CN109932805B - Adaptive supporting method for large-aperture reflector - Google Patents
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000003044 adaptive effect Effects 0.000 title claims description 9
- 229910001285 shape-memory alloy Inorganic materials 0.000 claims abstract description 92
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- 239000000956 alloy Substances 0.000 claims description 6
- 230000036316 preload Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 229910045601 alloy Inorganic materials 0.000 claims description 5
- 229910001374 Invar Inorganic materials 0.000 claims description 4
- 229910000734 martensite Inorganic materials 0.000 claims description 4
- 229910001000 nickel titanium Inorganic materials 0.000 claims description 4
- 230000009466 transformation Effects 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 239000004918 carbon fiber reinforced polymer Substances 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 239000000126 substance Substances 0.000 claims description 3
- 230000008859 change Effects 0.000 abstract description 8
- 230000005484 gravity Effects 0.000 abstract description 2
- 238000010438 heat treatment Methods 0.000 abstract description 2
- 230000003068 static effect Effects 0.000 abstract description 2
- 230000003287 optical effect Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 229910002065 alloy metal Inorganic materials 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 229910000943 NiAl Inorganic materials 0.000 description 1
- NPXOKRUENSOPAO-UHFFFAOYSA-N Raney nickel Chemical compound [Al].[Ni] NPXOKRUENSOPAO-UHFFFAOYSA-N 0.000 description 1
- 229910001566 austenite Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
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Abstract
The invention discloses a self-adaptive supporting method for a large-aperture reflector. The existing reflector supporting mode is difficult to simultaneously ensure the surface shape precision and the assembly requirement of the reflector under the working conditions of self weight, temperature change and the like. The memory alloy driving module is uniformly distributed in the flexible supporting module in six points, and the flexible supporting module is finely adjusted; more than three flexible supporting units are uniformly distributed along the circumferential direction of the reflector and used for supporting the reflector. The invention adopts the driving characteristic of the memory alloy, controls the heating of the memory alloy through the central signal processor, thereby controlling the deformation quantity of the memory alloy wire, feeds the pressure value of the deformed supporting point back to the central signal processor through the pressure sensor, constantly adjusts to balance and finely adjust the pressure of the flexible supporting module on the supporting part, has no error influence of a motor equal-block supporting structure, adaptively and intelligently adjusts the static and dynamic structural rigidity of the supporting structure, thereby reducing the influence of gravity, external load, temperature change, vibration and the like on the shape precision of the reflector.
Description
Technical Field
The invention belongs to the technical field of space optical detection, and particularly relates to a self-adaptive supporting method for a large-aperture reflector.
Background
With the continuous development of scientific technology and the continuous improvement of earth observation requirements, a space reflector with high resolution, wide coverage, large caliber and long focusing gradually becomes the main development trend of an optical remote sensor. The model diameter of the large-scale space optical reflector is larger and larger (1-4 m), and the surface type requirement comprises a surface type error RMS value
(lambda is wavelength), the thermal effect of the reflector should be 20-100K. The assembly of the large-caliber space optical reflector is that a reflector component is formed by a supporting structure and then is installed on a main structure of a space remote sensor, and factors influencing the precision of the reflector comprise space weight loss, temperature, structure assembly, processing errors of a supporting surface and the like.
In addition, when the working environment of the reflector such as Antarctic infrared measurement, deep space ultraviolet measurement and the like is measured under a low-temperature extreme working condition for a long time, the conditions of humidity, frosting and icing are easy to occur; in addition, the thin reflector and the deformable reflector are also easily influenced by temperature and load, and the block structure of the adjusting system has great errors. The traditional regulation of the main reflector support system and the auxiliary reflector support system is divided into subblocks, and the actuators are controlled by motors to be regulated in an axial direction and a radial direction in a blocking mode. Due to severe environmental factors, the adjustment work precision is low, and the service performance requirement cannot be met.
The shape memory alloy has a memory function for the shape of the original parent phase, and can generate transformation between low-temperature martensite and high-temperature austenite according to the change of temperature, as shown in figure 1. The shape of the motor can be deformed when the motor is subjected to external pressure load, but the motor can be restored to the original shape when the motor is influenced by temperature, and the motor can be driven by converting phase-change energy into shape potential energy or kinetic energy. The alloy metal is a novel alloy metal with double effects of sensing and driving. Due to the excellent performance, the application technology of the memory alloy is more and more popular with people, and the application range is more and more extensive.
