CN105699012B - A kind of gyro motor rotor radial centroid trajectory test device and test method - Google Patents
A kind of gyro motor rotor radial centroid trajectory test device and test method Download PDFInfo
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- CN105699012B CN105699012B CN201610080963.6A CN201610080963A CN105699012B CN 105699012 B CN105699012 B CN 105699012B CN 201610080963 A CN201610080963 A CN 201610080963A CN 105699012 B CN105699012 B CN 105699012B
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
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Abstract
The present invention relates to a kind of gyro motor rotor radial centroid trajectory test device and test methods.Test device of the present invention includes dividing head, mounting bracket, first distance sensor, second distance sensor and third range sensor；The three-jaw clamping of the dividing head is used for clamp bracket；Gyro motor is installed, three range sensors are fixed on the mounting bracket, and the distance apart from gyro motor rotor periphery is identical inside the mounting bracket.It can separation rotor deviation from circular from and rotor radial centroid trajectory by data processing using line-of-sight course roundness measurement and error separate principle.The present invention is tested suitable for all kinds of outer-rotor type gyro motor rotor radial centroid trajectories, and test method is simple, and test result is accurate.
Description
Technical field
The present invention relates to a kind of gyro motor rotor radial centroid trajectory test device and test methods, belong to inertia type instrument
Element test field.
Background technique
Gyro motor is mainly used for gyroscope instrument, and stable angular momentum is provided for gyroscope instrument, with sensitive external disturbing force
Square, therefore, the stability of gyro motor rotor radial mass center have a direct impact the precision of gyroscope instrument, test gyro motor
Rotor radial centroid trajectory, analysis motor rotor mass center stability improve gyroscope instrument precision for improving gyro motor design
It is significant.Currently, not tested for gyro motor rotor radial centroid trajectory both at home and abroad, filled simply by motor
After instrument, reflected by accuracy of instrument, but the influence factor that accuracy of instrument includes is numerous, gyro motor can not be precisely separated
Rotor centroid variation.
How to realize that the test of gyro motor rotor radial centroid trajectory is space industry technical problem urgently to be resolved.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of gyro motor rotor radial centroid trajectories
Test device and test method, operability is good, measuring accuracy is high, easy to operate, and a variety of outer-rotor type gyro motors is suitble to turn
Sub- radial direction centroid trajectory test.
The object of the invention is achieved by following technical solution:
A kind of gyro motor rotor radial centroid trajectory test device, comprising: dividing head, mounting bracket, first distance pass
Sensor, second distance sensor and third range sensor；
The three-jaw of the dividing head is used for clamp bracket；
Gyro motor, the first distance sensor, second distance sensor and third are installed inside the mounting bracket
Range sensor is fixed on the mounting bracket, and the distance apart from gyro motor rotor periphery is identical.
It preferably, further include the first micromatic setting, the second micromatic setting and third micromatic setting；The first distance sensing
Device is fixed on the mounting bracket by first micromatic setting, and adjusts first distance sensor and gyro motor rotor periphery
The distance between；The second distance sensor is fixed on the mounting bracket by second micromatic setting, and adjusts second
The distance between range sensor and gyro motor rotor periphery；The third range sensor passes through the third micromatic setting
It is fixed on the mounting bracket, and adjusts the distance between third range sensor and gyro motor rotor periphery.
Preferably, the first distance sensor, second distance sensor and third range sensor are capacitance sensing
Device, measurement accuracy 1nm, repeatability≤5nm, drift≤20nm/h at 15 DEG C~35 DEG C.
Preferably, the first distance sensor, second distance sensor and third range sensor axis intersect at one
The position degree of point, intersection point is less than 2um.
Preferably, the mounting bracket have for motor installation V-groove and first distance sensor and third away from
Sensitive part from sensor installs via hole, and gyro motor rotor radial centroid trajectory test device further includes upper cover plate, left and right
Cover board and briquetting；The both ends of the gyro motor are compacted to the left and right protrusion of mounting bracket by briquetting, tighten screw and fix
Gyro motor；The upper cover plate and left and right cover board close off the upper opening and left and right opening of mounting bracket.
