CN104071361A - Speed-up flywheel inertia simulator and method for realizing rotational inertia and translational inertia simulation of spacecraft by using speed-up flywheel inertia simulator - Google Patents

Abstract

The invention discloses a speed-up flywheel inertia simulator and a method for realizing rotational inertia and translational inertia simulation of a spacecraft by using the speed-up flywheel inertia simulator. Compared with the conventional mechanical (such as multi-barbell) mechanical inertia simulator, the speed-up flywheel inertia simulator has the characteristics of small size, light weight, simple structure, high working performance stability, quick dynamic response and low cost-benefit ratio through a method for simulating the mechanical inertia of a large-sized spacecraft by using the speed-up flywheel inertia simulator. The requirements on the structural and spatial test environments of an air floatation foundation platform and auxiliary test equipment thereof can be greatly lowered. The flywheel inertia simulator can be directly arranged on a rocker arm joint to simulate the rotational inertia of the spacecraft. Meanwhile, the translational inertia of the spacecraft can be simulated by arranging speed-up flywheel inertia simulators on the two side faces of the air floatation foundation platform.

Description

Acceleration flywheel inertia simulation device and utilize acceleration flywheel inertia simulation device to realize the method for spacecraft rotor inertia and translation inertia simulation

Technical field:

The present invention relates to a kind of acceleration flywheel inertia simulation device and utilize acceleration flywheel inertia simulation device to realize the method for spacecraft rotor inertia and translation inertia simulation, it is applied to Large Spacecraft Surface power drive and learns physical simulation test, belongs to the technical fields such as mechanics, machinery, control.

Background technology:

How Large Spacecraft, as the processes such as large space station etc. need to be docked in-orbit by spacecraft, transposition realize, realizes the ground motion of full-time order and learns and dynamics simulation on ground, be crucial in spacecraft develops task and important necessary links.It is large that Large Spacecraft motion has inertia, the feature that speed is low.Traditional mechanical type (as multi-disc barbell type etc.) spacecraft inertia simulation device is generally used for simulation rotary inertia, and its spin velocity is identical with the actual transposition cireular frequency of spacecraft.For reaching the requirement of Large Spacecraft transposition ground simulation test, quality (being translation inertia) or the size of this type of inertia simulation device are often very large, not only there is higher implementation cost, and the aspect such as proving ground, equipment has been proposed to harsh requirement.

Summary of the invention:

The present invention proposes a kind of acceleration flywheel inertia simulation device and utilizes acceleration flywheel inertia simulation device to realize the method for spacecraft rotor inertia and translation inertia simulation, rotor inertia and translation inertia simulation that it can realize Large Spacecraft, can be used for development, examination and the homologation test of spacecraft ground emulation.

The present invention adopts following technical scheme: a kind of acceleration flywheel inertia simulation device, it comprises housing, input shaft, be installed on booster engine on input shaft, the output shaft of booster engine and be installed on output shaft lower end flywheel, described output shaft, booster engine and flywheel are all arranged in housing, and the upper end of described input shaft is positioned at outside the top of housing.

The present invention also adopts following technical scheme: a kind of method of utilizing acceleration flywheel inertia simulation device to realize the simulation of spacecraft rotor inertia, it comprises the steps:

1). before test, according to the test rotor inertia of spacecraft in-orbit desired to be simulated, spacecraft simulation part rotor inertia and the physical dimension difference of spacecraft and ground spacecraft simulation part in-orbit, determine the when Rotary Inertia of Flywheel of speedup of booster engine;

2). spacecraft simulation part is connected with pivoted arm, pivoted arm joint is provided with a motor, at pivoted arm joint, acceleration flywheel inertia simulation device is installed simultaneously, wherein machine shaft one end is connected with acceleration flywheel inertia simulation device input shaft, the other end is connected with pivoted arm, meanwhile, motor is all connected with pedestal (fixed end being connected with ground) with the housing of acceleration flywheel inertia simulation device;

3). at pivoted arm drive torque T _driveeffect under, acceleration flywheel inertia simulation device input shaft is by machine shaft together with the transposition of spacecraft simulation part, simultaneously booster engine is driving the flywheel rotation of acceleration flywheel inertia simulation device, according to world dynamic similarity principle, ground transposition angular acceleration ε _groundwith angular acceleration ε in the sky _spaceidentical, establish flywheel inertia J in acceleration flywheel inertia simulation device _r, booster engine transmitting ratio r, the rotor inertia of spacecraft in-orbit to be simulated is J _space, in ground experiment, spacecraft simulating piece is J with respect to the rotor inertia of machine shaft _ground,