However, the shape memory alloy is not applied to the field of reflector supports at present, and if the shape memory alloy can be reasonably applied to the reflector supports, the precision of the reflector can be necessarily improved.
Disclosure of Invention
The invention aims to provide a large-aperture reflector self-adaptive supporting method aiming at the problem that the prior art is difficult to simultaneously ensure the surface accuracy and the assembly process requirement of a reflector under the working conditions of dead weight, temperature change and the like.
The invention specifically comprises the following steps:
step one, constructing a memory alloy driving module, and optimally calculating the diameter d and the length L of a memory alloy wire; the memory alloy driving module consists of a memory alloy wire and a spring sleeved outside the memory alloy wire; the specific process for optimizing and calculating the diameter d and the length L of the memory alloy wire is as follows: first, an external load W is set, and a spring preload F is setsprLSet to be in the same direction as the external load W; then, the critical stress of the memory alloy wire at the end of the martensitic transformation is set to be sigma under the combined action of the external load W and the spring preload0And memorizing the output displacement of the alloy wire as s; finally, the diameter d and the length L of the memory alloy wire are solved as follows:
1) due to the fact that
The cross-sectional area of the memory alloy wire is:
wherein the content of the first and second substances,
A0for intermediate parameters, the diameter of the alloy wire is memorized
d0Is an intermediate parameter;
thereby selecting the diameter of the memory alloy wire to be larger than d0The value of (d) is taken as the diameter d value;
2) firstly, respectively calculating corresponding A values according to the selected d values, and then substituting the A values into the D values
Each F is obtainedsprLValue and corresponding equilibrium stress of memory alloy wire under each spring preload
Then, the strain of the memory alloy wire in the equilibrium state under the spring preload is taken
According to each sigmasprCalculating the corresponding epsilon value; finally, according to each σsprValue and corresponding epsilon value, in sigmasprDrawing stress and strain line graphs by using a vertical coordinate and an epsilon as a horizontal coordinate, selecting a line segment with the minimum slope from the line graphs, and taking a d value corresponding to the point with the smaller epsilon on the line segment as an optimal solution;
3) computing
Wherein E isAK is the elastic modulus of the memory alloy wire and the stiffness of the spring.
And step two, constructing a flexible supporting unit which comprises a flexible supporting module, a memory alloy driving module, a current clamp and a pressure sensor. The flexible support module comprises a bottom support plate, a flexible support block and a top support plate. One end of the flexible supporting block is fixed with the bottom supporting plate, and the other end of the flexible supporting block is fixed with the top supporting plate; n memory alloy driving modules are uniformly distributed along the circumferential direction, wherein n is more than or equal to 4; two ends of a memory alloy wire of the memory alloy driving module are respectively fixed with the bottom supporting plate and the top supporting plate, and two ends of a spring of the memory alloy driving module are respectively limited by the bottom supporting plate and the top supporting plate; and current clamps are fixed at two ends of each memory alloy wire. The end face of the top supporting plate is provided with n weight-reducing grooves I which are uniformly distributed along the circumference, a pressure sensor is arranged in each weight-reducing groove I and close to the position corresponding to the memory alloy driving module, and the n pressure sensors are also uniformly distributed along the circumference; the end face of the bottom supporting plate is provided with more than three screw connecting holes which are uniformly distributed along the circumference and more than three weight reducing grooves II which are uniformly distributed along the circumference, and the two weight reducing grooves are positioned at the inner sides of the screw connecting holes.
And step three, more than three flexible supporting units are uniformly distributed along the circumferential direction of the reflector, the screw connecting holes of the bottom supporting plate in each flexible supporting unit are connected with the connecting through holes of the supporting base through screws, and the top supporting plate of each flexible supporting unit is adhered to the back surface of the reflector. The pressure sensors of all the flexible supporting units are communicated with the central signal processor through the wireless transmission module; the magnitude of the current passing through the current clamps of all the flexible supporting units is controlled by the central signal processor.
And fillets are arranged at the joints of the two ends of the flexible supporting block and the bottom supporting plate and the top supporting plate.
The flexible supporting block adopts a double-shaft flexible hinge.
The memory alloy wire is made of NiTi with the Ti content of 50%, the flexible supporting block is made of invar steel, and the top supporting plate and the bottom supporting plate are both made of CFRP.
