CN102980764B - 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 the harmonic drive mechanism Auto-Test System under space condition and method of testing.
Background technology
Twentieth century, American scholar C.Walton.Musser has invented harmonic drive structure, because it has the outstanding large mechanical propertys such as structure is simple, volume is little, lightweight, load-bearing capacity is high, harmonic drive mechanism is widely used in the every field such as space technology, the energy, lathe.
There is greatest differences in the harmonic drive mechanism that spacecraft is used and conventional drives.First: gear train working environment is different.Spacecraft harmonic drive mechanism is operated in a cold darkness environment of vacuum, and environmental pressure is 10
-5pa ~ 10
-7between Pa, unglazed photograph, temperature is between-100 DEG C ~-270 DEG C.Space rugged environment can cause the product material in spacecraft component and structure to change, as material evaporation, decomposition, distillation etc.Secondly: harmonic drive efficiency requirements is high.The payload weight that spacecraft can carry is limited, and the general assembly (TW) that therefore farthest must alleviate peripheral backup system just can make spacecraft carry enough instrument and equipments, completes predetermined task.For power system, this just requires that gear train has very high transmission efficiency, ensures that the utilization factor of power reaches the highest.Therefore, in order to expose material potential in gear train and workmanship defect as early as possible, eliminate initial failure, verify its transmission efficiency, improve product reliability, need simulation test under thermal vacuum environment is carried out on ground, examine the quality of the production, carry out material screening, be supplied to Spacecraft guidance and control reference.
In recent years, China's aerospace industry develops rapidly, spacecraft model test mission unprecedentedly increases, the parts level test mission amounts such as such as harmonic drive mechanism increase severely, also bring the increase in demand such as to test operation personnel proficiency and quantity thus, the fault rate of manual operation equipment such as significantly to increase at the problem.This just requires that the TT&C system of spacecraft ground testing equipment also must towards high automation, high reliability, the future development of high-intelligentization.Under such demand, need develop a kind of for the harmonic drive mechanism Auto-Test System under space condition and method of testing.
Inventor finds in investigation, and existing at least exist following shortcoming for the harmonic drive mechanism test macro under space condition: first, automaticity is not high, and manual operation is loaded down with trivial details, requires higher, and easily introduce personal error to operator quality; Secondly, control accuracy is not high, mostly is open loop or Non-follow control, not easily eliminates thus to the error that test findings produces.
Summary of the invention
The object of the invention is to again to invent and design a kind of for the harmonic drive mechanism Auto-Test System under space condition and method of testing, for testing the transmission efficiency of harmonic drive mechanism under a certain condition of work.
Technical scheme of the present invention is as follows:
A harmonic drive mechanism Auto-Test System under space environment, described system comprises control end and actuating station, and wherein said control end comprises:
Instruction input unit: the instruction input starting for Auto-Test System and stop, and each test parameters is arranged;
Decision package: comprehensively analyze user instruction, current test operating mode and feedback data, determine the operation of next step operating mode;
Data processing unit: for the data filtering of Auto-Test System operation information and equipment state, calculating, classification and memory function;
First communication unit: for control end and the test figure of actuating station, the transmission of steering order;
And state monitoring unit: graphical, tabular for Auto-Test System operation information and equipment state export;
Described actuating station comprises:
Driver element, according to the action command that control end sends, the underlying device to performance element sends drive singal;
Performance element, receives the driving instruction that driver element sends, and performs test operation;
Data acquisition unit: by sensor acquisition system operation information and status information of equipment;
With second communication unit: for control end and the test figure of actuating station, the transmission of steering order.
Wherein, described decision package comprises:
Run judging unit: for judging whether current whole system meets the condition entering trystate, comprises equipment failure judgement, warning message etc., and by judged result afferent message Tip element;
Information Tip element: when running judging unit and judging that now system can not enter trystate because of equipment failure, warning, send information to user, and wait for that next step operates;
Environmental treatment unit: for when running judging unit judged result for testing, start spatial context environmental simulation, space environment parameter is inputted by instruction input unit;
Operating mode processing unit: for the test cycle parameter inputted according to instruction input unit, and in conjunction with the state of current test specimen and the duration of this state, calculates the test operation that the next instruction cycle will carry out;
Temperature treating units: for when operating mode processing unit processes result changes test specimen temperature for needs, in conjunction with the test parameters that input block inputs, send to actuating station and the instruction of test specimen temperature is set;
Rotating speed processing unit: for when operating mode processing unit processes result changes test specimen rotating speed for needs, in conjunction with the test parameters that input block inputs, sends adjustment test specimen rotary speed instruction to actuating station;
Moment processing unit: for when operating mode processing unit processes result changes test specimen moment for needs, in conjunction with the test parameters that input block inputs, sends the instruction of adjustment test specimen loading moment to actuating station.
