CN110160686B - Method and device for testing maximum reaction moment of momentum wheel - Google Patents
Method and device for testing maximum reaction moment of momentum wheel Download PDFInfo
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- CN110160686B CN110160686B CN201910393355.4A CN201910393355A CN110160686B CN 110160686 B CN110160686 B CN 110160686B CN 201910393355 A CN201910393355 A CN 201910393355A CN 110160686 B CN110160686 B CN 110160686B
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Abstract
The invention provides a method and a device for testing the maximum reaction moment of a momentum wheel, which aim to solve the technical problems that the existing method for testing the maximum reaction moment of the momentum wheel is inaccurate in measurement result and cannot perform comprehensive evaluation on the moment output performance of the momentum wheel. The method comprises the following steps: 1, testing the linear rotating speed-rotating speed remote measuring voltage characteristic of the measured momentum wheel; 2, defining four test modes of maximum reaction moment; selecting one test mode from the four test modes to obtain the rotating speed characteristic information of the measured momentum wheel in the current test mode; 4, calculating the maximum reaction moment of the momentum wheel to be measured in the current test mode; 5, judging whether all the test modes are finished in a traversing way, if not, returning to the step 3; if yes, the test flow is ended. The invention calculates the maximum reaction torque of the momentum wheel through the rotating speed characteristic of the momentum wheel, eliminates the influence of friction torque on the test result and has high measurement precision.
Description
Technical Field
The invention belongs to the technical field of testing, and relates to a method and a device for testing the maximum reaction moment of a momentum wheel.
Background
The momentum wheel is used as an execution component for satellite attitude control, is widely applied to the field of satellite control, and is an important link for realizing satellite attitude closed-loop control. The momentum wheel arranged on the satellite platform can rotate by itself to realize the continuous precise adjustment of the satellite attitude. Along with the continuous expansion of the application field of the satellite, the types of loads on the satellite are increasingly abundant, the requirement on a rotating mechanism is increasingly large, rotating parts on the satellite are increasingly large, the inertia of the rotating parts is increasingly large, and the rotating speed is also increasingly fast. The on-satellite rotating component can form interference torque and interference angular momentum of a rotating shaft in the axial direction when rotating, and in order to ensure the control precision of the satellite attitude, the interference torque and the interference angular momentum generated by load rotation are counteracted in a mode that the momentum wheel synchronously and reversely rotates by configuring the momentum wheel on the satellite, which is another important application of the momentum wheel. The performances of the maximum reaction moment, the moment output precision, the moment resolution and the like of the momentum wheel directly influence the overall performance and the load efficiency of the satellite platform. The maximum reaction moment characterizes the maximum moment balancing capability of the momentum wheel and needs to be focused. In the art, the maximum reaction torque is defined as: when the momentum wheel works at a certain rotating speed, the maximum moment which can be output to the satellite platform through acceleration/deceleration can be achieved. The maximum reaction torque of the momentum wheel is tested at different rotating speeds, and the maximum reaction torque of the momentum wheel at any rotating speed in the whole working rotating speed range is obtained.
The momentum wheel is a whole with a closed shell, and the rotating bodies of the momentum wheel are completely closed in the shell without an extended shaft and cannot be directly connected with a torque sensor, so that the maximum reaction torque is difficult to test. At present, the testing and controlling means for the maximum reaction moment of the momentum wheel mainly comprise: 1. the peak locked-rotor torque of the motor assembly is tested as the maximum reaction torque of the momentum wheel prior to the moment wheel housing installation. 2. And testing the current of the motor winding, multiplying the current by the motor torque coefficient, and calculating to obtain the maximum reaction torque of the momentum wheel.
The friction torque is ignored in the two methods, and the influence of the friction torque is not negligible in practice, so that the maximum reaction torque obtained by the two methods is inaccurate. Secondly, the two methods can only obtain the maximum reaction torque when the rotating speed of the momentum wheel is zero, cannot obtain the maximum reaction torque of the momentum wheel at different rotating speeds, and cannot make comprehensive evaluation on the torque output performance of the momentum wheel.
Disclosure of Invention
The invention provides a method and a device for testing the maximum reaction moment of a momentum wheel, which aim to solve the technical problems that the existing method for testing the maximum reaction moment of the momentum wheel is inaccurate in measurement result and cannot perform comprehensive evaluation on the moment output performance of the momentum wheel.
