CN109186859B - Space on-orbit object mass center measuring device and method - Google Patents
Space on-orbit object mass center measuring device and method Download PDFInfo
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- CN109186859B CN109186859B CN201811232905.6A CN201811232905A CN109186859B CN 109186859 B CN109186859 B CN 109186859B CN 201811232905 A CN201811232905 A CN 201811232905A CN 109186859 B CN109186859 B CN 109186859B
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- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/12—Static balancing; Determining position of centre of gravity
- G01M1/122—Determining position of centre of gravity
Abstract
A device and a method for measuring the mass center of a spatial on-orbit article are disclosed, wherein the device comprises: a fixed-axis rotating arm, a torsion spring and a velocimeter; the fixed-axis rotating arm is fixedly connected with the object to be tested, and meanwhile, the fixed-axis rotating arm is fixedly connected with any one tail end of the torsion spring; the velocimeter is used for measuring the rotating speed of the fixed-axis rotating arm. The relation between the mass center of the object and the fixed-axis moment of inertia of the object is utilized, and the position of the mass center of the object to be measured is determined through the inherent parameters of the device, the mass of the object and the speed obtained by measurement. The invention makes up the vacancy of the prior art and provides an article mass center measuring means which can be suitable for the space microgravity environment.
Description
Technical Field
The invention relates to a device and a method for measuring the mass center of a space on-orbit article, in particular to a method for measuring the mass center of an article in a microgravity environment in a spacecraft running on a space orbit.
Background
According to the principle classification, the existing mass center measuring methods mainly comprise a suspension method, a parallel rail rolling method, a balance method, a three-point method, a four-point method, a torsional vibration turntable rotational inertia measuring method, a theoretical analysis method for obtaining the mass center position of an object through certain simplification and calculation, and the like. Except for a theoretical analysis method, the existing method for measuring the mass center of an article is designed and implemented based on a ground gravity field, and the mass center of the article is mostly obtained by measuring the mass center of the article; the theoretical analysis method has severe restrictions on the conditions of the object to be measured, and has no wide applicability. Space stations and other spacecrafts running on the space orbit are in a microgravity environment, no available gravity field for measurement exists, and the existing object mass center measurement method cannot effectively play a role in the environment. At present, the space article mass measuring device under the microgravity environment is arranged and applied in a space laboratory in China, but the space article mass center measuring device under the microgravity environment is not available, and with the development of the aerospace industry in China, the defects of the device cannot meet the increasing requirements in the fields of space technology, space science tests, space manufacturing and the like.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the device and the method for measuring the mass center of the object are suitable for the space microgravity environment.
The technical scheme of the invention is as follows:
a device for measuring the mass center of a spatial on-orbit article comprises: the device comprises a fixed-axis rotating arm, a torsion spring, a velocimeter, a starting-end limiting plate and a tail-end limiting plate;
the fixed-axis rotating arm is fixedly connected with the object to be tested, and meanwhile, the fixed-axis rotating arm is fixedly connected with any one tail end of the torsion spring; the velocimeter is used for measuring the rotating speed of the fixed-axis rotating arm.
And the included angle between the starting end limiting plate and the tail end limiting plate is fixed, and the included angle is used for limiting the rotation angle of the fixed shaft rotating arm around the central axis of the torsion spring body.
The device also comprises a loading box; the article to be measured with loading case fixed connection, the loading case with dead axle rocking arm fixed connection, just the end of dead axle rocking arm stretches out the loading case.
The method for measuring the centroid of the article by using the spatial on-orbit article centroid measuring device comprises the following steps:
1) the spring body center shaft of the torsion spring is used as a rotating shaft, the fixed-shaft rotating arm is stirred to rotate around the rotating shaft for a certain angle, and then the fixed-shaft rotating arm is released, so that the fixed-shaft rotating arm rotates around the rotating shaft under the driving of the torsion spring;
2) measuring the rotating speed of the fixed-axis rotating arm by using the velocimeter;
3) determining the distance from the mass center of the object to be measured to the rotating shaft according to the rotating speed of the fixed-shaft rotating arm measured in the step 2);
4) determining a cylindrical surface by taking the rotating shaft as an axis and the distance from the center of mass of the article to be detected determined in the step 3) to the rotating shaft as a radius, and obtaining an arc surface formed by the cylindrical surface and the article to be detected in a penetrating manner;
5) changing the relative orientation between the object to be measured and the fixed-axis rotating arm, and repeating the steps 1) to 4) until 3 arc surfaces intersecting at one point are obtained;
6) determining the position of the centroid of the object to be measured according to the distance from the centroid of the object to be measured to the rotating shaft corresponding to the 3 arc surfaces intersected at one point obtained in the step 5), and finishing the centroid measurement work.