Wherein, described test parameters comprises: the vacuum tightness of experimental enviroment, cold ambient temperature, the standby rotating speed after the test specimen target temperature of the periodicity of this test cycle, operating mode number that each periodic packets contains, each operating mode, rotating speed of target, target loading moment, the duration of test runs of each operating mode, single operating mode terminate and standby moment.
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/stopping of equipment and fault alarm.
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 ambient temperature.
Wherein, described test cycle parameter comprise the periodicity of this test cycle, operating mode number that each periodic packets contains, the test specimen target temperature of each operating mode, rotating speed of target and loading moment, the duration of test runs of each operating mode and single operating mode terminate after standby rotating speed and standby moment.
A harmonic drive mechanism automatic test approach under 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 starts to start;
2) test specimen temperature control: after space environment is reached through the testing requirements that instruction input unit (110) inputs, starts to carry out temperature control to test test specimen;
3) reach target temperature to judge: performing step 2) after, what start circulation judges whether test test specimen reaches current working target temperature;
4) adjustment of rotational speed: after test specimen temperature reaches target temperature, starts to carry out adjustment of rotational speed to test test specimen;
5) reach rotating speed of target to judge: after performing the test specimen temperature control of step 4), what start circulation judges whether test test specimen reaches the current working rotating speed of target inputted by instruction input unit (110);
6) moment loads: after test specimen temperature reaches rotating speed of target, starts to carry out moment loading to test test specimen;
7) reach target moment to judge: after the moment performing step 6) loads, what start circulation judges whether test test specimen reaches the current working target moment inputted by instruction input unit (110);
8) timing: after test test specimen temperature, rotating speed, moment all meet testing requirements, start timing;
9) depart from target component to judge: after step 8) timing starts, what start circulation judges whether test test specimen deviate from target component during timing;
10) this operating mode timing terminates to judge: when testing test specimen and not departing from target temperature, judges the current working requirement whether timing time is reached through instruction input unit (110) and inputs;
11) this end cycle judges: after this operating mode timing terminates, judge whether this cycle terminates according to the current test parameter that instruction input unit (110) inputs;
12) next operating mode is started: when this end cycle judged result of step 11) is not for " end ", start the next operating mode in this cycle;
13) this off-test judges: after this cycle period terminates, judge whether this test terminates according to the current test parameter that instruction input unit (110) inputs;
14) this cycle is repeated: when this off-test judged result of step 13) is not for " end ", restart the loop cycle just terminated;
15) shut down: after this test cycle all terminates, carry out shutdown operation.
Wherein, described test parameters comprises: the standby rotating speed after the test specimen target temperature of the periodicity of the vacuum tightness of experimental enviroment and cold ambient temperature, this test cycle, operating mode number that each periodic packets contains, each operating mode, rotating speed of target, target loading moment, the duration of test runs of each operating mode, single operating mode terminate and standby moment.
Wherein, described space environment comprises vacuum tightness and background ambient temperature.
Wherein, the error in test allowed band can be there is when described target temperature judges.
Wherein, the error in test allowed band can be there is when described rotating speed of target judges.
Wherein, the error in test allowed band can be there is when judging in described target loading moment.
Wherein, the described target component that departs from comprises: test specimen temperature, test specimen rotating speed or test specimen moment depart from desired value.
Wherein, next operating mode of described beginning or before restarting this cycle period, the standby rotating speed after single operating mode test specimen state being set to inputted by instruction input unit (110) terminates and standby moment.
Wherein, described shutdown operation comprises: test specimen unloading and space environment simulation equipment downtime.
For the shortcoming and defect of current Transmission Mechanism Testing System, present invention optimizes system architecture, improve automatization level, improve measuring accuracy, simplify operating process, saving the error also farthest avoiding while manpower and bring to test findings due to human factor, for providing technical guarantee for the gear train ground experiment under space environment.The present invention has captured the key technical problems of spatialmechanism test macro; its automatic control system can realize the function such as one-touch control, fault diagnosis, virtual protection of test macro equipment; not only improve test macro reliability of operation and advance, also greatly alleviate operating personnel's quantity simultaneously and lack experience and contradiction between heavy test mission.At present, this Auto-Test System comes into operation in certain Transmission Mechanism Testing System project, stable, run increasingly automated at the equipment that realizes, the problem of testing crew shortage is effectively alleviated while high reliability, and reduce the dependence of equipment to operating personnel's professional knowledge level, achieve good result of use.
