超声电机驱动的激光跟踪平台误差建模与分析  

Error modeling and analysis of a laser tracking platformdriven by ultrasonic motor

作　　者：潘松[1,2] 梁永锦 陈雷[1,2] 周年鹏 马祺翀 Pan Song;Liang Yongjin;Chen Lei;Zhou Nianpeng;Ma Qichong(Precision Drive Laboratory,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;State Key Laboratory of Mechanics and Control for Aerospace Structures,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]南京航空航天大学精密驱动与控制研究所,南京210016 [2]南京航空航天大学航空航天结构力学及控制全国重点实验室,南京210016

出　　处：《仪器仪表学报》2025年第1期93-104,共12页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金委员会-航天先进制造技术研究联合基金集成项目(U2037603);江苏省研究生科研与实践创新计划项目(SJCX22_0093)资助。

摘　　要：激光跟踪测试平台是一种空间大范围坐标测量仪器,轴系的加工装配是其整机实现高精度测量的基础,为了提高激光跟踪平台的指向定位精度,研制了一套超声电机驱动的激光跟踪测量平台,在结构误差建模和分析的基础上提出了一种评估激光跟踪平台指向精度的方法。首先,基于多体系统理论以及坐标变换的原理,建立了平台的拓扑结构模型。然后,将加工装配中产生的轴系垂直度、同轴度、特征位置偏差、激光模组装配误差及各静态误差的初始位置引入误差传递矩阵,同时根据平台转动情况,将轴系晃动、控制误差等动态误差也引入其中,建立了平台指向误差的完善模型。基于所建立的模型,对其进行了数值仿真实验,定量分析了各误差对指向精度的影响程度,以及误差初始位置对指向精度的影响规律。最后,基于仿真结果加工了一套超声电机驱动的激光跟踪平台,并进行了轴系精度和指向精度测试。试验结果表明,所搭建平台两轴轴系晃动<2.2″,轴系测角误差<1.1″,6.8 m外激光末端Y方向重复定位误差在0.20 mm以下,Z方向重复定位误差为0.42 mm以下,试验结果验证了理论分析过程,证明了所提方法的有效性。The laser tracking testing platform is a spatial large-scale coordinate measuring instrument.The machining and assembly of the shaft system is the base for achieving high-precision measurement of the entire machine.To improve the pointing and positioning accuracy of the laser tracking platform,a laser tracking platform driven by an ultrasonic motor is developed,and a method for evaluating the pointing accuracy of the platform is proposed based on structural error modeling and analysis.Firstly,the platform′s topological structure is established based on the principles of multi-body system theory and coordinate transformation.Secondly,the shafting perpendicularity,coaxiality,feature position deviation,laser module assembly error,and the initial position of each static error are incorporated into the error transfer matrix.Meanwhile,considering the platform′s rotation,dynamic errors such as bearing vibrations and control errors are also incorporated.A well-comprehensive pointing error model of the platform is formulated.Based on the established model,numerical simulation experiments are carried out to quantitatively analyze the influence of each error,as well as the influence of the initial position of the error on the precision of pointing.Building upon the established model,numerical simulation experiments are performed to quantitatively assess the impact of each error on pointing accuracy and the effect of error initial positions.Finally,based on the simulation results,a laser tracking platform driven by ultrasonic motors is manufactured.Axis accuracy and pointing accuracy testing experiments are conducted.The experiments show that the platform has a wobbling of under 2.2″for both axes,with an angular measurement error of less than 1.1″.At a distance of 6.8 meters,the laser endpoint exhibits a repeat positioning error of less than 0.20 mm in the Y direction and below 0.42 mm in the Z direction.The experimental results validate the theoretical analysis process and demonstrate the effectiveness of the propos

关 键 词：激光跟踪平台 结构误差分析 指向误差 零件装配 超声电机 

分 类 号：TH115[机械工程—机械设计及理论]