CN108240902A - A kind of test device and test method of electromagnetic torque device - Google Patents
A kind of test device and test method of electromagnetic torque device Download PDFInfo
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- CN108240902A CN108240902A CN201611226343.5A CN201611226343A CN108240902A CN 108240902 A CN108240902 A CN 108240902A CN 201611226343 A CN201611226343 A CN 201611226343A CN 108240902 A CN108240902 A CN 108240902A
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- 238000012360 testing method Methods 0.000 title claims abstract description 45
- 238000010998 test method Methods 0.000 title abstract description 3
- 238000000034 method Methods 0.000 claims abstract description 6
- 239000003990 capacitor Substances 0.000 claims description 17
- 238000006073 displacement reaction Methods 0.000 claims description 15
- 230000005284 excitation Effects 0.000 claims description 7
- 230000003287 optical effect Effects 0.000 claims description 5
- 235000014676 Phragmites communis Nutrition 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 4
- 239000010453 quartz Substances 0.000 description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N silicon dioxide Inorganic materials O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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Abstract
The invention discloses a kind of test devices and test method of electromagnetic torque device, including cylindrical condenser, cylindrical condenser is made of coaxial horizontally disposed inner and outer electrodes, external electrode hangs on vertical spring beam bottom, adjustment frame is provided at the top of spring beam, spring beam and interior electrode connect voltage source jointly, and voltage source is connected with controller, and the controller is connected with current source and laser interferometer；External electrode one end is provided with connecting rod, and the other end is provided with the plane mirror for reflected laser signals.The present invention is inputted using electrostatic force as standard testing, using balancing method as test philosophy, realizes the linearity test to electromagnetic torque device.
Description
Technical Field
The invention relates to the field of testing of force actuators, in particular to a testing device and a testing method of an electromagnetic torquer.
Background
The electromagnetic torquer is used as a force actuator and has wide application, such as a thrust component for a spacecraft, a force balance mechanism for a quartz flexible accelerometer and the like. The performance of the electromagnetic torquer has important influence on the attitude control of the spacecraft, particularly on the measurement precision of the quartz flexible accelerometer.
In the existing electromagnetic torquer testing method, an electromagnetic torquer is only used as one part of a tested system and is used as an integral test together with other parts, and the testing result cannot be independently used for evaluating the self characteristics of the electromagnetic torquer. In addition, the test input is measured using the gravity component as a standard quantity. In the torquer test of the quartz flexible accelerometer, a 12-point or 24-point rolling method is generally adopted. The accelerometer is fixed on a high-precision rotary table, and different gravity acceleration components are obtained on a sensitive axis of the accelerometer at different rotation angle positions and are used as input for testing. Such an acceleration component as a standard quantity is not a standard quantity that can be accurately reproduced at different times and different places.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a testing device and a testing method of an electromagnetic torquer, wherein electrostatic force is used as standard testing input, a balance method is used as a testing principle to realize the linearity test of the electromagnetic torquer, the input electrostatic force directly acts on a pendulum plate of the electromagnetic torquer to be tested during the test, a laser interferometer detects the position change of the pendulum plate in real time and controls the balance between the electromagnetic force and the electrostatic force generated by the electromagnetic torquer to ensure that the pendulum plate is always in a balance position, thereby establishing the relationship between the standard force input and the output of the electromagnetic torquer.
The purpose of the invention can be realized by the following technical scheme.
The testing device of the electromagnetic torquer comprises a cylindrical capacitor, wherein the cylindrical capacitor is composed of an inner electrode and an outer electrode which are coaxially and horizontally arranged, the outer electrode is suspended at the bottom of a vertical elastic beam, an adjusting frame is arranged at the top of the elastic beam, the elastic beam and the inner electrode are jointly connected with a voltage source, the voltage source is connected with a controller, and the controller is connected with a current source and a laser interferometer; and one end of the outer electrode is provided with a connecting rod, and the other end of the outer electrode is provided with a plane reflector for reflecting laser signals.
The inner electrode is cylindrical, the outer electrode is cylindrical, and the outer electrode moves horizontally along the axial direction.
