CN108168757B - The small racemization power test platform of space Tum bling Target electromagnetism racemization and its test method - Google Patents
The small racemization power test platform of space Tum bling Target electromagnetism racemization and its test method Download PDFInfo
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- CN108168757B CN108168757B CN201711335186.6A CN201711335186A CN108168757B CN 108168757 B CN108168757 B CN 108168757B CN 201711335186 A CN201711335186 A CN 201711335186A CN 108168757 B CN108168757 B CN 108168757B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0028—Force sensors associated with force applying means
Abstract
The present invention provides a kind of small racemization power test platform of space Tum bling Target electromagnetism racemization and its test methods, belong to space Tum bling Target despun control power the field of test technology.Including marble vibration isolation table, industrial robot pedestal, single-degree-of-freedom straight line air-float guide rail, sliding block, turntable, right limit block, left limit block, target satellite, jet pipe, right side solar array, left side solar array, right side tensiometer, left side tensiometer, right side adjustable elastic bar, left side adjustable elastic bar, industrial robot and electromagnetism racemization end effector.Turntable provides two measurement stations above sliding block, starts frictional force f using double tensiometer structure measurement air-float guide rails0And small electromagnetism racemization power realizes the measurement of two-dimensional electromagnetic racemization power in X, the component of Y-direction.The platform is adapted to fit the target satellite of different quality and size, and air-float guide rail, sliding block, turntable and its attachment are grouan material manufacture, the measurement suitable for electromagnetism racemization power small under electrostatic, electromagnetic environment.
Description
Technical field
The present invention relates to a kind of small racemization power test platform of space Tum bling Target electromagnetism racemization and its test methods, belong to
Space Tum bling Target despun control power the field of test technology.
Background technique
With increasing for mankind's space probation and all kinds of space missions, the in-orbit a large amount of space trashes left are to space environment
And the safety of in-orbit spacecraft constitutes a serious threat.The research heat for having become major space flight mechanism is removed to the active of space junk
Point.Since itself posture control system fails, space junk will appear tumbling motion under the influence of the perturbative force of space, therefore before arresting
It is the essential stage that racemization is carried out to it.
To guarantee the safety during rolling space junk racemization, non-contacting racemization mode becomes first choice.Usually may be used
Racemization is carried out to Tum bling Target by Coulomb force, electromagnetic force, gas pulses, laser and particle beam bombardment method between star.But these
Racemization mode carry out ground validation can all suffer a problem that, how the non-contact racemization power of precise measurement? usual this kind of racemization
Power is all in the hundred mN orders of magnitude, and by taking this kind of space junk of inert satellite as an example, quality usually arrives several hundred Kg tens, using C1 essence
(0.01%) the weighing measurement system of spending, its range only has 1Kg when reaching mN grades of dynamometry precision, is a few to tens of even for quality
The moonlet of Kg, resolution ratio are also difficult to meet demand.Needs are measured using new for this kind of big load, the operating condition of low thrust
Test macro measure.
In the case where sensor resolution is difficult to be substantially improved, the method for taking mass balance offsets the matter of target itself
Amount is then conducive to the measurement of small power.It is high that a kind of maglev method utilization is proposed in China Patent No. ZL201210316957
Target is suspended by temperature superconductive body, and then measurement acts on the small power in target.But when applied to Tum bling Target electrostatic
When racemization and the measurement of electromagnetism racemization power, high-temperature superconductor magnetic field itself can generate interference to electrostatic and electromagnetism racemization, cause to disappear
Spin distortion, and can be very good to avoid this phenomenon using pneumatically supported mode, allow measuring table that there are all kinds of racemization modes
Versatility.Usual air-flotation system coefficient of friction can reach 10-5The order of magnitude is shown in document Rybus T, Seweryn K.Planar
air-bearing microgravity simulators:Review of applications,existing solutions
and design parameters[J].Acta Astronautica,2016,120:239-259；The target of tens kg floats
When, frictional force is the mN order of magnitude, assist corresponding test macro, can economy conveniently realize electricity, glitch-free under magnetic environment
The measurement of racemization power.