The model of the pressure sensor is HX 711.
The wireless transmission module is a ZIGBEE wireless signal data acquisition card.
The diameter of the reflector is greater than or equal to 1 meter.
The invention has the beneficial effects that:
1. according to the deformation characteristic of the memory alloy wire, the internal integral adjustment is realized, the error influence of a motor and other partitioned supporting structures is avoided, and the static and dynamic structural rigidity of the supporting structure is adaptively and intelligently adjusted, so that the influence of various complex environmental factors such as gravity, external load, temperature change, vibration and the like on the shape precision of the reflector is reduced, and the requirement of the reflector on the stability of the supporting surface is met.
2. According to the flexible support module, the support component is made of invar steel, the linear expansion coefficient of the support component is matched with that of the reflector material, and the influence of the flexible support part on the surface shape precision of the reflector is reduced as much as possible.
3. The memory alloy driving module adopts a two-way shape memory characteristic, the diameter of a memory alloy wire is (0.2-1 mm), and a spring plays a role in supporting and counteracting stress and improves flexibility. The memory alloy driving module is uniformly distributed in the flexible supporting module in six points, and the flexible supporting module is finely adjusted. And the driving characteristic of the memory alloy is adopted, the electrified current of the current clamp is changed through an instruction given by the central signal processor, the deformation quantity of the memory alloy wire is adaptively controlled, the pressure value of the deformed supporting point is fed back to the central signal processor through the pressure sensor and is continuously adjusted, and the pressure of the supporting part of the flexible supporting module is balanced and finely adjusted. The shape memory alloy material has different characteristic deformation (alternative NiTi, NiAl, Mn-Cu, etc.).
4. The central signal processor can receive data of the pressure sensor, a database is arranged in the central signal processor and used for comparing the data transmitted by the pressure sensor, the data are deviated, the processor makes a judgment, and the memory alloy driving module is intelligently heated, so that intelligentization and self-adaptive adjustment are realized.
5. The top supporting plate and the bottom supporting plate of the flexible supporting module are provided with weight reduction grooves, so that the influence of the self-weight change of the flexible supporting module on the precision of the reflector surface is reduced.
Drawings
FIG. 1 is a schematic diagram of the driving effect of a memory alloy;
FIG. 2 is a perspective view of the structure of the flexible support unit of the present invention;
FIG. 3 is a schematic view of the mounting position of the current clamp on the memory alloy wire according to the present invention;
FIG. 4 is a distribution diagram of the pressure sensors of the present invention on the top support plate.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
A large-aperture reflector self-adaptive supporting method specifically comprises the following steps:
step one, constructing a memory alloy driving module, and optimally calculating the diameter d and the length L of a memory alloy wire; the memory alloy driving module consists of a memory alloy wire 3 and a spring 4 sleeved outside the memory alloy wire; the specific process for optimizing and calculating the diameter d and the length L of the memory alloy wire is as follows: first, an external load W (in this embodiment, W is 15N) is set, and a spring preload F is setsprLSet to be in the same direction as the external load W; then, the critical stress of the memory alloy wire at the end of the martensitic transformation is set to be sigma under the combined action of the external load W and the spring preload0(in this example,. sigma.)0200Mpa) and memory alloy wire output displacement s (2 mm in this example); finally, the diameter d and the length L of the memory alloy wire are solved as follows:
1) due to the fact that
The cross-sectional area of the memory alloy wire is:
wherein the content of the first and second substances,
A0for intermediate parameters, the diameter of the alloy wire is memorized
d0Is an intermediate parameter;
thereby selecting the diameter of the memory alloy wire to be larger than d0As the value of the diameter d, one of 0.4mm, 0.5mm, 0.6mm, 0.7mm, 0.8mm, 0.9mm or 1 mm;
2) firstly, according to the selected d values of 0.4mm, 0.5mm, 0.6mm, 0.7mm, 0.8mm and 0.9mmRespectively calculating corresponding A values in mm and 1mm, and substituting
Each F is obtainedsprLValue and corresponding equilibrium stress of memory alloy wire under each spring preload
Then, the strain of the memory alloy wire in the equilibrium state under the spring preload is taken
According to each sigmasprCalculating the corresponding epsilon value; finally, according to each σsprValue and corresponding epsilon value, in sigmasprDrawing stress and strain line graphs by using a vertical coordinate and an epsilon as a horizontal coordinate, selecting a line segment with the minimum slope from the line graphs, and taking a d value corresponding to the point with the smaller epsilon on the line segment as an optimal solution; the optimal solution of d in this example is 0.5 mm;
3) computing
Wherein the elastic modulus E of the memory alloy wireAThe memory alloy wire material used in this example is NiTi containing 50% Ti, and the stiffness k of the spring is 10N/mm, 47100 MPa.
