CN102980764A - Automatic testing system and testing method of harmonic drive mechanism in space environment - Google Patents
Automatic testing system and testing method of harmonic drive mechanism in space environment Download PDFInfo
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Abstract
The invention discloses an automatic testing system and a testing method of a harmonic drive mechanism in a space environment. The system comprises a control terminal (100) and an execution terminal (200), wherein the control terminal (100) comprises an instruction input unit (110), a decision unit (120), a first communication unit (130), a data processing unit (140) and a state monitoring unit (150); the execution terminal (200) comprises a condition judging unit (210), an execution unit (220), a data acquiring unit (230) and a second communication unit (240); and the decision unit (120) comprises an operation judging unit (121), an information prompt unit (122), an environment processing unit (123), a working condition processing unit (124), a temperature processing unit (125), a rotating speed processing unit (126) and a moment processing unit (127). The automatic testing system and the testing method largely improve degree of automation and work efficiency of the testing system, maximally reduce manual operation, and reduce risks due to introduction of personal errors.
Description
Technical field
The invention belongs to spacecraft gear train field tests, be specifically related to a kind of for harmonic drive mechanism Auto-Test System and method of testing under the space environment condition.
Background technology
Twentieth century, American scholar C.Walton.Musser has invented the harmonic drive structure, because that it has is simple in structure, volume is little, lightweight, the outstanding large mechanical property such as load-bearing capacity is high, harmonic drive mechanism is widely used in the every field such as space technology, the energy, lathe.
There are greatest differences in harmonic drive mechanism and conventional drives that spacecraft is used.At first: the gear train working environment is different.Spacecraft is operated in a cold darkness environment of vacuum with harmonic drive mechanism, and environmental pressure is 10
-5Pa～10
-7Between the Pa, unglazed photograph, temperature is between-100 ℃～-270 ℃.The space rugged environment can cause product material and the structure in the spacecraft member to change, such as material evaporation, decomposition, distillation etc.Secondly: harmonic drive efficient requires high.The payload weight that spacecraft can carry is limited, and the general assembly (TW) that therefore must farthest alleviate peripheral backup system just can make spacecraft carry enough instrument and equipments, finishes predetermined task.For power system, this just requires gear train that very high transmission efficiency is arranged, and guarantees that the utilization factor of power reaches the highest.Therefore, in order to expose as early as possible material potential in the gear train and workmanship defective, eliminate initial failure, verify its transmission efficiency, improve product reliability, need carry out on ground the simulation test under the thermal vacuum environment, examine the quality of the production, carry out material screening, offer the spacecraft design reference.
In recent years, China's aerospace industry develops rapidly, spacecraft model test mission unprecedentedly increases, increase severely such as parts level test mission amounts such as harmonic drive mechanisms, also brought thus such as the increase in demand to test operation personnel proficiency and quantity, the fault rate of manual operation equipment such as significantly increases at the problem.This just requires the TT﹠C system of spacecraft ground testing equipment also must be towards high automation, high reliability, the future development of high-intelligentization.Under such demand, need develop a kind of for harmonic drive mechanism Auto-Test System and method of testing under the space environment condition.
The inventor finds in investigation, existingly has at least following shortcoming for the harmonic drive mechanism test macro under the space environment condition: at first, automaticity is not high, and manually-operated is loaded down with trivial details, operator quality is had relatively high expectations, and introduce personal error easily; Secondly, control accuracy is not high, mostly is open loop or manually control, and the error that thus test findings is produced is difficult for eliminating.
Summary of the invention
The object of the invention is to again invent and design a kind of for harmonic drive mechanism Auto-Test System and method of testing under the space environment condition, be used for the transmission efficiency of test harmonic drive mechanism under a certain condition of work.
Technical scheme of the present invention is as follows:
Harmonic drive mechanism Auto-Test System under a kind of space environment, described system comprises control end and actuating station, wherein said control end comprises:
Instruction input block: be used for the instruction input that Auto-Test System starts and stops, and each test parameters arranges;
Decision package: analysis-by-synthesis user instruction, current operating condition of test and feedback data determine the operation of next step operating mode;
Data processing unit: the data filtering, calculating, classification and the memory function that are used for Auto-Test System operation information and equipment state;
The first communication unit: be used for control end and the test figure of actuating station, the transmission of steering order;
With the status surveillance unit: be used for graphical, the tabular output of Auto-Test System operation information and equipment state;
Described actuating station comprises:
Driver element, the action command according to control end sends sends the driving signal to the underlying device of performance element;
Performance element receives the driving instruction that driver element sends, and carries out test operation;
Data acquisition unit: by sensor acquisition system operation information and status information of equipment;
With the second communication unit: be used for control end and the test figure of actuating station, the transmission of steering order.
