CN108444706B - 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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- CN108444706B CN108444706B CN201810325271.2A CN201810325271A CN108444706B CN 108444706 B CN108444706 B CN 108444706B CN 201810325271 A CN201810325271 A CN 201810325271A CN 108444706 B CN108444706 B CN 108444706B
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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 that ball air-bearing component, oscillating bar assembly, pendulum mass component and pendulum return to zero 4 parts of component, the present invention passes through four parts with specific structure, and the air bearing 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 the field of test technology.In addition, the present invention can also be handed in automobile, train etc.
It is used in the fields such as the vehicle and components, aviation, weapon of logical means of transport, completes the mass property test of Related product.
Background technique
At this stage, spacecraft mass characteristic testing equipment is turned by mass center rotary inertia combined test stand and three coordinate of linear type
It changes planes composition, wherein mass center rotary inertia combined test stand can be composed of mass center platform and rotary inertia platform.Wherein, mass center turns
1 installation of dynamic inertia combined test stand, the quality, 2 lateral mass center 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 positional relationship automatic conversion between coordinate system.
Three coordinate converting machine measuring technology is exactly by mass center 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
Positional relationship between coordinate system can measure the all-mass characterisitic parameters such as quality, mass center, rotary inertia, the product of inertia.
However, three coordinate converting machine measuring technology still has biggish defect.First is that: it must manufacture and design and be produced with tested
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: as the enlargement of spacecraft develops, developing larger three coordinate converting machine, there are huge technical difficulties.Three
Be: the measurement of the product of inertia belongs to indirect measurement, not high relative to dynamic balancing machine method measuring accuracy；
Summary of the invention
Technical problem solved by the present invention is providing one kind may be implemented the integrated survey of mass center, rotary inertia, the product of inertia
Try equipment.Spacecraft is primary in testboard installation positioning of the invention by easy lateral tooling, can measure 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 pendulums being separately mounted at left and right sides of pendulum mass component return to zero component, in which:
Ball air-bearing component includes air bearing bulb, air bearing ball-and-socket, pedestal；Air bearing bulb is located at the top of whole equipment,
The upper circular docking plane of air bearing 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 bearing ball-and-socket, generates air film, air bearing bulb does nothing in air bearing ball-and-socket
Damped motion；Pedestal is cube frame structure, is the installation foundation of whole equipment, air bearing ball-and-socket lower part passes through with pedestal top
Bolt is rigidly connected；
Oscillating bar assembly by support sleeve, torsion-bar spring, torsional movement driving mechanism, rock grating scale, rock driving motor, flat
Face air bearing lower wall, rotating electric machine composition, support sleeve is hollow tubular structure, and the bottom of top and air bearing bulb is rigid by bolt
Connection, lower part and plane air bearing lower wall are rigidly connected by bolt, and for torsion-bar spring inside support sleeve, torsion-bar spring top is logical
It crosses torsion bar key and torsion bar nut is connect with the bottom rigid of air bearing bulb；Torsion-bar spring lower part is tight by shaft coupling and rotating electric machine
It is solidly connected, rocks grating scale and be rigidly connected to support 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 bearing set, rocking grating ruler, plane air-float guide rail, rotating electric machine bracket, spin brake
Cylinder, wherein air bearing set is hollow cylindrical structure, and air bearing set is sleeved on support sleeve lower part, is placed on air bearing lower wall, air bearing
The hollow cylinder intracoelomic cavity and support sleeve lower cylindrical lateral surface of set take clearance fit；It is hollow cylinder structure in the middle part of pendulum,
It is connected by screw bolts to form rigid connection with air bearing 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, the front and back 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 the swing of undamped simple harmonic quantity along air-float guide rail；The bottom of air-float guide rail is fixedly mounted on the lower plane on pedestal, rotation
Rotating motor bracket two sides are rigidly connected in the bottom plane of pendulum, and middle section lower surface and rotary electric machine pass through bolt
Rigid connection；The cylinder sleeve of brake cylinder is connected to rotating electric machine bracket middle section upper surface；
Pendulum returns to zero component and includes friction pulley, returns to zero lead screw, pressure sensor, pendulum and return to zero driving motor, return to zero deceleration
Device returns to zero the output shaft of retarder and to return to zero lead screw one end rigid wherein the output end for returning to zero retarder is fixedly mounted on pedestal
Property connection, the input shaft for returning to zero retarder and the output shaft that pendulum returns to zero driving motor be fixedly connected, and pendulum returns to zero driving motor
Stator be fixedly connected with retarder input terminal is returned to zero, pressure sensor one end is connect with lead screw is returned to zero, 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 completely disengage with pendulum, guarantee 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 passes through gear key rigid connection with driving motor is rocked；Driving motor is rocked by rocking drive
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 separates 1 time；Gear engagement
When, driving gear drives follower gear, torsion-bar spring, support sleeve and air floatation ball first torsion, main, follower gear separation
Afterwards, under the action of the torsion restoring moment of torsion-bar spring, air bearing bulb, air bearing 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, rotating electric machine bracket 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 support sleeve of oscillating bar assembly and torsion-bar spring realize that rigidity connects by key and bolt at air bearing bulb
It connects.
