CN101886958A - Method for automatically testing steady state loss torque of flywheel - Google Patents
Method for automatically testing steady state loss torque of flywheel Download PDFInfo
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Abstract
The invention discloses a method for automatically testing the steady state loss torque of a flywheel, relating to a testing method of the steady state loss torque of a flywheel, and solving the problems that the steady state loss torque of the flywheel has larger error because the rotation speed of the flywheel is manually controlled in the traditional flywheel steady state loss torque test, and the flywheel can not simulate a real attitude of satellite because the flywheel rotates in a rotation speed mode. The method for automatically testing the steady state loss torque of the flywheel comprises the steps of: firstly, controlling a computer to set an output torque, regulating the self rotation speed of the flywheel to reach the preset target rotation speed; secondly, controlling the computer to transmit a zero torque command to the flywheel, wherein the flywheel loses the torque and continuously rotates under the action of inertia; and thirdly, controlling the computer to obey a loss torque test algorithm, and regulating the flywheel to apply a torque to obtain the steady state loss torque of the flywheel. The invention realizes the automatic test of the steady state loss torque of the flywheel and is used for the steady state loss torque test of the flywheel.
Description
Technical field
The present invention relates to a kind of method of testing of flywheel steady state loss torque, be specifically related to a kind of method of testing that realizes flywheel robotization steady state loss torque.
Background technology
The ground test process of satellite comprises unit test, subsystem test and the test of whole star.In the unit test process, need carry out independent test to each parts, traditional unit test all depends on artificial realization.In the test of flywheel, need test the steady state loss torque of flywheel.In the art, described flywheel steady state loss torque is meant: when flywheel is maintained a certain specific rotation speeds, keep the torque that this rotating speed need consume.The steady state loss torque of test flywheel, the torque when require measuring flywheel and maintaining different rotating speeds even saturated velocity, and need be through repeatedly test, whether consistent in order to observe all previous test data.
The main following proposal that adopts of traditional flywheel steady state loss torque test realizes: selecting flywheel is the rotating speed pattern, and flywheel is maintained on the rotating speed that needs, and reads voltage and the electric current of this moment, and voltage, the electric current that obtains is scaled steady state loss torque.
The defective that this scheme exists is: the first, described method adopts manual control flywheel rotating speed, cause voltage, electric current under the voltage that obtains and electric current and the desirable flywheel rotating speed to have deviation, and then the flywheel steady state loss torque that causes obtaining exist than mistake; The second, in the control of real satellite attitude, flywheel does not often adopt the rotating speed pattern to rotate, thereby can't use this method.
Summary of the invention
The objective of the invention is to adopt manual control flywheel rotating speed for solving in traditional flywheel steady state loss torque test, cause the flywheel steady state loss torque to exist and adopt the rotating speed pattern to rotate the problem that to simulate the true attitude of satellite, a kind of method for automatically testing steady state loss torque of flywheel is provided than mistake and flywheel.
The present invention is achieved by following proposal: method for automatically testing steady state loss torque of flywheel, described method based on hardware unit constitute by control computer and Communication Card, the control signal input/output terminal of control computer links to each other with the control signal input/output terminal of Communication Card, and the flywheel control signal input/output terminal of Communication Card links to each other with the flywheel control signal input/output terminal of flywheel;
Method for automatically testing steady state loss torque of flywheel:
Step 1, control computer are set the output torque, and positive torque instruction is sent to flywheel, and flywheel is according to received positive torque instruction, adjust self rotating speed and reach predefined rotating speed of target;
Step 2, control computer send zero torque instruction to flywheel, and flywheel loses torque, continue rotation under action of inertia;
Step 3, control computer are followed the loss torque testing algorithm, adjust flywheel and apply torque, obtain the flywheel steady state loss torque.