The plane reflecting mirror is perpendicular to the axis of the outer electrode, the optical axis of the outgoing light beam of the laser interferometer is parallel to the axis of the outer electrode, and the laser interferometer detects the axial displacement of the outer electrode through the plane reflecting mirror.
The purpose of the invention can be realized by the following technical scheme.
A test method of an electromagnetic torquer comprises the following steps:
step one, installing the testing device of the electromagnetic torquer of claims 1 to 3, wherein the outer electrode is rigidly connected with a pendulous reed of the electromagnetic torquer to be tested through a connecting rod, and the current source is connected with an excitation coil of the electromagnetic torquer to be tested;
adjusting the position relation of the swinging sheet and the outer electrode to enable the swinging sheet and the elastic beam for fixing the outer electrode to be in respective balance positions, enabling the voltage u output by the voltage source to be 0 and the balance current i output by the current source to be 0, and recording the measured value x of the laser interferometer at the moment0；
Step three, the controller controls the voltage source to output the voltage U as U1The outer electrode of the cylindrical capacitor generates axial displacement to drive the pendulum piece to deviate from the balance position, and the measurement value of the laser interferometer is x0+ Δ x, the controller controls the current source to output the balance current I ═ I according to the acquired output value of the laser interferometer1The swinging piece is returned to the balance position again through the electromagnetic force, namely the delta x is reduced to zero;
step four, recording the voltage value U output by the voltage source when the swinging sheet returns to the balance position1The sum current source outputs a balance current value I1；
Step five, changing the value of the voltage source output voltage U, and repeating the step three and the step four to obtain n groups of Um-Im(m is 1, 2, 3, …, n and n are positive integers) data, and u which is used for representing the input and output characteristics of the electromagnetic torquer to be tested is fitted2I-relation curve, and calculating the nonlinear error value of the measured electromagnetic torquer.
Compared with the prior art, the technical scheme of the invention has the following beneficial effects:
(1) in the invention, the initial axial position relation of the inner electrode and the outer electrode can be adjusted by the adjusting frame, the inner electrode is fixed, the outer electrode can only do axial movement, a voltage source applies a voltage on the inner electrode, axial electrostatic force is generated between the inner electrode and the outer electrode to push the outer electrode to move axially, so as to drive the swing sheet of the tested electromagnetic torquer to move axially, the laser interferometer detects the axial displacement of the outer electrode through the plane reflector, the current source provides a balance current for the tested electromagnetic torquer, so that the swing sheet of the tested electromagnetic torquer generates displacement in the direction opposite to the direction of the electrostatic force, and a balance current value and a voltage source voltage value when the swing sheet returns to the balance position are obtained, thereby realizing the characteristic test of the electromagnetic torquer and evaluating the input and output characteristics of the tested electromagnetic torquer;
(2) the invention takes the electrostatic force as the standard test input and the balance method as the test principle to realize the linearity test of the electromagnetic torquer, when in test, the input electrostatic force directly acts on the pendulum piece of the tested electromagnetic torquer, the laser interferometer detects the position change of the pendulum piece in real time and controls the balance of the electromagnetic force and the electrostatic force generated by the electromagnetic torquer to ensure that the pendulum piece is always in the balance position, thereby establishing the relation between the standard force input and the output of the electromagnetic torquer and being capable of carrying out the high-precision test on the linearity of the electromagnetic torquer.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic diagram of the working principle of the present invention.
Reference numeral 1 an outer electrode; 2 an inner electrode; 3, an elastic beam; 4, adjusting the frame; 5 connecting rods;
6 a plane mirror; 7 a laser interferometer; 8, a voltage source; 9 a current source; 10 a controller;
11 measuring the electromagnetic torquer; 11-1 permanent magnet; 11-2 field coil; 11-3 of swing pieces.
Detailed Description
The technical solution of the present invention is further described below with reference to the accompanying drawings.
