CN103604562A - Device for testing rotational inertia of two-dimensional rotation mechanism and complex parts of two-dimensional rotation mechanism and method thereof - Google Patents
Device for testing rotational inertia of two-dimensional rotation mechanism and complex parts of two-dimensional rotation mechanism and method thereof Download PDFInfo
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- CN103604562A CN103604562A CN201310545282.9A CN201310545282A CN103604562A CN 103604562 A CN103604562 A CN 103604562A CN 201310545282 A CN201310545282 A CN 201310545282A CN 103604562 A CN103604562 A CN 103604562A
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Abstract
The invention relates to a device for testing the rotational inertia of a two-dimensional rotation mechanism and complex parts of the two-dimensional rotation mechanism and a method thereof. The device comprises a simulation two-dimensional rotation mechanism and a lever indicator component. A testing platform comprises a floating platform and a driving mechanism which is fixedly connected with the floating platform and drives the floating platform to rotate. A speed measuring system and a timing device are placed at the surface of the floating platform. The simulation two-dimensional rotation mechanism comprises an azimuth rotation device and a pitching rotation device. The azimuth rotation device comprises a two-dimensional turntable rotor and a turntable stator. The pitching rotation device comprises a pitching shaft and a bracket fixed on the two-dimensional turntable rotor. The lever indicator component comprises a vertical column and a lever meter. One end of the lever meter is fixed on the vertical column, and the other end of the lever meter acts on the azimuth rotation device. An angle measuring system is installed in the floating platform. A technical problem that an existing rotational inertia testing method has the disadvantages of complex test and low precision is solved. According to the device and the method, the characteristic of a floating platform micro friction torque is used to test the rotational inertia of the simulation two-dimensional rotation mechanism.
Description
Technical field
The present invention relates to proving installation and the method for a kind of two-dimensional rotation mechanism and complex parts moment of inertia thereof.
Background technology
Obtain at present object rotation inertia generally by two kinds of modes: for simple shape, the uniform object of Density Distribution, generally take theoretical calculation; And complex-shaped, the irregular object of mass distribution is taked actual measurement method.Actual measurement mainly utilizes flexible member to form oscillatory system, by system oscillation frequency, calculates moment of inertia.Conventional rotation inerttia method has: compound pendulum, Inertia Based on Torsion Pendulum Method, three-line pendulum method, single line arrangement and Constructional Elements Using Falling Methods etc.For compound pendulum, measure moment of inertia, measured piece length-diameter ratio is greater than at 15 o'clock, and its impact be can not ignore; And when vertical and parallel angular deviation are greater than 2 °, also should consider the impact of verticality and the depth of parallelism of the longitudinal axis and rotating shaft; When 60 ° of pivot angles, measuring Period error is ± 6.8%, and moment of inertia error reaches 40%.When three line Inertia Based on Torsion Pendulum Methods are used for measuring large quality measured piece, measured piece rotation clamps vertically-arranged and makes installation difficulty, and has potential safety hazard; Meanwhile, large-scale measured piece position is unstable, also affects measuring accuracy.There is same problem in Torsion Pendulum method.Constructional Elements Using Falling Methods is for the measured piece of large quality, large momentum, and precision can only reach 3%.
The tolerance of inertia when moment of inertia is Rigid Body in Rotation With, the complexity that when its size has embodied Rigid Body in Rotation With, state changes.Every problem that relates to rotational power, moment of inertia is focus measurement parameter.The moment of inertia of its azimuth axis of space two-dimensional rotating mechanism changes in turntable motion process, with the load angle of pitch, change, although there is certain mathematical relation in the two, but because processing, alignment error can be brought certain uncertainty, therefore need carry out actual measurement obtains azimuth rotation inertia value with the different change curve of the angle of pitch, to momentum balance control and mechanical test, provide underlying parameter, in order to determine the disturbing moment that satellite is produced.Because two-dimensional rotation mechanism is complex-shaped, the moment of inertia of azimuth axis can change along with the change of pitch axis turned position in addition.Therefore traditional measuring method can not meet current testing requirement because testing complex precision is low.