The invention provides a kind of method for automatically testing steady state loss torque of flywheel, this method at object be the flywheel of torque mode, described flywheel steady state loss torque method of testing is: at first, control computer is set the output torque, adjusts flywheel self rotating speed and reaches predefined rotating speed of target; Afterwards, control computer sends zero torque instruction to flywheel, and flywheel loses torque, continues rotation under action of inertia; At last, control computer is followed the loss torque testing algorithm, adjusts flywheel and applies torque, obtains the flywheel steady state loss torque.
Communication Card of the present invention is a Zhou Ligong CAN9810 integrated circuit board.
The present invention moves testing software on described control computer, described testing software provides the loss torque testing algorithm on the one hand, this testing algorithm sends the test instruction of different flywheels in order to flywheel, the i.e. instruction sequence of integrated in advance flywheel approval in the testing software code, and according to the flywheel status information of returning, as the foundation of test process order execution; User interface is provided on the other hand, in the interface parameter in the algorithm is set, described testing software is by the C/C++/C# language compilation.
Flywheel test instruction described in the present invention is divided into preset parameter instruction and variable element instruction.Wherein, the preset parameter instruction is meant the parameter instruction that does not need user's modification, comprising: maximum positive torque instruction, maximum are born torque instruction, zero torque instruction, starter motor instruction, are stopped the motor instruction and read the flywheel rotary speed instruction.The variable element instruction is provided with in the interface of testing software by the user, can set the moment values of output, comprising: positive torque instruction and negative torque instruction.
Positive torque instruction of maximum of the present invention and maximum negative torque instruction are set according to the index of flywheel self; Described zero torque instruction stops to apply any torque to flywheel; Described starter motor instructs and stops the motor instruction and is respectively the instruction that starts and stop fly-wheel motor; The described flywheel rotary speed instruction of reading returns to control computer with the flywheel state; Described positive torque instruction and negative torque instruction, are used at test process flywheel being applied certain moment by the testing software interface setting by the user, and the user is not as being provided with, and control computer is carried out default value.
Adopt method for automatically testing steady state loss torque of flywheel of the present invention, in test process, the rotating speed that control computer is adjusted flywheel automatically reaches predefined rotating speed of target, there is not deviation in the electric current and voltage that electric current and voltage that the flywheel rotating speed records and predefined rotating speed of target obtain down, adopts method of the present invention to measure the flywheel steady state loss torque and can not cause than mistake; Flywheel of the present invention adopts torque mode to rotate, and is identical with the rotation mode of flywheel in the control of real satellite attitude, can simulate the attitude of real satellite.Loss torque testing algorithm of the present invention, human-computer interaction interface can be provided simultaneously, only need manually set in advance parameter during use, automatically finish test by testing software according to testing algorithm, by method of testing of the present invention, to be difficult to the artificial flywheel steady-state loss moment test process of realizing and change the test process that is easy to the robotization realization into, thereby remedy manual testing's deficiency, reach the purpose of flywheel robotization steady-state loss moment test.
Description of drawings
Fig. 1 is the method flow diagram of the method for automatically testing steady state loss torque of flywheel described in the embodiment one; Fig. 2 is that the control computer described in the embodiment two is set the output torque, and positive torque instruction is sent to flywheel, and flywheel is according to received positive torque instruction, adjusts self rotating speed and reaches the method flow diagram of predefined rotating speed of target; Fig. 3 is that the control computer described in the embodiment three is followed the loss torque testing algorithm, adjusts flywheel and applies torque, obtains the method flow diagram of flywheel steady state loss torque.
Embodiment
Embodiment one: specify present embodiment below in conjunction with Fig. 1.Method for automatically testing steady state loss torque of flywheel, described method based on hardware unit constitute by control computer and Communication Card, the control signal input/output terminal of control computer links to each other with the control signal input/output terminal of Communication Card, and the flywheel control signal input/output terminal of Communication Card links to each other with the flywheel control signal input/output terminal of flywheel;
Method for automatically testing steady state loss torque of flywheel:
Step 1, control computer are set the output torque, and positive torque instruction is sent to flywheel, and flywheel is according to received positive torque instruction, adjust self rotating speed and reach predefined rotating speed of target;
Step 2, control computer send zero torque instruction to flywheel, and flywheel loses torque, continue rotation under action of inertia;
Step 3, control computer are followed the loss torque testing algorithm, adjust flywheel and apply torque, obtain the flywheel steady state loss torque.
