CN103424225B  A kind of method of testing rotatable parts sound amount of unbalance  Google Patents
A kind of method of testing rotatable parts sound amount of unbalance Download PDFInfo
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 CN103424225B CN103424225B CN201310319876.8A CN201310319876A CN103424225B CN 103424225 B CN103424225 B CN 103424225B CN 201310319876 A CN201310319876 A CN 201310319876A CN 103424225 B CN103424225 B CN 103424225B
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Abstract
Description
Technical field
The present invention relates to a kind of method of testing rotatable parts sound amount of unbalance, particularly relate to the method for the spacecraft sound amount of unbalance particularly tested with flexible rotatable parts, belong to field of measuring technique.
Background technology
Generally, with the spacecraft of rotatable parts, when the quiet unbalancing value of rotatable parts is larger, the disturbance torque produced will affect the attitude inorbit of spacecraft, the work of other useful load spaceborne is caused to be affected, need the size measuring the quiet unbalancing value of rotatable parts on ground comparatively accurately for this reason, and reduce amount of unbalance by counterweight as far as possible.In order to reduce the quiet unbalancing value of rotatable parts, key is the test to quiet unbalancing value, and this test generally adopts dynamic balancing machine to carry out on ground.In order to improve the precision of test, tested equipment must High Rotation Speed, and this and rotatable parts are real work operating mode inorbit inconsistent (during the operation on orbit of rotatable parts, velocity of rotation is often not high) after launching.Therefore, said method exists following not enough: said method is only adapted to the good tested parts of rigidity, for the equipment that there is more obvious flexible deformation's characteristic, because distortion is larger with the relation of rotating speed, the state that high rotating speed during test makes the size of tested parts generation distortion and operation on orbit be is inconsistent, what finally cause test result to reflect is the quiet unbalancing value of tested parts under larger rotating speed, and can not reflect the amount of unbalance under tested parts actual condition.
Summary of the invention
The technical matters that the present invention solves is: overcome the deficiencies in the prior art, propose a kind of method of testing rotatable parts sound amount of unbalance, and the method is simple, and measuring accuracy is high.
Technical scheme of the present invention is: a kind of method of testing rotatable parts sound amount of unbalance, and step is as follows:
(1) step of air floating table X, Yaxis moment of inertia is measured: float air floating table, to air floating table coarse balance, the counterweight of known quality is placed in a certain position on air floating table, the gravitational torque utilizing counterweight to produce makes air floating table produce angular acceleration, adopt the stage body angular velocity of gyro to measure air floating table, the stage body angular velocity of gyro to measure is carried out curve fitting and obtains the stage body angular acceleration of air floating table, the angular acceleration that the interference of deduction air floating table self produces, determines the moment of inertia of air floating table X, Yaxis according to theorem of angular momentum;
(2) step of tested parts rotating part staticunbalance is measured: tested parts rotating part is placed in respectively the xaxis of air floating table and negative xaxis direction, float air floating table, to air floating table coarse balance tested parts are not rotated, the gravitational torque utilizing tested parts to produce makes air floating table produce angular acceleration, adopt the stage body angular velocity of gyro to measure air floating table, the stage body angular velocity of gyro to measure is carried out curve fitting and obtains the stage body angular acceleration of air floating table, according to the air floating table X that theorem of angular momentum integrating step (1) is determined, the moment of inertia of Yaxis calculates the staticunbalance of tested parts rotating part,
(3) step of the disturbance torque that tested parts unbalance dynamic produces is measured: be placed on air floating table by tested parts rotating part, float air floating table, to air floating table coarse balance, the rotating part of tested parts is rotated, under rotation condition, adopt stage body attitude angle and the angular velocity of gyro to measure air floating table, the air floating table stage body attitude angle utilizing wave filter to go out gyro to measure and angular velocity carry out filtering and spectrum analysis and obtain the disturbance torque that tested parts unbalance dynamic produces;
(4) counterweight of certain mass is installed on tested parts rotating part, the disturbance torque of the tested parts unbalance dynamic generation after installing counterweight is obtained according to the measuring process of step (3), the disturbance torque relatively installing tested parts unbalance dynamic generation before and after counterweight obtains the disturbance torque phase place of counterweight generation, calibrate the tested parts rotation phase that disturbance torque data initial time is corresponding, thus obtain the disturbance torque of calibrated test component unbalance dynamic generation;
(5) disturbance torque that the test component unbalance dynamic that the tested parts staticunbalance utilizing step (2) to measure to obtain, step (4) calibrate produces calculates the coupleunbalance of tested parts rotating part in conjunction with the installation site of tested parts on air floating table.