Summary of the invention
In order to solve the technical matters that existing moment of inertia method of testing testing complex, precision are low, can not meet current testing requirement, the invention provides the proving installation of a kind of two-dimensional rotation mechanism and complex parts moment of inertia thereof, utilize the characteristic of air floating platform Microfriction Torque to test two-dimentional rotor of turntable orientation and pitch axis moment of inertia.
Technical solution of the present invention:
A proving installation for two-dimensional rotation mechanism and complex parts moment of inertia thereof, its special character is: comprise angle measuring system, time bulk cargo put, velocity-measuring system, simulating two-dimensional rotating mechanism and lever indicator assembly;
The wheelwork that the driving air floating platform that described test platform comprises air floating platform, be connected with air floating platform rotates, described velocity-measuring system and time bulk cargo put and be all positioned on air floating platform table top;
Described simulating two-dimensional rotating mechanism comprises directional rotating device and pitch rotation device, described directional rotating device comprises two-dimentional rotor of turntable and turntable stator, described two-dimentional rotor of turntable is placed on air floating platform table top and by turntable stator and is fixedly connected with air floating platform, described pitch rotation device comprises pitch axis and is fixed on the support on two-dimentional rotor of turntable, and described pitch axis is arranged on support and can does luffing around the transverse axis of support;
Described lever indicator assembly comprises column and lever meter, and described lever meter one end is fixed on column, and the other end acts on directional rotating device,
The two-dimentional rotor of turntable of described directional rotating device overlaps with the revolving shaft of air floating platform after measuring adjustment by lever indicator assembly;
Described side angle system is arranged in air floating platform.
Above-mentioned wheelwork comprises fixed pulley, counterweight and stay cord, and one end of described stay cord is fixed on air floating platform, and the other end of described stretching is connected with counterweight by fixed pulley.
Above-mentioned velocity-measuring system is rate gyro.
The method of testing of two-dimensional rotation mechanism and complex parts moment of inertia thereof, its special character is, comprises the following steps:
1] measure the moment of inertia J of the nonrotational part of turntable and air floating platform rotational plane
0:
1.1] build proving installation claimed in claim 1, only place the part of not rotating in directional rotating device, utilize lever meter by turntable stator and air floating platform centering;
1.2] start wheelwork, make air floating platform start to rotate from stationary state;
1.3] rotate t
1after time, utilize velocity-measuring system to gather air floating platform speed V this moment
1;
1.4] utilize the moment of inertia J of partly nonrotational in following formula computer azimuth wheelwork and air floating platform rotational plane
0:
Wherein: M is known moment, M=mgl, the weight that mg is wheelwork, l is that the tie point of wheelwork and air floating platform is apart from the distance of air floating platform rotating shaft;
ω
0for air floating platform accekeration,
2] the moment of inertia J of measure analog two-dimensional rotation mechanism pitch axis system azimuth axle when corner A
a:
2.1] in step 1.1] after turntable stator on assemble two-dimentional rotor of turntable and pitch rotation device, and utilize lever meter to adjust the azimuth axis of two-dimentional rotor of turntable and the revolving shaft of air floating platform overlaps;
2.2] pitch axis is turned to angle A place;
2.3] start wheelwork, make air floating platform start to rotate from stationary state, angle measuring system records the initial angle B of air floating platform simultaneously
0;
2.4] angle when angle measuring system measurement air floating platform is B
1, stopping air floating platform, the air floating platform rotation t of the measurement device of uniting while simultaneously recording and the air floating platform that velocity-measuring system is measured be speed V this moment;
2.5] repeating step 2.3]-2.4] n time;
2.6] utilize following formula to calculate in angle during for A, the moment of inertia J of simulation rotating mechanism
a:
A sampling interval is 5 °, B
1-B
0=± 5 °, n is 5-6.