Present embodiment provides a kind of method for automatically testing steady state loss torque of flywheel, this method at object be the flywheel of torque mode, described flywheel steady state loss torque method of testing is: at first, control computer is set the output torque, adjusts flywheel self rotating speed and reaches predefined rotating speed of target; Afterwards, control computer sends zero torque instruction to flywheel, and flywheel loses torque, continues rotation under action of inertia; At last, control computer is followed the loss torque testing algorithm, adjusts flywheel and applies torque, obtains the flywheel steady state loss torque.
The described Communication Card of present embodiment is a Zhou Ligong CAN9810 integrated circuit board.
Present embodiment is moved testing software on described control computer, described testing software provides the loss torque testing algorithm on the one hand, this testing algorithm sends the test instruction of different flywheels in order to flywheel, the i.e. instruction sequence of integrated in advance flywheel approval in the testing software code, and according to the flywheel status information of returning, as the foundation of test process order execution; User interface is provided on the other hand, in the interface parameter in the algorithm is set, described testing software is by the C/C++/C# language compilation.
Flywheel test instruction described in the present embodiment is divided into preset parameter instruction and variable element instruction.Wherein, the preset parameter instruction is meant the parameter instruction that does not need user's modification, comprising: maximum positive torque instruction, maximum are born torque instruction, zero torque instruction, starter motor instruction, are stopped the motor instruction and read the flywheel rotary speed instruction.The variable element instruction is provided with in the interface of testing software by the user, can set the moment values of output, comprising: positive torque instruction and negative torque instruction.
Positive torque instruction of the described maximum of present embodiment and maximum negative torque instruction are set according to the index of flywheel self; Described zero torque instruction stops to apply any torque to flywheel; Described starter motor instructs and stops the motor instruction and is respectively the instruction that starts and stop fly-wheel motor; The described flywheel rotary speed instruction of reading returns to control computer with the flywheel state; Described positive torque instruction and negative torque instruction, are used at test process flywheel being applied certain moment by the testing software interface setting by the user, and the user is not as being provided with, and control computer is carried out default value.
Adopt the described method for automatically testing steady state loss torque of flywheel of present embodiment, in test process, the rotating speed that control computer is adjusted flywheel automatically reaches predefined rotating speed of target, there is not deviation in the electric current and voltage that electric current and voltage that the flywheel rotating speed records and predefined rotating speed of target obtain down, adopts the described method of present embodiment to measure the flywheel steady state loss torque and can not cause than mistake; The described flywheel of present embodiment adopts torque mode to rotate, and is identical with the rotation mode of flywheel in the control of real satellite attitude, can simulate the attitude of real satellite.The described loss torque testing algorithm of present embodiment, human-computer interaction interface can be provided simultaneously, only need manually set in advance parameter during use, automatically finish test by testing software according to testing algorithm, by the described method of testing of present embodiment, to be difficult to the artificial flywheel steady-state loss moment test process of realizing and change the test process that is easy to the robotization realization into, thereby remedy manual testing's deficiency, reach the purpose of flywheel robotization steady-state loss moment test.
