CN113607072B - Large antenna scaling platform transmission system backlash error calibration mechanism and calibration method - Google Patents
Large antenna scaling platform transmission system backlash error calibration mechanism and calibration method Download PDFInfo
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- CN113607072B CN113607072B CN202110932786.0A CN202110932786A CN113607072B CN 113607072 B CN113607072 B CN 113607072B CN 202110932786 A CN202110932786 A CN 202110932786A CN 113607072 B CN113607072 B CN 113607072B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 24
- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000005259 measurement Methods 0.000 claims abstract description 30
- 230000033001 locomotion Effects 0.000 claims description 3
- 238000005452 bending Methods 0.000 claims description 2
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/14—Measuring arrangements characterised by the use of mechanical techniques for measuring distance or clearance between spaced objects or spaced apertures
- G01B5/16—Measuring arrangements characterised by the use of mechanical techniques for measuring distance or clearance between spaced objects or spaced apertures between a succession of regularly spaced objects or regularly spaced apertures
- G01B5/166—Measuring arrangements characterised by the use of mechanical techniques for measuring distance or clearance between spaced objects or spaced apertures between a succession of regularly spaced objects or regularly spaced apertures of gear teeth
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
- H01Q3/04—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole for varying one co-ordinate of the orientation
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Abstract
The invention discloses a large antenna scale platform transmission system backlash error calibration mechanism and a calibration method, wherein the calibration mechanism comprises a pitching shaft, a pitching gear, a monocular shooting system, a left driving system, a right driving system, a contact measurement system and a controller; the pitching shaft passes through the pitching gear to be coaxially fixed; the monocular photography system and the pitching gear are in non-contact measurement, the contact measurement system and the pitching gear are in contact measurement, and coaxiality of the pitching gear and a pitching shaft is adjusted; the driving gears of the left and right driving systems are respectively meshed with two sides of the pitching gear, rotation errors of the pitching gear are obtained by comparing the positive and negative rotation of the single gear and the positive and negative rotation of the double gears in a matched and alternating mode, error values are respectively fed back to the left and/or right driving systems as compensation values, and errors caused by tooth gaps in the left and/or right driving systems are calibrated. The invention has simple structure, and can calibrate the error caused by the backlash in the transmission system under two working conditions respectively by feeding back the difference value between the monocular photography system and the driving system to the driving system.
Description
Technical Field
The invention belongs to an astronomical equipment error calibration mechanism, and particularly relates to a large antenna scale platform transmission system backlash error calibration mechanism and a calibration method.
Background
The measurement and calibration technology of the pointing error is an important subject of current research as an important means for improving the positioning precision of a large antenna. When the antenna executes an observation task, the pitching action is required to be performed in real time according to the observation requirement, and the pitching action is reflected to the pitching gear to realize the forward and reverse rotation functions.
Currently, in the transmission system of a large antenna pitching gear, common gear transmission is generally adopted. Namely, the torque of the motor is transmitted to the pitching gear through the pinion to drive the antenna to execute pitching action. The pitch gear can realize forward and reverse rotation, and can be single motor forward and reverse rotation or double motors matched with alternate forward and reverse rotation. However, this transmission has the following problems:
1) When the transmission gears are meshed, tooth gaps exist, the tooth gaps with different sizes can cause errors with different degrees, and under actual working conditions, the tooth gaps are often uncontrollable and lack corresponding compensation mechanisms and calibration methods;
2) Compared with the forward and reverse rotation of a single motor, the double motor is matched with the alternating forward and reverse rotation, the backlash error can be effectively eliminated, but the backlash error formation mechanism under two working conditions is relatively complex, so that the accurate calibration cannot be carried out.
Disclosure of Invention
In order to measure and calibrate the influence of the backlash of a transmission gear on the pointing error of an antenna under the two conditions of single motor forward rotation and double motor cooperation alternating forward rotation of a large-caliber antenna transmission system, the invention designs a large-antenna-scale platform transmission system backlash error calibration mechanism and provides an error calibration method corresponding to the system.
The invention is realized by the following technical scheme.