$\left\{\begin{array}{c}{J}_{\mathrm{space}}{\mathrm{\ϵ}}_{\mathrm{space}}=T_{\mathrm{drive}}\\ J_{\mathrm{ground}}{\mathrm{\ϵ}}_{\mathrm{ground}}=T_{\mathrm{drive}}-r^2{J}_R{\mathrm{\ϵ}}_{\mathrm{ground}}\end{array}\right.$

Make ε _space=ε _ground, only need

$J_R=\frac{J_{\mathrm{space}}-J_{\mathrm{ground}}}{r^2}.$

The present invention adopts again following technical scheme: a kind of method of utilizing acceleration flywheel inertia simulation device to realize spacecraft translation inertia simulation, it comprises the steps:

1). before test, according to test translation inertia desired to be simulated, spacecraft simulation part translation inertia and the physical dimension difference of spacecraft and ground spacecraft simulation part in-orbit, determine the when Rotary Inertia of Flywheel of speedup of booster engine;

2). a kind of air supporting basic platform is provided, floating on described air supporting basic platform have a spacecraft simulation device, described spacecraft simulation device outreaches two rigidity emulator guide rods by bearing, on the lateral wall of described air supporting basic platform, be provided with L-type guide rail, on two bars of described L-type guide rail, be separately installed with a toothed rack, an end in described every toothed rack is provided with a fixed orifice, one side of described every toothed rack is all engaged with a gear, described two gears are installed on respectively on the input shaft of two acceleration flywheel inertia simulation devices, described spacecraft simulation device is in the time carrying out plane motion, the undamped fixed orifice through tooth bar of emulator guide rod, described tooth bar is free to slide along L-type guide rail, thereby the input shaft that drives acceleration flywheel inertia simulation device rotates and then flywheel driven rotates,

3). two acceleration flywheel inertia simulation devices are separately fixed on ground, and air supporting basic platform is fixed on ground, and maintenance level, and establishing spacecraft simulation device translation inertia is m _ground, translation inertia m to be simulated _space, taking x direction as example, note spacecraft simulation device x directional acceleration is a _groundx, treat that analog acceleration is a _spacex, be J for the Rotary Inertia of Flywheel of x direction translational inertia simulation _rx, F _drivexfor x direction propulsive effort, in described ground experiment, the needed propulsive effort of spacecraft simulating piece is with the needed propulsive effort of spacecraft is consistent in-orbit, described tooth bar (10) is connected with booster engine and flywheel by gear (12), and described tooth bar is r to the transmitting ratio of flywheel _x, this transmitting ratio r _xrelevant with the over-speed gear ratio of transmitting ratio between rack pinion and booster engine

$\left\{\begin{array}{c}{F}_{\mathrm{drivex}}=m_{\mathrm{ground}}{a}_{\mathrm{groundx}}+J_{\mathrm{Rx}}\frac{a_{\mathrm{groundx}}}{r_x^2}\\ F_{\mathrm{drivex}}=m_{\mathrm{space}}{a}_{\mathrm{spacex}}\end{array}\right.$

Make a _groundx=a _spacex, only need:

$J_{\mathrm{Rx}}=(m_{\mathrm{space}}-m_{\mathrm{ground}})r_x^2$

In like manner, to y direction, motion is analyzed, and can obtain:

$J_{\mathrm{Ry}}=\left(m_{\mathrm{space}}\text{-}{m}_{\mathrm{ground}}\right)r_y^2$

Wherein J _ryand r _ybe respectively the transmitting ratio to flywheel for the Rotary Inertia of Flywheel of y direction translational inertia simulation and tooth bar.

The present invention has following beneficial effect: compared with traditional mechanical type (as multi-disc barbell type etc.) spacecraft inertia simulation device, by rotor inertia and the translation inertia of acceleration flywheel inertia simulation device simulation Large Spacecraft, there is volume little, lightweight, simple in structure, stable work in work is good, dynamic response is fast, the feature that cost effectiveness is low, can greatly reduce for the structure of air supporting basic platform and attached test facility thereof and the requirement of aspect, space experimental enviroment, the rotor inertia that acceleration flywheel inertia simulation device can directly be installed on pivoted arm joint carrys out Simulated Spacecraft, only need get final product at two sides installation acceleration flywheel inertia simulation devices of air supporting basic platform the translation inertia of Simulated Spacecraft simultaneously.

Brief description of the drawings:

Fig. 1 is the structural representation of acceleration flywheel inertia simulation device of the present invention.

Fig. 2 utilizes the acceleration flywheel inertia simulation device in Fig. 1 to realize the schematic diagram that spacecraft rotor inertia is simulated.

