CN108444706A - Multi-parameter mass property testboard based on spherical surface air-bearing - Google Patents
Multi-parameter mass property testboard based on spherical surface air-bearing Download PDFInfo
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- CN108444706A CN108444706A CN201810325271.2A CN201810325271A CN108444706A CN 108444706 A CN108444706 A CN 108444706A CN 201810325271 A CN201810325271 A CN 201810325271A CN 108444706 A CN108444706 A CN 108444706A
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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
- G01M13/04—Bearings
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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Abstract
The invention discloses a kind of multi-parameter mass property testboard based on spherical surface air-bearing, the testboard includes 4 ball air-bearing component, oscillating bar assembly, pendulum mass component and pendulum back to zero component parts, the present invention passes through four parts with specific structure, and the air supporting lubricating method of diversified forms, influence of the extraneous damping to test result is efficiently controlled, greatly improve the power of test and measuring accuracy of test equipment, the quantity for farthest reducing test fixture simultaneously, improves safety, the reliability of test job efficiency and test.
Description
Technical field
The present invention relates to setting for the mass property of a kind of whole star of spacecraft, spacecraft components and spacecraft test
Standby and its application method, belongs to spacecraft technical field of measurement and test.In addition, the present invention can also be in friendships such as automobile, trains
It is used in the fields such as the vehicle and parts, aviation, weapon of logical means of transport, completes the mass property test of Related product.
Background technology
At this stage, spacecraft mass characteristic testing equipment is turned by barycenter rotary inertia combined test stand and three coordinate of linear type
It changes planes composition, wherein barycenter rotary inertia combined test stand can be composed of barycenter platform and rotary inertia platform.Wherein, barycenter turns
Dynamic 1 installation of inertia combined test stand, the quality, 2 lateral barycenter parameters and 1 axle of the plummet rotation that can measure spacecraft are used
Measure parameter.
Straight line three coordinate converting machine is the generalization tooling of spacecraft mass characteristic test, realizes space vehicle coordinates system and surveys
Try the function of the position relationship automatic conversion between coordinate system.
Three coordinate converting machine measuring technology is exactly by barycenter rotary inertia combined test stand and linear type three coordinate converting machine
It is used in combination, making spacecraft only needs installation positioning primary, passes through three coordinate converting machine auto-changing space vehicle coordinates system and test
Position relationship between coordinate system, you can measure the all-mass characterisitic parameters such as quality, barycenter, rotary inertia, the product of inertia.
However, three coordinate converting machine measuring technology still has larger defect.When：It must manufacture and design and tested production
The comparable three coordinate converting machine of product weight.Therefore, the bearing capacity of testboard and measuring accuracy will be by the serious of test fixture
It influences；Second is that：With the enlargement development of spacecraft, developing larger three coordinate converting machine, there are huge technical difficulties.Three
It is：The measurement of the product of inertia belongs to indirect measurement, not high relative to dynamic balancing machine method measuring accuracy；
Invention content
Present invention solves the technical problem that being：One kind is provided, the integrated survey of barycenter, rotary inertia, the product of inertia may be implemented
Try equipment.Spacecraft is primary in the testboard installation positioning of the present invention by easy lateral tooling, you can measures spacecraft
All mass property parameters of all directions.
Present invention employs the following technical solutions：
1, multi-parameter spherical surface air-bearing mass property testboard, including ball air-bearing component, oscillating bar assembly, pendulum group
Part and two sets of pendulum back to zero components being separately mounted at left and right sides of pendulum mass component, wherein：
Ball air-bearing component includes air supporting bulb, air supporting ball-and-socket, pedestal；Air supporting bulb is located at the top of whole equipment,
The upper circular docking plane of air supporting bulb provides the mechanical interface of test specimen, and lower part is segment structure, and sphere center position is high
In docking plane, it is passed through compressed air between segment and air supporting ball-and-socket, generates air film, air supporting bulb does nothing in air supporting ball-and-socket
Damped motion；Pedestal is cube frame structure, is the installation foundation of whole equipment, air supporting ball-and-socket lower part passes through with pedestal top
Bolt is rigidly connected；
Oscillating bar assembly by supporting sleeve, torsion-bar spring, torsional movement driving mechanism, rock grating scale, rock driving motor, flat
Face air supporting lower wall, electric rotating machine composition, supporting sleeve are hollow tubular structures, and top and the bottom of air supporting bulb pass through bolt rigidity
Connection, lower part are rigidly connected with plane air supporting lower wall by bolt, and for torsion-bar spring inside supporting sleeve, torsion-bar spring top is logical
It crosses torsion bar key and torsion bar nut is connect with the bottom rigid of air supporting bulb；Torsion-bar spring lower part is tight with electric rotating machine by shaft coupling
It is solidly connected, rocks grating scale and be rigidly connected to supporting sleeve medium position, driving motor fortune is rocked in the driving of torsional movement driving mechanism
It is dynamic；
Pendulum mass component includes pendulum, air supporting set, rocking grating ruler, plane air-float guide rail, electric rotating machine holder, spin brake
Cylinder, wherein air supporting set are hollow cylindrical structure, and air supporting set is sleeved on supporting sleeve lower part, is placed on air supporting lower wall, air supporting
The hollow cylinder intracoelomic cavity of set takes clearance fit with supporting sleeve lower cylindrical lateral surface；It is hollow cylinder structure in the middle part of pendulum,
It is connected by screw bolts to form rigid connection with air supporting set cylindrical outer side surface, driving motor, pendulum lower part are rocked in the installation of pendulum top
Intermediate region is planar structure, and front and rear sides are circular arc camber, and rocking grating ruler is mounted on circular arc camber, front and back the two of pendulum
Clearance fit is taken between side plane and plane air-float guide rail plane, compressed air is passed through in gap, forms plane air film, pendulum
Hammer carries out undamped simple harmonic quantity swing along air-float guide rail；The bottom of air-float guide rail is fixedly mounted on the lower plane on pedestal, rotation
Rotating motor holder both sides are rigidly connected in the bottom plane of pendulum, and middle section lower surface passes through bolt with rotary electric machine
Rigid connection；The cylinder sleeve of brake cylinder is connected to electric rotating machine holder middle section upper surface；
Pendulum back to zero component includes friction pulley, back to zero leading screw, pressure sensor, pendulum back to zero driving motor, back to zero deceleration
The output end of device, wherein back to zero retarder is fixedly mounted on pedestal, and the output shaft of back to zero retarder and back to zero leading screw one end are rigid
Property connection, the input shaft of back to zero retarder is fixedly connected with the output shaft of pendulum back to zero driving motor, pendulum back to zero driving motor
Stator be fixedly connected with back to zero retarder input terminal, pressure sensor one end is connect with back to zero leading screw, and one end and friction pulley connect
It connects, friction pulley can not only roll in the plane of the left and right sides of pendulum, but also can be completely disengaged with pendulum, ensure freely putting for pendulum
It is dynamic.