In one aspect of the invention, a large antenna scale platform transmission system backlash error calibration mechanism is provided, which comprises a pitching axis, a pitching gear, a monocular photography system, a left driving system, a right driving system, a contact measurement system and a controller; wherein:
the pitching shaft penetrates through the pitching gear and is coaxially and fixedly connected with the pitching gear;
the monocular photography system and the pitching gear are in non-contact measurement, the contact measurement system and the pitching gear are in contact measurement, and coaxiality of the pitching gear and a pitching shaft is adjusted;
the left driving system and the right driving system are respectively positioned at two sides of the pitching gear and are symmetrical with the pitching gear, and the driving gears of the left driving system and the right driving system are respectively meshed with two sides of the pitching gear;
and comparing the single gear forward rotation and the reverse rotation of the driving gears with the double gears in a matched and alternating manner by the controller, obtaining rotation errors of the pitching gears, respectively feeding back error values as compensation values to the left and/or right driving systems, and calibrating errors caused by tooth gaps in the left and/or right driving systems.
For the above technical solution, the present invention is further preferred:
preferably, the pitch axis passes through the pitch gear by being supported by a support frame, which is movable in the X-axis direction.
Preferably, the monocular photographing system is located in the Y-axis direction of the pitch gear, and the monocular photographing system includes a CCD camera and an X-axis moving stage, and the CCD camera is fixed to the X-axis moving stage to move along the X-axis direction of the pitch gear.
Preferably, the pitch gear is attached with a target on the side facing the monocular photography system.
Preferably, the left and right driving systems respectively comprise a driving motor, a driving gear, an encoder and an X-axis moving table, wherein the driving motor is fixed above the X-axis moving table, an output shaft of the driving motor is connected with the driving gear, and the driving gear is meshed with the driving pitch gear; the meshing backlash is adjusted by the X-axis moving stage.
Preferably, the contact measurement system comprises a micrometer and a Y-axis moving table, wherein the micrometer is positioned at the top of the Y-axis moving table, the Y-axis moving table can move along the Y-axis direction, and the micrometer and the pitching axis are slightly contacted in a measurement state.
Preferably, the micrometer is fixed on the top of the Y-axis moving table through an extension arm, and the extension arm is a bending arm.
In another aspect of the invention, a method for calibrating backlash error of a transmission system of a large antenna scale platform of the mechanism is provided, comprising the following steps:
the contact measurement system is in contact measurement with the pitching gear, and the pitching gear is adjusted to be coaxial with bearings at two ends of the pitching shaft through the movement of the supporting frame;
the monocular photography system and the pitching gear are subjected to non-contact measurement, the target position of the pitching gear is obtained through a CCD camera, and the deviation value of the pitching gear is obtained;
when the single-side motors of the left and right driving systems are in forward and reverse rotation, the left and right driving systems acquire the difference value between the signals output by the encoder and the signals output by the monocular photography system, and the difference value is used as a compensation value to calibrate the left and right driving systems respectively;
when the motors on the two sides are matched with alternate forward and reverse rotation, the left driving system and the right driving system respectively acquire signals output by the encoder and signals output by the monocular photography system to obtain signal difference values, and the controller respectively calibrates errors caused by backlash in the driving systems.
Preferably, the first driving gear and the pitching gear of the left driving system are always meshed with the second driving gear of the right driving system;
the first driving motor of the left driving system rotates positively, and the pulse signal X is output by the first encoder; the second driving motor of the right driving system is reversed, and the second encoder outputs a pulse signal Y;
the monocular photography system outputs a rotation pulse signal Z of a pitching axis;
the difference alpha between the pulse signal X and the pulse signal Z is fed back to a left driving system, and the left driving system corrects errors caused by the backlash of the system;
the difference beta between the pulse signal Y and the pulse signal Z is fed back to the right drive system, which corrects the error caused by the backlash of the drive system.
The difference α between the pulse signal X and the pulse signal Z satisfies: α=z-X;
the difference β between the pulse signal Y and the pulse signal Z satisfies: beta=z-Y.
The backlash error calibration mechanism has the following advantages in the aspects of researching the influence mechanism of the backlash error of the large antenna transmission mechanism, calibrating and improving the pointing precision of the large antenna:
in the invention, by introducing a non-contact measurement system such as photogrammetry, the additional error factor caused by the installation of the sensor can be reduced. Meanwhile, the non-contact system can move in a single degree of freedom through the translation table, and a target can be found on the side face of the pitching gear more accurately.
According to the invention, the coaxiality of the supporting frames at the two ends of the pitching axis is measured and regulated by the micrometer in the contact measurement system, so that errors caused by different axes of the supporting frames at the two ends of the pitching axis in the early stage of experiment are reduced.