Accompanying drawing explanation
Fig. 1 is the structured flowchart for the harmonic drive mechanism Auto-Test System under space condition of the present invention.
Fig. 2 is the structured flowchart of the decision-making reason unit in Fig. 1.
Fig. 3 is the process flow diagram for the harmonic drive mechanism automatic test approach under space condition of the present invention.
Embodiment
What below introduce is embodiment as content of the present invention, further illustrates described content of the present invention below by embodiment.Certainly, describe the content that following detailed description is only example different aspect of the present invention, and should not be construed as the restriction scope of the invention.
The structured flowchart for the harmonic drive mechanism Auto-Test System under space condition of the present invention is shown see Fig. 1 and Fig. 2, Fig. 1; Fig. 2 shows the structured flowchart of the decision-making reason unit in Fig. 1.Of the present inventionly comprise control end 100 and actuating station 200 for the harmonic drive mechanism Auto-Test System under space condition, wherein said control end end 100 comprises: instruction input unit 110, decision package 120, first communication unit 130, data processing unit 140 and state monitoring 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: run judging unit 121, information Tip element 122, environmental treatment unit 123, operating mode processing unit 124, temperature treating units 125, rotating speed processing unit 126 and moment processing unit 127.
Instruction input unit 110, the input of the control run for a whole set of Auto-Test System, stopped 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, input for the user instruction according to current device running status, background environment state, test specimen temperature, test specimen rotating speed, test specimen moment load condition and instruction input unit 110, optimum configurations, calculating the operation that next step system will be carried out, is the core cell of this cover system;
First communication unit 130, with second communication unit 240 just exchanges data, is sent to actuating station 200 by control command, and from actuating station 200 receiving equipment service data, running status and test figure;
Data processing unit 140, for focusing on process of the test data, and notes down.Test figure is collected, the screening of digital filtering, valid data, the valid data after screening are together packed together with equipment running status data, user operation records and store and be sent to state monitoring unit 150 for man-machine interaction;
State monitoring unit 150, for the test figure (loading of test specimen rotating speed, moment, transmission efficiency, test specimen temperature etc.) after being processed by data processing unit 140 and equipment running status data (background environment vacuum tightness, ambient temperature, equipment running status, equipment alarm information etc.) graphic software platform to user.
Driver element 210, according to the action command that control end 100 sends, the underlying device to performance element 220 sends drive singal;
Performance element 220, receives the driving instruction that driver element 210 sends, and performs test operation.
Data acquisition unit 230, for sensor information (rotating speed, temperature, moment, vacuum tightness etc.), and is sent to second communication unit 240 by sensor information;
Second communication unit 240, with the first communication unit 130 just exchanges data, is sent to control end 100 by equipment operating data, running status and test figure, and receives control command from control end 100;
Described decision package comprises:
Run judging unit 121: for judging whether current whole system meets the condition entering trystate, comprises equipment failure judgement, warning message etc., and by judged result afferent message Tip element 122;
Information Tip element 122: when running judging unit 121 and judging that now system can not enter trystate because of equipment failure, warning, send information to user, and wait for that next step operates;
Environmental treatment unit 123: for when running judging unit 121 judged result for testing, start spatial context environmental simulation, space environment parameter (vacuum tightness, ambient temperature) is inputted by instruction input unit 110;
Operating mode processing unit 124: for the test cycle parameter inputted according to instruction input unit 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 treating units 125: for when operating mode processing unit 124 result changes test specimen temperature for needs, in conjunction with the test parameters that input block 110 inputs, send to actuating station 200 and the instruction of test specimen temperature is set;
Rotating speed processing unit 126: for when operating mode processing unit 124 result changes test specimen rotating speed for needs, in conjunction with the test parameters that input block 110 inputs, sends adjustment test specimen rotary speed instruction to actuating station 200;
Moment processing unit 127: for when operating mode processing unit 124 result changes test specimen moment for needs, in conjunction with the test parameters that input block 110 inputs, sends the instruction of adjustment test specimen loading moment to actuating station 200.