Wherein, the sphere center position of air bearing 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 bearing 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, certain pressure is passed through between air bearing set and support sleeve and between air bearing set and plane air bearing 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 bearing 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 bearing bulb and swing rod group do undamped torsional movement around axle of the plummet.
Wherein, it rocks grating scale tool there are two measurement functions i.e. first is that rotation angle of the measure-ball relative to pedestal, with
The angle parameter for determining test product Yu the pendulum mass component direction of motion, for determining the orientation of test product；Second is that in bulb and
When swing rod group does undamped torsional movement around axle of the plummet, the angle that real-time measurement is rocked is rocked the period to obtain, is further calculated
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 support sleeve (3).
Wherein, the screw rod movement for returning to zero lead screw that pendulum returns to zero component only has translational motion, cannot there is rotary motion.
Wherein, pendulum lower edge, for installing the bottom edge of rocking grating ruler, the center of circle of place circle and the centre of sphere weight of bulb
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) using the measurement data for returning to zero lead screw and rocking grating ruler, the docking plane regulating of air bearing 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) rotating electric machine is used, is rotated by 90 ° spacecraft counterclockwise around axle of the plummet.
4) the docking plane regulating for again, adjusting air bearing 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 bearing bulb, spin brake cylinder holds torsion-bar spring tightly, and driving is rocked
Motion driving mechanism makes air bearing bulb and spacecraft do torsional movement together, rocks optical grating ruler measurement 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) it returns to zero lead screw reversely to release, so that the docking plane of air bearing bulb and horizontal plane is had 2 ° of angle, recall back rapidly
Zero lead screw makes air bearing bulb freely swing together with spacecraft around the centre of sphere, and rocking grating ruler measures pendulum motion, soft using measuring
Part records the information such as period, amplitude, the phase of pendulum motion, can calculate first rotation around trunnion axis by swing period
Inertia can calculate the barycenter data of the short transverse of spacecraft by phase information.
7) under the driving of rotating electric 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 rotating electric 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 rotating electric machine, spacecraft makees uniform speed rotation at certain revolving 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 where machine, it can measure to obtain all-mass characterisitic parameter.Realize final purpose of the invention.
The technological approaches that the present invention is measured by using spherical surface air-bearing does not need to participate in matter using three coordinate converting machine
The process of flow characteristic measurement, improves the bearing capacity of testboard, overcomes the technical difficulty for developing large-scale three coordinate converting machine,
To realize the integrated test of mass center, rotary inertia, the product of inertia, the test essence of the product of inertia is improved by dynamic balance method
Degree.