In the invention, the left side and the right side of the pitching gear are respectively provided with a driving system, so that factors causing rotation errors of the pitching gear are more conveniently and rapidly compared under the working condition that the single gear rotates positively and negatively and the double gears are matched with alternating positive and negative rotations.
In the invention, the backlash between the pitching gear and the driving gears on the left and right sides can be adjusted and controlled by the X-axis moving table. The influence of single gear forward and backward rotation on rotation of the pitching gear under different tooth gaps can be conveniently analyzed.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate and do not limit the invention, and together with the description serve to explain the principle of the invention:
FIG. 1 is a three-dimensional schematic diagram of a calibration mechanism in the present embodiment;
FIG. 2 is a schematic diagram of the backlash error calibration in accordance with the present invention;
FIG. 3 is a diagram showing the logic relationship of the difference alpha between the pulse signal X and the pulse signal Z according to the present invention;
fig. 4 is a diagram showing the logic relationship of the difference β between the pulse signal Y and the pulse signal Z according to the present invention.
In the figure: 1. a pitch axis; 2. a pitch gear; 3. a support frame; 4. a monocular photography system; 41. a CCD camera; 42. an X-axis moving stage; 5. a left side drive system; 51. a first driving motor; 52. a first drive gear; 53. a first encoder; 54. a first X-axis mobile station; 6. a right side drive system; 61. a second driving motor; 62. a second drive gear; 63. a second encoder; 63. a second X-axis mobile station; 7. a contact measurement system; 71. a micrometer; 72. and a Y-axis mobile station.
Detailed Description
The present invention will now be described in detail with reference to the drawings and the specific embodiments thereof, wherein the exemplary embodiments and descriptions of the present invention are provided for illustration of the invention and are not intended to be limiting.
As shown in fig. 1, the calibration mechanism provided in this embodiment includes a pitch axis 1, a pitch gear 2, a support frame 3, a monocular photography system 4, a left side drive system 5, a right side drive system 6, a contact measurement system 7, and a controller. The pitching shaft 1 passes through the pitching gear 2 through the support frame 3, and is fixedly connected with the pitching gear 2 coaxially. The support 3 is movable in the X-axis direction and is fixed by two bolts. The monocular photography system 4 is located behind the pitch gear 2 (Y-axis direction), the left side driving system 5 and the right side driving system 6 are located on the left and right sides of the pitch gear 2 (X-axis direction), respectively, and are symmetrically distributed about the pitch axis 1, and the contact measurement system 7 is located on the left side of the pitch gear 2.
As shown in fig. 1 and 2, the monocular photography system 4 includes a CCD camera 41 and an X-axis moving stage 42 and a base plate. Wherein the CCD camera 41 is fixed above the X-axis moving stage 42, the X-axis moving stage 41 in the monocular photographing system 4 can move the CCD camera 41 fixed above it in the X-axis direction so that the CCD camera 41 finds a desired target on the pitch gear 2. The X-axis moving stage 42 can perform position adjustment in the X-axis direction before positioning and measuring the rotation angle of the pitch gear 2. The target is attached to the side of the pitching gear 2 facing the monocular photographing system 4, and the CCD camera 41 in the monocular photographing system 4 records and processes the position information of the pitching gear 2, and feeds back the pulse signal Z. When the pitch gear 2 rotates, the CCD camera 41 records and processes its motion information, and outputs a pulse signal Z.
As shown in fig. 1 and 2, the left side drive system 5 includes a first drive motor 51, a first drive gear 52, a first encoder 53, and a first X-axis moving stage 54. Wherein, first driving motor 51 is fixed above first X axle moving stage 54, and first driving motor 51 output shaft connects first drive gear 52. The first drive gear 52 is a driving gear, the pitch gear 2 is a driven gear, and both are in mesh, and the meshing backlash can be adjusted by the first X-axis moving stage 54. The first X-axis moving stage 54 in the left drive system 5 can move the first drive motor 51 fixed thereabove in the X-axis direction, thereby adjusting the backlash between the first drive gear 52 and the pitch gear 2 in the system. The first encoder 51 of the left driving system 5 records the rotation angle of the first driving motor 51 in the system and feeds back the pulse signal X; when the first driving motor 51 receives the pulse command rotation, the first encoder 53 installed at the rear thereof outputs a corresponding pulse signal X.