The technical scheme of the invention is as follows:
a method for testing the maximum reaction moment of a momentum wheel is characterized by comprising the following steps:
1, testing the linear rotating speed-rotating speed remote measurement voltage characteristic of the measured momentum wheel:
1.1 sampling n sampling points at equal intervals in the value range of the control command voltage for controlling the rotation of the measured momentum wheel, and recording the sampled control command voltage as V1，V2，…，Vi，…，Vn；
1.2, sequentially applying the control command voltage V sampled in the step 1.1 to the measured momentum wheeliAfter the measured momentum wheel moves stably, measuring the rotating speed pulse frequency P of the measured momentum wheel under the stable stateiAnd rotational speed telemetry voltage vi，i＝1，2，…，n；
1.3 calculating respective control command voltages ViThe steady-state rotating speed w of the measured momentum wheeli：
In the formula, M is the number of pulses generated by one rotation of the measured momentum wheel;
1.4 establishing a linear rotating speed-rotating speed remote measuring voltage model w of the measured momentum wheeli＝kw·Vi+w0To obtain kwAnd w0：
four test patterns defining the maximum reaction moment:
test mode 1: the rotation speed of the measured momentum wheel is zero in the initial state; the termination state is that the rotating speed of the measured momentum wheel is the highest forward rotating speed;
test mode 2: the rotation speed of the measured momentum wheel is zero in the initial state; the termination state is that the rotating speed of the measured momentum wheel is the negative highest rotating speed;
test mode 3: the initial state is that the rotating speed of the measured momentum wheel is the highest forward rotating speed; the termination state is that the rotating speed of the measured momentum wheel is zero;
test mode 4: the initial state is that the rotating speed of the measured momentum wheel is the negative highest rotating speed; the rotation speed of the measured momentum wheel in the termination state is zero;
selecting one test mode from the four test modes to obtain the rotating speed characteristic information of the measured momentum wheel in the current test mode:
the measured momentum wheel is in the initial state of the current test mode, the rotating speed telemetering voltage of the measured momentum wheel and the control command voltage applied to the measured momentum wheel are continuously measured and recorded until the measured momentum wheel is in the termination state of the current test mode, and the recorded data are as follows:
tj、uj、Ujj ═ 1, 2, …, m, where:
tjthe sampling time corresponding to the jth sampling point;
ujthe control command voltage applied to the measured momentum wheel corresponding to the jth sampling point;
Ujthe rotation speed telemetering voltage of the measured momentum wheel corresponding to the jth sampling point is measured;
and 4, calculating the maximum reaction moment of the measured momentum wheel in the current test mode:
4.1 ] obtaining the linear rotating speed-rotating speed remote measuring voltage model of the measured momentum wheel according to the step 1.4 ] and step 3]Recorded speed telemetry voltage UjCalculating the measured momentum wheel at each sampling time tjRotational speed w ofjThe specific calculation formula is as follows:
wj＝kw·Uj+w0
4.2 ] vs. tj，wjAnd fitting the sequence to obtain a time-rotating speed relational expression of the momentum wheel, and recording the relational expression as follows:
4.3 calculating momentum wheel at each sampling time tjCorresponding angular acceleration
The specific calculation formula is as follows:
4.4 taking the moment of inertia J of the momentum wheel rotor measured before the momentum wheel is covered, calculating the moment of sampling t of the momentum wheeljCorresponding maximum reaction moment L (t)j) The specific calculation formula is as follows:
4.5 ] at a rotational speed wjOn the abscissa, with the maximum reaction moment L (t)j) Drawing a curve of rotating speed-maximum reaction moment for a vertical coordinate, namely obtaining the maximum reaction moment of the momentum wheel in the whole rotating speed range of the current test mode;
5, judging whether all the test modes are finished in a traversing way, if not, returning to the step 3; if yes, the test flow is ended.
Further, in the step 4.2 ], t is paired with an N-th order polynomialj，wjThe sequences were fitted and N was taken to be 5, 6, 7 or 8.