Detailed description of the invention
Fig. 1 is multi-parameter spherical surface air-bearing mass property testing bench structure schematic diagram of the invention；
Wherein, 1 is air bearing bulb；2 be torsion-bar spring；3 be support sleeve；4 be pedestal；5 be air bearing ball-and-socket；6 be to rock fortune
Dynamic driving mechanism；7 be air bearing set；8 be friction pulley；9 be to return to zero lead screw；10 be pressure sensor；11 be rocking grating ruler；12 are
Plane air bearing lower wall；13 be rotating electric machine；14 return to zero driving motor for pendulum；15 be to return to zero retarder；16 be rotating electric 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 multi-parameter spherical surface air-bearing mass property testboard oscillating bar assembly structure chart of the invention
Wherein, 1 is air bearing bulb；2 be torsion-bar spring；4 be pedestal；5 be air bearing ball-and-socket；12 be plane air bearing lower wall；13
For rotating electric 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 rotating electric machine shaft joint；30 is electric to rock driving
Machine shaft joint.
Fig. 3 is multi-parameter spherical surface air-bearing mass property testboard torsional movement driving mechanism structure figure of the invention.
Wherein, 3 be support 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 multi-parameter spherical surface air-bearing mass property testboard pendulum mass component structure chart of the invention
Wherein, 2 be torsion-bar spring；3 be support sleeve；7 be air bearing set；8 be friction pulley；9 be to return to zero lead screw；11 be swing light
Grid ruler；12 be plane air bearing lower wall；13 be rotating electric machine；16 be rotating electric machine bracket；17 be spin brake cylinder；18 be pendulum
Hammer；19 be plane air-float guide rail；29 be rotating electric machine shaft joint；31 be rocking grating ruler bracket；32 be plane air-float guide rail branch
Frame.
Fig. 5 is that multi-parameter spherical surface air-bearing mass property testboard pendulum group of the invention returns to zero part structure chart
Wherein, 4 be pedestal；8 be friction pulley；9 be to return to zero lead screw；10 be pressure sensor；11 be rocking grating ruler；18 are
Pendulum；33 be to return to zero speed reducer follower gear；34 be to return to zero screw；35 be to return to zero motor；36 be to return to zero motor shaft coupling；37 are
Return to zero speed reducer driving gear；38 be to return to zero motor mounting rack；39 be to return to zero axis connection key；40 be to return to zero axis.
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments, these specific embodiments 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 return to zero component four by ball air-bearing component, oscillating bar assembly, pendulum mass component and pendulum
It is grouped as.
Ball air-bearing component is made of air bearing bulb, air bearing ball-and-socket, pedestal, ball air-bearing modular construction such as Fig. 2 institute
Show.Air bearing 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.The design of air bearing ball-and-socket lower part has annular air channel and annular seal groove, In
Sealing ring is installed in seal groove.Air bearing 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 bearing bulb provides pressure balanced compressed air.It is designed on the sphere curved surface of air bearing ball-and-socket
There is many places cutoff hole, compressed air is flowed out from cutoff hole, and about 0.1mm thickness is collectively formed with the sphere curved surface of air bearing bulb
Air film.Air bearing bulb can make three kinds of undamped movements around the centre of sphere in air bearing ball-and-socket, first is that, make clock in vertical plane
Pendular motion, second is that, it rotates in horizontal plane or torsional movement, third is that, 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 support sleeve, torsion-bar spring, torsional movement driving mechanism, rock grating scale, rock driving motor, flat
The composition such as face air bearing lower wall, rotating electric machine.Oscillating bar assembly structure is as shown in Figure 2.Oscillating bar assembly be air bearing bulb in the horizontal plane
Torsional movement executing agency and measuring mechanism.The main function of support sleeve is connection air bearing bulb and pendulum mass component, is formed
One pendulum subsystem.The bottom of the support sleeve of hollow tubular structure, top and air bearing bulb is rigidly connected by bolt, lower part
It is rigidly connected with plane air bearing lower wall by bolt.Torsion-bar spring is one of main execution unit of torsional movement, torsion-bar spring
Inside support sleeve, torsion-bar spring top is connect by flat key structure and helicitic texture with the bottom rigid of air bearing bulb.