The described method utilizing theorem of angular momentum to determine the moment of inertia of air floating table X, Yaxis:
Wherein J is the moment of inertia of air floating table Xaxis or Yaxis, and m is counterbalance mass, and g is test ground local gravitational acceleration, and l is the horizontal range of counterweight center and air floating table center of rotation, the air floating table angular acceleration obtained is measured after increasing counterweight, for the air floating table angular acceleration that measurement when not increasing counterweight obtains, i.e. the angular acceleration that produces of air floating table self interference.
The method of described calculating tested parts rotating part staticunbalance is:
Wherein:
Mr _{x}for the Xaxis component of staticunbalance under tested part coordinates system;
Mr _{y}for the Yaxis component of staticunbalance under tested part coordinates system;
Mr is tested parts rotating part staticunbalance;
J _{x}for the moment of inertia of air floating table Xaxis;
J _{y}for the moment of inertia of air floating table Yaxis;
for the air floating table stage body angular acceleration that measurement when tested parts rotating part is placed in air floating table xaxis obtains;
for tested parts rotating part is placed in the air floating table stage body angular acceleration that when air floating table bears xaxis, measurement obtains;
α is staticunbalance phasing degree;
G is test ground local gravitational acceleration.
The described method obtaining the disturbance torque that calibrated test component unbalance dynamic produces is:
T _{xp11}=a _{xp11}cos(ω _{0}t+α _{xp11})=T _{x11}T _{x10}
Δα=α _{xp}α _{xp11}
T _{xn10}=a _{10}cos(ω _{0}t+α _{10}+Δα)
Wherein:
T _{x10}for Xaxis disturbance torque when tested parts rotating part rotates before increase counterweight;
A _{10}for Xaxis disturbance torque amplitude when tested parts rotating part rotates before increase counterweight;
ω _{0}for the velocity of rotation of tested parts rotating part;
α _{10}for Xaxis disturbance torque phase place when tested parts rotating part rotates before increase counterweight;
J _{x}for the moment of inertia of air floating table Xaxis;
for the derivative of Xaxis angular velocity SineFitting result when tested parts rotating part rotates before increase counterweight;
T _{x11}for Xaxis disturbance torque when tested parts rotating part rotates after increase counterweight;
A _{11}for Xaxis disturbance torque amplitude when tested parts rotating part rotates after increase counterweight;
α _{11}for Xaxis disturbance torque phase place when tested parts rotating part rotates after increase counterweight;
for the derivative of Xaxis angular velocity SineFitting result when tested parts rotating part rotates after increase counterweight;
T _{xp11}for the Xaxis disturbance torque that counterweight when tested parts rotating part rotates produces;
A _{xp11}for the Xaxis disturbance torque amplitude that counterweight when tested parts rotating part rotates produces;
α _{xp11}for the Xaxis disturbance torque phase place that counterweight when tested parts rotating part rotates produces;
α _{xp}for counterweight produces the notional phase of disturbance torque;
Δ α is phase differential;
T _{xn10}for the disturbance torque that the test component unbalance dynamic after phase calibration produces.
The method of described calculating tested parts rotating part coupleunbalance is:
Wherein:
T _{d}for the couple that coupleunbalance produces;
T _{xn10}for the disturbance torque that the test component unbalance dynamic after phase calibration produces;
Mr is tested parts rotating part staticunbalance;
α is static unbalance phasing degree;
ω _{0}for the velocity of rotation of tested parts rotating part;
L _{z}for tested parts rotating part barycenter is to the vertical range of air floating table center of rotation;
G is test ground local gravitational acceleration;
C is the coupleunbalance of tested parts rotating part.
The present invention's beneficial effect is compared with prior art: the present invention is by the test to spacecraft rotating part sound amount of unbalance, obtain quiet unbalancing value during spacecraft rotatable parts operation on orbit, on the basis of test result by counterweight to reduce the size of unbalancing value, during making spacecraft rotatable parts operation on orbit, the interference of celestial body is met and allow requirement, the present invention has directly applied to many satellites with flexible rotatable parts, shows that the method successfully solves the quiet unbalance dynamic test problem of flexible rotatable parts by data inorbit.The method is simple, and measuring accuracy is high.