Wherein, torsional movement driving mechanism is made of driving gear and follower gear, and follower gear is rigidly attached at support
It covers on medium position, driving gear is rigidly connected with driving motor is rocked by gear key；Driving motor is rocked to drive by rocking
Dynamic electric machine support is rigidly connected with pendulum.
Wherein, rocking driving motor drives driving gear to rotate 1 week, and main, follower gear engagement detaches 1 time；Gear engages
When, driving gear drives first follower gear, torsion-bar spring, supporting sleeve and air floatation ball torsion, main, follower gear separation
Afterwards, under the action of the torsion restoring moment of torsion-bar spring, air supporting bulb, air supporting set and the torsion bar bullet of gun iron link together
Spring, follower gear carry out torsional movement together about torsion-bar spring axis.
Wherein, electric rotating machine holder is " several " word shape.
Wherein, compressed air is passed through in brake cylinder, the dynamic cylinder of brake cylinder is moved to central axial direction, most final pressure
It is tightened on shaft coupling, has the function that lock torsion-bar spring root.
Wherein, the supporting sleeve of oscillating bar assembly and torsion-bar spring realize that rigidity connects at air supporting bulb by key and bolt
It connects.
Wherein, the sphere center position of air supporting bulb is higher than interface plane.
Wherein, it is passed through the compressed air of certain pressure between the gentle floating ball nest of air supporting bulb, forms spherical surface air film, and flat
The compressed air that certain pressure is passed through between face air-float guide rail and pendulum forms two-sided rectangle air film.
Wherein, it is passed through certain pressure between air supporting set and supporting sleeve and between air supporting set and plane air supporting lower wall
Compressed air is respectively formed column air film and flat annular air film, and spin brake cylinder holds torsion-bar spring bottom tightly, rocks drive
Dynamic motor drives swinging unit rotation, and air supporting bulb and oscillating bar assembly is made to form initial windup-degree；Torsional moment is discharged, is being turned round
Under the action of bar spring, air supporting bulb and swing rod group do undamped torsional movement around axle of the plummet.
Wherein, it is rotation angle of the measure-ball relative to pedestal to rock grating scale tool there are two function i.e. one is measured, with
Determine the angle parameter of test product and the pendulum mass component direction of motion, the orientation for determining test product；Second is that in bulb and
When swing rod group does undamped torsional movement around axle of the plummet, the angle rocked is measured in real time, is rocked the period to obtain, is further calculated
Go out around the rotary inertia parameter for rocking axis.
Wherein, driving gear is single-tooth gear, and follower gear has multiple teeth.8, system group according to claim 7
At, it is characterised in that：Driving gear (24) is carried out by rocking the output shaft (25) of driving motor (20) by gear key (26)
Connection.Follower gear (23) is connect by being fitted close with supporting sleeve (3).
Wherein, the lead screw movement of the back to zero leading screw of pendulum back to zero component only has translational motion, cannot there is rotary motion.
Wherein, pendulum lower edge, the bottom edge for installing rocking grating ruler, the centre of sphere weight in the center of circle and bulb of place circle
It closes.
The method that above-mentioned multi-parameter spherical surface air-bearing mass property testboard carries out spacecraft mass characteristic test, including
Following steps：
1) spacecraft is once installed on multi-parameter spherical surface air-bearing mass property testboard；
2) measurement data for utilizing back to zero leading screw and rocking grating ruler, the docking plane regulating of air supporting bulb is horizontal, note
The measured value for recording pressure sensor, the barycenter data of first horizontal direction of spacecraft can be measured using Survey Software.
3) electric rotating machine is used, spacecraft is made to be rotated by 90 ° counterclockwise around axle of the plummet.
4) the docking plane regulating for again, adjusting air supporting bulb is horizontal, records the measured value of pressure sensor, utilizes measurement
Software can measure the barycenter data of second horizontal direction of spacecraft.
5) under conditions of the docking planar horizontal of air supporting bulb, spin brake cylinder holds torsion-bar spring tightly, and driving is rocked
Motion driving mechanism makes air supporting bulb and spacecraft do torsional movement together, and optical grating ruler measurement is rocked using Survey Software record
The information such as period, amplitude, the phase of torsional movement, by the period of torsional movement, the rotation that can be calculated around axle of the plummet is used to
Amount.
