Multi-purpose posture simulation angular vibration table and control method

Abstract

The utility model discloses a kind of multi-purpose attitude simulation angular vibration table and method, it is related to vibration test equipment field, including angular vibration table, six degrees of freedom swing table, vibration control instrument, power amplifier and electric control cabinet, by adopting six degrees of freedom swing table and angular vibration table combination into a set of test device, and angular vibration table adopts hinge structure.Test device can simulate that photoelectric equipment is subjected to random or specific power spectral density angular vibration in the movement process of carrying platform, for the attitude simulation of airborne photoelectric equipment and the test or test of accompanying angular vibration, attitude simulation and angular vibration test method can check vibration signal in vibration test process, ensure that the input vibration signal accurately passes to the equipment to be measured.The angular vibration frequency of the utility model is 0~2000Hz, and the coverage is wide, and typical airborne experiment can be reproduced.

Description

Technical Field

[0001] This invention applies to the field of vibration testing equipment, specifically a multi-purpose attitude simulation angular vibration table and method. Background Technology

[0002] Performing attitude simulation and angular vibration testing simultaneously is widely used in the development of optoelectronic equipment installed on aircraft, ships, and vehicles. Currently, due to limitations in testing equipment in China, optoelectronic equipment installed on launch platforms typically employs separate attitude simulation and angular vibration testing methods, which cannot accurately represent the impact of motion factors on the quality of optoelectronic measurements. Furthermore, current domestic angular vibration tables, due to the gaps in the joint hinge components, cannot transmit high-frequency vibrations from the vibration excitation device, and can only measure angular vibrations below 300Hz, while angular vibrations between 300 and 2000Hz are considered a blind zone. Summary of the Invention

[0003] To address the aforementioned problems, specifically those raised in the background section, this invention proposes a multi-purpose attitude simulation angular vibration table and method, comprising an angular vibration table, a six-degree-of-freedom swing table, a vibration controller, a power amplifier, and an electrical control cabinet. The angular vibration table includes a base and a vibration table surface. An accelerometer is mounted on the vibration table surface, recording the vibration acceleration value of the angular vibration table and feeding it back to the vibration controller. The angular vibration table is controlled in a closed loop through electrical signal compensation to achieve the required vibration level. A central spring hinge is installed between the base and the vibration table. The lower end of the central spring hinge is installed on the base, and the upper end is installed at point O in the Cartesian coordinate system of the vibration table. Buffer devices are arranged in an array between the base and the vibration table, centered on the central spring hinge. A pair of electric vibration excitation devices are also installed between the base and the vibration table. Each pair of electric vibration excitation devices is equipped with a drive spring hinge. The upper ends of the drive spring hinges are fixed on the Cartesian coordinate system axis of the vibration table. Both the drive spring hinge and the central spring hinge consist of only one part and have no movement clearance. The six-degree-of-freedom swing table includes: an upper table surface and a lower table surface. The lower table surface is fixedly connected to the basic experimental fixed point. A plurality of upper mounting seats are installed on the lower wall surface of the upper table surface, and a plurality of lower mounting seats are installed on the upper wall surface of the lower table surface. A plurality of electric cylinders are hinged between the plurality of upper mounting seats and the plurality of lower mounting seats. The base is mounted on the upper platform, and the angular vibration table and the six-degree-of-freedom swing table work simultaneously.

[0004] A further feature of this invention is that the buffer device includes a positive buffer and a negative buffer, the positive buffer being located outside the negative buffer, and a buffer base being installed below both the positive buffer and the negative buffer.

[0005] A further provision of this invention patent is that the buffer device used in the angular vibration table can be configured to use the forward buffer alone, the reverse buffer alone, or a combination of the forward and reverse buffers, depending on the operating conditions. The buffer component of the buffer can be an airbag or a rubber pad.

[0006] A further provision of this invention patent is that: the vibration controller outputs a vibration spectrum electrical signal, which drives the electric vibration excitation device to vibrate along its own axis according to the vibration spectrum through a power amplifier, causing the drive spring hinge and the central spring hinge to undergo elastic bending deformation, thereby causing the vibration table surface to generate angular vibration around the axis of the Cartesian rectangular coordinate system, and the vibration is unidirectional or bidirectional.