Above-mentioned velocity-measuring system is rate gyro.
The present invention has advantages of:
The present invention efficiently solves two rotating shafts test of moment of inertia separately of two-dimensional rotation mechanism, in the long term, this equipment will be a kind of application testing tool more widely, it not only can substitute current existing product, and it is simple to have method of testing, the a series of advantages such as measuring accuracy is high, automaticity height.
Accompanying drawing explanation
Fig. 1 is the structural representation of measurement mechanism of the present invention;
Wherein Reference numeral is: 1-column, and 2-lever meter, during 3-, bulk cargo is put, 4-rate gyro, 5-elevation mount, 6-directional rotating device, 7-air floating platform, 8-stay cord, 9-fixed pulley, 10-counterweight, 11-angle measuring system.
Embodiment
As shown in Figure 1, the proving installation of a kind of two-dimensional rotation mechanism and complex parts moment of inertia thereof, comprise angle measuring system 11, time bulk cargo put 3, velocity-measuring system, simulating two-dimensional rotating mechanism and centering assembly,
The wheelwork that the driving air floating platform that test platform comprises air floating platform 7, be connected with air floating platform rotates, velocity-measuring system and time bulk cargo put 3 and be all positioned on air floating platform table top,
Simulating two-dimensional rotating mechanism comprises directional rotating device 6 and 5 two parts of elevation mount, and wherein orientation part comprises turntable stator and rotor of turntable.Two-dimensional rotation mechanism is placed on air floating platform table top and by turntable stator and is fixedly connected with air floating platform, and elevation mount is arranged on U-shaped support and can be done luffing around transverse axis by horizontal shafting;
Lever indicator assembly comprises column 1 and lever meter 2, and lever meter one end is fixed on column, and the other end acts on simulating two-dimensional rotating mechanism, and two-dimentional rotor of turntable overlaps with the revolving shaft of air floating platform after by the adjustment of centering assembly; Side angle system 11 is arranged in air floating platform.
Wheelwork comprises fixed pulley 9, counterweight 10 and stay cord 8, and one end of stay cord is fixed on air floating platform, and the other end of stretching is connected with counterweight by fixed pulley.
The azimuth axle moment of inertia of take test is example explanation method of testing step:
1] measure the moment of inertia J of the nonrotational part of turntable and air floating platform rotational plane
0;
1.1] build proving installation claimed in claim 1, only place the part (turntable stator) of not rotating in two-dimensional rotation mechanism, utilize lever meter by stator and air floating platform centering;
1.2] start wheelwork, make air floating platform start to rotate from stationary state;
1.3] rotate t
1after time, utilize velocity-measuring system to gather air floating platform speed V this moment
1;
1.4] utilize following formula to calculate the moment of inertia J of the nonrotational part of turntable and air floating platform rotational plane
0:
J
0=J
gas+ J
fixed;
J wherein
gasfor the moment of inertia of air floating table rotating shaft is known, J
fixednonrotational part for turntable.
Wherein: M is known moment, M=mgl, the weight that mg is wheelwork (weight of counterweight), l is that the tie point of wheelwork and air floating platform is apart from the distance of air floating platform rotating shaft;
ω
0for air floating platform accekeration,
2] the moment of inertia J of measure analog rotating mechanism pitch axis system azimuth axle when corner A
a:
First simulating two-dimensional rotating mechanism is placed in air floating platform plane shown in Fig. 1, around utilizing air floating platform, hold-down support sets up the lever meter that sensitivity is 0.01mm, detect the shaft run-out of two-dimensional rotation mechanism azimuth axis revolution benchmark, air floating platform revolving shaft and tested two-dimentional rotor of turntable revolving shaft are adjusted to coaxial;
Pitch axis is placed in to different angles, and sampling interval is 5 °
The counterweight that is m by quality is connected with air floating platform rotating part through fixed pulley, stay cord, tie point and platform rotating shaft distance are l, utilize counterweight deadweight to apply tangential force, air floating platform is rotated, application of force direction and platform rotating part are not more than 5 ° in the not coincidence error of point of application tangent line, by angle measuring system, record air floating platform initial angle value;
With rate gyro, record air floating platform velocity of rotation curve, get with the poor data that are less than 5 ° of platform initial angle and process, processing formula is:
In formula: M: known moment is mgl, general m is counterbalance mass;
ω: platform acceleration mean value;
V: the speed that rate gyro gathers;
T: the time that time system gathers;
J
a: the moment of inertia of the azimuth rotation part of pitch axis when A place, angle;
J
0: air floating platform rotating part be connected with its on turntable stator be the moment of inertia of the nonrotational part of turntable azimuth axis.