Wherein, described decision package comprises:
The operation judging unit: be used for judging whether current whole system satisfies the condition that enters trystate, comprises equipment failure judgement, warning message etc., and with judged result afferent message Tip element;
Information indicating unit: when moving judgment unit judges system's this moment because of equipment failure, when warning can not enter trystate, send information to the user, and wait for next step operation;
The environmental treatment unit: be used for when operation judgment unit judges result for can test the time, begin the spatial context environmental simulation, the space environment parameter is inputted by the instruction input block;
Operating mode processing unit: be used for the test cycle parameter inputted according to the instruction input block, and in conjunction with duration of state and this state of current test specimen, calculate the test operation that the next instruction cycle will carry out;
The Temperature Treatment unit: be used for when operating mode processing unit processes result when needing change test specimen temperature, the test parameters of inputting in conjunction with input block is sent to actuating station the instruction of test specimen temperature is set;
Rotating speed processing unit: for being when needing change test specimen rotating speed as operating mode processing unit processes result, in conjunction with the test parameters that input block is inputted, send adjustment test specimen rotary speed instruction to actuating station;
Moment processing unit: for being when needing change test specimen moment as operating mode processing unit processes result, in conjunction with the test parameters that input block is inputted, send the instruction of adjustment test specimen loading moment to actuating station.
Wherein, described test parameters comprises: the vacuum tightness of experimental enviroment, cold-scarce scape temperature, standby rotating speed and standby moment after the test specimen target temperature of the periodicity of this test cycle, operating mode number that each cycle comprises, each operating mode, rotating speed of target, target loading moment, the duration of test runs of each operating mode, single operating mode finish.
Wherein, described feedback data comprises the loading moment of test specimen temperature, test specimen rotating speed and test specimen.
Wherein, described operation information comprises vacuum tightness, ambient temperature, circulating water flow, test specimen temperature, test specimen rotating speed, test specimen loading moment and user operation records.
Wherein, described equipment state comprises opening/stop and fault alarm of equipment.
Wherein, described underlying device comprises vacuum pump, refrigeration system, heating system, test specimen drive system and test specimen moment loading system.
Wherein, described sensor comprises pressure transducer, temperature sensor, speed probe and torque sensor.
Wherein, described space environment parameter comprises vacuum tightness and background environment temperature.
Wherein, described test cycle parameter comprises the periodicity of this test cycle, the operating mode number that each cycle comprises, test specimen target temperature, rotating speed of target and the loading moment of each operating mode, the duration of test runs of each operating mode and standby rotating speed and the standby moment after the end of single operating mode.
Harmonic drive mechanism automatic test approach under a kind of space environment comprises the steps:
1) test starts: after input equipment input test parameters and test enabled instruction, the automatic testing experiment of this gear train begins to start;
2) test specimen temperature control: after space environment reaches testing requirements by instruction input block (110) input, begin the test test specimen is carried out temperature control;
3) reaching target temperature judges: carrying out step 2) after, whether the judgement test test specimen that begins to circulate has reached the current working target temperature;
4) adjustment of rotational speed: after the test specimen temperature reaches target temperature, begin the test test specimen is carried out adjustment of rotational speed;
5) reaching rotating speed of target judges: after having carried out the test specimen temperature control of step 4), whether the judgement test test specimen that begins to circulate has reached the current working rotating speed of target by instruction input block (110) input;
6) moment loads: after the test specimen temperature reaches rotating speed of target, begin that the test test specimen is carried out moment and load;
7) reaching target moment judges: after the moment of having carried out step 6) loaded, whether the judgement test test specimen that begins to circulate had reached the current working target moment by instruction input block (110) input;
8) timing: after test test specimen temperature, rotating speed, moment all satisfy testing requirements, the beginning timing;
9) parameter that departs from objectives is judged: after the step 8) timing began, whether the judgement test test specimen that begins to circulate had departed from target component during timing;
10) this operating mode timing finishes to judge: under the test test specimen does not depart from objectives the situation of temperature, judge whether timing time reaches the current working requirement of inputting by instruction input block (110);
11) this end cycle is judged: after this operating mode timing finishes, judge according to the current test parameters of instruction input block (110) input whether this cycle finishes;
12) begin next operating mode: when this end cycle judged result of step 11) is " finishing ", begin the next operating mode in this cycle;
13) this off-test is judged: after this cycle period finishes, judge according to the current test parameters of instruction input block (110) input whether this test finishes;
14) repeat this cycle: when this off-test judged result of step 13) is " finishing ", restart the loop cycle that has just finished;
15) shut down: this test cycle carries out shutdown operation after all finishing.