A kind of method based on gyro motor rotor radial centroid trajectory test device measurement is provided simultaneously, including such as
Lower step:
(1) gyro motor is installed in mounting bracket；
(2) upper cover plate is installed in mounting bracket with screw；
(3) first distance sensor, second distance sensor and third range sensor are installed respectively to the first fine tuning dress
It sets, the second micromatic setting and third micromatic setting, by the first micromatic setting, the second micromatic setting and third micromatic setting screw
It is installed in mounting bracket, adjusting three range sensors extremely can be in measurement range at a distance from gyro motor outer circle；
(4) mounting bracket is clamped using dividing head three-jaw；
(5) left and right cover board is installed in mounting bracket with screw；
(6) first distance sensor, second distance sensor and third range sensor are adjusted by three micromatic settings
With, in linear sensor area, the distance apart from gyro motor rotor periphery is identical, error < at a distance from gyro motor outer circle
5nm；
(7) it is powered to first distance sensor, second distance sensor and third range sensor, is powered to gyro motor
Operating 1 hour；
(8) first distance sensor, second distance sensor and third range sensor test data are acquired, control is sent to
Unit processed, control unit carry out data processing, isolate gyro motor rotor roundness according to line-of-sight course roundness error separation principle
Error, to obtain gyro motor rotor radial turn error, i.e. gyro motor rotor radial centroid trajectory.
Preferably, gyro motor rotor roundness error is isolated according to line-of-sight course roundness error separation principle, to obtain
Gyro motor rotor radial turn error method particularly includes: first distance sensor, second distance sensor and third distance
Sensor reading data are respectively S1(θ)、S2(θ)、S3(θ), then the measurement equation of three sensors is respectively as follows:
S1(θ)=r (θ)+x (θ)
S2(θ)=r (θ+α)+x (θ) cos α+y (θ) sin α
S3(θ)=r (θ+β)+x (θ) cos β+y (θ) sin β
Distinguishing weighting coefficient to first distance sensor, second distance sensor and third range sensor measurement equation is
1、C1、C2, it is weighted addition, is obtained S (θ)；
Meet
Then S (θ)=r (θ)+C1*r(θ+α)+C2*r(θ+β)
Discrete fast Fourier transform is carried out, is obtained: R (n)=S (n)/W (n)
Wherein R (n) indicates that the Discrete Fourier Transform matrix of rotor roundness error, S (n) indicate three sensor measurement numbers
According to weighted sum Discrete Fourier Transform matrix, W (n) indicate weight coefficient matrix.
It carries out discrete fast Fourier inverse transformation and obtains gyro motor rotor roundness error r (θ), it may be assumed that
R (θ)=IFFT [S (n)/W (n)]
Then, gyro motor rotor radial turn error x (θ) are as follows: x (θ)=S1(θ)-r(θ)；
Wherein r (θ) indicates rotor roundness error.
The invention has the following advantages over the prior art:
(1) present invention solves the problems, such as that gyro motor rotor radial centroid trajectory is unable to test, and devises simple and convenient
Operation tooling the adjustment that micromatic setting carries out sensor measuring distance is passed through using Capacitive Displacement Sensor With High Accuracy, operation
Simply, measurement accuracy is high.
(2) present invention uses three Capacitive Displacement Sensor With High Accuracies, and three sensor axis intersect at a point, intersection point
Position degree is less than 2um, obtains gyro motor rotor radial turn error, the original of introducing using line-of-sight course roundness error separation principle
It is small to manage error, measurement accuracy is high, can accurately assess rotor turn error.
(3) gyro motor is realized present invention employs left and right cover board and be enclosed in chamber indoor test, reduce test environment
Influence of the factors such as temperature, air-flow to test result.