Summary of the invention
The purpose of the present invention is to solve the above-mentioned problems of the prior art, and then provide a kind of space Tum bling Target
The small racemization power test platform of electromagnetism racemization and its test method.
The purpose of the present invention is what is be achieved through the following technical solutions:
A kind of small racemization power test platform of space Tum bling Target electromagnetism racemization and its test method, comprising: marble every
Vibration platform, industrial robot pedestal, single-degree-of-freedom straight line air-float guide rail, sliding block, turntable, right limit block, left limit block, target are defended
Star, jet pipe, right side solar array, left side solar array, right side tensiometer, left side tensiometer, right side adjustable elastic bar, left side can
Elasticity adjusting bar, industrial robot and electromagnetism racemization end effector.
Wherein, industrial robot and single-degree-of-freedom straight line air-float guide rail are separately fixed at mutually independent industrial robot bottom
On seat and marble vibration isolation table.The industrial robot other end and electromagnetism racemization end effector are connected.Sliding block is straight in single-degree-of-freedom
Above line air-float guide rail, right limit block and left limit block are installed in sliding block two sides, turntable and sliding block are connected, and mesh is installed on turntable
Satellite is marked, target satellite is made of jet pipe, right side solar array and left side solar array.Right side tensiometer, left side tensiometer are solid
It is scheduled on single-degree-of-freedom straight line air-float guide rail.The adjustable bullet in right side is respectively adopted between right side tensiometer, left side tensiometer and sliding block
Property bar, left side adjustable elastic bar be connected.
The single-degree-of-freedom straight line air-float guide rail material includes granite, and length 500mm, straightness is 1 μm.
The sliding block and turntable material include granite, slider stroke 200mm.
The target satellite shell includes aluminium alloy structure.
The right side tensiometer and left side pulling force are calculated as IMADA pull and push dynamometer, and dynamometry range is 0~5N, and minimum unit is
1mN, overload capacity 10N.
The artificial library card Six-DOF industrial robot of industrial machine.
Measurement process key step is as follows:
Step 1: marble vibration isolation table levels, marble vibration isolation table is leveled using horizontal ruler before measurement starts,
Guarantee to interfere measurement result when measurement minimum；
Step 2: measurement sliding block starting frictional force is f0, it ventilates to single-degree-of-freedom straight line air-float guide rail, floats sliding block,
Adjustment right side tensiometer, the position of left side tensiometer make its reading be zeroed, and fine tuning left side adjustable elastic pole length, generates at this time
MN grades of pulling force effects are on sliding block, in starting stiction f0Effect sliding block position is constant, and right side tensiometer registration is still 0,
Left side tensiometer registration is left when the mutation of right side tensiometer registration with continuing growing in the adjustable elastic pole length trim process of left side
The reading of side draw meter is to start frictional force f0, right side adjustable elastic bar measurement starting frictional force f can also be used0, repeatedly measure
After average as starting frictional force f0；
Step 3: target satellite and electromagnetism racemization end effector to be moved to the station of measurement racemization power X-direction component
One, start electromagnetism racemization end effector, acts on target satellite body coordinate system O at this time1X1Y1O1X1The electromagnetism in direction disappears
Spin FxThe average value of tensiometer on the left of power and right side tensiometer reading can be passed throughSubtract starting frictional force f0It obtains；
Step 4: adjustment target satellite and electromagnetism racemization end effector are moved to the work of measurement racemization power Y-direction component
Position two starts electromagnetism racemization end effector by identical parameters, acts on target satellite body coordinate system O at this time1X1Y1O1Y1
The electromagnetism racemization power F in directionyThe average value of tensiometer on the left of power and right side tensiometer reading can be passed throughSubtract starting frictional force f0
It obtains.
Compared with the prior art, the present invention has the following advantages:
One, big quality objective mN grades of power can be realized using high-precision small-range tensiometer by air-flotation system in the present invention
Measurement.Air bearing coefficient of friction is 10-5The order of magnitude measures the goal satisfaction mN class precision power of the 10Kg order of magnitude.