Wherein, described test parameters comprises: standby rotating speed and standby moment after the test specimen target temperature of the periodicity of the vacuum tightness of experimental enviroment and cold-scarce scape temperature, this test cycle, the operating mode number that each cycle comprises, each operating mode, rotating speed of target, target loading moment, the duration of test runs of each operating mode, single operating mode finish.
Wherein, described space environment comprises vacuum tightness and background environment temperature.
Can there be the error in the test allowed band when wherein, described target temperature is judged.
Can there be the error in the test allowed band when wherein, described rotating speed of target is judged.
Can there be the error in the test allowed band when wherein, described target loading moment is judged.
Wherein, the described parameter that departs from objectives comprises: test specimen temperature, test specimen rotating speed or the test specimen moment value of departing from objectives.
Wherein, next operating mode of described beginning or restart this cycle period before, the test specimen state is set to single operating mode by instruction input block (110) input after finishing standby rotating speed and standby moment.
Wherein, described shutdown operation comprises: test specimen unloading and space environment simulation equipment downtime.
Shortcoming and defect for present Transmission Mechanism Testing System, the present invention has optimized system architecture, improved automatization level, improved measuring accuracy, simplified operating process, when saving manpower, also farthest avoided because the error that human factor is brought to test findings, for the gear train ground experiment that is used under the space environment provides technical guarantee.The present invention has captured the gordian technique difficult point of spatialmechanism test macro; its automatic control system can realize the functions such as the one-touch control, fault diagnosis, virtual protection of test macro equipment; not only improve test macro reliability of operation and advance, simultaneously also greatly alleviated operating personnel's quantity and lack experience and heavy test mission between contradiction.At present, this Auto-Test System comes into operation in certain Transmission Mechanism Testing System project, stable, increasingly automated in the operation of realization equipment, effectively alleviated the problem of testing crew shortage in the time of high reliability, and reduced the dependence of equipment to operating personnel's professional knowledge level, obtained good result of use.
Description of drawings
Fig. 1 is the structured flowchart for the harmonic drive mechanism Auto-Test System under the space environment condition of the present invention.
Fig. 2 is the structured flowchart of the decision-making reason unit among Fig. 1.
Fig. 3 is the process flow diagram for the harmonic drive mechanism automatic test approach under the space environment condition of the present invention.
Embodiment
What below introduce is embodiment as content of the present invention, below by embodiment described content of the present invention is further illustrated.Certainly, describe following embodiment and only be the content of example different aspect of the present invention, and should not be construed as the restriction scope of the invention.
Referring to Fig. 1 and Fig. 2, Fig. 1 has shown the structured flowchart for the harmonic drive mechanism Auto-Test System under the space environment condition of the present invention; Fig. 2 shows the structured flowchart of the decision-making reason unit among Fig. 1.Of the present inventionly comprise control end 100 and actuating station 200 for the harmonic drive mechanism Auto-Test System under the space environment condition, wherein said control end end 100 comprises: instruction input block 110, decision package 120, the first communication unit 130, data processing unit 140 and status surveillance unit 150; Described actuating station 200 comprises: condition judgment unit 210, performance element 220, data acquisition unit 230 and second communication unit 240; Described decision package 120 comprises: operation judging unit 121, information indicating unit 122, environmental treatment unit 123, operating mode processing unit 124, Temperature Treatment unit 125, rotating speed processing unit 126 and moment processing unit 127.