The right side drive system 6 includes a second drive motor 61, a second drive gear 62, a second encoder 63, and a second X-axis moving stage 64, and is similar in structure to the left side drive system 5. The second X-axis moving stage 64 in the right-side driving system 6 can move the second driving motor 61 fixed thereabove in the X-axis direction, thereby adjusting the backlash between the second driving gear 62 and the pitch gear 2 in the system. The second encoder 63 of the right driving system 6 records the rotation angle of the second driving motor 61 in the system and feeds back the pulse signal Y; when the second driving motor 61 receives the pulse command rotation, the second encoder 63 installed at the rear thereof outputs a corresponding pulse signal Y.
As shown in connection with fig. 1, the contact measurement system 7 includes a micrometer 71 and a Y-axis moving stage 72. Wherein the micrometer 71 is fixed above the Y-axis moving stage 72 by a bracket. The Y-axis moving stage 72 in the touch measuring system 7 can move the micrometer 71 fixed thereon in the Y-axis direction, and the micrometer 71 is in slight contact with the pitch axis 1 in the measuring state. Before the calibration structure works, the pitch axis 1 needs to be measured in a contact mode, at this time, a micrometer 71 in the contact measurement system 7 moves along with a Y-axis moving table 72 to measure the pitch axis 1, the micrometer 71 measures the relative positions of two ends of the pitch axis 1 along the X-axis direction, and the position of one end of the pitch axis 1 is adjusted through a supporting frame 3 so as to ensure that bearings at two ends of the pitch axis 1 are coaxial.
In this embodiment, when the single-sided motor performs the forward and reverse rotation, for example, the first driving motor 51 is forward and reverse rotated, there is a difference α between the pulse signal X output by the first encoder 53 and the pulse signal Z output by the monocular photographing system 4, the difference reflects an error caused by backlash when the single-sided motor is forward and reverse rotated, and the difference α is fed back to the driving system as a compensation value, and the error caused by backlash in the driving system can be calibrated by the controller. When the double-sided motor is engaged with alternating forward and reverse rotations, for example, the first driving motor 51 is rotated forward, the pulse signal X output from the first encoder 53 is inverted by the second driving motor 61 on the right side, and the second encoder 63 outputs the pulse signal Y. In this process, the first drive gear 52, the pitch gear 2, and the second drive gear 62 are always engaged. The difference alpha between the pulse signal X and the pulse signal Z is fed back to the left side driving system, the error caused by the backlash in the driving system can be calibrated through the controller, the difference beta between the pulse signal Y and the pulse signal Z is fed back to the right side driving system, and the error caused by the backlash in the driving system can be calibrated through the controller.
As shown in fig. 3 and 4, the error between the above-mentioned backlash can be expressed by the following logical relationship:
the logical relationship of the difference α between the pulse signal X and the pulse signal Z in the system satisfies: α=z-X;
the logical relationship of the difference beta between the pulse signal Y and the pulse signal Z in the system is as follows: beta=z-Y.
The embodiment can be seen that the structure of the invention can accurately calibrate the errors with different degrees caused by the backlash generated when the gears are meshed, thereby providing a reliable calibrating device for measuring and calibrating the positioning precision and the pointing error of the large antenna.
The invention is not limited to the above embodiments, and based on the technical solution disclosed in the invention, a person skilled in the art may make some substitutions and modifications to some technical features thereof without creative effort according to the technical content disclosed, and all the substitutions and modifications are within the protection scope of the invention.
Claims (10)
1. The large antenna scaling platform transmission system backlash error calibration mechanism is characterized by comprising a pitching shaft, a pitching gear, a monocular shooting system, a left driving system, a right driving system, a contact measurement system and a controller; wherein:
the pitching shaft penetrates through the pitching gear and is coaxially and fixedly connected with the pitching gear;
the monocular photography system and the pitching gear are in non-contact measurement, the contact measurement system and the pitching gear are in contact measurement, and coaxiality of the pitching gear and a pitching shaft is adjusted;
the left driving system and the right driving system are respectively positioned at two sides of the pitching gear and are symmetrical with the pitching gear, and the driving gears of the left driving system and the right driving system are respectively meshed with the two sides of the pitching gear;
comparing the single gear forward rotation and the reverse rotation of the driving gears with the double gears in a matched and alternating manner through the controller to obtain a rotation error of the pitching gears, respectively feeding back error values as compensation values to a left driving system and/or a right driving system, and calibrating errors caused by tooth gaps in the left driving system and/or the right driving system;
when the single-side motors of the left driving system and the right driving system are in forward and reverse rotation, the left driving system and the right driving system acquire the difference value between the signals output by the encoder and the signals output by the monocular photography system, and the difference value is used as a compensation value to calibrate the left driving system and the right driving system respectively;
when the motors on the two sides are matched with alternate forward and reverse rotation, the left driving system and the right driving system respectively acquire signals output by the encoder and signals output by the monocular photography system to obtain signal difference values, and the controller respectively calibrates errors caused by backlash in the driving systems.