The invention also provides a momentum wheel maximum reaction moment testing device for realizing the momentum wheel maximum reaction moment testing method, which is characterized in that: the system comprises a computer, a circuit box, a frequency meter and a multi-channel oscilloscope;
the computer is used for sending a control instruction to the circuit box, processing data measured and recorded by the frequency meter and the multi-channel oscilloscope, and acquiring a rotating speed-rotating speed remote measuring voltage linear model of the measured momentum wheel and the maximum reaction torque of the measured momentum wheel under each mode;
the circuit box is used for generating a control instruction voltage for controlling the rotation of the measured momentum wheel according to the control instruction sent by the computer;
the frequency meter is used for measuring the rotating speed pulse frequency of the measured momentum wheel;
the multi-channel oscilloscope is used for continuously measuring and recording the rotating speed telemetering voltage of the measured momentum wheel and the control command voltage generated by the circuit box.
The invention has the advantages that:
1. the maximum reaction torque of the momentum wheel is calculated through the rotating speed characteristic of the momentum wheel, and the rotating speed characteristic of the momentum wheel is obtained through testing and is a result after the friction torque acts, so that the influence of the friction torque on the test result is eliminated, and the measurement precision is high.
2. The maximum reaction torque of the momentum wheel under different rotating speeds under various working modes can be given, and the torque output characteristics of the momentum wheel can be comprehensively and accurately evaluated.
3. The testing device is simple and easy to realize, has no particularly complex and expensive equipment, is universal equipment and has low cost.
Drawings
FIG. 1 is a flow chart of a method for testing the maximum reaction torque of a momentum wheel according to the present invention.
FIG. 2 is a schematic diagram of the composition and connection relationship of the measuring device of the present invention when measuring the rotation speed-rotation speed telemetering voltage characteristics of the mechatronic momentum wheel.
FIG. 3 is a schematic diagram of the composition and connection relationship of the measuring device of the present invention when measuring the rotation speed-rotation speed telemetering voltage characteristic of the non-mechatronic momentum wheel.
FIG. 4 is a schematic diagram of the components and connection relationship of the measuring device of the present invention when measuring the maximum reaction torque of the mechatronic momentum wheel.
FIG. 5 is a schematic diagram of the components and connection relationship of the measuring device of the present invention when measuring the maximum reaction moment of the non-mechatronic momentum wheel.
Description of reference numerals:
1-computer, 2-circuit box, 3-measured momentum wheel, 4-frequency meter, 5-multichannel oscilloscope.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The invention provides a momentum wheel maximum reaction moment testing device, which comprises: a computer 1, a line box 2, a frequency meter 4 and a multi-channel oscilloscope 5.
The computer 1 has the functions of sending a control instruction to the circuit box 2, processing data recorded by the frequency meter 4 and the multi-channel oscilloscope 5, obtaining a rotation speed-rotation speed telemetering voltage linear model of the measured momentum wheel 3 and obtaining the maximum reaction torque of the measured momentum wheel 3 under each mode.
The circuit box 2 is used for generating a control command voltage according to a control command of the computer 1 so as to control the rotation of the measured momentum wheel 3.
The measured momentum wheel 3 is a tested object, and the measured momentum wheel 3 can be divided into an electromechanical integration momentum wheel and a non-electromechanical integration momentum wheel according to the structural composition form. The momentum wheel body of the electromechanical integrated momentum wheel is integrated with the driving circuit and shares an external mechanical interface and an external electrical interface; the momentum wheel body and the driving circuit of the non-electromechanical integrated momentum wheel are two independent units which are in linear connection and respectively provided with an external mechanical interface and an electrical interface.
The function of the frequency meter 4 is to measure the rate of revolution pulses of the measured momentum wheel 3. The 'rotating speed pulse frequency' is in linear relation with the rotating speed of the momentum wheel, and the rotating speed pulse frequency of the momentum wheel is higher when the rotating speed of the momentum wheel is higher. The number of pulses generated by one rotation of the momentum wheel is fixed and does not change along with the rotation speed of the momentum wheel. If the number of pulses generated by one rotation of the momentum wheel is a and the momentum wheel rotates b rotations per second, the rotating speed pulse frequency is a x b.
The function of the multi-channel oscilloscope 5 is to continuously measure and record the rotating speed telemetering voltage of the measured momentum wheel 3 and the control command voltage generated by the circuit box 2.