Accompanying drawing explanation
Fig. 1 is realization flow figure of the present invention;
Fig. 2 is the composition structural drawing of testing apparatus of the present invention;
Fig. 3 is the angular velocity curve of air floating table Xaxis;
Fig. 4 disturbs the air floating table Xaxis angular velocity change curve caused;
Air floating table Xaxis attitude angle curve when Fig. 5 is static unbalance test;
Air floating table Xaxis attitude angular velocity curve when Fig. 6 is static unbalance test;
Air floating table Xaxis attitude angle curve when Fig. 7 is unbalance dynamic test
Air floating table Xaxis attitude angular velocity curve when Fig. 8 is unbalance dynamic test;
Fig. 9 is air floating table Xaxis attitude angular velocity FFT transformation curve;
Figure 10 is filtered air floating table Xaxis attitude angular velocity curve;
Figure 11 is the matched curve of air floating table Xaxis angular velocity;
Air floating table Xaxis attitude angle curve when Figure 12 is unbalance dynamic test after counterweight;
Air floating table Xaxis attitude angular velocity curve when Figure 13 is unbalance dynamic test after counterweight;
Figure 14 is air floating table Xaxis angular velocity FFT transformation curve after counterweight;
Figure 15 is the air floating table Xaxis attitude angular velocity curve after counterweight post filtering;
Figure 16 is air floating table Xaxis angular velocity matched curve after counterweight.
Embodiment
Below in conjunction with the drawings and specific embodiments, further detailed description is done to the present invention:
The unbalance dynamic of rotatable parts determines primarily of staticunbalance and coupleunbalance, and coupleunbalance directly cannot be tested and obtains, and needs to be obtained by static unbalance and unbalance dynamic test result calculations.After obtaining staticunbalance and coupleunbalance, can eliminate by quality counterweight the disturbance torque that quiet unbalance dynamic brings greatly, thus reduce rotatable parts and rotate impact on the attitude of satellite.The attitude angular velocity that this test utilizes three floating gyros to carry out threeaxis airbearing table carries out highacruracy survey, and then the angular acceleration of stage body is obtained by curve, also need to know the moment of inertia of air floating table to obtain disturbance torque, therefore main testing procedure, as shown in Figure 1:
(1) step of air floating table X, Yaxis moment of inertia is measured: float air floating table, to air floating table coarse balance, the counterweight of known quality is placed in a certain position on air floating table, the gravitational torque utilizing counterweight to produce makes air floating table produce angular acceleration, adopt the stage body angular velocity of gyro to measure air floating table, the stage body angular velocity of gyro to measure is carried out curve fitting and obtains the stage body angular acceleration of air floating table, the angular acceleration that the interference of deduction air floating table self produces, determines the moment of inertia of air floating table X, Yaxis according to theorem of angular momentum;
(2) step of tested parts rotating part staticunbalance is measured: tested parts rotating part is placed in respectively the xaxis of air floating table and negative xaxis direction, float air floating table, to air floating table coarse balance tested parts are not rotated, the gravitational torque utilizing tested parts to produce makes air floating table produce angular acceleration, adopt the stage body angular velocity of gyro to measure air floating table, the stage body angular velocity of gyro to measure is carried out curve fitting and obtains the stage body angular acceleration of air floating table, according to the air floating table X that theorem of angular momentum integrating step (1) is determined, the moment of inertia of Yaxis calculates the staticunbalance of tested parts rotating part,
(3) step of the disturbance torque that tested parts unbalance dynamic produces is measured: be placed on air floating table by tested parts rotating part, float air floating table, to air floating table coarse balance, the rotating part of tested parts is rotated, under rotation condition, adopt stage body attitude angle and the angular velocity of gyro to measure air floating table, the air floating table stage body attitude angle utilizing wave filter to go out gyro to measure and angular velocity carry out filtering and spectrum analysis and obtain the disturbance torque that tested parts unbalance dynamic produces;
(4) counterweight of certain mass is installed on tested parts rotating part, the disturbance torque of the tested parts unbalance dynamic generation after installing counterweight is obtained according to the measuring process of step (3), the disturbance torque relatively installing tested parts unbalance dynamic generation before and after counterweight obtains the disturbance torque phase place of counterweight generation, calibrate the tested parts rotation phase that disturbance torque data initial time is corresponding, thus obtain the disturbance torque of calibrated test component unbalance dynamic generation;
(5) disturbance torque that the test component unbalance dynamic that the tested parts staticunbalance utilizing step (2) to measure to obtain, step (4) calibrate produces calculates the coupleunbalance of tested parts rotating part in conjunction with the installation site of tested parts on air floating table.