As shown in fig. 1 and 2, the testing device of the electromagnetic torquer of the present invention comprises a cylindrical capacitor, wherein the cylindrical capacitor is composed of an inner electrode 2 and an outer electrode 1 which are coaxially and horizontally arranged, the inner electrode 2 is arranged in a cylindrical shape, and the outer electrode 1 is arranged in a cylindrical shape. The inner electrode 2 is fixed, the outer electrode 1 is suspended at the bottom of the vertical elastic beam 3, the elastic beam 3 provides elastic support for the outer electrode 1, the top of the elastic beam 3 is provided with an adjusting frame 4, the outer electrode 1 has only one degree of freedom, namely, swings along the axial direction of the outer electrode, and the initial axial position relation of the inner electrode 2 and the outer electrode 1 can be adjusted through the adjusting frame 4.
The elastic beam 3 and the inner electrode 2 are connected with a voltage source 8 together, the voltage source 8 is connected with a controller 10 (a PC machine and the like), and the controller 10 is further connected with a current source 9 and a laser interferometer 7. The controller 10 automatically controls the output voltage of the voltage source 8 and the output current of the current source 9, and collects the displacement measurement result of the laser interferometer 7. The controller 10 controls the voltage source 8 to apply a voltage to the cylindrical capacitor, so that an axial electrostatic force is generated between the inner electrode 2 and the outer electrode 1, and the outer electrode 1 generates a corresponding axial displacement. The current source 9 is connected with the excitation coil 11-2 of the measured electromagnetic torquer 11, and the controller 10 controls the current source 9 to provide a balance current for the measured electromagnetic torquer 11, so that the pendulum piece 11-3 of the measured electromagnetic torquer 11 generates displacement in the direction opposite to the electrostatic force.
One end of the outer electrode 1 is provided with a connecting rod 5 for connecting the tested electromagnetic torquer 11, and the pendulous reed 11-3 of the tested electromagnetic torquer 11 is rigidly connected with the outer electrode 1 through the connecting rod 5 during testing. The other end of the outer electrode 1 is provided with a plane reflector 6 for reflecting laser signals, the plane reflector 6 is perpendicular to the axis of the outer electrode 1, the optical axis of the light beam emitted by the laser interferometer 7 is parallel to the axis of the outer electrode 1, and the laser interferometer 7 detects the axial displacement of the outer electrode 1 through the plane reflector 6.
The cylindrical capacitor may be used as an electrostatic force generating device of the present invention, the plane mirror 6 and the laser interferometer 7 may be used as a displacement detecting device of the present invention, the connecting rod 5, the adjusting bracket 4 and the elastic beam 3 may be used as an adjusting connecting device of the present invention, and the voltage source 8, the current source 9 and the controller 10 may be used as a driving control device of the present invention.
Setting the inner diameter R of the outer electrode 11Outer diameter R of inner electrode 22，R1>R2And the x axis of the coordinate axis is parallel to the axis of the outer electrode 1, the outer electrode 1 can only move along one dimension of the x axis. When the outer electrode 1 is in a certain position, the capacitance value of the cylindrical capacitor is marked as C. When a voltage u is applied to the inner electrode 2 and the outer electrode 1 of the cylindrical capacitor, an electrostatic force F is generated therebetweenqSatisfy the relation
Wherein,is a gradient of capacitance, and
wherein epsilon is the dielectric constant of the medium between the inner electrode 2 and the outer electrode 1. So that the electrostatic force FqCan be expressed as
For the installed cylindrical capacitor, when the axial positions of the inner electrode 2 and the outer electrode 1 are kept unchanged, the capacitance gradient value can be regarded as a constant, and then the electrostatic force FqSize and u of2Is in direct proportion.
The measured electromagnetic torquer 11 is a force actuator component and mainly comprises an excitation coil 11-2, a permanent magnet 11-1 and a swinging sheet 11-3. The electromagnetic torquer 11 to be tested takes the current i in the exciting coil 11-2 as input and outputs electromagnetic force FB. The excitation coil 11-2 is fixed on the swinging piece 11-3 and is in a uniform magnetic field generated by the permanent magnet. When the exciting coil 11-2 is inputted with the current i,then subjected to electromagnetic force FBIs composed of
FB＝iBL (4)
Wherein B is magnetic induction intensity, and L is winding length of the excitation coil. Electromagnetic force FBActs on the swinging piece 11-3, and the swinging piece 11-3 is in a cantilever beam structure form, so that the moment action is realized, and the swinging piece 11-3 is pushed to deviate from a balance position. For a given measured electromagnetic torquer 11, current i and electromagnetic force FBAnd is linear, so the output of the electromagnetic torquer 11 to be tested is generally directly expressed as the current i value.