[0007] A further feature of this invention is that the electrical control cabinet drives the electric cylinder to extend and retract according to the motion spectrum, pushes and pulls the upper platform to perform posture simulation motion according to the input motion spectrum, and achieves vibration, which is angular or linear vibration.

[0008] The present invention patent is further configured to include the following core steps: S1. Multi-coordinate system calibration and target calculation: Online real-time calibration of fixed coordinate system and moving coordinate system; S2, Inverse kinematics calculation and telescopic drive: Inverse kinematics calculation is performed based on the ZYX Euler angle rotation matrix to convert the target posture into the theoretical telescopic length of each electric cylinder (14); S3. Closed-loop feedback verification: The actual cylinder length is fed back by the encoder, and the actual pose is obtained by forward kinematics calculation and compared with the target pose to form a closed-loop iterative control to ensure positioning accuracy. S4. Active Vibration Suppression: By reading accelerometer data in real time, the system dynamically adjusts the motor servo stiffness and gain to actively suppress vibrations caused by the platform's own motion or external excitations, ensuring attitude stability. The beneficial technical effects of this invention are as follows: a test device is formed by combining a six-degree-of-freedom swing table and an angular vibration table, with the angular vibration table employing a hinge structure. The test device can simulate the random or specific power spectral density angular vibration experienced by optoelectronic equipment during the movement of a transport platform. It is used for attitude simulation of airborne optoelectronic equipment and for testing or evaluating angular vibration. The attitude simulation and angular vibration testing methods can check the vibration signal during the vibration test, ensuring that the input vibration signal is accurately transmitted to the device under test. The angular vibration frequency of this invention is 0–2000 Hz, covering a wide range. Attached Figure Description

[0009] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the angular vibration table structure described in this invention; Figure 3 This is a schematic diagram of the six-degree-of-freedom swing table structure described in this invention; Figure 4 This is a flowchart of the present invention.

[0010] Reference numerals: 1. Angular vibration table; 2. Six-degree-of-freedom swing table; 3. Base; 4. Vibration table surface; 5. Electric vibration excitation device; 6. Drive spring hinge; 7. Central spring hinge; 81. Forward buffer; 82. Reverse buffer; 9. Buffer base; 10. Vibration controller; 11. Power amplifier; 12. Upper table surface; 13. Upper mounting base; 14. Electric cylinder; 15. Lower mounting base; 16. Lower table surface; 17. Electrical control cabinet. Detailed Implementation

[0011] The following is a reference to the appendix. Figure 1-4 The preferred embodiments of this invention are described below. Those skilled in the art should understand that these embodiments are merely for explaining the technical principles of this invention and are not intended to limit the scope of protection of this invention.

[0012] This invention patent proposes a multi-purpose attitude simulation angular vibration table and method, including an angular vibration table 1, a six-degree-of-freedom swing table 2, a vibration controller 10, a power amplifier 11, and an electrical control cabinet 17. The angular vibration table 1 includes a base 3 and a vibration table surface 4. A central spring hinge 7 is installed between the base 3 and the vibration table surface 4. The lower end of the central spring hinge 7 is mounted on the base 3, and the upper end is mounted at point O in the Cartesian coordinate system of the vibration table surface 4. Buffer devices are arranged in an array between the base 3 and the vibration table surface 4, centered on the central spring hinge 7. A pair of electric vibration excitation devices 5 are also installed between the base 3 and the vibration table surface 4. Each pair of electric vibration excitation devices 5 is equipped with a drive spring hinge 6. The upper ends of the drive spring hinges 6 are fixed on the Cartesian coordinate system axis of the vibration table surface 4. Both the drive spring hinge 6 and the central spring hinge 7 consist of only one component. And there is no movement gap; the six-degree-of-freedom swing table 2 includes: an upper platform 12 and a lower platform 16. The lower platform 16 is fixedly connected to the basic experimental fixed point. A plurality of upper mounting seats 13 are installed on the lower wall of the upper platform 12, and a plurality of lower mounting seats 15 are installed on the upper wall of the lower platform 16. A plurality of electric cylinders 14 are hinged between the plurality of upper mounting seats 13 and the plurality of lower mounting seats 15; the base 3 is installed on the upper platform 12. The angular vibration table 1 and the six-degree-of-freedom swing table 2 work simultaneously; the buffer device includes a positive buffer 81 and a negative buffer 82. The positive buffer 81 is located outside the negative buffer 82. Buffer bases 9 are installed below both the positive buffer 81 and the negative buffer 82; the buffer device used in the angular vibration table 1 can be used in the following ways depending on the operating conditions: using the positive buffer 81 alone, using the negative buffer 82 alone, or using the positive buffer 81 and the negative buffer 82 in combination. The buffer component of the buffer 8 can be an airbag or a rubber pad; the vibration controller 10 outputs a vibration spectrum electrical signal, which drives the electric vibration excitation device 5 to vibrate along its own axis according to the vibration spectrum through the power amplifier 11, causing the drive spring hinge 6 and the central spring hinge 7 to undergo elastic bending deformation, thereby causing the vibration table 4 to generate angular vibration around the axis of the Cartesian coordinate system. The vibration is unidirectional or bidirectional. The electrical control cabinet 17 drives the electric cylinder 14 to extend and retract according to the motion spectrum, pushes and pulls the upper table 12 to perform posture simulation motion according to the input motion spectrum, and realizes vibration. The vibration is angular or linear vibration.