Instruction input block 110 is used for the input of a whole set of Auto-Test System operation, the control that stops and every test parameters (test vacuum tightness, ambient temperature, test specimen temperature, test specimen rotating speed, loading moment, test cycle parameter etc.);
Decision package 120, be used for user instruction input, parameter setting according to current device running status, background environment state, test specimen temperature, test specimen rotating speed, test specimen moment load condition and instruction input block 110, calculating the operation that next step system will carry out, is the core cell of this cover system;
The first communication unit 130 with second communication unit 240 exchanges data just, is sent to actuating station 200 with control command, and from actuating station 200 receiving equipment service datas, running status and test figure;
Data processing unit 140 is used for focusing on the process of the test data, and notes down.To test figure collect, the screening of digital filtering, valid data, with the valid data after the screening together with together the pack storage and be sent to status surveillance unit 150 for man-machine interaction of equipment running status data, user operation records;
Status surveillance unit 150 is used for test figure (test specimen rotating speed, moment loading, transmission efficiency, test specimen temperature etc.) and equipment running status data (background environment vacuum tightness, ambient temperature, equipment running status, equipment alarm information etc.) after data processing unit 140 processing graphically are shown to the user.
Driver element 210, the action command according to control end 100 sends sends the driving signal to the underlying device of performance element 220;
Performance element 220 receives the driving instruction that driver element 210 sends, and carries out test operation.
Data acquisition unit 230 is used for sensor information (rotating speed, temperature, moment, vacuum tightness etc.), and sensor information is sent to second communication unit 240;
Second communication unit 240 with the first communication unit 130 exchanges data just, is sent to control end 100 with equipment operating data, running status and test figure, and receives control commands from control end 100;
Described decision package comprises:
Operation judging unit 121: be used for judging whether current whole system satisfies the condition that enters trystate, comprises equipment failure judgement, warning message etc., and with judged result afferent message Tip element 122;
Information indicating unit 122: when operation judging unit 121 judges that system sends information to the user, and waits for next step operation because of equipment failure, when warning can not enter trystate at this moment;
Environmental treatment unit 123: be used for when operation judging unit 121 judged results for can test the time, the environmental simulation of beginning spatial context, space environment parameter (vacuum tightness, ambient temperature) is inputted by instruction input block 110;
Operating mode processing unit 124: for the test cycle parameter of inputting according to instruction input block 110, and in conjunction with the state (test specimen temperature, rotating speed, moment) of current test specimen and the duration of this state, calculate the test operation that the next instruction cycle will carry out;
Temperature Treatment unit 125: be used for when operating mode processing unit 124 results when needing change test specimen temperature, the test parameters of inputting in conjunction with input block 110 is sent to actuating station 200 instruction of test specimen temperature is set;
Rotating speed processing unit 126: for being when needing change test specimen rotating speed when operating mode processing unit 124 results, in conjunction with the test parameters that input block 110 is inputted, send adjustment test specimen rotary speed instruction to actuating station 200;
Moment processing unit 127: for being when needing change test specimen moment when operating mode processing unit 124 results, in conjunction with the test parameters that input block 110 is inputted, send the instruction of adjustment test specimen loading moment to actuating station 200.
Fig. 3 has shown the process flow diagram for the harmonic drive mechanism automatic test approach under the space environment condition of the present invention.Concrete steps are as follows:
Step 410 test starts: after keyboard, mouse input test parameters and test enabled instruction, the automatic testing experiment of this gear train begins to start;
Test parameters and enabled instruction comprise standby rotating speed and standby moment after the periodicity of experimental enviroment (vacuum tightness, cold-scarce scape temperature), this test cycle, the operating mode number that each cycle comprises, the test specimen dbjective state (test specimen temperature, rotating speed, moment load) of each operating mode, the duration of test runs of each operating mode, single operating mode finish by 110 inputs of instruction input block.Under the condition of operation judging unit 121 non-fault, warning, when test starts, judge the current background environment by environmental treatment unit 123 first, if background environment (vacuum tightness, temperature) has reached testing requirements, directly carry out following test operation; Otherwise, carry out space environment simulation by environmental treatment unit 123 first, carry out again following operation;
Step 420 test specimen temperature control: after space environment reaches testing requirements by instruction input block 110 input, begin the test test specimen is carried out temperature control;
When following situation occurs so that current test specimen temperature when not satisfying current testing requirements, is carried out the operation of test specimen temperature control:
1. new operating condition of test is arranged: circulated for carrying out next operating condition of test or this cycle of restarting by operating mode processing unit 124 results;
2. test specimen not yet reaches target temperature after being provided with the test specimen target temperature; Carried out test specimen temperature control operation by Temperature Treatment unit 125, but be that test specimen not yet reaches target temperature by operating mode processing unit 124 results;
