大型真空调试平台的设计及其误差建模分析

发布时间：2019-03-05 16:37

【摘要】：大型真空调试平台是一种仿真测试设备，用于在真空模拟罐内对卫星相机调整测试状态，是卫星相机光电综合性能检测的关键设备。大型真空调试平台具有大承载力、大结构尺寸、真空低温（5×10~(-5)Pa，100K）使用环境等特点。本文根据相关单位对大型真空调试平台的技术指标，完成了总体结构设计。并基于多体系统动力学理论对大型真空调试平台进行误差建模分析，对调试平台结构设计及误差分配提供了理论基础。首先，完成了大型真空调试平台的机械结构设计。根据用户提出的各项技术指标，进行机械台体部分设计，包括框架结构设计、驱动方案设计、测量元件选择等。并且针对设备低温、真空的特殊使用环境，解决了材料选择、防冷焊处理、热控系统设计等一系列问题。其次，利用有限元法对框架结构进行了优化设计。对底座进行拓扑优化设计，实现了基于线性静力学结构的拓扑优化，得到了底座在力传输上最优的材料布局方式。对水平移动平台进行尺寸优化设计，分析了底板厚度、筋板厚度对总质量、最大变形、最大应力的影响情况，得到了满足强度、刚度条件下重量最轻的最优尺寸参数。再次，基于多体系统动力学推导了大型真空调试平台的误差模型并进行了仿真分析。针对大型真空调试平台的结构和工作原理，分析了影响设备位置精度和姿态精度的各项误差，并利用多体系统动力学推导出位置误差和姿态误差模型。提出了一种衡量多因素对系统精度影响情况的方法，并利用Matlab仿真分析各因素对位姿误差影响情况，对系统误差分配及结构设计提供了理论依据。最后，完成了大型真空调试平台的测试。根据技术指标要求，，对所研制的调试平台的回转误差和直线度误差进行了测试，证明该设备的机械台体精度满足设计指标要求。
[Abstract]:The large-scale vacuum debugging platform is a kind of simulation test equipment, which is used to adjust the test state of satellite camera in vacuum simulation tank. It is the key equipment of photoelectric comprehensive performance test of satellite camera. The large-scale vacuum debugging platform has the characteristics of large bearing capacity, large structure size, low-temperature vacuum (5 脳 10 ~ (- 5) Pa,100K) operating environment and so on. According to the technical index of the large-scale vacuum debugging platform, the overall structure design is completed in this paper. Based on the theory of multi-body system dynamics, the error modeling and analysis of the large-scale vacuum debugging platform is carried out, which provides a theoretical basis for the structural design and error allocation of the debugging platform. Firstly, the mechanical structure design of the large-scale vacuum debugging platform is completed. According to the technical indexes put forward by the user, the design of the mechanical platform is carried out, including frame structure design, driving scheme design, measurement element selection and so on. A series of problems, such as material selection, anti-cold welding treatment, thermal control system design and so on, are solved according to the special use environment of equipment at low temperature and vacuum. Secondly, the finite element method is used to optimize the design of the frame structure. The topology optimization design of the base is carried out, and the topology optimization based on the linear statics structure is realized, and the optimal material layout mode of the base in force transmission is obtained. The dimension optimization design of the horizontal moving platform is carried out. The effects of the thickness of the bottom plate and the thickness of the reinforcement plate on the total mass, the maximum deformation and the maximum stress are analyzed, and the optimum dimension parameters satisfying the light weight under the conditions of strength and stiffness are obtained. Thirdly, based on multi-body system dynamics, the error model of large-scale vacuum debugging platform is deduced and simulated. In view of the structure and working principle of the large-scale vacuum debugging platform, the errors affecting the position accuracy and attitude accuracy of the equipment are analyzed, and the position error and attitude error models are derived by means of multi-body system dynamics. This paper presents a method to measure the effect of multi-factors on the system precision, and uses Matlab simulation to analyze the influence of each factor on the position and pose error, which provides a theoretical basis for the allocation of system error and the design of structure. Finally, the test of large-scale vacuum debugging platform is completed. According to the technical requirements, the rotary error and straightness error of the developed debugging platform are tested, and it is proved that the precision of the mechanical platform meets the requirements of the design index.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：P236;TH703

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