The voltage source 8 provides driving voltage for the cylindrical capacitor, and the balance current of the electromagnetic torquer 11 to be tested is provided by the current source 9. The output values of the voltage source 8 and the current source 9 are controlled by a controller 10. Before testing, the pendulum plate 11-3 is rigidly connected with the outer electrode 1 through the connecting rod 5, so that the electrostatic force F of the cylindrical capacitor is realizedqActs on the swinging piece 11-3 through the connecting rod 5. The connecting rod 5 is horizontally arranged to ensure that the acting force is along the direction of the x axis.
A plane mirror 6 is installed on the end face of the outer electrode 1, and the plane mirror 6 is perpendicular to the x-axis. The optical axis of the outgoing beam of the laser interferometer 7 is parallel to the x-axis, the displacement of the outer electrode 1 and the pendulous reed 11-3 in the x-axis direction can be measured in real time by the laser interferometer 7 through the plane reflecting mirror 6, and is collected by the controller 10. During testing, the controller 10 controls the voltage source 8 to apply a DC voltage U to the cylindrical capacitorkThe outer electrode 1 is subjected to an axial electrostatic force FqkIs composed of
The outer electrode 1 and the swinging sheet 11-3 are pushed to generate an axial displacement increment delta XkThe moving direction depends on the axial position relation of the outer electrode 1 of the inner electrode 2. When the controller 10 acquires the axial displacement increment delta X through the laser interferometer 7kThe controller 10 controls the current source 9 to output the balance current IkTo make the measured electromagnetic fieldElectromagnetic force F output by torque machine 11BkAnd electrostatic force FqkIs balanced, i.e.
FBk＝IkBL＝-Fqk(6)
The pendulum plate 11-3 returns to the equilibrium position, Δ X, againk0. The above process is automatically controlled by the controller 10. As can be seen from equations (5) and (6),
formula (7) describes the testing principle of the electromagnetic torquer, i.e. the characteristic test of the electromagnetic torquer is realized by taking the electrostatic force as the standard input and the balance current (representing the electromagnetic force) as the output. It can be seen that as long as U is obtainedk 2-IkAnd (4) according to the curve, the input and output characteristics of the electromagnetic torquer 11 to be tested can be evaluated.
Based on the technical scheme, the electromagnetic torquer testing method comprises the following steps:
step one, installing and adjusting the testing device of the electromagnetic torquer, wherein the outer electrode 1 is rigidly connected with a swinging sheet 11-3 of the electromagnetic torquer 11 to be tested through a connecting rod 5, and the swinging sheet 11-3 can be driven to move along the axial direction of the outer electrode 1. Adjusting the initial positions of the inner electrode 2 and the outer electrode 1 and ensuring that the swinging piece 11-3 is in a balance position. The direction of the optical axis of the laser interferometer 7 is parallel to the axial direction of the outer electrode 1, i.e. parallel to the direction of movement of the outer electrode 1. The current source 9 is connected with the excitation coil 11-2 to provide torque current for the detected electromagnetic torquer 11, which is marked as balance current i.
Step two, adjusting the position relation of the swinging sheet 11-3 of the measured electromagnetic torquer 11 and the outer electrode 1 to enable the swinging sheet 11-3 and the elastic beam 3 for fixing the outer electrode 1 to be in respective balance positions, wherein the resultant force of the swinging sheet 11-3, the connecting rod 5 and the outer electrode 1 in the axial direction is zero, the voltage u output by the voltage source 8 is 0, the balance current i output by the current source 9 is 0, and recording the measured value of the laser interferometer 7 at the momentx0；
Step three, the controller 10 controls the voltage source 8 to output the voltage U ═ U1When the outer electrode 1 of the cylindrical capacitor generates axial displacement to drive the swinging piece 11-3 to deviate from the balance position, the measured value of the laser interferometer 7 is x0+ Δ x, the controller 10 controls the current source 9 to output the balance current I ═ I through position feedback according to the acquired output value of the laser interferometer 71The wobble plate 11-3 is returned to the equilibrium position again by the electromagnetic force, i.e. Δ x is reduced to zero, which is automatically performed by the controller 10 in a closed loop.