The test specimen temperature departure target temperature: after test specimen was stabilized in target temperature, before this operating mode was finished, temperature departure for having occured in operating mode processing unit 124 results;
Step 430 reaches target temperature and judges: after having carried out step 420 test specimen temperature control, whether the judgement test test specimen that begins to circulate has reached the current working target temperature;
Target temperature is by 110 inputs of instruction input block, and operating mode processing unit 124 is compared current test specimen temperature and target temperature, until the test specimen temperature reaches this operating mode target temperature by 110 inputs of instruction input block;
Step 440 adjustment of rotational speed: after the test specimen temperature reaches target temperature, begin the test test specimen is carried out adjustment of rotational speed;
After the test specimen temperature reaches target temperature, calculate the difference of current rotating speed and rotating speed of target by operating mode processing unit 124, and send by rotating speed processing unit 126 and send the adjustment of rotational speed instruction;
Step 450 reaches rotating speed of target and judges: after having carried out step 440 adjustment of rotational speed, whether the judgement test test specimen that begins to circulate has reached the current working rotating speed of target by 110 inputs of instruction input block;
Rotating speed of target is by 110 inputs of instruction input block, and operating mode processing unit 124 is compared current test specimen rotating speed and rotating speed of target, until the test specimen rotating speed reaches this operating mode rotating speed of target by 110 inputs of instruction input block;
Step 460 moment loads: after the test specimen temperature reaches rotating speed of target, begin that the test test specimen is carried out moment and load;
After the test specimen rotating speed reaches rotating speed of target, calculate the difference of current moment and target moment by operating mode processing unit 124, and send by moment processing unit 127 and send the moment load instructions;
Step 470 reaches target moment and judges: after having carried out the loading of step 460 moment, whether the judgement test test specimen that begins to circulate has reached the current working target moment by 110 inputs of instruction input block;
Target moment is by 110 inputs of instruction input block, and operating mode processing unit 124 is compared current test specimen moment and target moment, until test specimen moment reaches this operating mode target moment by 110 inputs of instruction input block;
Step 480 timing: after test test specimen temperature, rotating speed, moment all satisfy testing requirements, the beginning timing;
When the temperature of test specimen, rotating speed, when moment all reaches desired value, operating mode processing unit 124 will start timing, and timing time is this operating mode duration of instruction input block 110 inputs;
Step 490 parameter that departs from objectives is judged: after step 480 timing began, whether the judgement test test specimen that begins to circulate had departed from target component during timing;
During timing, by the judgement of operating mode processing unit 124 circulation during this period the temperature of test specimen whether exceeded the temperature range of testing requirements.When test specimen temperature, rotating speed, moment have surpassed desired value, will stop timing, and restart the setting of target component;
This operating mode timing of step 4a0 finishes to judge: under the test test specimen does not depart from objectives the situation of temperature, judge whether timing time reaches the current working requirement of inputting by instruction input block 110;
This end cycle of step 4b0 is judged: after this operating mode timing finishes, judge according to the current test parameters of instruction input block 110 inputs whether this cycle finishes;
After this operating mode timing finishes, the operating mode number that this cycle of being inputted according to instruction input block 110 by operating mode processing unit 124 comprises, and completed operating mode number judges whether also have still unenforced operating mode in this cycle;
Step 4c0 begins next operating mode: when this end cycle judged result of step 4b0 is " finishing ", begin the next operating mode in this cycle;
When operating mode processing unit 124 judged results are that the operating mode number that comprises in this cycle of instruction input block 110 input is greater than completed operating mode number, also has so still unenforced operating mode in this cycle, according to standby rotating speed and the standby moment after the single operating mode end of instruction input block 110 inputs, by rotating speed processing unit 126 and moment processing unit 127 test specimen is unloaded, and begin to process the operation of next operating mode by operating mode processing unit 124, perhaps directly begun to process the operation of next operating mode by operating mode processing unit 124;
This off-test of step 4d0 is judged: after this cycle period finishes, judge according to the current test parameters of instruction input block 110 inputs whether this test finishes;
After this cycle operating mode all finished, by this cycle period of operating mode processing unit 124 according to 110 inputs of instruction input block, and completed period judged in this test whether also need again to carry out this cycle operating mode;
Step 4e0 repeats this cycle: when this off-test judged result of 4d0 is " finishing ", restart the loop cycle that has just finished;
When operating mode processing unit 124 judged results are that the loop cycle number of instruction input block 110 input is greater than completed period, also this cycle need be repeated in this test so, by rotating speed processing unit 126 and moment processing unit 127 test specimen is unloaded, and begun to process the operation of next operating mode by operating mode processing unit 124;
Step 4f0 shuts down: this test cycle carries out shutdown operation after all finishing.