Two, noiseless to electromagnetic environment, compared with superconductive suspension device for measuring force, single-degree-of-freedom straight line air-float guide rail and its phase
Pass component is grouan material, will not interfere external magnetic field, is suitble to electrostatic racemization, the measurement of electromagnetism racemization power.
Three, the measurement of two-dimentional power is realized using single-degree-of-freedom air-float guide rail.Become by the station of turntable and industrial robot
It changes and measures O respectively in station one, two1X1、O1Y1The electromagnetism racemization power in direction realizes static racemization power in the survey of X, Y-direction component
Amount.
Detailed description of the invention
Fig. 1 is the structural representation of a kind of small racemization power test platform of space Tum bling Target electromagnetism racemization and its test method
Figure.
Fig. 2 is the measurement electromagnetism of a kind of small racemization power test platform of space Tum bling Target electromagnetism racemization and its test method
One position view of station of racemization power X-direction component.
Fig. 3 is the measurement electromagnetism of a kind of small racemization power test platform of space Tum bling Target electromagnetism racemization and its test method
Two position view of station of racemization power Y-direction component.
Appended drawing reference in Fig. 1,1 is marble vibration isolation table, and 2 be industrial robot pedestal, and 3 lead for static-pressure linear air bearing
Rail, 4 be sliding block, and 5 be turntable, and 6 be right limit block, and 7 be left limit block, and 8 be target satellite, and 9 be jet pipe, and 10 be right side solar sail
Plate, 11 be left side solar array, and 12 be right side tensiometer, and 13 be left side tensiometer, and 14 be right side adjustable elastic bar, and 15 be left side
Adjustable elastic bar, 16 be industrial robot, and 17 be electromagnetism racemization end effector.
Specific embodiment
Below in conjunction with attached drawing, the present invention is described in further detail: the present embodiment is being with technical solution of the present invention
Under the premise of implemented, give detailed embodiment, but protection scope of the present invention is not limited to following embodiments.
As shown in Figure 1, a kind of small racemization power test platform of space Tum bling Target electromagnetism racemization involved in the present embodiment
And its test method, comprising: marble vibration isolation table 1, industrial robot pedestal 2, single-degree-of-freedom straight line air-float guide rail 3, sliding block 4,
Turntable 5, right limit block 6, left limit block 7, target satellite 8, jet pipe 9, right side solar array 10, left side solar array 11, right side
Tensiometer 12, left side tensiometer 13, right side adjustable elastic bar 14, left side adjustable elastic bar 15, industrial robot 16 and electromagnetism disappear
Revolve end effector 17.
Wherein, industrial robot 16 and single-degree-of-freedom straight line air-float guide rail 3 are separately fixed at mutually independent industrial machine
On people's pedestal 2 and marble vibration isolation table 1.16 other end of industrial robot and electromagnetism racemization end effector connected 17.Sliding block 4 exists
3 top of single-degree-of-freedom straight line air-float guide rail is equipped with right limit block 6 and left limit block 7, turntable 5 and sliding block 4 in 4 two sides of sliding block
It is connected, target satellite 8 is installed, target satellite 8 is by 11 structure of jet pipe 9, right side solar array 10 and left side solar array on turntable 5
At.Right side tensiometer 12, left side tensiometer 13 are fixed on single-degree-of-freedom straight line air-float guide rail 3.Right side tensiometer 12, left side are drawn
Right side adjustable elastic bar 14 is respectively adopted between power meter 13 and sliding block 4, left side adjustable elastic bar 15 is connected.
3 material of single-degree-of-freedom straight line air-float guide rail includes granite, and length 500mm, straightness is 1 μm.
The sliding block 4 and 5 material of turntable include granite, and 4 stroke of sliding block is 200mm.
8 shell of target satellite includes aluminium alloy structure.
The right side tensiometer 12 and left side tensiometer 13 are IMADA pull and push dynamometer, and dynamometry range is 0~5N, minimum single
Position is 1mN, overload capacity 10N.