[0013] like Figure 1 As shown, the present invention provides a multi-purpose attitude simulation angular vibration table and method, the mechanical part of which includes an angular vibration table 1 and a six-degree-of-freedom swing table 2; the electrical control system part includes a vibration controller 10, a power amplifier 11, and an electrical control cabinet 17 for the swing table.

[0014] like Figure 2 As shown, the mechanical table body of the angular vibration table 1 includes: a base 3, a vibration table surface 4, an electric vibration excitation device 5, a drive spring hinge 6, a central spring hinge 7, a buffer device, and a buffer base 9. Through... Figure 1 The vibration controller 10 inputs the simulated power spectral density, and then the output signal is converted into voltage and current signals by the power amplifier 11, and then transmitted to the electric vibration excitation device 5 to vibrate. This drives the drive spring hinge 6, which is fixedly connected between the electric vibration excitation device 5 and the vibration table 4, to vibrate the vibration table 4, so that the load installed on the vibration table can achieve unidirectional or bidirectional angular vibration of 2 or 5 Hz to 2000 Hz. A Cartesian coordinate system OXYZ is constructed on the upper surface of the vibration table, with the OX and OY axes on the vibration table surface and the OZ axis pointing vertically upwards. A central spring hinge 7 is fixedly connected to the OZ axis between the base 3 and the vibration table surface 4. A drive spring hinge 6 and an electric vibration excitation device 5 are fixedly connected to either the OX or OY axis between the base 3 and the vibration table surface 4. Under the excitation of the electric vibration excitation device 5, the drive spring hinge 6 drives the vibration table surface 4 to perform angular vibrations around the OX and OY axes.

[0015] like Figure 2 As shown, the vibration table 1 of the present invention uses a hinge structure as the hinge for transmitting vibration, which is divided into a drive spring hinge 6 and a center spring hinge 7, thus solving the problem that conventional joint hinges cannot transmit high-frequency vibrations of 300-2000Hz due to gaps between parts.

[0016] like Figure 2 As shown, the buffer device balances the load and the gravity of the vibration table 4 during vibration. Depending on the operating conditions, it can be used alone with the positive buffer 81, alone with the reverse buffer 82, or in combination with the positive and reverse buffers. The buffering component of the buffer 8 can be an air bladder or a rubber pad.

[0017] During the vibration test, the data measured by the acceleration sensor installed on the instrument under test or the electric vibration excitation device 5 is fed back to the vibration controller 10 in real time for closed-loop control.

[0018] like Figure 3As shown, the six-degree-of-freedom swing table 2 includes an upper platform 12, an upper mounting base 13, an electric cylinder 14, a lower mounting base 15, and a lower platform 16. The lower platform 16 is fixedly connected to the foundation, and the upper platform 12 is at the top of the swing table. The electric cylinder 14 is connected to the upper platform 12 and the lower platform 16 through the upper mounting base 13 and the lower mounting base 15. When the computer in the control cabinet 17 transmits the motion spectrum to the servo driver, it outputs a voltage or current signal to drive the servo motor in the electric cylinder to rotate, causing the piston rod to extend and retract, pushing and pulling the upper platform 12 to simulate the motion according to the motion spectrum. This allows the vibration table mounted on the upper platform 12 to perform corresponding posture simulations and achieve angular or linear vibrations of 0 to 2 or 5 Hz.