Although above the specific embodiment of the present invention is described in detail and illustrates, but what should indicate is, we can make various changes and modifications above-mentioned embodiment, but these do not break away from the scope that spirit of the present invention and appended claim are put down in writing.
Claims (19)
1. harmonic drive mechanism Auto-Test System under the space environment, described system comprises control end (100) and actuating station (200), wherein said control end (100) comprising:
Instruction input block (110): be used for the instruction input that Auto-Test System starts and stops, and each test parameters arranges;
Decision package (120): analysis-by-synthesis user instruction, current operating condition of test and feedback data determine the operation of next step operating mode;
Data processing unit (130): the data filtering, calculating, classification and the memory function that are used for Auto-Test System operation information and equipment state;
The first communication unit (140): be used for control end (100) and the test figure of actuating station (200), the transmission of steering order;
With status surveillance unit (150): be used for graphical, the tabular output of Auto-Test System operation information and equipment state;
Described control end (200) comprising:
Driver element (210), the action command according to control end (100) sends sends the driving signal to the underlying device of performance element (220);
Performance element (220) receives the driving instruction that driver element (210) sends, and carries out test operation;
Data acquisition unit (230): by sensor acquisition system operation information and status information of equipment;
With second communication unit (240): be used for control end (100) and the test figure of actuating station (200), the transmission of steering order.
2. gear train Auto-Test System as claimed in claim 1, wherein, described decision package (120) comprising:
Operation judging unit (121): be used for judging whether current whole system satisfies the condition that enters trystate, comprises equipment failure judgement, warning message etc., and with judged result afferent message Tip element (122);
Information indicating unit (122): when operation judging unit (121) judges that system sends information to the user, and waits for next step operation because of equipment failure, when warning can not enter trystate at this moment;
Environmental treatment unit (123): be used for when operation judging unit (121) judged result for can test the time, begin the spatial context environmental simulation, the space environment parameter is inputted by instruction input block (110);
Operating mode processing unit (124): be used for the test cycle parameter inputted according to instruction input block (110), and in conjunction with duration of state and this state of current test specimen, calculate the test operation that the next instruction cycle will carry out;
Temperature Treatment unit (125): be used for when operating mode processing unit (124) result when needing change test specimen temperature, the test parameters of inputting in conjunction with input block (110) is sent to actuating station (200) instruction of test specimen temperature is set;
Rotating speed processing unit (126): for being when needing change test specimen rotating speed when operating mode processing unit (124) result, in conjunction with the test parameters that input block (110) is inputted, send adjustment test specimen rotary speed instruction to actuating station (200);
Moment processing unit (127): for being when needing change test specimen moment when operating mode processing unit (124) result, in conjunction with the test parameters that input block (110) is inputted, send the instruction of adjustment test specimen loading moment to actuating station (200).
3. want 1 described gear train Auto-Test System such as right, wherein, described test parameters comprises: the vacuum tightness of experimental enviroment, cold-scarce scape temperature, standby rotating speed and standby moment after the test specimen target temperature of the periodicity of this test cycle, operating mode number that each cycle comprises, each operating mode, rotating speed of target, target loading moment, the duration of test runs of each operating mode, single operating mode finish.
4. want 1 described gear train Auto-Test System such as right, wherein said feedback data comprises the loading moment of test specimen temperature, test specimen rotating speed and test specimen.
5. want 1 described gear train Auto-Test System such as right, wherein said operation information comprises vacuum tightness, ambient temperature, circulating water flow, test specimen temperature, test specimen rotating speed, test specimen loading moment and user operation records.
6. gear train Auto-Test System as described in wanting 1 such as right, wherein said equipment state comprises opening/stop and fault alarm of equipment.
7. want 1 described gear train Auto-Test System such as right, wherein said underlying device comprises vacuum pump, refrigeration system, heating system, test specimen drive system and test specimen moment loading system.
8. want 1 described gear train Auto-Test System such as right, wherein said sensor comprises pressure transducer, temperature sensor, speed probe and torque sensor.