(4) it is vertical in H level, H can to test motor using dividing head three-jaw clamp bracket for present invention setting dividing head
The rotor turn error of state, test motor H axis indexing front and back and the variation for returning the centroid trajectory after original position, pass through dividing head
Accurate indexing, ensure that measurement accuracy.
(5) present invention uses line-of-sight course roundness error separation method separation rotor deviation from circular from, can accurately measure dynamic pressure horse
Up to rotor turn error, test method is simple, and measurement result is accurate.
Detailed description of the invention
Fig. 1 is the schematic top plan view of test device of the present invention；
Fig. 2 is the partial right side view of test device of the present invention；
Fig. 3 is the schematic diagram of test device mounting bracket of the present invention, wherein figure (a) is main view, figure (b) is left view,
Scheming (c) is top view；
Fig. 4 is line-of-sight course roundness error separation schematic illustration；
Fig. 5 is three sensor measurement schematic diagrames of the invention.
Specific embodiment
A kind of gyro motor rotor radial centroid trajectory test device, gyro motor is installed in test device, according to
N number of Capacitive Displacement Sensor With High Accuracy is installed on test respectively using N number of micromatic setting by line-of-sight course roundness error separation principle
On three directions of device, motor rotor outer circle is tested, test data is handled, isolates gyro motor rotor
Rotor radial centroid trajectory can be obtained in deviation from circular from.
In actual measurement, at least need 3 range sensors, when quantity be more than 3 when, can preferably 3 sensors,
By calculating weight coefficient, minimize influence of 3 range sensors to measurement accuracy.
Referring to Fig. 1 and 2, test device includes dividing head 1, mounting bracket 4, first distance sensor 3, second distance sensing
Device 6 and third range sensor 10；The three-jaw clamping of the dividing head 1 is used for clamp bracket；It is installed inside the mounting bracket 4
Gyro motor, it is micro- that the first distance sensor 3, second distance sensor 6 and third range sensor 10 fix first respectively
It adjusts device 2, the second micromatic setting 7 and third micromatic setting 11 in mounting bracket 4, is used for adjustable range sensor and gyro horse
Up to the distance between rotor periphery, keep three range sensors identical to the distance of gyro motor rotor periphery.By left and right cover board
It is installed at left and right sides of test device, to reduce the influence to test result such as test environment temperature, air-flow.
Referring to Fig. 3, the clamping support 4-1 including being located at bottom, clamping support 4-1 pass through the specific structure of mounting bracket 4
The three-jaw clamping of dividing head, referring to Fig. 3 (a), the hollow receiver portion 4-2 with an open mouth of mounting bracket 4, for accommodating motor；
By installing left and right cover board 13, upper cover plate 5 forms enclosure space, is tied with reducing the factors such as test environment temperature, air-flow to test
The influence of fruit.
The left and right side Middle face of hollow receiver portion 4-2 is respectively provided with a V-type mounting groove 4-3, for installing motor drive shaft；
There is the sensor mounting hole 4-4 positioned at left part referring to the left and right side of Fig. 3 (b) hollow receiver portion 4-2, by the quick of sensor
Sense position is passed through through mounting hole 4-4, detecting distance；3 micromatic setting mounting screw holes 4-5 that forward and backward side is respectively provided with.
Left and right side, which has, is also respectively provided with 2 or so cover board mounting screw holes 4-6；Also distinguish referring to the left and right side Fig. 3 (c) top
With 2 rectangle briquetting mounting screw holes 4-7, for motor drive shaft to be fixed, forward and backward side top has rectangle briquetting respectively
2 upper cover plate mounting screw holes 4-8 having.
