, so as to obtain the target erection angle β in the motion state. m Target rotation angle α m .

[0077] Combination Figure 2 As shown, in one embodiment of the present invention, the target elevation angle θ of the erecting and rotating device is determined according to... mTarget azimuth Current longitudinal azimuth of the moving base Given the current pitch angle γ and current roll angle δ, calculate the current (real-time) target elevation angle β after state decoupling. m and target rotation angle α m Includes:

[0078] Target turning angle:

[0079]

[0080] Target vertical angle:

[0081]

[0082] Step 300: Determine the peak values ​​of the erection and rotation motions based on the decoupled motion states.

[0083] Based on the motion state of the moving base erection and rotation device, the real-time target erection angle and target rotation angle are obtained. The target erection angle and rotation angle are iteratively exhaustively calculated to obtain the state peak values ​​of erection angular velocity, erection angular acceleration, rotation angular velocity, and rotation angular acceleration, respectively.

[0084] Combination Figure 2 As shown, in one embodiment of the present invention, the process of obtaining the state peak includes:

[0085] Assume that within (one) sinusoidal period T, the pitch lags behind the roll by ΔT seconds;

[0086] Given the current pitch angle γ of the base, the current roll angle δ of the base, and the target elevation angle θ of the moving base erection and slewing device. m and target azimuth The range of values ​​within the period T of the sine wave;

[0087] Then, within the sinusoidal period T, at the target elevation angle θ m Target azimuth By iteratively exhaustively searching through the entire value range and performing differential calculations, the peak vertical angular velocity ω was obtained. qm Peak vertical angular acceleration ε qm Peak angular velocity ω hm Peak angular acceleration ε hm .

[0088] In one embodiment of the present invention, taking the peak vertical angular velocity of the target as an example, the iterative exhaustive method is as follows:

[0089] Declaration θ m , Variables such as ΔT;

[0090] Initialize γ, δ, ωm Equivalent parameters or sine functions;

[0091]

[0092] Step 400: By using the equivalent assumption sine method, the peak values ​​of the state of the vertical and rotary motions under the moving base are equivalent to the equivalent angles of the vertical and rotary motions under the static base.

[0093] The equivalent assumed sine method is adopted, and the maximum tracking angular velocity and the maximum tracking angular acceleration are used to set the sinusoidal angle input signal for tracking.

[0094] Combination Figure 2 As shown, in one embodiment of the present invention, the instantaneous angle is represented by a sinusoidal angle input signal as follows:

[0095] Where A is the angular amplitude (or angular value), T is the period, and t is the instantaneous time.

[0096] By differentiation, we can obtain:

[0097] Angular velocity is:

[0098]

[0099] Angular acceleration is:

[0100]

[0101] The maximum (tracking) velocity and maximum (tracking) acceleration are respectively:

[0102]

[0103] Furthermore, the correlation equations between the angular amplitude and period time and the peak signal can be derived as follows:

[0104]

[0105] In one embodiment of the present invention, the state peak value, for example, the peak vertical angular velocity ω qm Peak vertical angular acceleration ε qm Peak angular velocity ω hm Peak angular acceleration ε hm Substituting into the correlation equation, we get:

[0106] The sine curve of the target elevation angle is:

[0107]

[0108] The sine curve of the target rotation angle is:

[0109]

[0110] The equivalent static base test method for the moving base erection and rotation device in this invention uses a periodic angular motion sinusoidal quantity to represent the complex state of the moving base during periodic motion, and simulates the complex motion state of the moving base through a target angle sinusoidal curve of the static base. This achieves equivalent verification of the moving base test using a static base, reducing the design and cost investment in the moving base hardware structure. Simultaneously, it decouples the device from the load in both height and orientation directions under changes in the yaw and pitch angles of the moving base, simplifying the algorithmic complexity of the equivalent test process and improving test efficiency and accuracy. It can effectively verify the tracking capability of the erection and rotation device in the moving base state.