6) back to zero leading screw is reversely released, and so that the docking plane of air supporting bulb and horizontal plane is had 2 ° of angle, is recalled back rapidly
Zero leading screw makes air supporting bulb freely swing around the centre of sphere together with spacecraft, and rocking grating ruler measures pendulum motion, soft using measuring
Part records the information such as period, amplitude, the phase of pendulum motion, and first rotation around trunnion axis can be calculated by swing period
Inertia can calculate the barycenter data of the short transverse of spacecraft by phase information.
7) under the driving of electric rotating machine, spacecraft is made to rotate clockwise 90 ° around axle of the plummet.The operation of the 6) step is repeated,
The rotary inertia of second trunnion axis can be calculated.
8) under the driving of electric rotating machine, spacecraft is made to rotate clockwise 45 ° around axle of the plummet.The operation of the 6) step is repeated,
The rotary inertia of third trunnion axis can be calculated.It, can be with by the rotary inertia value of 3 trunnion axis measured above
Calculate 1 product of inertia parameter gone out about 2 trunnion axis.
9) under the driving of electric rotating machine, spacecraft makees uniform speed rotation under certain rotating speed (60rpm), records pressure
The measured value of sensor and the angle value for rocking grating scale, pass through the product of inertia parameter that axle of the plummet is calculated of above-mentioned parameter.
By aforesaid operations, three coordinates is not being used to convert using multi-parameter spherical surface air-bearing mass property testboard
In the case of machine, it can measure to obtain all-mass characterisitic parameter.Realize the final purpose of the present invention.
The technological approaches that the present invention is measured by using spherical surface air-bearing need not use three coordinate converting machine to participate in matter
The process that flow characteristic measures, improves the bearing capacity of testboard, overcomes the technical difficulty for developing large-scale three coordinate converting machine,
To realize the integrated test of barycenter, rotary inertia, the product of inertia, the test essence of the product of inertia is improved by dynamic balance method
Degree.
Description of the drawings
Fig. 1 is the multi-parameter spherical surface air-bearing mass property testing bench structure schematic diagram of the present invention；
Wherein, 1 is air supporting bulb；2 be torsion-bar spring；3 be supporting sleeve；4 be pedestal；5 be air supporting ball-and-socket；6 be to rock fortune
Dynamic driving mechanism；7 be air supporting set；8 be friction pulley；9 be back to zero leading screw；10 be pressure sensor；11 be rocking grating ruler；12 are
Plane air supporting lower wall；13 be electric rotating machine；14 be pendulum back to zero driving motor；15 be back to zero retarder；16 be electric rotating machine branch
Frame；17 be spin brake cylinder；18 be pendulum；19 be plane air-float guide rail；20 be to rock driving motor；21 be to rock grating
Ruler；22 be the centre of sphere.
Fig. 2 is the multi-parameter spherical surface air-bearing mass property testboard oscillating bar assembly structure chart of the present invention
Wherein, 1 is air supporting bulb；2 be torsion-bar spring；4 be pedestal；5 be air supporting ball-and-socket；12 be plane air supporting lower wall；13
For electric rotating machine；20 be to rock driving motor；21 be to rock grating scale；23 be driving gear；24 be follower gear；25 be to rock
Driving motor output shaft；27 be torsion bar nut；28 be torsion bar ring flange；29 be electric rotating machine shaft joint；30 is electric to rock driving
Machine shaft joint.
Fig. 3 is the multi-parameter spherical surface air-bearing mass property testboard torsional movement driving mechanism structure figure of the present invention.
Wherein, 3 be supporting sleeve；20 be to rock driving motor；23 be driving gear；24 be follower gear；25 be to rock drive
Dynamic motor output shaft；26 be gear key.
Fig. 4 is the multi-parameter spherical surface air-bearing mass property testboard pendulum mass component structure chart of the present invention
Wherein, 2 be torsion-bar spring；3 be supporting sleeve；7 be air supporting set；8 be friction pulley；9 be back to zero leading screw；11 be swing light
Grid ruler；12 be plane air supporting lower wall；13 be electric rotating machine；16 be electric rotating machine holder；17 be spin brake cylinder；18 be pendulum
Hammer；19 be plane air-float guide rail；29 be electric rotating machine shaft joint；31 be rocking grating ruler holder；32 be plane air-float guide rail branch
Frame.
Fig. 5 is the multi-parameter spherical surface air-bearing mass property testboard pendulum group back to zero part structure chart of the present invention
Wherein, 4 be pedestal；8 be friction pulley；9 be back to zero leading screw；10 be pressure sensor；11 be rocking grating ruler；18 are
Pendulum；33 be back to zero speed reducer follower gear；34 be back to zero screw；35 be back to zero motor；36 be back to zero motor shaft coupling；37 are
Back to zero speed reducer driving gear；38 be back to zero motor mounting rack；39 be back to zero axis connection key；40 be back to zero axis.
Specific implementation mode
The specific implementation mode of the present invention is described in detail below in conjunction with attached drawing, these specific implementation modes are only
Illustratively, it is no intended to limit the scope of the invention.
Multi-parameter spherical surface air-bearing mass property testing bench structure forms as shown in Figure 1, multi-parameter spherical surface air-bearing
Mass property testboard, system structure is by ball air-bearing component, oscillating bar assembly, pendulum mass component and pendulum back to zero component four
It is grouped as.