Torsion-bar spring lower part is fastenedly connected by shaft coupling and rotating electric machine.It rocks grating scale and is rigidly connected to support 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 on support sleeve medium position by bolt arrangement.Driving gear leads to gear key with driving motor is rocked
Structural rigidity connection, rocks driving motor and is rigidly connected by rocking driving motor bracket with pendulum.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 separate 1 time.Before being engaged to separation, driving gear drive follower gear, torsion-bar spring,
Support sleeve and air floatation ball first torsion.After main, follower gear separation, under the action of the restoring moment of torsion-bar spring, steel
The air bearing bulb that property links together, air bearing 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 the test of longitudinal axis rotary inertia it is theoretical according to
According to.
Pendulum mass component is by pendulum, air bearing set, rocking grating ruler, plane air-float guide rail, rotating electric machine bracket, spin brake gas
The composition such as cylinder.Air bearing set is hollow cylindrical structure, and air bearing set is sleeved on support sleeve lower part, is placed on air bearing lower wall.It is hollow
Cylindrical cavity and support sleeve lower cylindrical lateral surface take clearance fit, are passed through compressed air in this gap, form column
Air film.After being passed through compressed air between air bearing set lower surface and the upper surface of air bearing lower wall, circular ring shape air film can be formed.Column
Air film and circular ring shape air film when torsion-bar spring, support sleeve and air floatation ball head do torsional movement, guarantee moving component not with air bearing
Set rubs, and guarantees that torsional movement is undamped motion.It is hollow cylinder structure in the middle part of pendulum, covers cylindrical outer side surface with air bearing
Using tight fit and bolted compound fixed form, pendulum is made to be rigidly connected with air bearing 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 bearing 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 adjustable air bearing bulb upper surface.The plane of the front and rear sides of pendulum is led with plane air bearing
Clearance fit is taken between rail plane, is passed through compressed air 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.By the analytical calculation of these parameters, the horizontal axis inertia and longitudinal mass center that can obtain test specimen are joined
Number.The bottom of air-float guide rail is fixedly mounted on the lower plane on pedestal, and the installation site of air-float guide rail needs to guarantee air floatation ball
The docking plane of head is horizontal along pendulum front-rear direction.Rotating electric machine bracket is that " several " word shape, two sides are rigid by bolt
Property be connected in the bottom plane of pendulum, middle section lower surface and rotary drive motor stator pass through bolt rigid connection.Rotation
Turning brake cylinder includes brake cylinder and shaft coupling two parts.The cylinder sleeve of brake cylinder is bolt-connected to rotating electric machine bracket
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 return to zero component by friction pulley, return to zero lead screw, pressure sensor, pendulum and return to zero driving motor, return to zero retarder
Deng composition.It is as shown in Figure 5 that pendulum returns to zero modular construction composition.Pendulum, which returns to zero component, 2 sets, is separately mounted to a left side for pendulum mass component
Right two sides.Retarder is returned to zero to be fixedly mounted on pedestal in output end；It returns to zero speed reducer follower gear and feed screw nut passes through spiral shell
Bolt is fixedly connected, and returns to zero lead screw and feed screw nut cooperates, by the rotation of feed screw nut, front and back shifting can be carried out by returning to zero screw rod
It is dynamic, realize the function that pendulum returns to zero；It returns to zero reducer input shaft and pendulum returns to zero the input shaft of driving motor by returning to zero motor
Shaft coupling is fixedly connected.The stator that pendulum returns to zero driving motor is fixedly connected with retarder input terminal is returned to zero.Pressure sensor one
Lead screw connection is held and returns to zero, 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, guarantee freely swinging for pendulum.
Mass center, 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 calculates the quality m of spacecraft by the of poor quality of measurement lifting front and back；
(2) it is passed through the compressed air of certain pressure between the gentle floating ball nest of air bearing bulb, forms spherical surface air film.
(3) according to the measurement data of rocking grating ruler, using lead screw is returned to zero, by the docking plane regulating of air bearing 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 mass center of first of product (is denoted as Yc)。
Yc=F × L/m；
In formula: Yc--- lateral Y-axis mass center；
The measured value of F --- pressure sensor；
Distance of the installation site of L --- pressure sensor to the centre of sphere；
(4) between air bearing set and support sleeve and air bearing set and plane air bearing 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 rotating electric 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 bearing set and support sleeve and the compression of air bearing set and plane air bearing lower wall
Air.