When the measured momentum wheel rotating speed-rotating speed telemetering voltage characteristic test is carried out, the connection relation of the electromechanical integration momentum wheel equipment is shown in figure 2, and the connection relation of the non-electromechanical integration momentum wheel equipment is shown in figure 3. The computer 1 is electrically connected with the circuit box 2, and the computer 1 sends a control command to the circuit box 2. The circuit box 2 is electrically connected with the measured momentum wheel 3, and the circuit box 2 applies a control command voltage to the measured momentum wheel 3. The measured momentum wheel 3 is electrically connected with a frequency meter 4, and the frequency meter 4 is used for measuring the rotating speed pulse frequency of the measured momentum wheel 3. The measured momentum wheel 3 is electrically connected with a multi-channel oscilloscope 5, and the multi-channel oscilloscope 5 is used for continuously measuring and recording the rotating speed telemetering voltage signal of the measured momentum wheel 3.
When the maximum reaction torque test of the momentum wheel 3 to be tested is performed, the connection relationship of the mechatronic momentum wheel device is shown in fig. 4, and the connection relationship of the non-mechatronic momentum wheel device is shown in fig. 5. The computer 1 is electrically connected with the circuit box 2, and the computer 1 sends a control command to the circuit box 2. The circuit box 2 is electrically connected with the measured momentum wheel 3, and the circuit box 2 applies a control command voltage to the measured momentum wheel 3. The circuit box 2 is electrically connected with a multi-channel oscilloscope 5, and the multi-channel oscilloscope 5 is used for continuously measuring and recording the control command voltage output by the circuit box 2. The measured momentum wheel 3 is electrically connected with a multi-channel oscilloscope 5, and the multi-channel oscilloscope 5 is used for continuously measuring and recording the rotating speed telemetering voltage signal of the measured momentum wheel 3.
As shown in fig. 1, the method for testing the maximum reaction torque of the momentum wheel provided by the embodiment includes the following steps:
1, testing the rotation speed-rotation speed remote measurement voltage characteristic of the measured momentum wheel 3;
1.1, arranging and connecting equipment according to the diagram shown in FIG. 2 for the mechatronic momentum wheel and arranging and connecting equipment according to the diagram shown in FIG. 3 for the non-mechatronic momentum wheel;
1.2]n sampling points are sampled at equal intervals in the value range of the control command voltage for controlling the rotation of the measured momentum wheel 3, and the sampled control command voltage is recorded as V1，V2，…，Vi，…，Vn；
1.3]Sending a control command to the circuit box 2 through the computer 1 to enable the circuit box 2 to sequentially generate a control command voltage ViAnd applied to the measured momentum wheel 3, i to take 1, 2, …, n, respectively;
1.4]after the measured momentum wheel 3 moves stably, the rotating speed pulse frequency P measured by the frequency meter 4 is recordediAnd recording the rotating speed telemetering voltage v measured by the multichannel oscilloscope 5i；
1.5]Calculating each control command voltage ViLower, steady state rotational speed w of momentum wheeliThe calculation formula is as follows:
in the formula, M is the number of pulses generated by one rotation of the momentum wheel.
1.6]Establishing a measured momentum wheel linear rotating speed-rotating speed remote measuring voltage model wi＝kw·Vi+w0，kwAnd w0The calculation formula of (a) is as follows:
in the formula, kwSensitivity coefficient, w, of measured momentum wheel speed to control command voltage0The rotation speed is the steady-state rotation speed of the rotation wheel of the measured momentum when the control command voltage is zero;
2] four test patterns defining the maximum reaction torque:
test mode 1: the initial state is that the control instruction voltage for controlling the rotation of the measured momentum wheel is zero, and the rotation speed of the momentum wheel is zero; the termination state is that the control command voltage is the forward maximum control command voltage, and the rotating speed of the momentum wheel is the forward maximum rotating speed.
Test mode 2: the initial state is that the control instruction voltage for controlling the rotation of the measured momentum wheel is zero, and the rotation speed of the momentum wheel is zero; the termination state is that the control instruction voltage is a negative maximum control instruction voltage, and the momentum wheel rotating speed is a negative maximum rotating speed.
Test mode 3: the initial state is that the control instruction voltage for controlling the rotation of the measured momentum wheel is the forward maximum control instruction voltage, and the rotation speed of the momentum wheel is the forward maximum rotation speed; the termination state is that the control command voltage is zero and the rotation speed of the momentum wheel is zero.
Test mode 4: the initial state is that the control instruction voltage for controlling the rotation of the measured momentum wheel is the negative maximum control instruction voltage, and the rotation speed of the momentum wheel is the negative maximum rotation speed; the termination state is that the control command voltage is zero and the rotation speed of the momentum wheel is zero.