Ball air-bearing component is made of air supporting bulb, air supporting ball-and-socket, pedestal, ball air-bearing modular construction such as Fig. 2 institutes
Show.Air supporting bulb is located at the top of whole equipment, and upper part is docking table top, provides the mechanical interface of test specimen, lower part is
The sphere center position of segment structure, segment is higher than interface plane.Air supporting ball-and-socket lower part is designed with annular air channel and annular seal groove,
Sealing ring is installed in seal groove.Air supporting ball-and-socket lower part is rigidly connected with pedestal top by bolt, and gas supply gas chamber is formed,
Air film between the gentle floating ball nest of air supporting bulb provides pressure balanced compressed air.It is designed on the sphere curved surface of air supporting ball-and-socket
There are many places cutoff hole, compressed air to be flowed out from cutoff hole, about 0.1mm thickness is collectively formed with the sphere curved surface of air supporting bulb
Air film.Air supporting bulb can make three kinds of undamped movements around the centre of sphere in air supporting ball-and-socket, when, make clock in vertical plane
Pendular motion, second is that, it rotates in horizontal plane or torsional movement, third, the compound motion of above two movement.Pedestal
It is the installation foundation of whole equipment, main function：One is subject to all load, second is that the carrier of other components installation.Pedestal at
Cube frame structure, lower part are fixed by foundation bolt and concrete foundation with the earth, are provided for whole equipment stable and firm
Installation foundation.
Oscillating bar assembly by supporting sleeve, torsion-bar spring, torsional movement driving mechanism, rock grating scale, rock driving motor, flat
The compositions such as face air supporting lower wall, electric rotating machine.Oscillating bar assembly structure is as shown in Figure 2.Oscillating bar assembly be air supporting bulb in the horizontal plane
Torsional movement executing agency and measuring mechanism.The main function of supporting sleeve is connection air supporting bulb and pendulum mass component, is formed
One pendulum subsystem.The supporting sleeve of hollow tubular structure, top and the bottom of air supporting bulb are rigidly connected by bolt, lower part
It is rigidly connected by bolt with plane air supporting lower wall.Torsion-bar spring is one of main execution unit of torsional movement, torsion-bar spring
Inside supporting sleeve, torsion-bar spring top is connect by flat key structure and helicitic texture with the bottom rigid of air supporting bulb.
Torsion-bar spring lower part is fastenedly connected by shaft coupling and electric rotating machine.It rocks grating scale and is rigidly connected to supporting sleeve medium position.
Torsional movement driving mechanism is mainly made of driving gear and follower gear.The structure composition for rocking driving mechanism is as shown in Figure 3.
Follower gear is rigidly attached at by bolt arrangement on supporting sleeve medium position.Driving gear leads to gear key with driving motor is rocked
Structural rigidity connects, and rocks driving motor and is rigidly connected with pendulum by rocking driving motor holder.Wherein, driving gear
For single-tooth gear, follower gear is multiple tooth gear.When carrying out the control of torsional movement, rocks driving motor and drive driving gear
Rotation 1 week, main, follower gear engagement detach 1 time.Before being engaged to separation, driving gear drive follower gear, torsion-bar spring,
The first torsion of supporting sleeve and air floatation ball.After main, follower gear separation, under the action of the restoring moment of torsion-bar spring, steel
The air supporting bulb that property links together, air supporting set and torsion-bar spring carry out torsional movement jointly.Square in the period of torsional movement
It is directly proportional to all progress rotary inertias of torsional movement object, this law be carry out longitudinal axis rotary inertia test it is theoretical according to
According to.
Pendulum mass component is by pendulum, air supporting set, rocking grating ruler, plane air-float guide rail, electric rotating machine holder, spin brake gas
The compositions such as cylinder.Air supporting set is hollow cylindrical structure, and air supporting set is sleeved on supporting sleeve lower part, is placed on air supporting lower wall.It is hollow
Cylindrical cavity takes clearance fit with supporting sleeve lower cylindrical lateral surface, is passed through compressed air in this gap, forms column
Air film.After being passed through compressed air between air supporting set lower surface and the upper surface of air supporting lower wall, circular ring shape air film can be formed.Column
Air film and circular ring shape air film when torsion-bar spring, supporting sleeve and air floatation ball head do torsional movement, ensure moving component not with air supporting
Set rubs, and ensures that torsional movement is undamped motion.It is hollow cylinder structure in the middle part of pendulum, covers cylindrical outer side surface with air supporting
Using tight fit and bolted compound fixed form, pendulum is made to be rigidly connected with air supporting set.The installation of pendulum top is turned round
Driving motor is put, pendulum lower part intermediate region is planar structure, and front and rear sides are circular arc camber, and circular arc camber central axis passes through
The centre of sphere of air supporting bulb.It is on circular arc camber that rocking grating ruler, which is mounted on pendulum lower part,.Friction pulley can be in the left and right sides of pendulum
Plane on roll, the levelness of air supporting bulb upper surface can be adjusted.The plane of the front and rear sides of pendulum is led with plane air supporting
Clearance fit is taken between rail plane, compressed air is passed through in the gap of the front and rear sides of pendulum, is respectively formed plane air film.
