本文選題：二次平臺(tái) + 線陣CCD　； 參考：《哈爾濱工業(yè)大學(xué)》2016年碩士論文

【摘要】：二次平臺(tái)能夠模擬上升器在太空中的運(yùn)動(dòng)狀態(tài),是半物理仿真實(shí)驗(yàn)的關(guān)鍵部件。二次平臺(tái)與六自由度氣浮軌道器和六自由度氣浮上升器配合工作,是交會(huì)對(duì)接實(shí)驗(yàn)的重要仿真部分,水平測(cè)量系統(tǒng)正是其核心環(huán)節(jié)。由于平臺(tái)上負(fù)載移動(dòng),臺(tái)體質(zhì)心會(huì)發(fā)生變化。二次平臺(tái)的支撐機(jī)構(gòu)為氣缸和音圈電機(jī),質(zhì)心偏移會(huì)導(dǎo)致支撐軸高度的變化,平臺(tái)的水平傾角會(huì)實(shí)時(shí)變化。由于課題指標(biāo)對(duì)平臺(tái)的水平傾角精度要求較高,如何測(cè)量二次平臺(tái)的實(shí)時(shí)水平傾角也是本課題的關(guān)鍵問(wèn)題。為此,本文對(duì)基于線陣CCD的二次平臺(tái)水平測(cè)量系統(tǒng)進(jìn)行了研究。根據(jù)線陣CCD水平傾角測(cè)量和位置測(cè)量系統(tǒng)的算法,闡述了線陣CCD、旋轉(zhuǎn)電機(jī)、原理算法等在二次平臺(tái)工作中可能帶來(lái)的誤差,并分析誤差的影響。設(shè)計(jì)相應(yīng)方案對(duì)誤差進(jìn)行抑制。并進(jìn)行仿真實(shí)驗(yàn),驗(yàn)證水平測(cè)量算法的可實(shí)現(xiàn)性。針對(duì)線陣CCD的數(shù)據(jù)特性,設(shè)計(jì)相應(yīng)的濾波器及像點(diǎn)定位算法。對(duì)旋轉(zhuǎn)電機(jī)進(jìn)行速度、電流閉環(huán)控制。提出了基于卡爾曼濾波的改進(jìn)水平測(cè)量方案。最后介紹了基于線陣CCD的水平測(cè)量系統(tǒng)的軟硬件設(shè)計(jì)與調(diào)試,包括數(shù)據(jù)采集系統(tǒng)的硬件架構(gòu)、通信板卡的設(shè)計(jì)與通信的調(diào)試、多線程編程。
[Abstract]:The two platform can simulate the motion state of the riser in space. It is the key part of the semi physical simulation experiment. The two platform is the important part of the rendezvous and docking experiment, which is the key part of the rendezvous and docking experiment. The horizontal measurement system is the key part of the experiment of the rendezvous and docking. The centroid of the platform will change. The support mechanism of the two platform is the cylinder and the voice coil motor. The center of mass shift will lead to the change of the height of the support axis, and the horizontal inclination of the platform will change in real time. The key problem of this topic is how to measure the horizontal inclination angle of the two platforms because of the high precision of the level angle of the platform. For this reason, this paper studies the horizontal measurement system of two times platform based on linear array CCD. According to the algorithm of line array CCD level angle measurement and position measurement system, it expounds the errors that may be brought by the linear array CCD, rotating motor and principle algorithm in the work of the two platform, and analyzes the influence of error. The simulation experiment is carried out to verify the feasibility of the horizontal measurement algorithm. According to the data characteristics of the linear array CCD, the corresponding filter and image point positioning algorithm are designed. The speed and current closed loop control of the rotating motor is carried out. An improved horizontal measurement scheme based on Calman filter is proposed. Finally, the horizontal measurement system based on the line array CCD is introduced. Hardware and software design and debugging, including data acquisition system hardware architecture, communication card design and communication debugging, multi-threaded programming.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：V416.8
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本文編號(hào)：2019759