(5) again according to the measurement data of rocking grating ruler, using lead screw is returned to zero, by the docking plane regulating of air bearing bulb
To horizontality, the measured value of pressure sensor at this time is recorded, second lateral mass center for calculating product (is denoted as Zc).It calculates
Formula is the same as first lateral mass center Yc。
(6) between air bearing set and support sleeve and air bearing set and plane air bearing lower wall be passed through certain pressure compression it is empty
Gas is respectively formed column air film and flat annular air film.Using lead screw is returned to zero, by the docking plane regulating of air bearing 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 bearing 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 bearing set and support sleeve and the compressed air of air bearing set and plane air bearing lower wall.It withdraws completely
Pressure value it is small return to zero lead screw, it is reversed release pressure value it is big return to zero lead screw, have the docking plane of air bearing bulb with horizontal plane
1 ° of angle.
(9) it recalls rapidly and returns to zero lead screw, making air bearing bulb freely together with spacecraft around the centre of sphere, 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
The dynamic period calculates 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)。
Calculate the calculation formula around trunnion axis are as follows:
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；
Calculate the formula of the mass center of the short transverse of spacecraft are as follows:
Xc=Yc×ctg(θ)
In formula: Xc--- longitudinal X-axis mass center；
Yc--- lateral Y-axis mass center；
θ --- balance phase angle；
(10) between air bearing set and support sleeve and air bearing set and plane air bearing 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 rotating electric 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 bearing set and support sleeve and the compression of air bearing set and plane air bearing 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 bearing set and support sleeve and air bearing set and plane air bearing 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 rotating electric machine according to the measurement data for rocking grating scale
Device rotates 45 ° around axle of the plummet counterclockwise.It bleeds off between air bearing set and support sleeve and the compression of air bearing set and plane air bearing 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 (be denoted as I about the product of inertia parameter of 2 trunnion axis outyz)。
Calculation formula are as follows:
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 bearing set and support sleeve and air bearing set and plane air bearing 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 lead screw is returned to zero, by air bearing
The docking plane regulating of bulb to horizontality,
(15) control rotating electric machine movement, spacecraft certain rotational speed omega (such as: make under 60rpm) at the uniform velocity rotation fortune
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 --- rotation speed；
T --- the time；
ψ0--- sensor orientation angle；
ψ1--- mass center azimuth,
ψ2--- unbalanced couple square azimuth；
Note: other not infuse 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 pendulums being separately mounted at left and right sides of pendulum mass component return to zero component, in which:
Ball air-bearing component includes air bearing bulb, air bearing ball-and-socket, pedestal；Air bearing bulb is located at the top of whole equipment, air bearing
Bulb upper circular docking plane provide test specimen mechanical interface, lower part be segment structure, sphere center position be higher than pair
Plane is connect, compressed air is passed through between segment and air bearing ball-and-socket, generates air film, air bearing bulb does undamped in air bearing ball-and-socket
Movement；Pedestal is cube frame structure, is the installation foundation of whole equipment, and air bearing ball-and-socket lower part and pedestal top pass through bolt
It is rigidly connected；
Oscillating bar assembly by support sleeve, torsion-bar spring, torsional movement driving mechanism, rock grating scale, rock driving motor, plane gas
Floating lower wall, rotating electric machine composition, support sleeve are hollow tubular structures, and top and the bottom of air bearing bulb are rigidly connected by bolt
It connects, lower part and plane air bearing lower wall are rigidly connected by bolt, and inside support 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 bearing bulb；Torsion-bar spring lower part is fastened by shaft coupling and rotating electric machine
Connection rocks grating scale and is rigidly connected to support sleeve medium position, and driving motor movement is rocked in the driving of torsional movement driving mechanism；
Pendulum mass component includes pendulum, air bearing set, rocking grating ruler, plane air-float guide rail, rotating electric machine bracket, spin brake gas
Cylinder, wherein air bearing set is hollow cylindrical structure, and air bearing set is sleeved on support sleeve lower part, is placed on air bearing lower wall, air bearing set
Hollow cylinder intracoelomic cavity and support sleeve lower cylindrical lateral surface take clearance fit；It is hollow cylinder structure in the middle part of pendulum, with