Turntable of the present invention can be also complex-shaped parts, now unit under test is placed in air floating platform plane, around utilizing air floating platform, hold-down support sets up the lever meter that sensitivity is 0.01mm, detect the diameter run-out of parts rotating reference field, platform revolving shaft and unit under test revolving shaft are adjusted to coaxial.With said method, can record complex parts about the accurate moment of inertia of its revolving shaft or barycenter.
Claims (6)
1. a proving installation for two-dimensional rotation mechanism and complex parts moment of inertia thereof, is characterized in that: comprise angle measuring system, time bulk cargo put, velocity-measuring system, simulating two-dimensional rotating mechanism and lever indicator assembly;
The wheelwork that the driving air floating platform that described test platform comprises air floating platform, be connected with air floating platform rotates, described velocity-measuring system and time bulk cargo put and be all positioned on air floating platform table top;
Described simulating two-dimensional rotating mechanism comprises directional rotating device and pitch rotation device, described directional rotating device comprises two-dimentional rotor of turntable and turntable stator, described two-dimentional rotor of turntable is placed on air floating platform table top and by turntable stator and is fixedly connected with air floating platform, described pitch rotation device comprises pitch axis and is fixed on the support on two-dimentional rotor of turntable, and described pitch axis is arranged on support and can does luffing around the transverse axis of support;
Described lever indicator assembly comprises column and lever meter, and described lever meter one end is fixed on column, and the other end acts on directional rotating device,
The two-dimentional rotor of turntable of described directional rotating device overlaps with the revolving shaft of air floating platform after measuring adjustment by lever indicator assembly;
Described side angle system is arranged in air floating platform.
2. the proving installation of two-dimensional rotation mechanism according to claim 1 and complex parts moment of inertia thereof, is characterized in that:
Described wheelwork comprises fixed pulley, counterweight and stay cord, and one end of described stay cord is fixed on air floating platform, and the other end of described stretching is connected with counterweight by fixed pulley.
3. the proving installation of two-dimensional rotation mechanism according to claim 1 and 2 and complex parts moment of inertia thereof, is characterized in that: described velocity-measuring system is rate gyro.
