Research On Mass Property Identification Technique Of 3-axis Air Bearing Table

The 3-axis air bearing table needs to install a variety of test equipment and rotating parts when it is employed to the satellite ground full physical simulation test.After installing these equipment,the table is unbalanced and the mass property of the table is unknown.The study of the automatic balancing algorithm and the mass property identification algorithm is important for the simulation of the satellite.First,the study on the mathematical modeling of the 3-axis air bearing table is done.Through analyzing working principle and interference torque of the 3-axis air bearing table,kinematic model,dynamical model and system simulation model are created for advanced study.The simulation experiment platform is constructed for verifying the accuracy of the mass property identification model.Then,the problem of auto-balance of the 3-axis air bearing table is studied.On the basis of coarse tuning of the balance,the automatic adjusting balance algorithm is proposed.It can identify the centroid location based on a dynamic model of the table.The influence of the choice of parameters on the identification results is analyzed.By adjusting the position of the mass block according to the centroid location,the imbalance of the table can be solved.Next,the problem of identifying the mass property of the 3-axis air bearing table is studied.A quality identification algorithm based on the straightforward least squares method is designed,and its identification accuracy is checked by the system simulation model.The differential link and ignoring of the disturbance torque in basic least squares will create identification error.To reduce the error,a high-precision mass property identification algorithm is designed.Similarly,the accuracy of the algorithm is checked by the simulation experiment platform.Basic least-square algorithm is used again for mass property identification.Finally,intelligent optimization algorithms including the firefly algorithm and simulated annealing algorithm are proposed to identify the mass property to further improve the identification accuracy.And the effectiveness of the two methods is verified by the simulation experiment platform.Finally,in the actual system,four identification methods are used to identify the mass property of the 3-axis air bearing table,and the results show that these methods are effective and can be used in practical engineering.