[0019] This invention also utilizes an advanced control method that achieves precise attitude calibration and positioning through spatial geometric calibration and Euler angle calculation. Its core steps specifically include: S1. Multi-coordinate system calibration and target calculation steps: In a fixed coordinate system fixed to the base, the initial positions of the six lower hinge points of the platform are calibrated using a spatial geometric algorithm; the position of the upper corner point (motion coordinate system) in the current coordinate system is determined at the secondary calibration point. The deviation between the target point and the upper corner point in the initial motion coordinate system is calculated using the inverse kinematics solution. The calculation formula is as follows: Rotation matrix around a single axis: Rotate around the X-axis :

[0020] Rotate around the Y-axis :

[0021] Rotation around the Z-axis:

[0022] Euler angle rotation matrix combination Assuming the rotation order is ZYX (Yaw-Pitch-Roll) Then the overall rotation matrix is:

[0023] Expanded matrix: ; S2. Inverse kinematics calculation and telescopic drive steps: Calculate the deviation between the target pose and the initial pose of the motion coordinate system, perform inverse kinematics calculation, and convert the pose deviation into the theoretical telescopic length for driving the six motion cylinders; drive each motion cylinder to telescopicate according to the calculated length. The pose is input into the inverse kinematics. The first one entered It is the angle of rotation about the Z-axis. It is the angle of rotation about the Y-axis. This is the angle of rotation around the X-axis. The homogeneous matrix obtained from the input parameters is:

[0024] In summary, the Euler angles used in both the forward and inverse solutions are consistently Euler angles in the world coordinate system. ； S3. Closed-loop feedback verification step: The actual extension length of each motion cylinder is acquired in real time by an encoder installed on the cylinder and compared with the theoretical extension length to generate a first feedback signal; based on the actual extension length of each motion cylinder, the forward kinematics calculation formula is used:

[0025] The actual pose of the motion platform is obtained, and the actual pose is compared with the target pose to generate a second feedback signal. If the second feedback signal indicates that the deviation exceeds the tolerance, the actual pose is used as a new input, and the process returns to step S2 for iterative calculation and driving until the deviation between the actual pose and the target pose falls within the tolerance. S4. Active vibration suppression step: During the execution of steps S2 and S3, the accelerometer data installed on the motion platform is read in real time to obtain the real-time acceleration value of the platform motion; establish control strategy: when the detected acceleration value increases, the servo rigidity of the drive motor is increased in real time, and the vibration is suppressed by dynamically increasing the gain of the motor control loop to maintain the stability of the platform in motion and stationary states.

[0026] Through the synergy of the above mechanical and control methods, the test subject, under any set posture, simulates the random or specific power spectral density angular vibration experienced by the optoelectronic equipment during the movement of a transport platform. This method is used for attitude simulation and testing of airborne optoelectronic equipment accompanied by angular vibration. The attitude simulation and angular vibration testing methods can check the vibration signal during the vibration test, ensuring that the input vibration signal is accurately transmitted to the device under test. The angular vibration frequency of this invention is 0–2000 Hz, covering a wide range.

[0027] Although the present invention has been described with reference to preferred embodiments, various modifications can be made and components can be replaced with equivalents without departing from the scope of the present invention. In particular, the technical features mentioned in the various embodiments can be combined in any manner, provided there is no structural conflict. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

[0028] In the description of this invention patent, terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," which indicate direction or positional relationships, are based on the direction or positional relationships shown in the accompanying drawings. These are used merely for ease of description and do not indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention patent. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0029] Furthermore, it should be noted that, in the description of this invention patent, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention patent according to the specific circumstances.

[0030] The term "comprising" or any other similar term is intended to cover non-exclusive inclusion, such that a process, article, or apparatus / device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to those processes, articles, or apparatus / devices.