The method for measuring the centroid of the article by using the spatial on-orbit article centroid measuring device comprises the following steps:
1) at the initial moment, the fixed-axis rotating arm abuts against the tail end limiting plate;
2) the spring body middle shaft of the torsion spring is used as a rotating shaft, and the fixed-shaft rotating arm is stirred to rotate around the rotating shaft by a certain angle, so that the fixed-shaft rotating arm is attached to the initial end limiting plate;
3) releasing the fixed-axis rotating arm, and enabling the fixed-axis rotating arm to rotate around the rotating shaft under the driving of the torsion spring until the fixed-axis rotating arm is attached to the tail end limiting plate again;
4) measuring the rotating speed of the fixed-axis rotating arm by using the velocimeter;
5) determining the distance from the mass center of the object to be measured to the rotating shaft according to the rotating speed of the fixed-shaft rotating arm measured in the step 4);
6) determining a cylindrical surface by taking the rotating shaft as an axis and the distance from the center of mass of the article to be detected to the rotating shaft determined in the step 5) as a radius, and obtaining an arc surface formed by the cylindrical surface and the article to be detected in a penetrating manner;
7) changing the relative orientation between the object to be measured and the fixed-axis rotating arm, and repeating the steps 1) to 6) until 3 arc surfaces intersecting at one point are obtained;
8) determining the position of the centroid of the object to be measured according to the distance from the centroid of the object to be measured to the rotating shaft corresponding to the 3 arc surfaces intersected at one point obtained in the step 7), and finishing the centroid measurement work.
The method for determining the distance r from the centroid of the article to be detected to the rotating shaft specifically comprises the following steps:
wherein m is0Is the mass of the fixed-axis rotating arm, m is the mass of the object to be measured, T' is the torsional rigidity of the torsional spring, r0The distance from the mass center of the fixed shaft rotating arm to the rotating shaft is theta, a certain angle of the fixed shaft rotating arm rotating around the rotating shaft is theta, and n is the rotating speed of the fixed shaft rotating arm.
Compared with the prior art, the invention has the advantages that:
1) the invention avoids the dependence of the existing centroid measurement environment on the gravity field, realizes centroid measurement by utilizing the inherent mass distribution of the measured object, and realizes the measurement of the centroid of the object in the rail space microgravity environment.
2) The object loading box is used for fixedly loading the object to be measured, and the object to be measured can be effectively fixed in the space microgravity environment.
3) The invention realizes the centroid measurement by utilizing the inherent mass distribution of the measured object, can be used by placing the rotating shaft of the device vertical to the horizontal plane in the gravity environment, and has universality in the gravity environment, the microgravity environment and the gravity-free environment.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a schematic view of the apparatus of the present invention;
FIG. 3 is a schematic diagram of an article to be tested according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the measurement process of the method of the present invention.
Detailed Description
The invention discloses a device for measuring the mass center of a space on-orbit article, which is shown in figure 2 and comprises: a fixed-axis rotating arm 1, a torsion spring 2 and a velocimeter 3; the fixed-axis rotating arm 1 is fixedly connected with the object to be detected, and meanwhile, the fixed-axis rotating arm 1 is fixedly connected with any one tail end of the torsion spring 2; the velocimeter 3 is used for measuring the rotating speed of the fixed-axis rotating arm 1. The torsion spring 2 provides a restraining moment for the rotation of the dead axle swivel arm 1.
The method for measuring the center of mass of the article by using the device comprises the following steps:
1) the spring body center shaft of the torsion spring 2 is used as a rotating shaft, the fixed-axis rotating arm 1 is stirred to rotate around the rotating shaft for a certain angle, and then the fixed-axis rotating arm 1 is released, so that the fixed-axis rotating arm 1 rotates around the rotating shaft under the driving of the torsion spring 2;
2) measuring the rotating speed of the fixed-axis rotating arm 1 by using the velocimeter 3;
3) determining the distance from the mass center of the object to be measured to the rotating shaft according to the rotating speed of the fixed-shaft rotating arm 1 measured in the step 2);
4) determining a cylindrical surface by taking the rotating shaft as an axis and the distance from the center of mass of the article to be detected determined in the step 3) to the rotating shaft as a radius, and obtaining an arc surface formed by the cylindrical surface and the article to be detected in a penetrating manner;
5) changing the relative orientation between the object to be measured and the fixed-axis rotating arm 1, and repeating the steps 1) to 4) until 3 arc surfaces intersecting at one point are obtained;
6) determining the position of the centroid of the object to be measured according to the distance from the centroid of the object to be measured to the rotating shaft corresponding to the 3 arc surfaces intersected at one point obtained in the step 5), and finishing the centroid measurement work.