9. want 2 described gear train Auto-Test Systems such as right, wherein said space environment parameter comprises vacuum tightness and background environment temperature.
10. want 2 described gear train Auto-Test Systems such as right, wherein said test cycle parameter comprises standby rotating speed and the standby moment after the periodicity of this test cycle, the operating mode number that each cycle comprises, test specimen target temperature, rotating speed of target and the loading moment of each operating mode, the duration of test runs of each operating mode, single operating mode finish.
11. harmonic drive mechanism automatic test approach under the space environment comprises the steps:
1) test starts: after input equipment input test parameters and test enabled instruction, the automatic testing experiment of this gear train begins to start;
2) test specimen temperature control: after space environment reaches testing requirements by instruction input block (110) input, begin the test test specimen is carried out temperature control;
3) reaching target temperature judges: carrying out step 2) after, whether the judgement test test specimen that begins to circulate has reached the current working target temperature;
4) adjustment of rotational speed: after the test specimen temperature reaches target temperature, begin the test test specimen is carried out adjustment of rotational speed;
5) reaching rotating speed of target judges: behind the adjustment of rotational speed of having carried out step 4), whether the judgement test test specimen that begins to circulate has reached the current working rotating speed of target by instruction input block (110) input;
6) moment loads: after the test specimen temperature reaches rotating speed of target, begin that the test test specimen is carried out moment and load;
7) reaching target moment judges: after the moment of having carried out step 6) loaded, whether the judgement test test specimen that begins to circulate had reached the current working target moment by instruction input block (110) input;
8) timing: after test test specimen temperature, rotating speed, moment all satisfy testing requirements, the beginning timing;
9) parameter that departs from objectives is judged: after the step 8) timing began, whether the judgement test test specimen that begins to circulate had departed from target component during timing;
10) this operating mode timing finishes to judge: under the test test specimen does not depart from objectives the situation of temperature, judge whether timing time reaches the current working requirement of inputting by instruction input block 110;
11) this end cycle is judged: after this operating mode timing finishes, judge according to the current test parameters of instruction input block (110) input whether this cycle finishes;
12) begin next operating mode: when this end cycle judged result of step 11) is " finishing ", begin the next operating mode in this cycle;
13) this off-test is judged: after this cycle period finishes, judge according to the current test parameters of instruction input block (110) input whether this test finishes;
14) repeat this cycle: when this off-test judged result of step 13) is " finishing ", restart the loop cycle that has just finished;
15) shut down: this test cycle carries out shutdown operation after all finishing.
12. want harmonic drive mechanism automatic test approach under the 11 described space environments such as right, wherein said test parameters comprises: standby rotating speed and standby moment after the test specimen target temperature of the periodicity of the vacuum tightness of experimental enviroment and cold-scarce scape temperature, this test cycle, the operating mode number that each cycle comprises, each operating mode, rotating speed of target, target loading moment, the duration of test runs of each operating mode, single operating mode finish.
13. want harmonic drive mechanism automatic test approach under the 11 described space environments such as right, wherein said space environment comprises vacuum tightness and background environment temperature.
14. want harmonic drive mechanism automatic test approach under the 11 described space environments such as right, can there be the error in the test allowed band in wherein said target temperature when judging.
15. want harmonic drive mechanism automatic test approach under the 11 described space environments such as right, can there be the error in the test allowed band in wherein said rotating speed of target when judging.
16. want harmonic drive mechanism automatic test approach under the 11 described space environments such as right, can there be the error in the test allowed band in wherein said target loading moment when judging.
17. want harmonic drive mechanism automatic test approach under the 11 described space environments such as right, the wherein said parameter that departs from objectives comprises: test specimen temperature, test specimen rotating speed or test specimen moment offset target value.
18. want harmonic drive mechanism automatic test approach under the 11 described space environments such as right, next operating mode of wherein said beginning or restart this cycle period before, the test specimen state is set to single operating mode by instruction input block (110) input after finishing standby rotating speed and standby moment.
19. want harmonic drive mechanism automatic test approach under the 11 described space environments such as right, wherein said shutdown operation comprises: test specimen unloading and space environment simulation equipment downtime.
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| CN201210498958.9A CN102980764B (en) | 2012-11-29 | 2012-11-29 | Automatic testing system and testing method of harmonic drive mechanism in space environment |
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