The industrial robot 16 is library card Six-DOF industrial robot.
Measurement process key step is as follows:
Step 1: marble vibration isolation table 1 levels, marble vibration isolation table 1 is adjusted using horizontal ruler before measurement starts
It is flat, guarantee to interfere measurement result when measurement minimum；
Step 2: it is f that measurement sliding block 4, which starts frictional force,0, ventilate to single-degree-of-freedom straight line air-float guide rail 3, keep sliding block 4 floating
It rises, adjustment right side tensiometer 12, the position of left side tensiometer 13 makes its reading be zeroed, at this time fine tuning left side adjustable elastic bar 15
Length generates mN grades of pulling force effects on sliding block 4, in starting stiction f0It is constant to act on 4 position of sliding block, right side tensiometer
12 registrations are still 0, and tensiometer 13 registration in left side in 15 length trim process of left side adjustable elastic bar with continuing growing, when right side is drawn
The reading of left side tensiometer 13 is to start frictional force f when 12 registration of power meter is mutated0, right side adjustable elastic bar 14 can also be used and survey
Amount starting frictional force f0, repeatedly average after measurement as starting frictional force f0；
Step 3: target satellite 8 and electromagnetism racemization end effector 17 to be moved to the work of measurement racemization power X-direction component
Position one starts electromagnetism racemization end effector 17, acts on 8 body coordinate system O of target satellite at this time1X1Y1O1X1The electricity in direction
Magnetic racemization power FxThe average value that can be read by tensiometer 13 on the left of power and right side tensiometer 12Subtract starting frictional force f0?
It arrives；
Step 4: adjustment target satellite 8 and electromagnetism racemization end effector 17 are moved to measurement racemization power Y-direction component
Station two starts electromagnetism racemization end effector 17 by identical parameters, acts on 8 body coordinate system O of target satellite at this time1X1Y1
O1Y1The electromagnetism racemization power F in directionyThe average value that can be read by tensiometer 13 on the left of power and right side tensiometer 12It subtracts and opens
Kinetic force of friction f0It obtains.
In the present embodiment, as shown in Figure 1, industrial robot 16 and single-degree-of-freedom straight line air-float guide rail 3 are separately fixed at phase
On mutual independent industrial robot pedestal 2 and marble vibration isolation table 1, with vibration when the movement of electromagnetism racemization end effector 17 to survey
The influence of power process.Single-degree-of-freedom straight line air-float guide rail 3 is static pressure air-float guide rail, is mounted in marble vibration isolation table 1.It is single free
Degree straight line air-float guide rail 3 is rectangular configuration, and material is granite, noiseless to electromagnetic environment.Rail length is 500mm, straight line
Degree is 1 μm.4 stroke of sliding block is 200mm.Plenum system is orifice restriction gas supply, and supply gas pressure 0.5MPa can carry target and defend
8 module quality of star is 50Kg.Right limit block 6, left limit block 7 are installed in 4 two sides of sliding block, preventing external force is more than tensiometer range
Tensiometer is caused to damage.Sliding block 4 and turntable 5 constitute carrier module, to installation targets satellite modules 8.Sliding block 4 and single-degree-of-freedom
Carrying air film is formed by the external gas fed between straight line air-float guide rail 3, sliding block 4 is in single-degree-of-freedom straight line air-float guide rail 3
Approximation may be implemented in movement X-direction without Frictional Slipping.Turntable 5 and sliding block 4 are connected, and have on turntable 5 for installation targets satellite 8
The mounting hole and T-slot of module.8 module of target satellite is gone into mutually perpendicular two stations, such as Fig. 2, Fig. 3 using turntable 5
It is shown, the measurement of X, Y both direction power may be implemented.To avoid interference racemization electromagnetic field environment, sliding block 4 and 5 material of turntable are equal
For granite.