Its testing procedure is as follows:
(1) first by gyro motor by briquetting, tighten screw and be installed on bracket；
(2) upper cover plate is installed on bracket with screw；
(3) by respectively install sensor 3 micromatic settings be installed on bracket with screw, and appropriate adjustment sensor with
In the distance to measurable range of gyro motor outer circle；
(4) mounting bracket is clamped using dividing head three-jaw；
(5) Gyroscope Motor Power line is connected, left and right cover board is installed on bracket with screw；
(6) sensor is accurately adjusted at a distance from gyro motor outer circle to linear sensor area by micromatic setting respectively
It is interior, and finely tuning makes three sensors export roughly equal, difference < 5nm；
(7) it is powered to sensor, is powered and operates to gyro motor, stablize 1 hour；
(8) test is started, measured sensor data is acquired；
(9) data processing is carried out to test data, gyro horse may separate out according to line-of-sight course roundness error separation principle
Up to rotor roundness error, to obtain motor rotor Radial mixing, i.e. rotor radial centroid trajectory.
It is capacitance sensor that test device, which further includes sensor used, measurement accuracy 1nm, repeatability≤5nm, 15
DEG C~35 DEG C when drift≤20nm/h.
Test device and test method further include micromatic setting, and sensor is installed on micromatic setting, pass through micromatic setting
Sensor position is adjusted, adjusting range is 0~20mm.
Test device and test method further include carrying out centroid trajectory test using three orthogonal capacitance sensors, utilize three
Point method carries out roundness error separation, referring to fig. 4.
As shown in Figure 1 and Figure 2, test device of the present invention is mainly by dividing head 1, mounting bracket 4, upper cover plate 5, left and right cover board
13, micromatic setting 2,7,11, sensor 3,6,9, briquetting 14, tighten the composition of screw 8.Gyro motor 12 is passed through into briquetting 14, is twisted
Tight screw 8 is installed on bracket 4, adjusts both ends distance, and tighten screw 8, upper cover plate 5 is installed on bracket 4 with screw, will
2 micromatic settings 2,11 for installing sensor 3,9 respectively are installed on bracket 4 with screw, will install the micromatic setting of sensor 6
7 are installed on upper cover plate 5 with screw, and appropriate adjustment sensor at a distance from gyro motor outer circle in measurable range, about
10mm.1 three-jaw of dividing head clamps mounting bracket 4, and adjusts to Fig. 1 vertical position, connects Gyroscope Motor Power line, will be left
Right cover plate 13 is installed on bracket 4 with screw, accurately adjusts sensor 3,6,9 and gyro horse by micromatic setting 2,7,11 respectively
0~50um in up to the distance to linear sensor area of 12 rotor outer circles.It is powered to sensor, is powered and operates to gyro motor 12,
After stablizing 1 hour, test is started, acquires measured sensor data, data processing is carried out to test data, according to line-of-sight course circularity
Error separate principle may separate out gyro motor rotor roundness error and turn to obtain motor rotor Radial mixing
Sub- radial direction centroid trajectory.
Instrumentation plan as shown in figure 5, line-of-sight course roundness error separation principle referring to fig. 4, if sensor 3,6,9 read number
According to respectively S1(θ)、S2(θ)、S3(θ), then the measurement equation of three sensors is respectively as follows:
S1(θ)=r (θ)+x (θ)
S2(θ)=r (θ+α)+x (θ) cos α+y (θ) sin α
S3(θ)=r (θ+β)+x (θ) cos β+y (θ) sin β
R (θ) is tested deviation from circular from of the motor rotor at θ, and x (θ), y (θ) are respectively rotor turn error in coordinate system
Component in xoy reference axis, the angle of α, β between sensor, when measurement, motor rotor high speed rotation, sensor 3,6,9 is solid
It is fixed.