Embodiment two: specify present embodiment below in conjunction with Fig. 2.Present embodiment is further specifying the step 1 in the embodiment one described method for automatically testing steady state loss torque of flywheel, control computer described in the step 1 is set the output torque, and positive torque instruction sent to flywheel, flywheel is according to received positive torque instruction, and fly-wheel motor with the process that flywheel accelerates to predefined rotating speed is:
Step one by one, control computer sends to flywheel with zero torque instruction, and then, control computer sends to fly-wheel motor with the starter motor instruction;
Step 1 two, according to predefined rotating speed of target, control computer sends to flywheel with positive torque instruction, flywheel is adjusted self rotating speed according to received positive torque instruction;
Step 1 three, control computer will be read the flywheel rotary speed instruction and send to flywheel, and read current flywheel rotating speed;
Whether the current flywheel rotating speed that step 1 four, judgement are read reaches predefined rotating speed of target, and judged result then realizes flywheel is accelerated to predefined rotating speed of target for being, judged result is then returned step 1 three for not.
Embodiment three: specify present embodiment below in conjunction with Fig. 3.Present embodiment is further specifying the step 3 in embodiment one and the embodiment two described method for automatically testing steady state loss torque of flywheel, control computer preestablishes the value of operational factor in the described loss torque testing algorithm, comprise: the index variation step-length a of units of torque, and a is less than or equal to 1 positive number, the initial value that flywheel applies the coefficient i of torque is 1, the initial value of judgement frequency n is 0, flywheel maximum (top) speed TH, the rotation speed change amount allows threshold value m, allow multiplicity N
Control computer described in the step 3 is followed the loss torque testing algorithm, adjusts flywheel and applies torque, and the detailed process that obtains the flywheel steady state loss torque is:
Step 3 one, control computer send flywheel and apply torque instruction to flywheel, and flywheel applies rotation under the torque Ti drive at flywheel, and described flywheel applies torque Ti=a*i*I, and wherein, I is a units of torque;
Behind step 3 two, the time delay interval time t, control computer will be read the flywheel rotary speed instruction and send to flywheel, read the rotating speed in this moment of flywheel, and with this rotating speed as the time-delay before flywheel rotating speed v1; Behind the time delay interval time t, control computer will be read the flywheel rotary speed instruction and send to flywheel once more, read the rotating speed in this moment of flywheel, and with this rotating speed as current flywheel rotating speed v2;
Step 3 three, whether judge v2 less than TH, judged result is for being, then execution in step three or four, and judged result is not for, and then execution in step three or eight;
Step 3 four, judge | whether v1-v2| less than m, and judged result is for being, then execution in step three or five, and judged result is for denying, then the execution in step pseudo-ginseng;
Step 3 five, control computer add 1 with the value of n;
Step 3 six, whether judge n less than N, judged result is for being, execution in step pseudo-ginseng then, and judged result is then returned step 3 two for not;
Step pseudo-ginseng, control computer add 1 with the value of i;
Step 3 eight, control computer send to flywheel with zero torque instruction, and the value of a is reduced, and i and n revert to initial value;
Step three nine-day periods after the winter solstice, control computer record flywheel apply torque Ti, and flywheel is at this moment applied torque Ti as the flywheel steady state loss torque.
Present embodiment is in given little moment, be that flywheel applies under the situation of torque Ti, by flywheel change in rotational speed among the test different time interval t | v1-v2|, according to the rotation speed change situation, if the decline rate of flywheel rotating speed always applies the speed recruitment that torque Ti brings greater than flywheel, flywheel is applied torque Ti continue to increase, reach steady state (SS) up to the flywheel rotating speed, the flywheel of this moment applies torque Ti and is the flywheel steady state loss torque.
In the flywheel test process; because the choosing of the index variation step-length a value of units of torque is excessive; flywheel occurring applies the speed recruitment that torque Ti brings and is higher than flywheel rotating speed decline rate; for overcoming this problem; the flywheel rotating speed is protected, when the flywheel rotating speed when setting the scope of flywheel maximum (top) speed TH, with output torque zero setting and stop motor; the value of the index variation step-length a of units of torque is reduced to half of index variation step-length a of original unit's torque, test again.
Embodiment four: the difference of present embodiment and embodiment one, two and three described method for automatically testing steady state loss torque of flywheel is that the interface between described Communication Card and the control computer is pci interface or ISA interface.