8 module of target satellite by electromagnetism racemization target --- space inert satellite forms, 8 shell of target satellite be aluminium close
Golden structure is made of jet pipe 9, right side solar array 10 and left side solar array 11.Target satellite 8 is cube structure, is led
When electric shell and electromagnetism racemization end effector 17 act on, the electromagnetic force acted on target satellite 8 can be generated.The electromagnetic force is logical
It crosses 8 ontology of target satellite to be transmitted on turntable 5 and sliding block 4, so that sliding block 4 is generated minute movement, pass through the right side being connected with sliding block 4
Tensiometer 12 and left side tensiometer 13 measure this mN grades of electromagnetic force.
Right side tensiometer 12 and left side tensiometer 13 are fixed on single-degree-of-freedom straight line air-float guide rail 3, right side tensiometer 12
Right side adjustable elastic bar 14 is respectively adopted between left side tensiometer 13 and sliding block 4 and left side adjustable elastic bar 15 is connected.Work as cunning
When being directly delivered to right side tensiometer 12 and left side tensiometer 13 when block is by electromagnetic force, small-range high-precision right side is utilized
Tensiometer 12 and left side tensiometer 13 realize the measurement to the electromagnetic force of transmitting.Selected right side tensiometer 12 and left side pulling force
Meter 13 is IMADA pull and push dynamometer, and dynamometry range is 0~5N, minimum unit 1mN, overload capacity 10N.Pass through the guide rail right side
The overload capacity of limited block 6, left limit block limited block 7 and right side tensiometer 12 and left side tensiometer 13 itself guarantees measurement process
In right side tensiometer 12 and left side tensiometer 13 will not be damaged.
Industrial robot 16 is library card Six-DOF industrial robot, and one end and industrial robot pedestal 2 are connected, the other end
It is connected with electromagnetism racemization end effector 17.Electromagnetism racemization end effector 17 is powered by industrial robot 16 and realizes driving.?
When ground simulation spatial electromagnetic racemization process, the sixdegree-of-freedom simulation of industrial robot 16 drives electromagnetism racemization end effector
17 move to the relative pose relationship simulated under initial racemization state at distance objective certain position.
Since single-degree-of-freedom air-float guide rail 3 can only measure a direction active force, pass through turntable 5 and work in practical dynamometry
The measurement of both direction power is realized in the station transformation of industry robot 16.O is measured in station one1X1The electromagnetism racemization power F in directionx, it
Turntable is rotated clockwise into 90 ° of arrival stations two afterwards, while the sixdegree-of-freedom simulation of industrial robot 16 drives electromagnetism racemization
End effector 17 moves to initial position around O1New position after being rotated by 90 °.It is held by identical parameters driving electromagnetism racemization end
Row device 17 measures O1Y1To electromagnetism racemization power Fy, realize the measurement to both direction electromagnetism racemization force component.
Embodiment 1
The present embodiment carries out the mN grade two-dimensional electromagnetic power measurement key step during electromagnetism racemization such as to target satellite 8
Under:
Step 1: marble vibration isolation table 1 levels, marble vibration isolation table 1 is adjusted using horizontal ruler before measurement starts
It is flat, guarantee to interfere measurement result when measurement minimum；
Step 2: it is f that measurement sliding block 4, which starts frictional force,0, ventilate to single-degree-of-freedom straight line air-float guide rail 3, keep sliding block 4 floating
It rises, adjustment right side tensiometer 12, the position of left side tensiometer 13 makes its reading be zeroed, at this time fine tuning left side adjustable elastic bar 15
Length generates mN grades of pulling force effects on sliding block 4, in starting stiction f0It is constant to act on 4 position of sliding block, right side tensiometer
12 registrations are still 0, and tensiometer 13 registration in left side in 15 length trim process of left side adjustable elastic bar with continuing growing, when right side is drawn
The reading of left side tensiometer 13 is to start frictional force f when 12 registration of power meter is mutated0, right side adjustable elastic bar 14 can also be used and survey
Amount starting frictional force f0, repeatedly average after measurement as starting frictional force f0；
Step 3: target satellite 8 and electromagnetism racemization end effector 17 to be moved to the work of measurement racemization power X-direction component
Position one starts electromagnetism racemization end effector 17, acts on 8 body coordinate system O of target satellite at this time1X1Y1O1X1The electricity in direction
Magnetic racemization power FxThe average value that can be read by tensiometer 13 on the left of power and right side tensiometer 12Subtract starting frictional force f0?