4. the method for testing of two-dimensional rotation mechanism and complex parts moment of inertia thereof, is characterized in that, comprises the following steps:
1] measure the moment of inertia J of the nonrotational part of turntable and air floating platform rotational plane
0:
1.1] build proving installation claimed in claim 1, only place the part of not rotating in directional rotating device, utilize lever meter by turntable stator and air floating platform centering;
1.2] start wheelwork, make air floating platform start to rotate from stationary state;
1.3] rotate t1 after the time, utilize velocity-measuring system to gather air floating platform speed V this moment
1;
1.4] utilize the moment of inertia J of partly nonrotational in following formula computer azimuth wheelwork and air floating platform rotational plane
0:
Wherein: M is known moment, M=mgl, the weight that mg is wheelwork, l is that the tie point of wheelwork and air floating platform is apart from the distance of air floating platform rotating shaft;
ω
0for air floating platform accekeration,
2] the moment of inertia J of measure analog two-dimensional rotation mechanism pitch axis system azimuth axle when corner A
a:
2.1] in step 1.1] after turntable stator on assemble two-dimentional rotor of turntable and pitch rotation device, and utilize lever meter to adjust the azimuth axis of two-dimentional rotor of turntable and the revolving shaft of air floating platform overlaps;
2.2] pitch axis is turned to angle A place;
2.3] start wheelwork, make air floating platform start to rotate from stationary state, angle measuring system records the initial angle B of air floating platform simultaneously
0;
2.4] angle when angle measuring system measurement air floating platform is B
1, stopping air floating platform, the air floating platform rotation t of the measurement device of uniting while simultaneously recording and the air floating platform that velocity-measuring system is measured be speed V this moment;
2.5] repeating step 2.3]-2.4] n time;
2.6] utilize following formula to calculate in angle during for A, the moment of inertia J of simulation rotating mechanism
a:
5. the method for testing of two-dimensional rotation mechanism according to claim 4 and complex parts moment of inertia thereof, is characterized in that: A sampling interval is 5 °, B
1-B
0=± 5 °, n is 5-6.
6. according to the method for testing of the two-dimensional rotation mechanism described in claim 4 or 5 and complex parts moment of inertia thereof, it is characterized in that: described velocity-measuring system is rate gyro.
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Cited By (8)
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| CN104316021A (en) * | 2014-10-27 | 2015-01-28 | 中国科学院长春光学精密机械与物理研究所 | All-directional dynamic target device |
| CN105181245A (en) * | 2015-08-11 | 2015-12-23 | 中国航空工业集团公司西安飞机设计研究所 | Plate inertia measurement apparatus |
| CN105203259A (en) * | 2015-09-25 | 2015-12-30 | 哈尔滨工业大学 | Aircraft simulation air bearing table inertia regulating and measuring device and method |
| CN104316021B (en) * | 2014-10-27 | 2017-01-04 | 中国科学院长春光学精密机械与物理研究所 | A kind of comprehensive dynamic target device |
| CN106767903A (en) * | 2016-11-29 | 2017-05-31 | 中国直升机设计研究所 | A kind of test fixture |
| CN107463191A (en) * | 2017-06-18 | 2017-12-12 | 珠海磐磊智能科技有限公司 | Control moment gyroscope system and mobile devices |
| CN109406049A (en) * | 2018-11-16 | 2019-03-01 | 中国科学院西安光学精密机械研究所 | A kind of centroid measurement system and measurement method |
| CN117129016A (en) * | 2023-10-25 | 2023-11-28 | 中国科学院西安光学精密机械研究所 | Ground calibration system and method for satellite payload full-range line-of-sight determination |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105203259A (en) * | 2015-09-25 | 2015-12-30 | 哈尔滨工业大学 | Aircraft simulation air bearing table inertia regulating and measuring device and method |
| CN106767903A (en) * | 2016-11-29 | 2017-05-31 | 中国直升机设计研究所 | A kind of test fixture |
| CN107463191A (en) * | 2017-06-18 | 2017-12-12 | 珠海磐磊智能科技有限公司 | Control moment gyroscope system and mobile devices |
| CN109406049A (en) * | 2018-11-16 | 2019-03-01 | 中国科学院西安光学精密机械研究所 | A kind of centroid measurement system and measurement method |
| CN109406049B (en) * | 2018-11-16 | 2023-12-08 | 中国科学院西安光学精密机械研究所 | Centroid measuring system and measuring method |
| CN117129016A (en) * | 2023-10-25 | 2023-11-28 | 中国科学院西安光学精密机械研究所 | Ground calibration system and method for satellite payload full-range line-of-sight determination |
| CN117129016B (en) * | 2023-10-25 | 2024-04-05 | 中国科学院西安光学精密机械研究所 | Ground calibration system and method for satellite payload full-range line-of-sight determination |
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