Fig. 3 shows the process flow diagram for the harmonic drive mechanism automatic test approach under space condition of the present invention.Concrete steps are as follows:
Step 410 is tested and is started: after keyboard, mouse input test parameters and test enabled instruction, the automatic testing experiment of this gear train starts to start;
Test parameters and enabled instruction are inputted by instruction input unit 110, comprise experimental enviroment (vacuum tightness, cold ambient temperature), the periodicity of this test cycle, operating mode number that each periodic packets contains, 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 terminate after standby rotating speed and standby moment.Under the condition running judging unit 121 non-fault, warning, when test starts, first judge current background environment by environmental treatment unit 123, if background environment (vacuum tightness, temperature) reaches testing requirements, directly carry out test operation below; Otherwise, first carry out space environment simulation by environmental treatment unit 123, then operate below carrying out;
Step 420 test specimen temperature control: be reached through the testing requirements of instruction input unit 110 input in space environment after, starts to carry out temperature control to test test specimen;
When following situation makes current test specimen temperature not meet current test requirement, carry out the operation of test specimen temperature control:
1. there is new operating condition of test: by operating mode processing unit 124 result for next operating condition of test will be carried out or restart this loop cycle;
2. after being provided with test specimen target temperature, test specimen not yet reaches target temperature; Carry out test specimen temperature control by temperature treating units 125 to operate, but be that test specimen not yet reaches target temperature by operating mode processing unit 124 result;
3. test specimen temperature departure target temperature: after test specimen is stabilized in target temperature, before this operating mode completes, operating mode processing unit 124 result is for there occurs temperature departure;
Step 430 reaches target temperature and judges: after performing step 420 test specimen temperature control, and what start circulation judges whether test test specimen reaches current working target temperature;
Target temperature is inputted by instruction input unit 110, and current test specimen temperature and target temperature are compared by operating mode processing unit 124, until test specimen temperature is reached through this operating mode target temperature that instruction input unit 110 inputs;
Step 440 adjustment of rotational speed: after test specimen temperature reaches target temperature, starts to carry out adjustment of rotational speed to test test specimen;
After test specimen temperature reaches target temperature, calculated the difference of current rotating speed and rotating speed of target by operating mode processing unit 124, and send and send adjustment of rotational speed instruction by rotating speed processing unit 126;
Step 450 reaches rotating speed of target and judges: after performing step 440 adjustment of rotational speed, and what start circulation judges whether test test specimen reaches the current working rotating speed of target inputted by instruction input unit 110;
Rotating speed of target is inputted by instruction input unit 110, and current test specimen rotating speed and rotating speed of target are compared by operating mode processing unit 124, until test specimen rotating speed is reached through this operating mode rotating speed of target that instruction input unit 110 inputs;
Step 460 moment loads: after test specimen temperature reaches rotating speed of target, starts to carry out moment loading to test test specimen;
After test specimen rotating speed reaches rotating speed of target, calculated the difference of current moment and target moment by operating mode processing unit 124, and send and send moment load instructions by moment processing unit 127;
Step 470 reaches target moment and judges: after performing the loading of step 460 moment, and what start circulation judges whether test test specimen reaches the current working target moment inputted by instruction input unit 110;
Target moment is inputted by instruction input unit 110, and current test specimen moment and target moment are compared by operating mode processing unit 124, until test specimen moment is reached through this operating mode target moment that instruction input unit 110 inputs;
Step 480 timing: after test test specimen temperature, rotating speed, moment all meet testing requirements, start timing;
When the temperature of test specimen, rotating speed, moment all reach desired value, operating mode processing unit 124 will start timing, and timing time is this operating mode duration that instruction input unit 110 inputs;
Step 490 departs from target component and judges: after step 480 timing starts, and what start circulation judges whether test test specimen deviate from target component during timing;
During timing, whether the temperature of the judgement circulated by operating mode processing unit 124 test specimen is during this period beyond the temperature range of testing requirements.When test specimen temperature, rotating speed, moment have exceeded desired value, will timing be stopped, and restart the setting of target component;
This operating mode timing of step 4a0 terminates to judge: when testing test specimen and not departing from target temperature, judges whether timing time is reached through the current working requirement of instruction input unit 110 input;
This end cycle of step 4b0 judges: after this operating mode timing terminates, and judges whether this cycle terminates according to the current test parameter that instruction input unit 110 inputs;
After this operating mode timing terminates, the operating mode number comprised according to this cycle that instruction input unit 110 inputs by operating mode processing unit 124, and completed operating mode number judges whether also have still unenforced operating mode in this cycle;