Step four, recording the output voltage value U of the voltage source 8 when the swinging sheet 11-3 returns to the balance position1The sum current source 9 outputs a balance current value I1；
Step five, changing the value of the output voltage U of the voltage source 8, and repeating the step three and the step four to obtain n groups of Um-Im(m is 1, 2, 3, …, n, n is a positive integer) data, data processing is carried out, test results are calculated, and u representing the input and output characteristics of the electromagnetic torquer 11 to be tested is fitted2I-relation curve, and calculating the nonlinear error value of the electromagnetic torquer 11 to be tested.
While the present invention has been described in terms of its functions and operations with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise functions and operations described above, and that the above-described embodiments are illustrative rather than restrictive, and that various changes and modifications may be effected therein by one skilled in the art without departing from the scope or spirit of the invention as defined by the appended claims.
Claims (4)
1. The testing device of the electromagnetic torquer is characterized by comprising a cylindrical capacitor, wherein the cylindrical capacitor is composed of an inner electrode and an outer electrode which are coaxially and horizontally arranged, the outer electrode is suspended at the bottom of a vertical elastic beam, an adjusting frame is arranged at the top of the elastic beam, the elastic beam and the inner electrode are jointly connected with a voltage source, the voltage source is connected with a controller, and the controller is connected with a current source and a laser interferometer; and one end of the outer electrode is provided with a connecting rod, and the other end of the outer electrode is provided with a plane reflector for reflecting laser signals.
2. The electromagnetic torquer testing device of claim 1, wherein the inner electrode is cylindrical, the outer electrode is cylindrical, and the outer electrode moves horizontally in the axial direction.
3. The electromagnetic torquer testing apparatus as recited in claim 1, wherein the plane mirror is perpendicular to the axis of the outer electrode, the optical axis of the outgoing beam of the laser interferometer is parallel to the axis of the outer electrode, and the laser interferometer detects the axial displacement of the outer electrode through the plane mirror.
4. A method for testing a testing device based on an electromagnetic torquer as claimed in claims 1 to 3, comprising the steps of:
step one, installing the testing device of the electromagnetic torquer of claims 1 to 3, wherein the outer electrode is rigidly connected with a pendulous reed of the electromagnetic torquer to be tested through a connecting rod, and the current source is connected with an excitation coil of the electromagnetic torquer to be tested;
adjusting the position relation of the swinging sheet and the outer electrode to enable the swinging sheet and the elastic beam for fixing the outer electrode to be in respective balance positions, enabling the voltage u output by the voltage source to be 0 and the balance current i output by the current source to be 0, and recording the measured value x of the laser interferometer at the moment0；
Step three, the controller controls the voltage source to output the voltage U as U1The outer electrode of the cylindrical capacitor generates axial displacement to drive the pendulum piece to deviate from the balance position, and the measurement value of the laser interferometer is x0+ Δ x, the controller controls the current source to output the balance current I ═ I according to the acquired output value of the laser interferometer1The swinging piece is returned to the balance position again through the electromagnetic force, namely the delta x is reduced to zero;
step four, recording the voltage value U output by the voltage source when the swinging sheet returns to the balance position1The sum current source outputs a balance current value I1；
Step five, changing the voltageRepeating the third step and the fourth step to obtain n groups of U according to the value of the source output voltage Um-Im(m is 1, 2, 3, …, n and n are positive integers) data, and u which is used for representing the input and output characteristics of the electromagnetic torquer to be tested is fitted2I-relation curve, and calculating the nonlinear error value of the measured electromagnetic torquer.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611226343.5A CN108240902A (en) | 2016-12-27 | 2016-12-27 | A kind of test device and test method of electromagnetic torque device |
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| CN201611226343.5A CN108240902A (en) | 2016-12-27 | 2016-12-27 | A kind of test device and test method of electromagnetic torque device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112484633A (en) * | 2020-11-20 | 2021-03-12 | 重庆华渝电气集团有限公司 | Device and method for measuring quadrature error of torquer coil |
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2016
- 2016-12-27 CN CN201611226343.5A patent/CN108240902A/en active Pending
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