This project belongs to the fields of scientific research, technical services and geological exploration.
The technology of the high-dynamic long-radius virtual axis angular motion simulation system creatively uses the human arm-palm bionic mechanism in the ground hardware-in-the-loop simulation system, solving complex motion trajectories and paths, high pointing accuracy, large angular acceleration, and large angular motion range., problems such as rapid positioning, strong electromagnetic interference and environmental compatibility have been developed. The first set of angular motion simulation system for an advanced weapon in China has been developed, and the first set of ground hardware-in-the-loop simulation system for this type of weapon in China has been established. It realizes complex angular motion simulation and spin compensation functions of an advanced weapon target simulator in two directions: height and azimuth, ensuring the successful development of an advanced weapon. The innovation points of this project are as follows:
1. For the first time, the human arm-palm bionic mechanism was applied to the aircraft ground hardware-in-the-loop simulation system, solving technical problems such as two-dimensional angular motion, high-frequency response, rapid positioning and high-angle acceleration of an advanced model of seeker target simulator. Through the compound motion of three axes, the angular motion simulation of an advanced weapon target simulator with height ±12° and azimuth ±18° around a certain point in long-distance space (the radius of the imaginary axis is greater than 3100mm) and follow-up tracking of the aircraft is realized.
2. Adopt electric-hydraulic hybrid intelligent drive technology, in which the arm joint is directly driven by a swinging hydraulic motor, which solves the problem of rapid positioning and high dynamic characteristics of the long arm and short arm, and realizes high positioning accuracy and large angular range of the motion mechanism. Movement; the palm joint is driven by an intelligence-digital motor, which solves the lightweight design problem of the load of the large-diameter rotary motion system and realizes high-precision compensation of the swivel angle of the dual-mode synthesizer.
3. A multi-mode hybrid control technology and method is proposed, which effectively suppresses the influence of the shaft hinge and ensures effective control of the long-radius virtual shaft angle motion mechanism.
The main technical indicators of the high dynamic long-radius virtual axis angle motion simulation system are as follows:
1)Load weight: 45 kg;
2)Load size: ≥ 350mm × 500mm × 750mm;
3)Range of high-low angular motion: ≥ ±12°;
4)Azimuth angle of motion range: ≥ ±18°;
5)Maximum angular velocity: 40°/s;
6)Minimum angular velocity: 0.05°/s;
7)Maximum angular acceleration: 400°/s2;
8)Frequency response (double ten): 4Hz (A=1, amplitude error ≤10%, phase shift ≤10).
9)Pointing accuracy: no greater than 2';
10)Speed accuracy: 1%(0.051)°/s;
11)0.1%(1 maximum rate) °/s;
12)Virtual axis radius of gyration: 3100 mm.
The project is technologically advanced and difficult to implement. It has a number of independent intellectual property rights and ranks among the leading domestic and international advanced levels. Among them, indicators such as carrying capacity, dynamic range and response speed are internationally leading. It has been successfully applied to a certain advanced model of semi-physical simulation system, filling the technical gap of a domestic advanced guidance technology ground semi-physical simulation test system, breaking the monopoly of foreign technology, and providing reliable equipment guarantee for the successful development of models. It has significant social and economic benefits and good application prospects.