It is 1, C that above three sensor measurement equation, which distinguishes weighting coefficient,1、C2, then weighting summation are as follows:
S (θ)=r (θ)+C1*r(θ+α)+C2*r(θ+β)+x(θ)*(1+C1*cosα+C2*cosβ)
+y(θ)*(C1*sinα+C2*sinβ)
If x (θ) to be separated, y (θ), need to meet following formula:
Then weighted equation are as follows:
S (θ)=r (θ)+C1*r(θ+α)+C2*r(θ+β)
Discrete fast Fourier transform is carried out to above formula, can be obtained:
R (n) W (n)=S (n), that is, R (n)=S (n)/W (n)
Carrying out discrete fast Fourier inverse transformation to above formula can be obtained deviation from circular from r (θ), it may be assumed that
R (θ)=IFFT [S (n)/W (n)]
Then, motor rotor turn error are as follows: x (θ)=S1(θ)-r(θ)。
Due to ensure that three orthogonal capacitance sensor axis in mounting bracket, axis intersects at a point, and passes through fine tuning
Three sensors are made to export roughly equal, difference < 5nm, therefore eccentric error is negligible, i.e., above-mentioned rotor turn error
As kinematic error can fit rotor radial centroid trajectory according to x (θ).
The present invention is tested suitable for all kinds of outer-rotor type gyro motor rotor radial centroid trajectories, and test method is simple, is surveyed
Test result is accurate.Through examining, motor rotor radial direction centroid trajectory is carried out using test device of the present invention and test method and is tested, it can
With separation rotor deviation from circular from, measuring accuracy is high.
The above, optimal specific embodiment only of the invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.
The content that description in the present invention is not described in detail belongs to the well-known technique of professional and technical personnel in the field.
Claims (5)
1. a kind of gyro motor rotor radial centroid trajectory test device, characterized by comprising: dividing head (1), mounting bracket
(4)；N number of range sensor, N >=3；
The dividing head (1) clamps mounting bracket (4) by three-jaw；
Gyro motor is installed, N number of range sensor is separately fixed at the difference of mounting bracket (4) inside the mounting bracket (4)
On position, the distance apart from gyro motor rotor outer circle is identical；
It further include N number of micromatic setting, each range sensor is fixed on mounting bracket (4) by a micromatic setting, is passed through
Micromatic setting adjusts the distance between range sensor sensitive part and gyro motor rotor outer circle；
Range sensor is three, respectively first distance sensor (3), second distance sensor (6) and third Distance-sensing
Device (10)；Micromatic setting includes the first micromatic setting (2), the second micromatic setting (7) and third micromatic setting (11)；Described first
Range sensor (3) is fixed on mounting bracket (4) by first micromatic setting (2)；The second distance sensor (6)
It is fixed on mounting bracket (4) by second micromatic setting (7)；The third range sensor (10) passes through the third
Micromatic setting (11) is fixed on mounting bracket (4)；
The mounting bracket (4) is upper opening structure, and the height of two sides in left and right is lower than the height of former and later two sides, left and right
Two side top middle portions have the V-groove (4-3) for motor installation, former and later two sides are respectively provided with first distance sensing
The sensitive part of device (3) or third range sensor (10) installs via hole (4-4)；
It further include upper cover plate (5), left and right cover board (13), screw (8) and briquetting (14)；The both ends of the gyro motor (12) are logical
The top that briquetting (14) is compacted to the left and right side of mounting bracket (4) is crossed, it is fixed gyro motor (12) to tighten screw (8)；It is described
Upper cover plate (5) and left and right cover board (13) close off the upper opening and left and right opening of mounting bracket (4)；
The axis of N number of range sensor intersects at a point, and the position degree of intersection point is less than 2um；Made by micromatic setting fine tuning
Each sensor exports difference < 5nm.
2. gyro motor rotor radial centroid trajectory test device according to claim 1, it is characterised in that: further include control
Unit processed receives the data that N number of range sensor is sent, and data processing is carried out, according to line-of-sight course roundness error separation principle point
Gyro motor rotor roundness error is separated out, to obtain gyro motor rotor radial turn error, i.e. gyro motor rotor radial
Centroid trajectory.
3. gyro motor rotor radial centroid trajectory test device according to claim 1 or 2, it is characterised in that: described
Range sensor is capacitance sensor, measurement accuracy 1nm, repeatability≤5nm, drift≤20nm/h at 15 DEG C~35 DEG C.