Embodiment five: the difference of present embodiment and embodiment one, two, three and four described method for automatically testing steady state loss torque of flywheel is that the interface between described Communication Card and the flywheel is a serial communication interface.
Communication Card in the present embodiment is the tie that flywheel and control computer are carried out communication, and by described Communication Card, control computer sends to flywheel with the flywheel test instruction; Flywheel feeds back to control computer with self information, and described information comprises flywheel self rotating speed, voltage and current.
Claims (5)
1. method for automatically testing steady state loss torque of flywheel, described method based on hardware unit constitute by control computer and Communication Card, the control signal input/output terminal of control computer links to each other with the control signal input/output terminal of Communication Card, and the flywheel control signal input/output terminal of Communication Card links to each other with the flywheel control signal input/output terminal of flywheel;
It is characterized in that method for automatically testing steady state loss torque of flywheel:
Step 1, control computer are set the output torque, and positive torque instruction is sent to flywheel, and flywheel is according to received positive torque instruction, adjust self rotating speed and reach predefined rotating speed of target;
Step 2, control computer send zero torque instruction to flywheel, and flywheel loses torque, continue rotation under action of inertia;
Step 3, control computer are followed the loss torque testing algorithm, adjust flywheel and apply torque, obtain the flywheel steady state loss torque.
2. method for automatically testing steady state loss torque of flywheel according to claim 1, it is characterized in that: the control computer described in the step 1 is set the output torque, and positive torque instruction sent to flywheel, flywheel is according to received positive torque instruction, adjusts self rotating speed and reaches predefined rotating speed of target:
Step one by one, control computer sends to flywheel with zero torque instruction, and then, control computer sends to fly-wheel motor with the starter motor instruction;
Step 1 two, according to predefined rotating speed of target, control computer sends to flywheel with positive torque instruction, flywheel is adjusted self rotating speed according to received positive torque instruction;
Step 1 three, control computer will be read the flywheel rotary speed instruction and send to flywheel, and read current flywheel rotating speed;
Whether the current flywheel rotating speed that step 1 four, judgement are read reaches predefined rotating speed of target, and judged result then realizes flywheel is accelerated to predefined rotating speed of target for being, judged result is then returned step 1 three for not.
3. method for automatically testing steady state loss torque of flywheel according to claim 1, it is characterized in that: control computer preestablishes the value of operational factor in the described loss torque testing algorithm, comprise: the index variation step-length a of units of torque, and a is less than or equal to 1 positive number, the initial value that flywheel applies the coefficient i of torque is 1, the initial value of judgement frequency n is 0, and flywheel maximum (top) speed TH, rotation speed change amount allow threshold value m, allow multiplicity N
Control computer described in the step 3 is followed the loss torque testing algorithm, adjusts flywheel and applies torque, and the detailed process that obtains the flywheel steady state loss torque is:
Step 3 one, control computer send flywheel and apply torque instruction to flywheel, and flywheel applies rotation under the torque Ti drive at flywheel, and described flywheel applies torque Ti=a*i*I, and wherein, I is a units of torque;
Behind step 3 two, the time delay interval time t, control computer will be read the flywheel rotary speed instruction and send to flywheel, read the rotating speed in this moment of flywheel, and with this rotating speed as the time-delay before flywheel rotating speed v1; Behind the time delay interval time t, control computer will be read the flywheel rotary speed instruction and send to flywheel once more, read the rotating speed in this moment of flywheel, and with this rotating speed as current flywheel rotating speed v2;
Step 3 three, whether judge v2 less than TH, judged result is for being, then execution in step three or four, and judged result is not for, and then execution in step three or eight;
Step 3 four, judge | whether v1-v2| less than m, and judged result is for being, then execution in step three or five, and judged result is for denying, then the execution in step pseudo-ginseng;
Step 3 five, control computer add 1 with the value of n;
Step 3 six, whether judge n less than N, judged result is for being, execution in step pseudo-ginseng then, and judged result is then returned step 3 two for not;
Step pseudo-ginseng, control computer add 1 with the value of i;
Step 3 eight, control computer send to flywheel with zero torque instruction, and the value of a is reduced, and i and n revert to initial value;
Step three nine-day periods after the winter solstice, control computer record flywheel apply torque Ti, and flywheel is at this moment applied torque Ti as the flywheel steady state loss torque.