2. The large antenna scale platform transmission system backlash error calibration mechanism of claim 1, wherein the pitch axis is supported through the pitch gear by a support frame, the support frame being movable in the X-axis direction.
3. The large antenna scale platform transmission system backlash error calibration mechanism according to claim 1, wherein the monocular photographing system is located in the Y-axis direction of the pitch gear, the monocular photographing system comprises a CCD camera and an X-axis moving stage, and the CCD camera is fixed to the X-axis moving stage to move in the X-axis direction of the pitch gear.
4. A large antenna scale platform drive train backlash error calibration mechanism as claimed in claim 3, wherein the pitch gear is attached to the target on the side facing the monocular photography system.
5. The large antenna scale platform transmission system backlash error calibration mechanism according to claim 1, wherein the left and right driving systems respectively comprise a driving motor, a driving gear, an encoder and an X-axis moving table, wherein the driving motor is fixed above the X-axis moving table, an output shaft of the driving motor is connected with the driving gear, and the driving gear is meshed with the driving pitch gear; the meshing backlash is adjusted by the X-axis moving stage.
6. The large antenna scale platform transmission system backlash error calibration mechanism according to claim 1, wherein the contact measurement system comprises a micrometer and a Y-axis moving table, the micrometer is positioned on top of the Y-axis moving table, the Y-axis moving table can move along the Y-axis direction, and the micrometer is in slight contact with the pitch axis in the measurement state.
7. The large antenna scale platform transmission system backlash error calibration mechanism of claim 6, wherein the micrometer is fixed on the top of the Y-axis moving table by an extension arm, and the extension arm is a bending arm.
8. A method of calibrating backlash error in a large antenna scale platform transmission of a mechanism according to any of claims 1 to 7, comprising:
the contact measurement system is in contact measurement with the pitching gear, and the pitching gear is adjusted to be coaxial with bearings at two ends of the pitching shaft through the movement of the supporting frame;
the monocular photography system and the pitching gear are subjected to non-contact measurement, the target position of the pitching gear is obtained through a CCD camera, and the deviation value of the pitching gear is obtained;
when the single-side motors of the left and right driving systems are in forward and reverse rotation, the left and right driving systems acquire the difference value between the signals output by the encoder and the signals output by the monocular photography system, and the difference value is used as a compensation value to calibrate the left and right driving systems respectively;
when the motors on the two sides are matched with alternate forward and reverse rotation, the left driving system and the right driving system respectively acquire signals output by the encoder and signals output by the monocular photography system to obtain signal difference values, and the controller respectively calibrates errors caused by backlash in the driving systems.
9. The method for calibrating the backlash error of a transmission system of a large antenna scale platform according to claim 8, wherein the first driving gear, the pitching gear of the left driving system and the second driving gear of the right driving system are always meshed;
the first driving motor of the left driving system rotates positively, and the pulse signal X is output by the first encoder; the second driving motor of the right driving system is reversed, and the second encoder outputs a signal pulse Y;
the monocular photography system outputs a rotation pulse signal Z of a pitching axis;
the difference alpha between the pulse signal X and the pulse signal Z is fed back to a left driving system, and the left driving system corrects errors caused by the backlash of the system;
the difference beta between the pulse signal Y and the pulse signal Z is fed back to the right drive system, which corrects the error caused by the backlash of the drive system.
10. The method for calibrating a backlash error in a transmission of a large antenna scale platform according to claim 9, wherein the difference α between the pulse signal X and the pulse signal Z satisfies: α=z-X;
the difference β between the pulse signal Y and the pulse signal Z satisfies: beta=z-Y.
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