基于线阵CCD的二次平台水平测量系统设计与实现

发布时间：2018-06-15 00:46

  本文选题：二次平台 + 线阵CCD　； 参考：《哈尔滨工业大学》2016年硕士论文

【摘要】：二次平台能够模拟上升器在太空中的运动状态,是半物理仿真实验的关键部件。二次平台与六自由度气浮轨道器和六自由度气浮上升器配合工作,是交会对接实验的重要仿真部分,水平测量系统正是其核心环节。由于平台上负载移动,台体质心会发生变化。二次平台的支撑机构为气缸和音圈电机,质心偏移会导致支撑轴高度的变化,平台的水平倾角会实时变化。由于课题指标对平台的水平倾角精度要求较高,如何测量二次平台的实时水平倾角也是本课题的关键问题。为此,本文对基于线阵CCD的二次平台水平测量系统进行了研究。根据线阵CCD水平倾角测量和位置测量系统的算法,阐述了线阵CCD、旋转电机、原理算法等在二次平台工作中可能带来的误差,并分析误差的影响。设计相应方案对误差进行抑制。并进行仿真实验,验证水平测量算法的可实现性。针对线阵CCD的数据特性,设计相应的滤波器及像点定位算法。对旋转电机进行速度、电流闭环控制。提出了基于卡尔曼滤波的改进水平测量方案。最后介绍了基于线阵CCD的水平测量系统的软硬件设计与调试,包括数据采集系统的硬件架构、通信板卡的设计与通信的调试、多线程编程。
[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.
【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】：2016
【分类号】：V416.8
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本文编号：2019759