Test system as shown in Figure 2, is made up of simulation control subsystem and uphole equipment on threeaxis airbearing table, platform.During test, the rotating part of tested parts is positioned at the top of threeaxis airbearing table, and the rotation axis of rotating part is vertical with horizontal direction, overlaps with the Z axis of air floating table.The angular velocity of air floating table is obtained by the gyro to measure be positioned on air floating table, and test data and test instruction realize transmission by the wireless communication module on platform between industrial computer and ground control cabinet.
The method of the moment of inertia of measurement air floating table X, Yaxis in step (1): the moment utilizing counterweight to produce and the angular acceleration of stage body, utilize theorem of angular momentum to calculate air floating table moment of inertia, computing formula is as follows:
Wherein J is the moment of inertia of air floating table Xaxis or Yaxis, and m is counterbalance mass, and g is test ground local gravitational acceleration, and l is the horizontal range of counterweight center and air floating table center of rotation, the air floating table angular acceleration obtained is measured after increasing counterweight, for the air floating table angular acceleration that measurement when not increasing counterweight obtains, i.e. the angular acceleration that produces of air floating table self interference.
Fig. 3 is the angular velocity curve of air floating table Xaxis under counterweight effect, and Fig. 4 disturbs the air floating table Xaxis angular velocity change curve caused.After repetitive measurement, calculate air floating table X by formula (1), Yaxis moment of inertia is as shown in table 1.
Table 1 moment of inertia reckoner
The method calculating tested parts rotating part staticunbalance is:
Wherein:
Mr _{x}for the Xaxis component of staticunbalance under tested part coordinates system;
Mr _{y}for the Yaxis component of staticunbalance under tested part coordinates system;
Mr is tested parts rotating part staticunbalance;
J _{x}for the moment of inertia of air floating table Xaxis;
J _{y}for the moment of inertia of air floating table Yaxis;
for the air floating table stage body angular acceleration that measurement when tested parts rotating part is placed in air floating table xaxis obtains;
for tested parts rotating part is placed in the air floating table stage body angular acceleration that when air floating table bears xaxis, measurement obtains;
α is staticunbalance phasing degree;
G is test ground local gravitational acceleration.
The attitude angle curve of air floating table Xaxis when Fig. 5 is static unbalance test, the angular velocity change curve of air floating table Xaxis when Fig. 6 is static unbalance test, calculate staticunbalance when tested parts rotating part benchmark is placed in zerobit (being 0 degree), result of calculation is as shown in table 2.
Table 2 staticunbalance test chart
Unbalance dynamic is tested: during test, and tested parts rotate, and by air floating table coarse balance under rotation condition, make the extended testing system time as much as possible, improves measuring accuracy; The attitude angle using gyro to measure threeaxis airbearing table to export and angular velocity, extract the frequency band signals needed by wave filter, analyze the disturbance torque providing tested parts unbalance dynamic and produce.
The cycle indicator signal (rotating part zero cross signal) provided with tested parts is starting point, test curve when Fig. 7Figure 10 is the rotation of tested parts, wherein Fig. 7 is Xaxis attitude angle curve, Fig. 8 is Xaxis attitude angular velocity curve, Fig. 9 is Xaxis angular velocity signal FFT transformation curve, and Figure 10 is the Xaxis angular velocity curve of stable state after filtering.Filtered Xaxis attitude angular velocity signal is carried out SineFitting, as shown in figure 11, and calculates corresponding disturbance torque according to air floating table moment of inertia.
Xaxis angular velocity SineFitting result: ω _{x10}=0.01239sin (3.697t2.132) (°/s) (6)
Xaxis disturbance torque is:
Unbalance dynamic test startphase is demarcated: the counterweight of installing certain mass on tested parts rotating part, by comparing the disturbance torque change of installing before and after counterweight, obtain the disturbance torque phase place that counterweight produces, because counterweight is known in the position of tested parts rotating part, therefore the rotation phase of tested parts corresponding to disturbance torque data initial time can be marked.