And step two, constructing a flexible supporting unit which comprises a flexible supporting module, a memory alloy driving module, a current clamp 7 and a pressure sensor 8, as shown in figures 2, 3 and 4. The flexible support module comprises a bottom support plate 6, a flexible support block 2 and a top support plate 1. One end of the flexible supporting block is fixed with the bottom supporting plate, and the other end of the flexible supporting block is fixed with the top supporting plate; fillets are arranged at the joints of the two ends of the flexible supporting block and the bottom supporting plate and the top supporting plate, so that stress concentration can be avoided; the flexible supporting block adopts a biaxial flexible hinge, and has the highest sensitivity in all directions. Six memory alloy driving modules are uniformly distributed along the circumferential direction (only three memory alloy driving modules are shown in figure 2), two ends of a memory alloy wire of each memory alloy driving module are respectively fixed with a bottom supporting plate 6 and a top supporting plate 1, and two ends of a spring of each memory alloy driving module are respectively limited by the bottom supporting plate 6 and the top supporting plate 1; both ends of each memory alloy wire are fixed with current clamps 7. Six weight-reducing grooves I are uniformly distributed along the circumference on the end face of the top supporting plate, a pressure sensor 8 is arranged in each weight-reducing groove I and close to the position corresponding to the memory alloy driving module, and the six pressure sensors 8 are also uniformly distributed along the circumference; six screw connecting holes 5 which are uniformly distributed along the circumference and three weight reducing grooves II which are uniformly distributed along the circumference are formed in the end face of the bottom supporting plate, and the two weight reducing grooves are positioned on the inner sides of the screw connecting holes. The flexible supporting block is made of invar steel, and the top supporting plate and the bottom supporting plate are both made of CFRP.
And step three, uniformly distributing the three flexible supporting units along the circumferential direction of the reflector, wherein the screw connecting holes of the bottom supporting plate 6 in each flexible supporting unit are connected with the connecting through holes of the supporting base through screws, and the top supporting plate 1 of each flexible supporting unit is adhered to the back surface of the reflector. The diameter of the reflector is greater than or equal to 1 meter. The pressure sensors 8 of all the flexible supporting units are communicated with the central signal processor through the wireless transmission module; the current passing through the current clamps 7 of all the flexible supporting units is controlled by a central signal processor.
The working process is as follows: when the flexible supporting unit is subjected to the pressure load of the reflector, the top supporting plate 1 is pressed, and the flexible supporting block can deflect a certain angle. Each pressure sensor 8 detects the corresponding pressure value of the memory alloy wire in real time and transmits the detected data to the wireless transmission module; the wireless transmission module transmits the collected data to the central signal processor, a database is arranged in the central signal processor, the data transmitted by the pressure sensor 8 are compared, the data are detected and judged, the detected result corresponds to the deformation of each memory alloy driver, the data of each supporting part are analyzed and compared respectively, the memory alloy wire 3 needing to recover deformation is heated through the current clamp 7, and the memory alloy wire is heated, shrunk and deformed; the larger the current passing through the memory alloy wire, the faster the memory alloy wire deforms, so that the deformation of the reflector can be quickly and finely adjusted. The memory alloy wire of each memory alloy driver generates a deformation regulation stress value to balance the pressure load of each supporting position of the reflector; after the deformation fine adjustment of the reflector meets the requirement, the central signal processor sends out an instruction to stop heating the memory alloy wire. In the process, the shape change is continuously regulated and controlled according to the change of the loaded stress, so that the pressure load on the supporting point of the reflector due to self weight, rotation angle, temperature, wind power and the like is eliminated, the error of the mirror surface is eliminated, the real-time adaptive regulation and control are realized, and the performance precision of the reflector is improved.