Fig. 3 utilizes acceleration flywheel inertia simulation device in Fig. 1 to realize the schematic diagram of spacecraft translation inertia simulation.

Wherein:

1-input shaft; 2-booster engine; 3-output shaft; 4-flywheel; 5-housing; 6-pivoted arm; 7-air supporting basic platform; 8-spacecraft simulation device; 9-emulator guide rod; 10-tooth bar; 11-L type guide rail; 12-gear.

Detailed description of the invention:

Please refer to shown in Fig. 1, acceleration flywheel inertia simulation device of the present invention, it comprises housing 5, input shaft 1, be installed on booster engine 2 on input shaft 1, the output shaft 3 of booster engine and be installed on output shaft 3 lower end flywheels 4, wherein output shaft 3, booster engine 2 and flywheel 4 are all arranged in housing 5, and the upper end of input shaft 1 is positioned at outside the top of housing 5.

Suppose that in acceleration flywheel inertia simulation device, flywheel is J along the axial rotor inertia of input _r, booster engine transmitting ratio r in the direction, input shaft in the direction and the angular acceleration of output shaft be respectively ε _inand ε _out, input shaft in the direction and the moment of torsion of output shaft are respectively T _inand T _out.Disregard the inertia of the dampings such as friction and booster engine,

ε _out＝rε _in,rT _out＝T _in,T _out＝J _Rε _out (1)

Therefore

T _in＝r ²J _Rε _in (2)

Be that equivalent inertia is r ²j _r.

Please refer to shown in Fig. 1 and Fig. 2, realize in the simulation of spacecraft rotor inertia by acceleration flywheel inertia simulation device, based on the principle of world kinematic similarity (ground movement acceleration is identical with acceleration of motion in the sky), by realizing the simulation of rotor inertia at pivoted arm joint installation booster engine and flywheel, make flywheel rotation by booster engine, and then obtain corresponding equivalent inertia.Before test, according to the test rotor inertia of spacecraft in-orbit desired to be simulated, spacecraft simulation part rotor inertia and the physical dimension difference of spacecraft and ground spacecraft simulation part in-orbit, determine the when Rotary Inertia of Flywheel of speedup of booster engine; Spacecraft simulation part is connected with pivoted arm, pivoted arm joint is provided with a motor, at pivoted arm joint, acceleration flywheel inertia simulation device is installed simultaneously, wherein machine shaft one end is connected with acceleration flywheel inertia simulation device input shaft, the other end is connected with pivoted arm, meanwhile, motor is all connected with pedestal (fixed end being connected with ground) with the housing of acceleration flywheel inertia simulation device.

At pivoted arm drive torque T _driveeffect under, acceleration flywheel inertia simulation device input shaft is by machine shaft together with the transposition of spacecraft simulation part, simultaneously booster engine is driving the flywheel rotation of acceleration flywheel inertia simulation device, according to world dynamic similarity principle, ground transposition angular acceleration ε _groundwith angular acceleration ε in the sky _spaceidentical, establish flywheel inertia J in acceleration flywheel inertia simulation device _r, booster engine transmitting ratio r, the rotor inertia of spacecraft in-orbit to be simulated is J _space, in ground experiment, spacecraft simulating piece is J with respect to the rotor inertia of machine shaft _ground,

$\left\{\begin{array}{c}{J}_{\mathrm{space}}{\mathrm{\ϵ}}_{\mathrm{space}}=T_{\mathrm{drive}}\\ J_{\mathrm{ground}}{\mathrm{\ϵ}}_{\mathrm{ground}}=T_{\mathrm{drive}}-r^2{J}_R{\mathrm{\ϵ}}_{\mathrm{ground}}\end{array}\right.---\left(3\right)$

Make ε _space=ε _ground, only need

$J_R=\frac{J_{\mathrm{space}}-J_{\mathrm{ground}}}{r^2}.---\left(4\right)$

Can be by selecting the over-speed gear ratio of booster engine and the wheel speed of flywheel to realize the simulation of rotor inertia.Such as, work as J _space-J _ground=10 ⁴kgm ²time, can select r=100, now J _r=1kgm ².

