三轴气浮平台自动调平衡方法

为减小三轴气浮平台的不平衡力矩,研究两种自动调平衡方法.第一种方法根据三轴气浮平台的运动模型,通过动力学反演的方法推导了偏心距的求解方程,给出方程解法和偏心距误差计算公式.方法二根据复摆理论使用周期估算偏心距,根据加速度零点的倾角计算调节x、y轴偏移量.试验结果表明,两种方法均能有效减小不平衡力矩,方法一调节速度快,但成本较高;方法二调节方法简单,成本较低,但调节时间长.

Auto-balancing system for three-axis air-bearing based platform

Two methods about decreasing the unbalancing torque of the three-axis air-bearing platform were studied.By the first method,the vector from the center of rotation(CR) to the center of mass(CM) was estimated according to the dynamics model of the three-axis air-bearing platform,and then the derivation and the error estimation were offered.By the second method,the motion was regarded as the compound pendulum,so the distance from the CR to the CM was estimated with the periodicity,then the position of the CM could be acquired by measuring the obliquity when acceleration was zero.The experiments indicate that the residual unbalancing torque could be significantly decreased by both methods,while the first method costs more money and the second one costs more time.