Step 4c0 starts next operating mode: when this end cycle judged result of step 4b0 is not for " end ", start the next operating mode in this cycle;
The operating mode number comprised when this cycle that operating mode processing unit 124 judged result is instruction input unit 110 input is greater than completed operating mode number, so also has still unenforced operating mode in this cycle, standby rotating speed after terminating according to the single operating mode of instruction input unit 110 input and standby moment, by rotating speed processing unit 126 and moment processing unit 127, test specimen is unloaded, and by operating mode processing unit 124, process the operation of next operating mode, or directly by operating mode processing unit 124, process the operation of next operating mode;
This off-test of step 4d0 judges: after this cycle period terminates, and judges whether this test terminates according to the current test parameter that instruction input unit 110 inputs;
After this cycle operating mode all terminates, this cycle period inputted according to instruction input unit 110 by operating mode processing unit 124, and completed period judges whether also need again to perform this cycle operating mode in this test;
Step 4e0 repeats this cycle: when this off-test judged result of 4d0 is not for " end ", restart the loop cycle just terminated;
When operating mode processing unit 124 judged result is that the loop cycle number that instruction input unit 110 inputs is greater than completed period, so also need this cycle of repetition in this test, by rotating speed processing unit 126 and moment processing unit 127, test specimen is unloaded, and by operating mode processing unit 124, process the operation of next operating mode;
Step 4f0 shuts down: after this test cycle all terminates, carry out shutdown operation.
Although be described in detail the specific embodiment of the present invention above and illustrate, but what should indicate is, we can make various changes and modifications above-mentioned embodiment, but these do not depart from spirit of the present invention and the scope described in appended claim.
Claims (18)
1. a harmonic drive mechanism Auto-Test System under space environment, described system comprises control end (100) and actuating station (200), and wherein said control end (100) comprising:
Instruction input unit (110): the instruction input starting for Auto-Test System and stop, and each test parameters is arranged;
Decision package (120): comprehensively analyze user instruction, current test operating mode and feedback data, determine the operation of next step operating mode;
Data processing unit (140): for the data filtering of Auto-Test System operation information and equipment state, calculating, classification and memory function;
First communication unit (130): for control end (100) and the test figure of actuating station (200), the transmission of steering order;
With state monitoring unit (150): graphical, tabular for Auto-Test System operation information and equipment state export;
Described actuating station (200) comprising:
Driver element (210), according to the action command that control end (100) sends, the underlying device to performance element (220) sends drive singal;
Performance element (220), receives the driving instruction that driver element (210) sends, and performs test operation;
Data acquisition unit (230): by sensor acquisition system operation information and status information of equipment;
With second communication unit (240): for control end (100) and the test figure of actuating station (200), the transmission of steering order, 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.
2. gear train Auto-Test System as claimed in claim 1, wherein, described decision package (120) comprising:
Run judging unit (121): for judging whether current whole system meets the condition entering trystate, comprises equipment failure judgement, warning message, and by judged result afferent message Tip element (122);
Information Tip element (122): when running judging unit (121) and judging that now system can not enter trystate because of equipment failure, warning, send information to user, and wait for that next step operates;
Environmental treatment unit (123): for when running judging unit (121) judged result for testing, start spatial context environmental simulation, space environment parameter is inputted by instruction input unit (110);
Operating mode processing unit (124): for the test cycle parameter inputted according to instruction input unit (110), and in conjunction with the state of current test specimen and the duration of this state, calculate the test operation that the next instruction cycle will carry out;
Temperature treating units (125): for when operating mode processing unit (124) result changes test specimen temperature for needs, the test parameters that combined command input block (110) inputs, sends to actuating station (200) and arranges the instruction of test specimen temperature;
Rotating speed processing unit (127): for when operating mode processing unit (124) result changes test specimen rotating speed for needs, the test parameters that combined command input block (110) inputs, sends adjustment test specimen rotary speed instruction to actuating station (200);
Moment processing unit (126): for when operating mode processing unit (124) result changes test specimen moment for needs, the test parameters that combined command input block (110) inputs, sends the instruction of adjustment test specimen loading moment to actuating station (200).
3. as right wants the gear train Auto-Test System as described in 1, wherein, described test parameters comprises: the vacuum tightness of experimental enviroment, cold ambient temperature, the standby rotating speed after the test specimen target temperature of the periodicity of this test cycle, operating mode number that each periodic packets contains, each operating mode, rotating speed of target, target loading moment, the duration of test runs of each operating mode, single operating mode terminate and standby moment.