Air bearing 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
The swing of undamped simple harmonic quantity 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 two 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 rotating electric machine bracket middle section upper surface；
Pendulum returns to zero component and includes friction pulley, returns to zero lead screw, pressure sensor, pendulum and return to zero driving motor, return to zero retarder,
In return to zero the output end of retarder and be fixedly mounted on pedestal, the output shaft for returning to zero retarder rigidly connects with lead screw one end is returned to zero
It connects, the input shaft for returning to zero retarder is fixedly connected with the output shaft that pendulum returns to zero driving motor, and pendulum returns to zero determining for driving motor
Son with return to zero retarder input terminal and be fixedly connected, pressure sensor one end is connect with lead screw is returned to zero, 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 completely disengage with pendulum, guarantee 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 support sleeve medium position, driving gear and rocks drive
Dynamic motor is rigidly connected by gear key；Driving motor is rocked to be rigidly connected by rocking driving motor bracket with pendulum.
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 separates 1 time；When gear engages, driving gear drives follower gear, torsion bar bullet
Spring, support sleeve and air floatation ball first torsion, after main, follower gear separation, in the work of the torsion restoring moment of torsion-bar spring
Under, gun iron link air bearing bulb, air bearing 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 rotating electric machine bracket 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 support sleeve of oscillating bar assembly
Rigid connection is realized by key and bolt at air bearing 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 bearing 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 bearing 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 bearing set and support sleeve
Between and air bearing set and plane air bearing 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 bearing
Bulb and oscillating bar assembly form initial windup-degree；Discharge torsional moment, under the action of torsion-bar spring, air bearing 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
Two measurement functions are i.e. first is that rotation angle of the measure-ball relative to pedestal, to determine test product and pendulum mass component movement side
To angle parameter, for determining the orientation of test product；Second is that doing undamped around axle of the plummet in bulb and swing rod group rocks fortune
When dynamic, the angle that real-time measurement is rocked 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, and driving gear is attached by rocking the output shaft of driving motor by gear key, are servo-actuated
Gear is connect by being fitted close with support sleeve.
12. multi-parameter spherical surface air-bearing mass property testboard as described in claim 1, wherein pendulum returns to zero component
The screw rod movement for returning to zero lead 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 testboard
The method of flow characteristic test, comprising the following steps:
1) spacecraft is once installed on multi-parameter spherical surface air-bearing mass property testboard；
2) using the measurement data for returning to zero lead screw and rocking grating ruler, the docking plane regulating of air bearing 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) rotating electric machine is used, is rotated by 90 ° spacecraft counterclockwise around axle of the plummet；
4) the docking plane regulating for again, adjusting air bearing 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 bearing bulb, spin brake cylinder holds torsion-bar spring tightly, drives torsional movement
Driving mechanism makes air bearing 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) it returns to zero lead screw reversely to release, so that the docking plane of air bearing bulb and horizontal plane is had 2 ° of angle, recall return to zero silk rapidly
Thick stick makes air bearing bulb freely swing together with spacecraft around the centre of sphere, 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 rotating electric machine, spacecraft is made to rotate clockwise 90 ° around axle of the plummet, repeats the operation of the 6) step, it can be with
Calculate the rotary inertia of second trunnion axis；
8) under the driving of rotating electric machine, spacecraft is made to rotate clockwise 45 ° around axle of the plummet, repeats the operation of the 6) step, it 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 about 2 trunnion axis out；
9) under the driving of rotating electric machine, spacecraft makees uniform speed rotation under certain revolving speed, records the survey of pressure sensor
Magnitude 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 |
| 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 |
| 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 |
| 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 |
| CN118050171B (en) * | 2024-04-15 | 2024-07-05 | 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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