Preferably, the device also comprises a starting end limit plate 4, a tail end limit plate 5 and a loading box 6;
the straight line of the intersection of the starting end limiting plate 4 and the tail end limiting plate 5 is collinear with the spring body middle axis of the torsion spring 2; the included angle between the starting end limiting plate 4 and the tail end limiting plate 5 is fixed, and the included angle is used for limiting the rotation angle of the fixed-axis rotating arm 1 around the central axis of the spring body of the torsion spring 2. The positions among the rotating shaft of the fixed-shaft rotating arm 1, the starting-end limiting plate 4, the tail-end limiting plate 5 and the velocimeter 3 are relatively fixed, and the fixed-shaft rotating arm 1 is in a limiting state by the tail-end limiting plate 5 under the action of the torque of the torsion spring 2 in a natural state. When the loading box 6 and the fixed-axis rotating arm 1 deviate from the limiting position of the tail end limiting plate 5, the loading box and the fixed-axis rotating arm can rotate towards the tail end limiting plate 5 in an accelerating mode under the action of restoring torque of the torsion spring 2 until the fixed-axis rotating arm 1 resets to the limiting position of the tail end limiting plate 5. When the fixed-axis rotating arm 1 rotates by a certain angle theta in the resetting movement process, the velocimeter 3 can measure and obtain the movement speed v of the moving end of the fixed-axis rotating arm 1 at the passing moment.
The article to be measured with loading case 6 fixed connection, loading case 6 with dead axle rocking arm 1 fixed connection, just the end of dead axle rocking arm 1 stretches out loading case 6.
The method for measuring the centroid of the article by using the device, as shown in figure 1, comprises the following steps:
1) at the initial moment, the fixed-axis rotating arm 1 is attached to the tail end limiting plate 5;
2) the spring body middle shaft of the torsion spring 2 is used as a rotating shaft, and the fixed-shaft rotating arm 1 is stirred to rotate around the rotating shaft for a certain angle, so that the fixed-shaft rotating arm 1 is attached to the initial end limiting plate 4;
3) releasing the fixed-axis rotating arm 1, and enabling the fixed-axis rotating arm 1 to rotate around the rotating shaft under the driving of the torsion spring 2 until the fixed-axis rotating arm 1 abuts against the tail end limiting plate 5 again;
4) measuring the rotating speed of the fixed-axis rotating arm 1 by using the velocimeter 3;
5) determining the distance from the mass center of the object to be measured to the rotating shaft according to the rotating speed of the fixed-shaft rotating arm 1 measured in the step 4);
6) determining a cylindrical surface by taking the rotating shaft as an axis and the distance from the center of mass of the article to be detected to the rotating shaft determined in the step 5) as a radius, and obtaining an arc surface formed by the cylindrical surface and the article to be detected in a penetrating manner;
7) changing the relative orientation between the object to be measured and the fixed-axis rotating arm 1, and repeating the steps 1) to 6) until 3 arc surfaces intersecting at one point are obtained;
8) determining the position of the centroid of the object to be measured according to the distance from the centroid of the object to be measured to the rotating shaft corresponding to the 3 arc surfaces intersected at one point obtained in the step 7), and finishing the centroid measurement work.
The distance r from the centroid of the object to be measured to the rotating shaft can be determined through the position relation of the centroid of a multi-element system, a motion equation of a fixed-axis rotating system, a dynamic equation of a fixed-axis rotating rigid body, a torque restoring equation of a torsion spring and a system rotational inertia equation, and specifically comprises the following steps:
wherein m is0Is the mass of the fixed-axis rotating arm 1, m is the mass of the object to be measured, T' is the torsional rigidity of the torsional spring 2, r0The distance from the mass center of the fixed shaft rotating arm 1 to the rotating shaft is theta, a certain angle of the fixed shaft rotating arm 1 rotating around the rotating shaft is theta, and n is the rotating speed of the fixed shaft rotating arm 1. M in each of the above parameters0、θ、T'、l、r0The parameters are intrinsic parameters of the device for measuring the mass center of the space on-orbit object, and v is the parameters obtained by measuring the mass center of the space on-orbit object by using the method for measuring the mass center of the space on-orbit object. The fixed loading position of the object in the loading box is properly adjusted to carry out multiple measurements, and then the three-dimensional centroid coordinate of the object to be measured can be obtained.