Pendulum can carry out undamped simple harmonic quantity swing along air-float guide rail.Rocking grating ruler measures the swing parameter of pendulum such as：The amplitude of oscillation,
Equilbrium position, swing period.It is calculated by the analysis of these parameters, the horizontal axis inertia and longitudinal barycenter that can obtain test specimen are joined
Number.The bottom of air-float guide rail is fixedly mounted on the lower plane on pedestal, the installation site of air-float guide rail, needs to ensure air floatation ball
The docking plane of head is horizontal along pendulum front-rear direction.Electric rotating machine holder is that " several " word shape, both sides are rigid by bolt
Property is connected in the bottom plane of pendulum, and middle section lower surface is rigidly connected with rotary drive motor stator by bolt.Rotation
It includes brake cylinder and shaft coupling two parts to turn brake cylinder.The cylinder sleeve of brake cylinder is bolt-connected to electric rotating machine holder
Middle section upper surface.Compressed air is passed through in brake cylinder, the dynamic cylinder of brake cylinder is moved to central axial direction, finally
It is pressed on shaft coupling, has the function that lock torsion-bar spring root.
Pendulum back to zero component is by friction pulley, back to zero leading screw, pressure sensor, pendulum back to zero driving motor, back to zero retarder
Deng composition.Pendulum back to zero modular construction composition is as shown in Figure 5.Pendulum back to zero component has 2 sets, is separately mounted to a left side for pendulum mass component
Right both sides.Back to zero retarder is fixedly mounted in output end on pedestal；Back to zero speed reducer follower gear passes through spiral shell with feed screw nut
Bolt is fixedly connected, and back to zero leading screw coordinates with feed screw nut, and by the rotation of feed screw nut, back to zero lead screw can carry out front and back shifting
It is dynamic, realize the function of pendulum back to zero；Back to zero reducer input shaft and the input shaft of pendulum back to zero driving motor pass through back to zero motor
Shaft coupling is fixedly connected.The stator of pendulum back to zero driving motor is fixedly connected with back to zero retarder input terminal.Pressure sensor one
End is connect with back to zero leading screw, and one end is connect with friction pulley.Friction pulley can not only roll in the plane of the left and right sides of pendulum, but also
It can be completely disengaged with pendulum, ensure freely swinging for pendulum.
Barycenter, rotary inertia and the product of inertia of spacecraft are carried out using multi-parameter spherical surface air-bearing mass property testboard
The implementation steps of test are as follows：
(1) the spacecraft suspender with hang hook steelyard is used, spacecraft is lifted and is connected in multi-parameter spherical surface air-bearing matter
Flow characteristic testboard, it is of poor quality before and after lifting by measuring, calculate the quality m of spacecraft；
(2) it is passed through the compressed air of certain pressure between the gentle floating ball nest of air supporting bulb, forms spherical surface air film.
(3) according to the measurement data of rocking grating ruler, using back to zero leading screw, by the docking plane regulating of air supporting bulb to water
Level state, levelness are better than 0.02mm/m；Record the measured value F of pressure sensor at this time.By following calculation formula, calculate
The lateral barycenter of first of product (is denoted as Yc)。
Yc=F × L/m；
In formula：Yc--- lateral Y-axis barycenter；
The measured value of F --- pressure sensor；
Distance of the installation site of L --- pressure sensor to the centre of sphere；
(4) between air supporting set and supporting sleeve and air supporting set and plane air supporting lower wall be passed through certain pressure compression it is empty
Gas is respectively formed column air film and flat annular air film.Make space flight using electric rotating machine according to the measurement data for rocking grating scale
Device is rotated by 90 ° counterclockwise around axle of the plummet.It bleeds off between air supporting set and supporting sleeve and the compression of air supporting set and plane air supporting lower wall
Air.
(5) again according to the measurement data of rocking grating ruler, using back to zero leading screw, by the docking plane regulating of air supporting bulb
To horizontality, the measured value of pressure sensor at this time is recorded, second lateral barycenter for calculating product (is denoted as Zc).It calculates
Formula is the same as first lateral barycenter Yc。
(6) between air supporting set and supporting sleeve and air supporting set and plane air supporting lower wall be passed through certain pressure compression it is empty
Gas is respectively formed column air film and flat annular air film.Using back to zero leading screw, by the docking plane regulating of air supporting bulb to level
State.Compressed air is passed through in brake cylinder, spin brake cylinder holds torsion-bar spring tightly.
(7) torsional movement driving mechanism is opened, so that air supporting bulb and spacecraft is done torsional movement together, utilizes Survey Software
Record rocks the torsional movement cycle T that optical grating ruler measurement obtainsN, amplitude, the information such as phase, pass through the period of torsional movement, meter
The rotary inertia calculated around axle of the plummet (is denoted as Ix).Calculation formula is as follows：
Ix=K × TN 2。
In formula：Ix--- around the rotary inertia of X-axis；
The coefficient of torsional rigidity of K --- torsion-bar spring；
TN--- rock the period；
(8) it bleeds off between air supporting set and supporting sleeve and the compressed air of air supporting set and plane air supporting lower wall.It withdraws completely
The small back to zero leading screw of pressure value, it is reversed to release the big back to zero leading screw of pressure value, so that the docking plane of air supporting bulb is had with horizontal plane
1 ° of angle.