4. a kind of method based on the measurement of gyro motor rotor radial centroid trajectory test device described in claim 1, feature
It is to include the following steps:
(1) gyro motor is installed on mounting bracket (4)；
(2) upper cover plate (5) is installed on mounting bracket (4) with screw；
(3) first distance sensor (3), second distance sensor (6) and third range sensor (10) to first are installed respectively
Micromatic setting (2), the second micromatic setting (7) and third micromatic setting (11), by the first micromatic setting (2), the second micromatic setting
(7) it is installed on mounting bracket (4) with third micromatic setting (11) with screw, adjusts three range sensors and gyro motor
(12) distance of outer circle extremely can be in measurement range；
(4) mounting bracket (4) are clamped using dividing head (1) three-jaw；
(5) left and right cover board (13) is installed on mounting bracket (4) with screw；
(6) pass through three micromatic setting adjustment first distance sensor (3), second distance sensor (6) and third Distance-sensing
Device (10) is at a distance from gyro motor (12) outer circle to the distance phase in linear sensor area, apart from gyro motor rotor outer circle
Together, error < 5nm；
(7) it is powered to first distance sensor (3), second distance sensor (6) and third range sensor (10), to gyro horse
It is powered and is operated to stable operation up to (12)；
(8) first distance sensor (3), second distance sensor (6) and third range sensor (10) test data, hair are acquired
Control unit is given, control unit carries out data processing, isolates gyro motor according to line-of-sight course roundness error separation principle and turns
Sub- deviation from circular from, to obtain gyro motor rotor radial turn error, i.e. gyro motor rotor radial centroid trajectory.
5. method according to claim 4, which is characterized in that isolate gyro horse according to line-of-sight course roundness error separation principle
Up to rotor roundness error, to obtain gyro motor rotor radial turn error method particularly includes: first distance sensor
(3), second distance sensor (6) and third range sensor (10) readings are respectively S1(θ)、S2(θ)、S3(θ), then three
The measurement equation of a sensor is respectively as follows:
S1(θ)=r (θ)+x (θ)
S2(θ)=r (θ+α)+x (θ) cos α+y (θ) sin α
S3(θ)=r (θ+β)+x (θ) Cos β+y (θ) sin β
Weighting is distinguished to first distance sensor (3), second distance sensor (6) and third range sensor (10) measurement equation
Coefficient is 1, C1、C2, it is weighted addition, is obtained S (θ)；
Meet
Then S (θ)=r (θ)+C1*r(θ+α)+C2*r(θ+β)
Discrete fast Fourier transform is carried out, is obtained: R (n)=S (n)/W (n)
Wherein R (n) indicates that the Discrete Fourier Transform matrix of gyro motor rotor roundness error r (θ), S (n) indicate three sensings
The Discrete Fourier Transform matrix of the weighted sum S (θ) of device measurement data, W (n) indicate weight coefficient matrix；
It carries out discrete fast Fourier inverse transformation and obtains gyro motor rotor roundness error r (θ), it may be assumed that
R (θ)=IFFT [S (n)/W (n)]
Then, gyro motor rotor radial turn error x (θ) are as follows: x (θ)=S1(θ)-r(θ)；
Wherein θ indicates the angle on rotor outer circle between sensor sampled data points and first distance sensor；β indicates third distance
Angle between sensor and first distance sensor；α indicates the angle between second distance sensor and first distance sensor.
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| CN106197851B (en) * | 2016-07-19 | 2018-12-14 | 江苏大学 | A kind of cantilever multi-stage contrifugal pump orbit of shaft center measuring device and method |
| CN112857717B (en) * | 2021-01-25 | 2022-12-13 | 北京科技大学 | Vibration excitation method rigidity measurement tool and measurement method |
| CN114178152B (en) * | 2021-11-16 | 2022-11-01 | 西安航天精密机电研究所 | Mounting method of dynamic pressure motor and frame assembly |
| CN115790976B (en) * | 2023-02-07 | 2023-04-14 | 西安航天精密机电研究所 | Method for testing working stability of H-shaped dynamic pressure motor of high-precision gyroscope |
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