Claims (7)
1. A large-aperture reflector self-adaptive supporting method is characterized by comprising the following steps: the method comprises the following specific steps:
step one, constructing a memory alloy driving module, and optimally calculating the diameter d and the length L of a memory alloy wire; the memory alloy driving module consists of a memory alloy wire and a spring sleeved outside the memory alloy wire; the specific process for optimizing and calculating the diameter d and the length L of the memory alloy wire is as follows: first, an external load W is set, and a spring preload F is setsprLSet to be in the same direction as the external load W; then, the critical stress of the memory alloy wire at the end of the martensitic transformation is set to be sigma under the combined action of the external load W and the spring preload0And memorizing the output displacement of the alloy wire as s; finally, the diameter d and the length L of the memory alloy wire are solved as follows:
1) due to the fact that
The cross-sectional area of the memory alloy wire is:
wherein the content of the first and second substances,
A0for intermediate parameters, the diameter of the alloy wire is memorized
d0Is an intermediate parameter;
thereby selecting the diameter of the memory alloy wire to be larger than d0As a value of the diameter d;
2) firstly, respectively calculating corresponding A values according to the selected d values, and then substituting the A values into the D values
Each F is obtainedsprLValue and corresponding equilibrium stress of memory alloy wire under each spring preload
Then, the strain of the memory alloy wire in the equilibrium state under the spring preload is taken
According to each sigmasprCalculating the corresponding epsilon value; finally, according to each σsprValue and corresponding epsilon value, in sigmasprDrawing stress and strain line graphs by using a vertical coordinate and an epsilon as a horizontal coordinate, selecting a line segment with the minimum slope from the line graphs, and taking a d value corresponding to the point with the smaller epsilon on the line segment as an optimal solution;
3) computing
Wherein E isAThe elastic modulus of the memory alloy wire is used, and k is the rigidity of the spring;
constructing a flexible supporting unit which comprises a flexible supporting module, a memory alloy driving module, a current clamp and a pressure sensor; the flexible supporting module comprises a bottom supporting plate, a flexible supporting block and a top supporting plate; one end of the flexible supporting block is fixed with the bottom supporting plate, and the other end of the flexible supporting block is fixed with the top supporting plate; n memory alloy driving modules are uniformly distributed along the circumferential direction, wherein n is more than or equal to 4; two ends of a memory alloy wire of the memory alloy driving module are respectively fixed with the bottom supporting plate and the top supporting plate, and two ends of a spring of the memory alloy driving module are respectively limited by the bottom supporting plate and the top supporting plate; current clamps are fixed at two ends of each memory alloy wire; the end face of the top supporting plate is provided with n weight-reducing grooves I which are uniformly distributed along the circumference, a pressure sensor is arranged in each weight-reducing groove I and close to the position corresponding to the memory alloy driving module, and the n pressure sensors are also uniformly distributed along the circumference; the end face of the bottom supporting plate is provided with more than three screw connecting holes which are uniformly distributed along the circumference and more than three weight reducing grooves II which are uniformly distributed along the circumference, and the two weight reducing grooves are positioned at the inner sides of the screw connecting holes;
step three, more than three flexible supporting units are uniformly distributed along the circumferential direction of the reflector, the screw connecting holes of the bottom supporting plate in each flexible supporting unit are connected with the connecting through holes of the supporting base through screws, and the top supporting plate of each flexible supporting unit is adhered to the back surface of the reflector; the pressure sensors of all the flexible supporting units are communicated with the central signal processor through the wireless transmission module; the magnitude of the current passing through the current clamps of all the flexible supporting units is controlled by the central signal processor.
2. The adaptive supporting method for the large-aperture reflector according to claim 1, characterized in that: and fillets are arranged at the joints of the two ends of the flexible supporting block and the bottom supporting plate and the top supporting plate.
3. The adaptive supporting method for the large-aperture reflector according to claim 1, characterized in that: the flexible supporting block adopts a double-shaft flexible hinge.
4. The adaptive supporting method for the large-aperture reflector according to claim 1, characterized in that: the memory alloy wire is made of NiTi with the Ti content of 50%, the flexible supporting block is made of invar steel, and the top supporting plate and the bottom supporting plate are both made of CFRP.
5. The adaptive supporting method for the large-aperture reflector according to claim 1, characterized in that: the model of the pressure sensor is HX 711.
6. The adaptive supporting method for the large-aperture reflector according to claim 1, characterized in that: the wireless transmission module is a ZIGBEE wireless signal data acquisition card.
7. The adaptive supporting method for the large-aperture reflector according to claim 1, characterized in that: the diameter of the reflector is greater than or equal to 1 meter.
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