(9) back to zero leading screw is recalled rapidly, so that air supporting bulb is made freely around the centre of sphere together with spacecraft, the pendulum swings.It swings
Optical grating ruler measurement pendulum motion records the cycle T of pendulum pendulum motionz, amplitude, the balance information such as phase angle θ.It is put by pendulum
Dynamic computation of Period goes out first rotary inertia around trunnion axis and (is denoted as Iy), the height of spacecraft can be calculated by phase information
The barycenter data in direction (is denoted as Xc)。
It calculates and is around the calculation formula of trunnion axis：
Iy=(mgL0Tz 2)/(4π2)
In formula：Iy--- around the rotary inertia of Y-axis；
The quality of m --- spacecraft；
G --- acceleration of gravity；
Tz--- swing period；
L0--- the distance of spacecraft centroid to the centre of sphere；
The formula of barycenter for calculating the short transverse of spacecraft is:
Xc=Yc×ctg(θ)
In formula：Xc--- longitudinal X-axis barycenter；
Yc--- lateral Y-axis barycenter；
θ --- balance phase angle；
(10) between air supporting set and supporting sleeve and air supporting set and plane air supporting lower wall be passed through certain pressure compression it is empty
Gas is respectively formed column air film and flat annular air film.Make space flight using electric rotating machine according to the measurement data for rocking grating scale
Device is rotated by 90 ° counterclockwise around axle of the plummet.It bleeds off between air supporting set and supporting sleeve and the compression of air supporting set and plane air supporting lower wall
Air.
(11) operation of (9) step is repeated, the rotary inertia for calculating second trunnion axis (is denoted as Iz).Calculation formula is same
First rotary inertia I around trunnion axisy。
(12) between air supporting set and supporting sleeve and air supporting set and plane air supporting lower wall be passed through certain pressure compression it is empty
Gas is respectively formed column air film and flat annular air film.Make space flight using electric rotating machine according to the measurement data for rocking grating scale
Device rotates 45 ° around axle of the plummet counterclockwise.It bleeds off between air supporting set and supporting sleeve and the compression of air supporting set and plane air supporting lower wall
Air.
(13) operation of (9) step is repeated, the rotary inertia for calculating third trunnion axis (is denoted as I3).By surveying above
The rotary inertia value of 3 trunnion axis measured, can calculate 1 and go out and (be denoted as I about the product of inertia parameter of 2 trunnion axisyz)。
Calculation formula is：
Iyz=(Iy+Iz-2×I3)/2
In formula：Iyz--- about Y-axis, the product of inertia of Z axis；
Iy--- around the rotary inertia of Y-axis；
Iz--- rotary inertia about the z axis；
I3--- around the rotary inertia of third axis；
(14) between air supporting set and supporting sleeve and air supporting set and plane air supporting lower wall be passed through certain pressure compression it is empty
Gas is respectively formed column air film and flat annular air film.According to the measurement data of rocking grating ruler, using back to zero leading screw, by air supporting
The docking plane regulating of bulb to horizontality,
(15) control electric rotating machine movement, spacecraft certain rotational speed omega (such as：Make at the uniform velocity rotation fortune under 60rpm)
It is dynamic, the measured value of pressure sensor is recorded in real time and rocks the angle value of grating scale.Survey Software is by analyzing above-mentioned 2 measurements
Value, can calculate 2 product of inertia parameters about axle of the plummet and (be denoted as IxyAnd Izx)。
It calculates as follows about the formula of the product of inertia parameter of axle of the plummet：
In formula：Ixy--- about X-axis, the product of inertia of Y-axis；
Izx--- about X-axis, the product of inertia of Z axis；
E --- lateral centroid motion,
ω --- rotary speed；
T --- the time；
ψ0--- sensor orientation angle；
ψ1--- barycenter azimuth,
ψ2--- unbalanced couple square azimuth；
Note：It is other that not note symbol consistent with the symbolic significance of aforementioned formula.
Claims (14)
1. multi-parameter spherical surface air-bearing mass property testboard, including ball air-bearing component, oscillating bar assembly, pendulum mass component with
And two sets of pendulum back to zero components at left and right sides of pendulum mass component are separately mounted to, wherein：
Ball air-bearing component includes air supporting bulb, air supporting ball-and-socket, pedestal；Air supporting bulb is located at the top of whole equipment, air supporting
Bulb upper circular docking plane provide test specimen mechanical interface, lower part be segment structure, sphere center position higher than pair
Plane is connect, compressed air is passed through between segment and air supporting ball-and-socket, generates air film, air supporting bulb does undamped in air supporting ball-and-socket
Movement；Pedestal is cube frame structure, is the installation foundation of whole equipment, and air supporting ball-and-socket lower part passes through bolt with pedestal top
It is rigidly connected；
Oscillating bar assembly by supporting sleeve, torsion-bar spring, torsional movement driving mechanism, rock grating scale, rock driving motor, plane gas
Floating lower wall, electric rotating machine composition, supporting sleeve is hollow tubular structure, and top and the bottom of air supporting bulb are rigidly connected by bolt
It connects, lower part is rigidly connected with plane air supporting lower wall by bolt, and inside supporting sleeve, torsion-bar spring top passes through torsion-bar spring
Torsion bar key and torsion bar nut are connect with the bottom rigid of air supporting bulb；Torsion-bar spring lower part is fastened by shaft coupling and electric rotating machine
Connection rocks grating scale and is rigidly connected to supporting sleeve medium position, and driving motor movement is rocked in the driving of torsional movement driving mechanism；
Pendulum mass component includes pendulum, air supporting set, rocking grating ruler, plane air-float guide rail, electric rotating machine holder, spin brake gas
Cylinder, wherein air supporting set are hollow cylindrical structure, and air supporting set is sleeved on supporting sleeve lower part, is placed on air supporting lower wall, air supporting set
Hollow cylinder intracoelomic cavity and supporting sleeve lower cylindrical lateral surface take clearance fit；It is hollow cylinder structure in the middle part of pendulum, with
Air supporting set cylindrical outer side surface is connected by screw bolts to form rigid connection, and pendulum top, which is installed, rocks driving motor, in pendulum lower part
Between region be planar structure, front and rear sides are circular arc camber, and rocking grating ruler is mounted on circular arc camber, the front and rear sides of pendulum
Clearance fit is taken between plane and plane air-float guide rail plane, compressed air is passed through in gap, forms plane air film, pendulum
Undamped simple harmonic quantity swing is carried out along air-float guide rail；The bottom of air-float guide rail is fixedly mounted on the lower plane on pedestal, rotation
Electric machine support both sides are rigidly connected in the bottom plane of pendulum, and middle section lower surface is rigid by bolt with rotary electric machine
Property connection；The cylinder sleeve of brake cylinder is connected to electric rotating machine holder middle section upper surface；
Pendulum back to zero component includes friction pulley, back to zero leading screw, pressure sensor, pendulum back to zero driving motor, back to zero retarder,
The output end of middle back to zero retarder is fixedly mounted on pedestal, and output shaft and back to zero leading screw one end of back to zero retarder rigidly connect
It connects, the input shaft of back to zero retarder is fixedly connected with the output shaft of pendulum back to zero driving motor, and pendulum back to zero driving motor is determined
Son is fixedly connected with back to zero retarder input terminal, and pressure sensor one end is connect with back to zero leading screw, and one end is connect with friction pulley, is rubbed
Wiping wheel can not only roll in the plane of the left and right sides of pendulum, but also can be completely disengaged with pendulum, ensure freely swinging for pendulum.