Example 1:
the intrinsic parameters of the space on-orbit article mass center measuring device are specifically as follows: the rotation angle theta of the fixed-axis rotating arm 1 between the initial end limit plate 4 and the tail end limit plate 5 is 0.5rad, the torsional rigidity T' of the torsional spring 2 is 1.6Nm, the length l of the fixed-axis rotating arm 1 is 0.4m, and the sum m of the masses of the loading box 6 and the fixed-axis rotating arm 101kg, the distance r from the mass center of the loading box 6 empty box and fixed pivot arm 1 system to the rotating shaft of the fixed pivot arm 10＝0.18m。
A cuboid centroid article ABCDA 'B' C 'D' to be measured is shown in fig. 3, the mass m of the centroid article ABCDA 'B' C 'D' is 2kg, and the side length AB is 0.35 m.
When measuring this article barycenter, will be fixed in the loading case 6 with the fixed axis of rotation in the AA' limit subsides dress loading case 6 of article earlier, stir dead axle rocking arm 1 to paste the limited position of beginning limiting plate 4, as shown in figure 4, later release dead axle rocking arm 1, loading case 6 and dead axle rocking arm 1 can be to terminal limiting plate 5 orientation acceleration rotation, until dead axle rocking arm 1 resets to terminal limiting plate 5 limited position. The fixed-axis rotating arm 1 passes through the velometer 3 after rotating an angle theta in the process of resetting movement, and the velometer 3 measures and obtains the movement speed v of the moving end of the fixed-axis rotating arm 1 at the passing moment, which is 0.6 m/s. The distance r between the center of mass of the article and the AA' side is 0.275m1＝0.275m。
And then fixing the fixed rotating axis in the loading box 6 on the BB' side of the article in the loading box 6, repeating the measurement process, and measuring by the velocimeter 3 to obtain the moving speed v of the moving end of the fixed shaft rotating arm 1 at the passing moment, which is 0.8 m/s. Determining the distance r from the centroid of the article to be detected to the rotating shaft to be 0.184m, namely the distance r from the centroid of the article to the BB' side2＝0.184m。
And finally, fixing the fixed rotating axis in the loading box 6 for the AB side mounting of the article in the loading box 6, and measuring and acquiring the moving speed v of the moving end of the fixed-axis rotating arm 1 at the passing moment by the velocimeter 3 to be 0.7m/s as before. Determining the distance r of the centroid of the article from the edge AB3＝0.223m。
Then in a coordinate system with a as the origin, AB as the x-axis, AD as the y-axis, and AA' as the z-axis in the figure, the coordinates of the centroid of the article (x, y, z) satisfy the equation:
wherein a is 0.35.
The three-dimensional centroid coordinates (x, y, z) of the item, which are solved by the data, are specifically: (0.235,0.143,0.171).
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (6)
1. Spatial on-orbit object centroid measuring device is characterized by comprising: a fixed-axis rotating arm (1), a torsion spring (2) and a velocimeter (3);
the fixed-axis rotating arm (1) is fixedly connected with an object to be tested, and meanwhile, the fixed-axis rotating arm (1) is fixedly connected with any one tail end of the torsion spring (2); the velocimeter (3) is used for measuring the rotating speed of the fixed-axis rotating arm (1).
2. The device for measuring the centroid of a spatial on-orbit article according to claim 1, further comprising a starting-end limiting plate (4) and a tail-end limiting plate (5);
the included angle between the starting-end limiting plate (4) and the tail-end limiting plate (5) is fixed, and the included angle is used for limiting the rotation angle of the fixed-axis rotating arm (1) around the middle axis of the spring body of the torsion spring (2).
3. The space-orbiting item centroid measuring device according to claim 1 or 2, characterized by further comprising a loading bin (6); the article that awaits measuring with loading case (6) fixed connection, loading case (6) with dead axle rocking arm (1) fixed connection, just the end of dead axle rocking arm (1) stretches out loading case (6).