[0111] An embodiment of the present invention provides an equivalent static base test device for a dynamic base erection and rotation device, comprising:

[0112] The memory is used to store the program code in the process of the equivalent static base test method of the base erection and rotation device in the above embodiment;

[0113] The processor is used to execute program code in the equivalent static base test method processing of the base erection and rotation device in the above embodiments.

[0114] The processor can be a DSP (Digital Signal Processor), an FPGA (Field-Programmable Gate Array), an MCU (Microcontroller Unit) system board, a SoC (System on a Chip) system board, or a PLC (Programmable Logic Controller) minimum system including I / O.

[0115] An equivalent static base test device for a dynamic base erection and rotation device according to an embodiment of the present invention is as follows: Figure 7 As shown. In Figure 7 In this embodiment, the following are included:

[0116] The spatial data acquisition module 10 is used to establish a motion space coordinate system and to quantitatively acquire the motion state of the moving base erection and rotation device.

[0117] The motion state decoupling module 20 is used to decouple the motion state in the motion space according to the target attitude angle.

[0118] The motion peak formation module 30 is used to determine the state peaks of the erection motion and the rotation motion based on the decoupled motion state.

[0119] The equivalent sine simulation module 40 is used to convert the peak values ​​of the vertical and rotary motions under the moving base into equivalent angles of the vertical and rotary motions under the static base by using the equivalent assumed sine method.

[0120] In one embodiment of the present invention, the motion state decoupling module 20 is formed after state decoupling:

[0121] Target turning angle:

[0122]

[0123] Target vertical angle:

[0124]

[0125] The target elevation angle of the erection and slewing device is θ. m The target azimuth is The current longitudinal azimuth angle of the moving base is The current pitch angle is γ, and the current roll angle is δ.

[0126] In one embodiment of the present invention, the motion peak formation module 30 determines the state peak by including:

[0127] Assume that within (one) sinusoidal period T, the pitch lags behind the roll by ΔT seconds;

[0128] Given the current pitch angle γ of the base, the current roll angle δ of the base, and the target elevation angle θ of the moving base erection and slewing device. m and target azimuth The range of values ​​within the period T of the sine wave;

[0129] Then, within the sinusoidal period T, at the target elevation angle θ m Target azimuth By iteratively exhaustively searching through the entire value range and performing differential calculations, the peak vertical angular velocity ω was obtained. qm Peak vertical angular acceleration ε qm Peak angular velocity ω hm Peak angular acceleration ε hm .

[0130] In one embodiment of the present invention, the equivalent sine simulation module 40 includes the equivalent assumed sine method comprising: the instantaneous angle using a sinusoidal angle input signal as follows:

[0131] Where A is the angular amplitude (or angular value), T is the period, and t is the instantaneous time.

[0132] By differentiation, we can obtain:

[0133] Angular velocity is:

[0134]

[0135] Angular acceleration is:

[0136]

[0137] The maximum (tracking) velocity and maximum (tracking) acceleration are respectively:

[0138]

[0139] Furthermore, the correlation equations between the angular amplitude and period time and the peak signal can be derived as follows:

[0140]

[0141] In one embodiment of the present invention, the state peak value, for example, the peak vertical angular velocity ω qm Peak vertical angular acceleration ε qm Peak angular velocity ω hm Peak angular acceleration ε hm Substituting into the correlation equation, we get:

[0142] The sine curve of the target elevation angle is:

[0143]

[0144] The sine curve of the target rotation angle is:

[0145]

[0146] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A test method for an equivalent static base of a dynamic base erection and rotation device, characterized in that, include: Establish a motion space coordinate system to quantitatively collect the motion state of the moving base erection and rotation device; In the motion space, the motion state is decoupled according to the target attitude angle; The peak states of the erection and rotational motions are determined based on the decoupled motion states. By using the equivalent assumption sine method, the peak values ​​of the vertical and rotary motions under the moving base are equivalent to the equivalent angles of the vertical and rotary motions under the static base.