2. multi-parameter spherical surface air-bearing mass property testboard as described in claim 1, wherein torsional movement driving mechanism
It is made of driving gear and follower gear, follower gear is rigidly attached on supporting sleeve medium position, driving gear and rocks drive
Dynamic motor is rigidly connected by gear key；It rocks driving motor and is rigidly connected with pendulum by rocking driving motor holder.
3. multi-parameter spherical surface air-bearing mass property testboard as claimed in claim 2, wherein rock driving motor drive
Driving gear rotates 1 week, and main, follower gear engagement detaches 1 time；When gear engages, driving gear drives follower gear, torsion bar bullet
First spring, supporting sleeve and air floatation ball torsion, after main, follower gear separation, in the work of the torsion restoring moment of torsion-bar spring
Under, gun iron link air supporting bulb, air supporting set and torsion-bar spring together, follower gear are carried out together about torsion-bar spring axis
Torsional movement.
4. multi-parameter spherical surface air-bearing mass property testboard as described in claim 1, wherein electric rotating machine holder is to fall
" several " word shape.
5. multi-parameter spherical surface air-bearing mass property testboard as described in claim 1, wherein be passed through in brake cylinder
The dynamic cylinder of compressed air, brake cylinder is moved to central axial direction, is finally pressed on shaft coupling, and locking torsion-bar spring is reached
The effect of root.
6. multi-parameter spherical surface air-bearing mass property testboard as described in claim 1, wherein the supporting sleeve of oscillating bar assembly
Rigid connection is realized by key and bolt at air supporting bulb with torsion-bar spring.
7. multi-parameter spherical surface air-bearing mass property testboard as described in claim 1, wherein the centre of sphere position of air supporting bulb
It sets and is higher than interface plane.
8. multi-parameter spherical surface air-bearing mass property testboard as described in claim 1, wherein the gentle floating ball of air supporting bulb
It is passed through the compressed air of certain pressure between nest, forms spherical surface air film, and is passed through centainly between plane air-float guide rail and pendulum
The compressed air of pressure forms two-sided rectangle air film.
9. multi-parameter spherical surface air-bearing mass property testboard as described in claim 1, wherein to air supporting set and supporting sleeve
Between and air supporting set and plane air supporting lower wall between be passed through the compressed air of certain pressure, be respectively formed column air film peace
Face ring shape air film, spin brake cylinder hold torsion-bar spring bottom tightly, rock driving motor and drive swinging unit rotation, make air supporting
Bulb and oscillating bar assembly form initial windup-degree；Discharge torsional moment, under the action of torsion-bar spring, air supporting bulb and swing rod
Group does undamped torsional movement around axle of the plummet.
10. multi-parameter spherical surface air-bearing mass property testboard as described in claim 1, wherein rocking grating scale has
It is rotation angle of the measure-ball relative to pedestal that two, which measure function i.e. one, to determine test product and pendulum mass component movement side
To angle parameter, the orientation for determining test product；Second is that doing undamped around axle of the plummet in bulb and swing rod group rocks fortune
When dynamic, the angle rocked is measured in real time, is rocked the period to obtain, is further calculated out around the rotary inertia parameter for rocking axis.
11. multi-parameter spherical surface air-bearing mass property testboard as claimed in claim 3, wherein driving gear is monodentate
Gear, follower gear have multiple teeth, driving gear to be attached by gear key by rocking the output shaft of driving motor, are servo-actuated
Gear is connect by being fitted close with supporting sleeve.
12. multi-parameter spherical surface air-bearing mass property testboard as described in claim 1, wherein pendulum back to zero component
The lead screw movement of back to zero leading screw only has translational motion, cannot there is rotary motion.
13. multi-parameter spherical surface air-bearing mass property testboard as described in claim 1, wherein pendulum lower edge is used for
The bottom edge of rocking grating ruler is installed, the center of circle of place circle is overlapped with the centre of sphere of bulb.