4., as right wants the gear train Auto-Test System as described in 1, wherein said feedback data comprises the loading moment of test specimen temperature, test specimen rotating speed and test specimen.
5., as right wants gear train Auto-Test System as described in 1, wherein said equipment state comprises opening/stopping of equipment and fault alarm.
6., as right wants the gear train Auto-Test System as described in 1, wherein said underlying device comprises vacuum pump, refrigeration system, heating system, test specimen drive system and test specimen moment loading system.
7., as right wants the gear train Auto-Test System as described in 1, wherein said sensor comprises pressure transducer, temperature sensor, speed probe and torque sensor.
8., as right wants the gear train Auto-Test System as described in 2, wherein said space environment parameter comprises vacuum tightness and background ambient temperature.
9. as right wants the gear train Auto-Test System as described in 2, wherein said test cycle parameter comprise the periodicity of this test cycle, operating mode number that each periodic packets contains, the test specimen target temperature of each operating mode, rotating speed of target and loading moment, the duration of test runs of each operating mode, single operating mode terminate after standby rotating speed and standby moment.
10. a harmonic drive mechanism automatic test approach under 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 starts to start;
2) test specimen temperature control: after space environment is reached through the testing requirements that instruction input unit (110) inputs, starts to carry out temperature control to test test specimen;
3) reach target temperature to judge: performing step 2) after, what start circulation judges whether test test specimen reaches current working target temperature;
4) adjustment of rotational speed: after test specimen temperature reaches target temperature, starts to carry out adjustment of rotational speed to test test specimen;
5) reach rotating speed of target judge: performing step 4) adjustment of rotational speed after, start circulate judge test test specimen whether reach the current working rotating speed of target inputted by instruction input unit (110);
6) moment loads: after test specimen temperature reaches rotating speed of target, starts to carry out moment loading to test test specimen;
7) reach target moment judge: performing step 6) moment load after, start circulate judge test test specimen whether reach the current working target moment inputted by instruction input unit (110);
8) timing: after test test specimen temperature, rotating speed, moment all meet testing requirements, start timing;
9) departing from target component to judge: step 8) after timing starts, what start to circulate judges whether test test specimen deviate from target component during timing;
10) this operating mode timing terminates to judge: when testing test specimen and not departing from target temperature, judges the current working requirement whether timing time is reached through instruction input unit (110) and inputs;
11) this end cycle judges: after this operating mode timing terminates, judge whether this cycle terminates according to the current test parameter that instruction input unit (110) inputs;
12) start next operating mode: when step 11) this end cycle judged result for " end " time, start the next operating mode in this cycle;
13) this off-test judges: after this cycle period terminates, judge whether this test terminates according to the current test parameter that instruction input unit (110) inputs;
14) repeat this cycle: when step 13) this off-test judged result for " end " time, restart the loop cycle just terminated;
15) shut down: after this test cycle all terminates, carry out shutdown operation.
11. want harmonic drive mechanism automatic test approach under the space environment as described in 11 as right, and wherein said test parameters comprises: the standby rotating speed after the test specimen target temperature of the periodicity of the vacuum tightness of experimental enviroment and cold ambient temperature, this test cycle, operating mode number that each periodic packets contains, each operating mode, rotating speed of target, target loading moment, the duration of test runs of each operating mode, single operating mode terminate and standby moment.
12. want harmonic drive mechanism automatic test approach under the space environment as described in 11 as right, and wherein said space environment comprises vacuum tightness and background ambient temperature.
13. want harmonic drive mechanism automatic test approach under the space environment as described in 11 as right, there is the error in test allowed band when wherein said target temperature judges.
14. want harmonic drive mechanism automatic test approach under the space environment as described in 11 as right, there is the error in test allowed band when wherein said rotating speed of target judges.
15. want harmonic drive mechanism automatic test approach under the space environment as described in 11 as right, there is the error in test allowed band when wherein said target loading moment judges.
16. want harmonic drive mechanism automatic test approach under the space environment as described in 11 as right, and the wherein said target component that departs from comprises: test specimen temperature, test specimen rotating speed or test specimen moment offset target value.
17. want harmonic drive mechanism automatic test approach under the space environment as described in 11 as right, next operating mode of wherein said beginning or before restarting this cycle period, the standby rotating speed after single operating mode test specimen state being set to inputted by instruction input unit (110) terminates and standby moment.
18. want harmonic drive mechanism automatic test approach under the space environment as described in 11 as right, and wherein said shutdown operation comprises: test specimen unloading and space environment simulation equipment downtime.
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