[0031] The technical solution of this invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of this invention is obviously not limited to these specific embodiments. Without departing from the principles of this invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions resulting from these changes or substitutions will all fall within the scope of protection of this invention.

Claims

1. A multi-purpose attitude simulation angular vibration table and method, comprising an angular vibration table (1), a six-degree-of-freedom swing table (2), a vibration controller (10), a power amplifier (11), and an electrical control cabinet (17), characterized in that: The angular vibration table (1) includes a base (3) and a vibration table surface (4). An accelerometer is installed on the vibration table surface (4). A central spring hinge (7) is installed between the base (3) and the vibration table surface (4). The lower end of the central spring hinge (7) is installed on the base (3), and the upper end is installed at point O of the Cartesian coordinate system of the vibration table surface (4). Buffer devices are distributed in an array between the base (3) and the vibration table surface (4) with the central spring hinge (7) as the center. A pair of electric vibration excitation devices (5) are also installed between the base (3) and the vibration table surface (4). A driving spring hinge (6) is installed on each of the pair of electric vibration excitation devices (5). The upper end of the driving spring hinge (6) is fixed on the Cartesian coordinate system axis of the vibration table surface (4). The driving spring hinge (6) and the central spring hinge (7) each have only one part and no movement gap. The six-degree-of-freedom swing table (2) includes: an upper table surface (12) and a lower table surface (16). The lower table surface (16) is fixedly connected to the basic experimental fixed point. A plurality of upper mounting seats (13) are installed on the lower wall of the upper table surface (12), and a plurality of lower mounting seats (15) are installed on the upper wall of the lower table surface (16). A plurality of electric cylinders (14) are hinged between the plurality of upper mounting seats (13) and the plurality of lower mounting seats (15). The base (3) is installed on the upper platform (12), and the angular vibration table (1) and the six-degree-of-freedom swing table (2) work simultaneously.

2. The multi-purpose attitude simulation angular vibration table and method according to claim 1, characterized in that: The buffer device includes a positive buffer (81) and a negative buffer (82), the positive buffer (81) being located outside the negative buffer (82), and a buffer base (9) being installed below both the positive buffer (81) and the negative buffer (82).

3. A multi-purpose attitude simulation angular vibration table and method according to claim 1 or 2, characterized in that: The buffer device used in the angular vibration table (1) can be used in the following ways depending on the operating conditions: using the positive buffer (81) alone, using the reverse buffer (82) alone, or using the positive buffer (81) and the reverse buffer (82) in combination. The buffer component of the buffer (8) can be an airbag or a rubber pad.

4. The multi-purpose attitude simulation angular vibration table and method according to claim 1, characterized in that: The vibration controller (10) outputs a vibration spectrum electrical signal, which drives the electric vibration excitation device (5) to vibrate along its own axis according to the vibration spectrum through the power amplifier (11), causing the drive spring hinge (6) and the central spring hinge (7) to undergo elastic bending deformation, thereby causing the vibration table (4) to generate angular vibration around the axis of the Cartesian rectangular coordinate system. The vibration is unidirectional or bidirectional.

5. The multi-purpose attitude simulation angular vibration table and method according to claim 1, characterized in that: The electrical control cabinet (17) drives the electric cylinder (14) to extend and retract according to the motion spectrum, pushes and pulls the upper platform (12) to perform posture simulation motion according to the input motion spectrum, and realizes vibration, which is angular or linear vibration.

6. The multi-purpose attitude simulation angular vibration table and method according to claim 1, characterized in that: The core steps include the following: S1. Multi-coordinate system calibration and target calculation: Online real-time calibration of fixed coordinate system and moving coordinate system; S2. Inverse kinematics calculation and telescopic drive: Inverse kinematics calculation is performed based on the ZYX Euler angle rotation matrix to convert the target attitude into the theoretical telescopic length of each electric cylinder 14; S3. Closed-loop feedback verification: The actual cylinder length is fed back by the encoder, and the actual pose is obtained by forward kinematics calculation and compared with the target pose to form a closed-loop iterative control to ensure positioning accuracy. S4. Active Vibration Suppression: By reading accelerometer data in real time, the motor servo rigidity and gain are dynamically adjusted to actively suppress vibrations caused by the platform's own movement or external excitation, ensuring attitude stability.

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