14. carrying out spacecraft matter using any one of the claim 1-13 multi-parameter spherical surface air-bearing mass property testboards
The method of flow characteristic test, includes the following steps：
1）Spacecraft is once installed on multi-parameter spherical surface air-bearing mass property testboard；
2）It is using the measurement data of back to zero leading screw and rocking grating ruler, the docking plane regulating of air supporting bulb is horizontal, record pressure
The measured value of force snesor can measure the barycenter data of first horizontal direction of spacecraft using Survey Software；
3）Using electric rotating machine, spacecraft is made to be rotated by 90 ° counterclockwise around axle of the plummet；
4）Again, the docking plane regulating for adjusting air supporting bulb is horizontal, records the measured value of pressure sensor, utilizes Survey Software
The barycenter data of second horizontal direction of spacecraft can be measured；
5）Under conditions of the docking planar horizontal of air supporting bulb, spin brake cylinder holds torsion-bar spring tightly, drives torsional movement
Driving mechanism makes air supporting bulb and spacecraft do torsional movement together, rocks optical grating ruler measurement using Survey Software record and rocks
The information such as period, amplitude, the phase of movement can calculate the rotary inertia around axle of the plummet by the period of torsional movement；
6）Back to zero leading screw is reversely released, and so that the docking plane of air supporting bulb and horizontal plane is had 2 ° of angle, is recalled back to zero silk rapidly
Thick stick makes air supporting bulb freely swing around the centre of sphere together with spacecraft, and rocking grating ruler measures pendulum motion, is remembered using Survey Software
The information such as period, amplitude, the phase of pendulum motion are recorded, it is used to calculate first rotation around trunnion axis by swing period
Amount, the barycenter data of the short transverse of spacecraft can be calculated by phase information；
7）Under the driving of electric rotating machine, spacecraft is made to rotate clockwise 90 ° around axle of the plummet, repeats the 6th）The operation of step, can be with
Calculate the rotary inertia of second trunnion axis；
8）Under the driving of electric rotating machine, spacecraft is made to rotate clockwise 45 ° around axle of the plummet, repeats the 6th）The operation of step, can be with
The rotary inertia for calculating third trunnion axis can be calculated by the rotary inertia value of 3 trunnion axis measured above
1 product of inertia parameter gone out about 2 trunnion axis；
9）Under the driving of electric rotating machine, spacecraft is in certain rotating speed（60rpm）Under make uniform speed rotation, record pressure sensing
The measured value of device and the angle value for rocking grating scale, pass through the product of inertia parameter that axle of the plummet is calculated of above-mentioned parameter.
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| CN109115404A (en) * | 2018-10-16 | 2019-01-01 | 天津中精微仪器设备有限公司 | Air-bearing measures rotary inertia device |
| CN110906862A (en) * | 2019-12-02 | 2020-03-24 | 哈尔滨工业大学 | Geometric morphology and quality characteristic integrated measuring device for large-scale high-speed rotation equipment |
| CN112629805A (en) * | 2021-01-07 | 2021-04-09 | 中国空气动力研究与发展中心超高速空气动力研究所 | Low-damping pitching dynamic supporting device for wind tunnel free oscillation test |
| CN112857671A (en) * | 2021-02-25 | 2021-05-28 | 哈尔滨工业大学 | Function switching device for quality characteristic parameter integrated test equipment |
| CN113358280A (en) * | 2021-06-02 | 2021-09-07 | 上海交通大学 | High-precision rotational inertia measuring device |
| CN114061833A (en) * | 2021-11-11 | 2022-02-18 | 北京卫星环境工程研究所 | Centroid measurement air-float balance |
| CN116464709A (en) * | 2023-06-20 | 2023-07-21 | 中国科学院长春光学精密机械与物理研究所 | Air supporting rotating platform |
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| CN109115404A (en) * | 2018-10-16 | 2019-01-01 | 天津中精微仪器设备有限公司 | Air-bearing measures rotary inertia device |
| CN110906862A (en) * | 2019-12-02 | 2020-03-24 | 哈尔滨工业大学 | Geometric morphology and quality characteristic integrated measuring device for large-scale high-speed rotation equipment |
| CN110906862B (en) * | 2019-12-02 | 2022-01-25 | 哈尔滨工业大学 | Geometric morphology and quality characteristic integrated measuring device for large-scale high-speed rotation equipment |
| CN112629805A (en) * | 2021-01-07 | 2021-04-09 | 中国空气动力研究与发展中心超高速空气动力研究所 | Low-damping pitching dynamic supporting device for wind tunnel free oscillation test |
| CN112629805B (en) * | 2021-01-07 | 2022-08-12 | 中国空气动力研究与发展中心超高速空气动力研究所 | Low-damping pitching dynamic supporting device for wind tunnel free oscillation test |
| CN112857671B (en) * | 2021-02-25 | 2023-10-27 | 哈尔滨工业大学 | Function switching device for quality characteristic parameter integrated test equipment |
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| CN113358280A (en) * | 2021-06-02 | 2021-09-07 | 上海交通大学 | High-precision rotational inertia measuring device |
| CN113358280B (en) * | 2021-06-02 | 2024-01-16 | 上海交通大学 | High-precision rotational inertia measuring device |
| CN114061833A (en) * | 2021-11-11 | 2022-02-18 | 北京卫星环境工程研究所 | Centroid measurement air-float balance |
| CN116464709B (en) * | 2023-06-20 | 2023-09-05 | 中国科学院长春光学精密机械与物理研究所 | Air supporting rotating platform |
| CN116464709A (en) * | 2023-06-20 | 2023-07-21 | 中国科学院长春光学精密机械与物理研究所 | Air supporting rotating platform |
| CN118050171A (en) * | 2024-04-15 | 2024-05-17 | 合肥倍豪海洋装备技术有限公司 | Multifunctional test bed for ship performance test |
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