The method obtaining the disturbance torque that calibrated test component unbalance dynamic produces is:
T _{xp11}=a _{xp11}cos(ω _{0}t+α _{xp11})=T _{x11}T _{x10}
Δα=α _{xp}α _{xp11}
T _{xn10}=a _{10}cos(ω _{0}t+α _{10}+Δα)
Wherein:
T _{x10}for Xaxis disturbance torque when tested parts rotating part rotates before increase counterweight;
A _{10}for Xaxis disturbance torque amplitude when tested parts rotating part rotates before increase counterweight;
ω _{0}for the velocity of rotation of tested parts rotating part;
α _{10}for Xaxis disturbance torque phase place when tested parts rotating part rotates before increase counterweight;
J _{x}for the moment of inertia of air floating table Xaxis;
for the derivative of Xaxis angular velocity SineFitting result when tested parts rotating part rotates before increase counterweight;
T _{x11}for Xaxis disturbance torque when tested parts rotating part rotates after increase counterweight;
A _{11}for Xaxis disturbance torque amplitude when tested parts rotating part rotates after increase counterweight;
α _{11}for Xaxis disturbance torque phase place when tested parts rotating part rotates after increase counterweight;
for the derivative of Xaxis angular velocity SineFitting result when tested parts rotating part rotates after increase counterweight;
T _{xp11}for the Xaxis disturbance torque that counterweight when tested parts rotating part rotates produces;
A _{xp11}for the Xaxis disturbance torque amplitude that counterweight when tested parts rotating part rotates produces;
α _{xp11}for the Xaxis disturbance torque phase place that counterweight when tested parts rotating part rotates produces;
α _{xp}for counterweight produces the notional phase of disturbance torque;
Δ α is phase differential;
T _{xn10}for the disturbance torque that the test component unbalance dynamic after phase calibration produces.
After increasing counterweight, tested parts rotate, and the cycle indicator signal provided with tested parts is starting point, and filtered Xaxis attitude angular velocity signal is carried out SineFitting, and as shown in figure 16, then, after increasing counterweight, Xaxis angular velocity SineFitting result is:
ω _{x11}=0.006708sin(3.697t2.867)（°/s）（8）
Calculate corresponding disturbance torque according to air floating table moment of inertia, then, after increasing counterweight, when tested parts rotate, Xaxis disturbance torque is:
Disturbance torque according to can obtain counterweight generation without disturbance torque during counterweight and the disturbance torque after increasing counterweight is: T _{xp11}=T _{x11}T _{x10}=1.386cos (3.696t+1.555) (Nm) (10)
The benchmark defining tested parts rotating part moment that overlaps with tested parts Xaxis (i.e. zerobit) is nominal initial time.From the installation of counterweight, the phase place that counterweight relatively rotates reference part on tested parts is 326.25 degree, when tested parts rotate (during at nominal initial time) when reference part overlaps with tested parts Xaxis, the gravitational torque that counterweight produces and the phase place of centrifugal moment under tested part coordinates system are 236.25 degree.Calculate known according to formula (10): when the cycle indicator signal chosen tested parts and provide is starting point, the moment that counterweight produces is 89.095 degree relative to the phase place of tested part coordinates system, then the now phase place of data more advanced than nominal initial time 147.155 degree (2.568 radians).Be then starting point with the nominal time, can be obtained by according to formula (6), (7), test component unbalance dynamic test Xaxis angular velocity and corresponding disturbance torque are:
ω _{xn10}=0.01239sin(3.697t+0.436)（°/s）（11）
T _{xn10}=1.9805cos(3.697t+0.436)（Nm）（12）
Coupleunbalance calculates: when tested parts rotate, couple being expressed as (taking the nominal time as starting point) under test component coordinate system that coupleunbalance produces:
Wherein T _{xn10}for the disturbance torque that the test component unbalance dynamic after phase calibration produces, mr is staticunbalance, and α is static unbalance phasing degree, ω _{1}for the velocity of rotation of rotating part, L _{z}the rotating part barycenter that measurement obtains is to the vertical range of air floating table center of rotation, and g is test ground local gravitational acceleration.
Then tested parts rotating part coupleunbalance size is:
Couple initial phase is under tested part coordinates system :2.512rad
Test result gathers as shown in table 4.
Table 4 test result gathers
The content be not described in detail in instructions belongs to the known technology of professional and technical personnel in the field.
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