Please refer to shown in Fig. 1 and Fig. 3, realize in spacecraft translation inertia simulation by acceleration flywheel inertia simulation device, based on the principle of world kinematic similarity (ground movement acceleration is identical with acceleration of motion in the sky), realize the simulation of translation inertia by acceleration flywheel inertia simulation device being installed in two sides of air supporting basic platform 7.The key problem in technology of two kinds of inertia simulation devices is to make flywheel rotation by booster engine, and then obtains corresponding equivalent inertia.Before test, according to test translation inertia desired to be simulated, spacecraft simulation part translation inertia and the physical dimension difference of spacecraft and ground spacecraft simulation part in-orbit, determine the when Rotary Inertia of Flywheel of speedup of booster engine.A kind of air supporting basic platform 7 is provided, floating on described air supporting basic platform 7 have a spacecraft simulation device 8, spacecraft simulation device 8 outreaches two rigidity emulator guide rods 9 by bearing, on the lateral wall of air supporting basic platform 7, be provided with L-type guide rail 11, on two bars of L-type guide rail 11, be separately installed with a toothed rack 10, an end in every toothed rack 10 is provided with a fixed orifice, one side of every toothed rack 10 is all engaged with a gear 12, two gears 12 are installed on respectively on the input shaft 1 of two acceleration flywheel inertia simulation devices, spacecraft simulation device 8 is in the time carrying out plane motion, the undamped fixed orifice through tooth bar 10 of emulator guide rod 9, tooth bar 10 is free to slide along L-type guide rail 11, thereby the input shaft that drives acceleration flywheel inertia simulation device rotates and then flywheel driven rotates, realize translation inertia simulation.

Two acceleration flywheel inertia simulation devices are separately fixed on ground, and air supporting basic platform is fixed on ground, and maintenance level, and establishing spacecraft simulation device translation inertia is m _ground, translation inertia m to be simulated _space, taking x direction as example, note spacecraft simulation device x directional acceleration is a _groundx, treat that analog acceleration is a _spacex, be J for the Rotary Inertia of Flywheel of x direction translational inertia simulation _rx, F _drivexfor x direction propulsive effort, in described ground experiment, the needed propulsive effort of spacecraft simulating piece is with the needed propulsive effort of spacecraft is consistent in-orbit, described tooth bar (10) is connected with booster engine and flywheel by gear (12), and described tooth bar is r to the transmitting ratio of flywheel _x, this transmitting ratio r _xrelevant with the over-speed gear ratio of transmitting ratio between rack pinion and booster engine

$\left\{\begin{array}{c}{F}_{\mathrm{drivex}}=m_{\mathrm{ground}}{a}_{\mathrm{groundx}}+J_{\mathrm{Rx}}\frac{a_{\mathrm{groundx}}}{r_x^2}\\ F_{\mathrm{drivex}}=m_{\mathrm{space}}{a}_{\mathrm{spacex}}\end{array}\right.---\left(\text{5}\right)$

Make a _groundx=a _spacex, only need:

$J_{\mathrm{Rx}}=(m_{\mathrm{space}}-m_{\mathrm{ground}})r_x^2---\left(6\right)$

In like manner, to y direction, motion is analyzed, and can obtain:

$J_{\mathrm{Ry}}=\left(m_{\mathrm{space}}\text{-}{m}_{\mathrm{ground}}\right)r_y^2---\left(7\right)$

Wherein J _ryand r _ybe respectively the transmitting ratio to flywheel for the Rotary Inertia of Flywheel of y direction translational inertia simulation and tooth bar.

Such as: work as m _space-m _ground=10 ⁴kg, chooses r now _x=100m/rad, J _rx=1kgm ², in like manner, choose r _y=100m/rad, obtains J _ry=1kgm ².

The above is only the preferred embodiment of the present invention, it should be pointed out that for those skilled in the art, can also make under the premise without departing from the principles of the invention some improvement, and these improve and also should be considered as protection scope of the present invention.

Claims (3)

1. an acceleration flywheel inertia simulation device, it is characterized in that: comprise housing (5), input shaft (1), be installed on booster engine (2) on input shaft (1), the output shaft (3) of booster engine and be installed on output shaft (3) lower end flywheel (4), described output shaft (3), booster engine (2) and flywheel (4) are all arranged in housing (5), and the upper end of described input shaft (1) is positioned at outside the top of housing (5).

