【作者】 张硕；

【导师】 王岩；

【作者基本信息】 哈尔滨工业大学 ， 控制科学与工程， 2017， 硕士

【摘要】 当今世界,航天科技高速发展,一个国家的航天实力已经成为其综合国力的重要体现。航天器在太空中进行科学试验存在极大的风险,因此试验进行之前需要完成地面的仿真验证。二次平台是航天器地面全物理仿真系统的核心设备之一。它的主要任务是辅助气浮台完成全物理仿真试验。为了实现这一目标,二次平台需要承载气浮台,跟踪气浮台的运动。最重要的还要为气浮台提供超高精度水平面以降低重力矩对仿真试验的影响。为了实现高精度的姿态调节,二次平台需要有高精度的姿态调节系统以及高精度的姿态测量系统。本文设计并实现了高精度的二次平台位姿测量系统。本文从二次平台基本结构及工作原理开始介绍,分析系统需求,确定位姿测量系统的性能指标。对位姿测量系统进行软件架构及硬件架构的设计同时进行关键器件的选型。在本文中,位姿测量系统的输入信号是一字激光器发出的激光。二次平台上台面中央安装有高速电机,一字激光器位于高速电机的转子轴上。为了使得测量系统具有稳定的输入信号,对高速电机的速度控制系统进行了分析与设计。线阵CCD负责进行激光光斑的采集,利用光斑的位置信息得到二次平台的位姿。为了能够提高光斑定位的精度,对线阵CCD的数据处理过程进行研究与设计。为了最终得到二次平台的位姿,对位置测量算法和姿态测量算法进行了设计。本文还研究了位姿测量系统的误差。对系统误差和随机误差的来源进行分析并提出了削弱两种误差的算法。在系统的实现过程中,对一些硬件设备如USB转CAN接口卡,相机同步控制卡进行了设计。分析位姿测量系统的软件需求,进行上位机软件的设计以及嵌入式软件的设计。最后对测量系统的精度进行了标定。基于CCD的非接触式测量是当前热门的研究方向,因为它具有非接触,精度高等诸多优点。本研究对气浮台的位姿测量也具有一定的研究意义。更多还原

【Abstract】 In today’s world,aerospace technology has developed rapidly,a country’s aerospace strength has become an important manifestation of its comprehensive national strength.There is a great risk when spacecraft complete the scientific test.So before the test,the ground simulation and verification is needed.The secondary platform is one of the core equipment of the spacecraft full physical simulation system.Its main task is to auxiliary flotation platform complete the full physical simulation test.In order to achieve this goal,the secondary platform needs to carry the flotation platform,tracking the movement of the floating platform.It is also important to provide an ultra-high-precision horizontal plane for the flotation table to reduce the effect of the weight on the simulation test.In order to achieve high-precision pose adjustment,the secondary platform requires a high-precision pose adjustment system and high-precision pose measurement system.This paper designs and iomplements the high precision secondary platform pose measurement system.This paper starts from the basic structure and working principle of the secondary platform,analyzes the system requirements and determines the performance index of the pose measurement system.The software architecture and hardware architecture of the pose measurement system are designed.The key devices are chose at the same time.In this paper,the input signal of the pose measurement system is the laser emitted by the lasers.The secondary platform is equipped with a high-speed motor in the center of the table,and the lasers are located on the rotor shaft of the high-speed motor.In order to make the measurement system have a stable input signal,the speed control system of high speed motor is analyzed and designed.Linear array CCD is responsible for the laser spot collection,the secondary platform pose can be obtained by using the informantion of spot location.In order to improve the accuracy of spot positioning,the data processing of linear array CCD is studied and designed.In order to get the pose of the secondary platform,the position measurement algorithm and the attitude measurement algorithm are designed.This paper also studies the error of pose measurement system.The sources of system error and random error are analyzed and the algorithm of weakening the two errors is proposed.In the process of system implementation,some hardware devices such as USB to CAN interface card,camera synchronization control card are designed.Analysis of pose measurement system software requirements,the host computer software is designed.embedded software is design also.Finally,the accuracy of the measurement system was calibrated.CCD-based non-contact measurement is the current popular research direction,because it has non-contact,high precision and many other advantages.This study also has some research significance for the pose measurement of the flotation platform.更多还原