It arrives；
Step 4: adjustment target satellite 8 and electromagnetism racemization end effector 17 are moved to measurement racemization power Y-direction component
Station two starts electromagnetism racemization end effector 17 by identical parameters, acts on 8 body coordinate system O of target satellite at this time1X1Y1
O1Y1The electromagnetism racemization power F in directionyThe average value that can be read by tensiometer 13 on the left of power and right side tensiometer 12It subtracts and opens
Kinetic force of friction f0It obtains.
In the present embodiment, the target satellite 8 of big quality is floated using static pressure air-float guide rail, utilizes high-precision small-range pulling force
Meter realizes the measurement of the mN grade electromagnetic force acted in big quality objective under electromagnetic environment.Measuring table has measurement 2DOF
The ability of electromagnetism racemization power, target installation turntable are suitable for measuring different quality and size objectives.
The foregoing is only a preferred embodiment of the present invention, these specific embodiments are all based on the present invention
Different implementations under general idea, and scope of protection of the present invention is not limited thereto, it is any to be familiar with the art
Technical staff in the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of, should all cover of the invention
Within protection scope.Therefore, the scope of protection of the invention shall be subject to the scope of protection specified in the patent claim.
Claims (5)
1. a kind of small racemization power test platform of space Tum bling Target electromagnetism racemization, comprising: marble vibration isolation table (1), industrial machine
Device people pedestal (2), single-degree-of-freedom straight line air-float guide rail (3), sliding block (4), turntable (5), right limit block (6), left limit block (7),
Target satellite (8), jet pipe (9), right side solar array (10), left side solar array (11), right side tensiometer (12), left side pulling force
(13), right side adjustable elastic bar (14), left side adjustable elastic bar (15), industrial robot (16) and electromagnetism racemization end is counted to execute
Device (17)；
It is characterized in that, industrial robot (16) and single-degree-of-freedom straight line air-float guide rail (3) are separately fixed at mutually independent work
On industry robot base (2) and marble vibration isolation table (1), industrial robot (16) other end and electromagnetism racemization end effector
(17) it is connected, sliding block (4) is equipped with right limit block (6) in sliding block (4) two sides above single-degree-of-freedom straight line air-float guide rail (3)
With left limit block (7), turntable (5) and sliding block (4) are connected, and are equipped on turntable (5) target satellite (8), target satellite (8) is by spraying
It manages (9), right side solar array (10) and left side solar array (11) to constitute, right side tensiometer (12), left side tensiometer (13) are solid
It is scheduled on single-degree-of-freedom straight line air-float guide rail (3), between right side tensiometer (12), left side tensiometer (13) and sliding block (4) respectively
It is connected using right side adjustable elastic bar (14) and left side adjustable elastic bar (15)；
Single-degree-of-freedom straight line air-float guide rail (3) material includes granite, and length 500mm, straightness is 1 μm；
Sliding block (4) and turntable (5) material include granite, and sliding block (4) stroke is 200mm.
2. a kind of small racemization power test platform of space Tum bling Target electromagnetism racemization according to claim 1, feature exist
In target satellite (8) shell is aluminium alloy structure.
3. a kind of small racemization power test platform of space Tum bling Target electromagnetism racemization according to claim 1, feature exist
In right side tensiometer (12) and left side tensiometer (13) are IMADA pull and push dynamometer, and dynamometry range is 0~5N, and minimum unit is
1mN, overload capacity 10N.
4. a kind of small racemization power test platform of space Tum bling Target electromagnetism racemization according to claim 1, feature exist
In industrial robot (16) is library card Six-DOF industrial robot.