2. utilize acceleration flywheel inertia simulation device as claimed in claim 1 to realize a method for spacecraft rotor inertia simulation, it is characterized in that: comprise the steps

1). before test, according to the test rotor inertia of spacecraft in-orbit desired to be simulated, spacecraft simulation part rotor inertia and the physical dimension difference of spacecraft and ground spacecraft simulation part in-orbit, determine the when Rotary Inertia of Flywheel of speedup of booster engine;

2). spacecraft simulation part is connected with pivoted arm, pivoted arm joint is provided with a motor, at pivoted arm joint, acceleration flywheel inertia simulation device is installed simultaneously, wherein machine shaft one end is connected with acceleration flywheel inertia simulation device input shaft, the other end is connected with pivoted arm, meanwhile, motor is all connected with pedestal with the housing of acceleration flywheel inertia simulation device;

3). at pivoted arm drive torque T _driveeffect under, acceleration flywheel inertia simulation device input shaft is by machine shaft together with the transposition of spacecraft simulation part, simultaneously booster engine is driving the flywheel rotation of acceleration flywheel inertia simulation device, according to world dynamic similarity principle, ground transposition angular acceleration ε _groundwith angular acceleration ε in the sky _spaceidentical, establish flywheel inertia J in acceleration flywheel inertia simulation device _r, booster engine transmitting ratio r, the rotor inertia of spacecraft in-orbit to be simulated is J _space, in ground experiment, spacecraft simulating piece is J with respect to the rotor inertia of machine shaft _ground,

$\left\{\begin{array}{c}{J}_{\mathrm{space}}{\mathrm{\ϵ}}_{\mathrm{space}}=T_{\mathrm{drive}}\\ J_{\mathrm{ground}}{\mathrm{\ϵ}}_{\mathrm{ground}}=T_{\mathrm{drive}}-r^2{J}_R{\mathrm{\ϵ}}_{\mathrm{ground}}\end{array}\right.$

Make ε _space=ε _ground, only need

$J_R=\frac{J_{\mathrm{space}}-J_{\mathrm{ground}}}{r^2}.$

3. utilize acceleration flywheel inertia simulation device as claimed in claim 1 to realize a method for spacecraft translation inertia simulation, it is characterized in that: comprise the steps

1). before test, according to test translation inertia desired to be simulated, spacecraft simulation part translation inertia and the physical dimension difference of spacecraft and ground spacecraft simulation part in-orbit, determine the when Rotary Inertia of Flywheel of speedup of booster engine;

2). a kind of air supporting basic platform (7) is provided, at the upper floating spacecraft simulation device (8) that has of described air supporting basic platform (7), described spacecraft simulation device (8) outreaches two rigidity emulator guide rods (9) by bearing, on the lateral wall of described air supporting basic platform (7), be provided with L-type guide rail (11), on two bars of described L-type guide rail (11), be separately installed with a toothed rack (10), an end in described every toothed rack (10) is provided with a fixed orifice, one side of described every toothed rack (10) is all engaged with a gear (12), described two gears (12) are installed on respectively on the input shaft (1) of two acceleration flywheel inertia simulation devices, described spacecraft simulation device (8) is in the time carrying out plane motion, the undamped fixed orifice through tooth bar (10) of emulator guide rod (9), described tooth bar (10) is free to slide along L-type guide rail (11), thereby the input shaft that drives acceleration flywheel inertia simulation device rotates and then flywheel driven rotates,

3). two acceleration flywheel inertia simulation devices are separately fixed on ground, and air supporting basic platform is fixed on ground, and maintenance level, and establishing spacecraft simulation device translation inertia is m _ground, translation inertia m to be simulated _space, taking x direction as example, note spacecraft simulation device x directional acceleration is a _groundx, treat that analog acceleration is a _spacex, be J for the Rotary Inertia of Flywheel of x direction translational inertia simulation _rx, F _drivexfor x direction propulsive effort, in described ground experiment, the needed propulsive effort of spacecraft simulating piece is with the needed propulsive effort of spacecraft is consistent in-orbit, described tooth bar (10) is connected with booster engine and flywheel by gear (12), and described tooth bar is r to the transmitting ratio of flywheel _x, this transmitting ratio r _xrelevant with the over-speed gear ratio of transmitting ratio between rack pinion and booster engine

$\left\{\begin{array}{c}{F}_{\mathrm{drivex}}=m_{\mathrm{ground}}{a}_{\mathrm{groundx}}+J_{\mathrm{Rx}}\frac{a_{\mathrm{groundx}}}{r_x^2}\\ F_{\mathrm{drivex}}=m_{\mathrm{space}}{a}_{\mathrm{spacex}}\end{array}\right.$

Make a _groundx=a _spacex, only need:

$J_{\mathrm{Rx}}=(m_{\mathrm{space}}-m_{\mathrm{ground}})r_x^2$

In like manner, to y direction, motion is analyzed, and can obtain:

$J_{\mathrm{Ry}}=\left(m_{\mathrm{space}}\text{-}{m}_{\mathrm{ground}}\right)r_y^2$

Wherein J _ryand r _ybe respectively the transmitting ratio to flywheel for the Rotary Inertia of Flywheel of y direction translational inertia simulation and tooth bar.