4. method for automatically testing steady state loss torque of flywheel according to claim 1 is characterized in that: the interface between described Communication Card and the control computer is pci interface or ISA interface.
5. method for automatically testing steady state loss torque of flywheel according to claim 1 is characterized in that: the interface between described Communication Card and the flywheel is a serial communication interface.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104034461A (en) * | 2014-05-05 | 2014-09-10 | 西安电子科技大学 | Precise servo mechanism friction torque testing system and testing method |
| CN106742071A (en) * | 2017-01-20 | 2017-05-31 | 上海航天控制技术研究所 | A kind of method for avoiding zero passage using the control of orthogonal Flywheel |
| CN108020360A (en) * | 2017-10-23 | 2018-05-11 | 上海卫星工程研究所 | The high-precision semi physical test method that disturbance torque compensates on star |
| CN109459167A (en) * | 2018-09-30 | 2019-03-12 | 中国空间技术研究院 | Satellite momentum wheel moment of friction ground on-line testing method and system |
| CN110039547A (en) * | 2019-05-27 | 2019-07-23 | 清华大学深圳研究生院 | A kind of human-computer interaction terminal and method of flexible mechanical arm remote operating |
| CN112821433A (en) * | 2021-04-19 | 2021-05-18 | 沈阳微控新能源技术有限公司 | Control method of flywheel array energy storage system, energy storage system and power grid system |
| CN113501144A (en) * | 2021-07-27 | 2021-10-15 | 北京微纳星空科技有限公司 | Flywheel rotating speed control method, device, equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104034461A (en) * | 2014-05-05 | 2014-09-10 | 西安电子科技大学 | Precise servo mechanism friction torque testing system and testing method |
| CN106742071A (en) * | 2017-01-20 | 2017-05-31 | 上海航天控制技术研究所 | A kind of method for avoiding zero passage using the control of orthogonal Flywheel |
| CN106742071B (en) * | 2017-01-20 | 2019-01-25 | 上海航天控制技术研究所 | A method of zero passage is avoided using the control of orthogonal installation flywheel |
| CN108020360A (en) * | 2017-10-23 | 2018-05-11 | 上海卫星工程研究所 | The high-precision semi physical test method that disturbance torque compensates on star |
| CN109459167A (en) * | 2018-09-30 | 2019-03-12 | 中国空间技术研究院 | Satellite momentum wheel moment of friction ground on-line testing method and system |
| CN109459167B (en) * | 2018-09-30 | 2020-12-18 | 中国空间技术研究院 | Satellite momentum wheel friction torque ground online test method and system |
| CN110039547A (en) * | 2019-05-27 | 2019-07-23 | 清华大学深圳研究生院 | A kind of human-computer interaction terminal and method of flexible mechanical arm remote operating |
| CN110039547B (en) * | 2019-05-27 | 2021-08-10 | 清华大学深圳研究生院 | Man-machine interaction terminal and method for remote operation of flexible mechanical arm |
| CN112821433A (en) * | 2021-04-19 | 2021-05-18 | 沈阳微控新能源技术有限公司 | Control method of flywheel array energy storage system, energy storage system and power grid system |
| CN113501144A (en) * | 2021-07-27 | 2021-10-15 | 北京微纳星空科技有限公司 | Flywheel rotating speed control method, device, equipment and storage medium |
| CN113501144B (en) * | 2021-07-27 | 2022-05-03 | 北京微纳星空科技有限公司 | Flywheel rotating speed control method, device, equipment and storage medium |
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| CN101886958B (en) | 2012-03-21 |
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