5. a kind of small racemization power survey of space Tum bling Target electromagnetism racemization described in a kind of Claims 1 to 4 any claim
Try the test method of platform, which is characterized in that measurement process key step is as follows:
Step 1: marble vibration isolation table (1) levels, marble vibration isolation table (1) is adjusted using horizontal ruler before measurement starts
It is flat, guarantee to interfere measurement result when measurement minimum；
Step 2: measurement sliding block (4) starting frictional force is f0, ventilate to single-degree-of-freedom straight line air-float guide rail (3), keep sliding block (4) floating
It rises, the position of adjustment right side tensiometer (12) and left side tensiometer (13) makes its reading be zeroed, at this time the adjustable bullet in fine tuning left side
Property bar (15) length, generate mN grade pulling force effects on sliding block (4), starting stiction f0Act on sliding block (4) position not
Become, right side tensiometer (12) registration is still 0, and tensiometer (13) registration in left side is with left side adjustable elastic bar (15) length trim process
In continue growing, when right side tensiometer (12) registration mutation when left side tensiometer (13) reading be start frictional force f0, or
Person utilizes right side adjustable elastic bar (14) to measure starting frictional force f0, repeatedly average after measurement as starting frictional force f0；
Step 3: target satellite (8) and electromagnetism racemization end effector (17) to be moved to the work of measurement racemization power X-direction component
Position one starts electromagnetism racemization end effector (17), acts on target satellite (8) body coordinate system O at this time1X1Y1O1X1Direction
Electromagnetism racemization power FxThe average value read by left side tensiometer (13) and right side tensiometer (12)Subtract starting frictional force f0
It obtains；
Step 4: adjustment target satellite (8) and electromagnetism racemization end effector (17) are moved to measurement racemization power Y-direction component
Station two starts electromagnetism racemization end effector (17) by identical parameters, acts on target satellite (8) body coordinate system at this time
O1X1Y1O1Y1The electromagnetism racemization power F in directionyThe average value read by left side tensiometer (13) and right side tensiometer (12)
Subtract starting frictional force f0It obtains.
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| CN109284546B (en) * | 2018-09-06 | 2022-08-05 | 哈尔滨工业大学 | Aluminum honeycomb plate structure three-dimensional electromagnetic despinning torque calculation method under condition of uneven air gap |
| CN111580492B (en) * | 2020-04-03 | 2021-09-03 | 航天行云科技有限公司 | Polarity testing device of satellite attitude control system |
| CN111896162A (en) * | 2020-07-11 | 2020-11-06 | 西北工业大学 | Single-degree-of-freedom non-contact racemization simulation test platform and method for space out-of-control rolling satellite |
| CN113815015B (en) * | 2021-08-31 | 2023-05-09 | 北京精密机电控制设备研究所 | Multi-soft arm space target racemization ground physical verification system |
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| CN105667838A (en) * | 2016-03-14 | 2016-06-15 | 西北工业大学 | Modular attitude determination and control device and method of Pico-satellite |
| CN103955207B (en) * | 2014-04-24 | 2016-06-22 | 哈尔滨工业大学 | A kind of three-pawl type space end executor fault tolerance of catching under microgravity environment tests system and method |
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2017
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0320639A (en) * | 1989-06-17 | 1991-01-29 | Hitachi Maxell Ltd | Method and apparatus for testing friction and abrasion |
| CN1237541A (en) * | 1998-05-28 | 1999-12-08 | 高根树 | Centrifugal method for water treatment and its equipment |
| CN202166497U (en) * | 2011-07-20 | 2012-03-14 | 山东交通学院 | Liquid tank dynamic testing test stand |
| CN102853954A (en) * | 2012-08-30 | 2013-01-02 | 北京航空航天大学 | Measuring device of high-temperature superconductive suspension tiny force |
| CN103955207B (en) * | 2014-04-24 | 2016-06-22 | 哈尔滨工业大学 | A kind of three-pawl type space end executor fault tolerance of catching under microgravity environment tests system and method |
| CN105667838A (en) * | 2016-03-14 | 2016-06-15 | 西北工业大学 | Modular attitude determination and control device and method of Pico-satellite |
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