4. A method for measuring the centroid of an article by using the spatial on-orbit article centroid measuring device as claimed in claim 1, comprising the steps of:
1) the spring body center shaft of the torsion spring (2) is used as a rotating shaft, the fixed-shaft rotating arm (1) is stirred to rotate around the rotating shaft for a certain angle, and then the fixed-shaft rotating arm (1) is released, so that the fixed-shaft rotating arm (1) rotates around the rotating shaft under the driving of the torsion spring (2);
2) measuring the rotating speed of the fixed-axis rotating arm (1) by using the velocimeter (3);
3) determining the distance from the mass center of the object to be measured to the rotating shaft according to the rotating speed of the fixed-shaft rotating arm (1) measured in the step 2);
4) determining a cylindrical surface by taking the rotating shaft as an axis and the distance from the center of mass of the article to be detected determined in the step 3) to the rotating shaft as a radius, and obtaining an arc surface formed by the cylindrical surface and the article to be detected in a penetrating manner;
5) changing the relative orientation between the object to be measured and the fixed-axis rotating arm (1), and repeating the steps 1) to 4) until 3 arc surfaces intersecting at one point are obtained;
6) determining the position of the centroid of the object to be measured according to the distance from the centroid of the object to be measured to the rotating shaft corresponding to the 3 arc surfaces intersected at one point obtained in the step 5), and finishing the centroid measurement work.
5. A method for measuring the centroid of an article by using the spatial on-orbit article centroid measuring device as claimed in claim 2, comprising the steps of:
1) at the initial moment, the fixed-axis rotating arm (1) is attached to the tail end limiting plate (5);
2) the spring body center shaft of the torsion spring (2) is taken as a rotating shaft, and the fixed-shaft rotating arm (1) is stirred to rotate for a certain angle around the rotating shaft, so that the fixed-shaft rotating arm (1) is attached to the initial end limiting plate (4);
3) releasing the fixed-axis rotating arm (1), and enabling the fixed-axis rotating arm (1) to rotate around the rotating shaft under the driving of the torsion spring (2) until the fixed-axis rotating arm (1) is attached to the tail end limiting plate (5) again;
4) measuring the rotating speed of the fixed-axis rotating arm (1) by using the velocimeter (3);
5) determining the distance from the mass center of the object to be measured to the rotating shaft according to the rotating speed of the fixed-shaft rotating arm (1) measured in the step 4);
6) determining a cylindrical surface by taking the rotating shaft as an axis and the distance from the center of mass of the article to be detected to the rotating shaft determined in the step 5) as a radius, and obtaining an arc surface formed by the cylindrical surface and the article to be detected in a penetrating manner;
7) changing the relative orientation between the object to be detected and the fixed-axis rotating arm (1), and repeating the steps 1) to 6) until 3 arc surfaces intersecting at one point are obtained;
8) determining the position of the centroid of the object to be measured according to the distance from the centroid of the object to be measured to the rotating shaft corresponding to the 3 arc surfaces intersected at one point obtained in the step 7), and finishing the centroid measurement work.
6. The method for measuring the centroid of an article according to claim 4 or 5, wherein the method for determining the distance r from the centroid of the article to be measured to the rotating shaft comprises:
wherein m is0Is the mass of the fixed-axis rotating arm (1), m is the mass of the object to be measured, T' is the torsional rigidity of the torsional spring (2), r0The distance from the mass center of the fixed-axis rotating arm (1) to the rotating shaft is theta, theta is a certain angle of the fixed-axis rotating arm (1) rotating around the rotating shaft, and n is the rotating speed of the fixed-axis rotating arm (1).
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| US5018382A (en) * | 1990-03-05 | 1991-05-28 | Kelley James W | Apparatus for measurement and calculation of moment of inertia |
| CN108401561B (en) * | 2010-04-22 | 2013-07-24 | 西北工业大学 | A kind of method of estimation of the in-orbit centroid position of spacecraft |
| CN102620887B (en) * | 2012-01-18 | 2014-10-08 | 哈尔滨工业大学 | Device for testing quality characteristic of component |
| US9170168B2 (en) * | 2012-11-27 | 2015-10-27 | GM Global Technology Operations LLC | Systems and methods for determining mass properties of vehicle components |
| CN103234700A (en) * | 2013-04-12 | 2013-08-07 | 沈阳建筑大学 | Method for quickly measuring rotational inertia of measured object |
| CN104848989B (en) * | 2015-05-29 | 2017-07-28 | 哈尔滨工业大学 | The automatic trim method of high-precision vertical air-float turntable automatic balancing device |
| CN107238468B (en) * | 2017-08-01 | 2019-06-18 | 中科新松有限公司 | Discrimination method, device, equipment and the storage medium of mechanical arm tail end tool mass center |
| CN108562398A (en) * | 2018-03-30 | 2018-09-21 | 临沂大学 | A kind of object center of gravity measurement method |
| CN108645566B (en) * | 2018-08-16 | 2023-11-10 | 孝感市宝龙电子有限公司 | Bullet arrow mass center moment of inertia testboard |
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