2. The test method for the equivalent static base of the dynamic base erection and rotation device as described in claim 1, characterized in that, The quantification includes: the target elevation angle θ and the target azimuth angle of the load. The erection angle β and rotation angle α of the erection and slewing device, the longitudinal tilt angle γ, the transverse tilt angle δ, and the longitudinal axis azimuth angle of the moving base.

3. The test method for the equivalent static base of the dynamic base erection and rotation device as described in claim 1, characterized in that, The state decoupling includes: According to the target elevation angle θ of the erecting and slewing device m Target azimuth Current longitudinal azimuth of the moving base Current pitch angle γ, current roll angle δ, combined to form the current target erection angle β m for: Forming the current target rotation angle α m for:

4. The test method for the equivalent static base of the dynamic base erection and rotation device as described in claim 1, characterized in that, The determination of the peak states of the erection and rotation motion based on the decoupled motion states includes: Assume that within a sinusoidal period T, the pitch lags behind the roll by ΔT seconds; Based on the current pitch angle γ of the base and the current roll angle δ of the base, the target elevation angle θ of the moving base erection and slewing device. m and target azimuth The range of values ​​within the period T of the sine wave; Within the sinusoidal period T, at the target elevation angle θ m Target azimuth The peak vertical angular velocity ω was obtained by iterative exhaustive search across the entire value range and differential calculation. qm Peak vertical angular acceleration ε qm Peak angular velocity ω hm Peak angular acceleration ε hm .

5. The test method for the equivalent static base of the dynamic base erection and rotation device as described in claim 1, characterized in that, The method of equivalently assuming a sine wave to equate the peak values ​​of the vertical and rotary motions under the moving base to the equivalent angles of the vertical and rotary motions under the static base includes: The instantaneous angle is obtained by using a sinusoidal angle input signal: Where A is the angular amplitude (or angular value), T is the period, and t is the instantaneous time. The angular velocity can be obtained by differentiation: Angular acceleration is: The correlation equations between the angular amplitude and period time and the peak signal are as follows: Based on the peak vertical angular velocity ω qm Peak vertical angular acceleration ε qm Peak angular velocity ω hm Peak angular acceleration ε hm form: The sine curve of the target elevation angle is: The sine curve of the target rotation angle is:

6. An equivalent static base test device for a dynamic base erection and rotation device, characterized in that, include: The memory is used to store the program code in the process of the equivalent static base test method of the base erection and rotation device as described in any one of claims 1 to 5; A processor for executing the program code.

7. An equivalent static base test device for a dynamic base erection and rotation device, characterized in that, include: The spatial data acquisition module is used to establish a motion spatial coordinate system and quantitatively acquire the motion state of the moving base erection and rotation device; The motion state decoupling module is used to decouple the motion state in the motion space according to the target attitude angle; The motion peak formation module is used to determine the state peaks of the erection and rotation motions based on the decoupled motion states. The equivalent sine simulation module is used to convert the peak values ​​of the vertical and rotary motions under the moving base into equivalent angles of the vertical and rotary motions under the static base by using the equivalent assumed sine method.

8. The equivalent static base test device for the dynamic base erection and rotation device as described in claim 7, characterized in that, The motion state decoupling module generates the target rotation angle: Target vertical angle: The target elevation angle of the erection and slewing device is θ. m The target azimuth is The current longitudinal azimuth angle of the moving base is The current pitch angle is γ, and the current roll angle is δ.

9. The equivalent static base test device for the dynamic base erection and rotation device as described in claim 7, characterized in that, The motion peak formation module respectively obtains the peak value of the vertical angular velocity ω. qm Peak vertical angular acceleration ε qm Peak angular velocity ω hm Peak angular acceleration ε hm .

10. The equivalent static base test device for the dynamic base erection and rotation device as described in claim 7, characterized in that, The equivalent sinusoidal simulation module uses a sinusoidal angle input signal as follows: Where A is the angular amplitude (or angular value), T is the period, and t is the instantaneous time. Angular velocity is: Angular acceleration is: The correlation equations between the angular amplitude and period time and the peak signal are as follows: The resulting sine curve of the vertical target angle is: The sine curve of the target rotation angle is:

Images