And 3] obtaining the rotating speed characteristic information of the measured momentum wheel in the test mode 1:
3.1 the arrangement and connection of the device according to fig. 4 for the mechatronic momentum wheel and fig. 5 for the non-mechatronic momentum wheel.
3.2, testing the rotating speed characteristic information of the momentum wheel in a test mode 1:
the computer 1 sends a control instruction for stopping the rotation of the momentum wheel to the circuit box 2, and the circuit box 2 generates a control instruction voltage for controlling the rotation of the momentum wheel according to the received control instruction, so as to control the rotation speed of the momentum wheel to be zero, even if the measured momentum wheel is in the initial state of the current test mode;
one channel of the multi-channel oscilloscope 5 continuously measures and records the control instruction voltage applied to the momentum wheel by the circuit box 2, and the other channel of the multi-channel oscilloscope 5 continuously measures and records the rotating speed telemetering voltage of the measured momentum wheel 3;
the computer 1 sends a control instruction for enabling the momentum wheel to move at the highest forward rotation speed to the circuit box 2, and the circuit box 2 generates the highest forward control instruction voltage for controlling the momentum wheel to rotate according to the received control instruction, so that the momentum wheel is controlled to enable the rotation speed of the momentum wheel to be the highest forward rotation speed, even if the measured momentum wheel is in the termination state of the current test mode;
the multichannel oscilloscope 5 records complete data from an initial state to an end state, and the recorded data is recorded as tj、uj、UjJ ═ 1, 2, …, m, where:
tjsampling for jth sampling pointSampling time;
ujthe control command voltage is sent to the circuit box 2 corresponding to the jth sampling point;
Ujand measuring the voltage for the rotating speed of the measured momentum wheel 3 corresponding to the jth sampling point.
4, calculating the maximum reaction moment of the measured momentum wheel in the test mode 1;
4.1]according to step 1.6]The linear speed-speed telemetering voltage model of the momentum wheel is obtained and step 3.2]Recorded speed telemetry voltage UjCalculating the momentum wheel at each sampling instant tjRotational speed w ofjThe specific calculation formula is as follows:
wj＝kw·Uj+w0
4.2]using N-degree polynomial (N is 5, 6, 7 or 8) to tj，wjAnd fitting the sequence to obtain a time-rotating speed relational expression of the momentum wheel, and recording the relational expression as follows:
in the formula, akT being a polynomial w (t)kFitting coefficients of the terms;
4.3]calculating the momentum wheel at each sampling time tjCorresponding angular acceleration
The specific calculation formula is as follows:
4.4]the moment of inertia J of the momentum wheel rotor measured before the momentum wheel cover is taken, and the moment of inertia J of the momentum wheel at each sampling moment t is calculatedjCorresponding maximum reaction moment L (t)j) The specific calculation formula is as follows:
4.5]at a rotational speed wjAs abscissa, with maximum inverseMoment of action L (t)j) And drawing a curve of the rotating speed and the maximum reaction moment for the ordinate, thus obtaining the maximum reaction moment of the momentum wheel in the whole rotating speed range and realizing the comprehensive test and evaluation of the maximum reaction moment of the momentum wheel.
And 5, repeating the steps 3 to 4 to respectively obtain the maximum reaction torque of the momentum wheel 3 to be tested in the test mode 2, the test mode 3 and the test mode 4.
Claims (2)
1. A method for testing the maximum reaction moment of a momentum wheel is characterized by comprising the following steps:
1, testing the linear rotating speed-rotating speed remote measurement voltage characteristic of the measured momentum wheel:
1.1 sampling n sampling points at equal intervals in the value range of the control command voltage for controlling the rotation of the measured momentum wheel, and recording the sampled control command voltage as V1，V2，…，Vi，…，Vn；
1.2, sequentially applying the control command voltage V sampled in the step 1.1 to the measured momentum wheeliAfter the measured momentum wheel moves stably, measuring the rotating speed pulse frequency P of the measured momentum wheel under the stable stateiAnd rotational speed telemetry voltage vi，i＝1，2，…，n；
1.3 calculating respective control command voltages ViThe steady-state rotating speed w of the measured momentum wheeli：
In the formula, M is the number of pulses generated by one rotation of the measured momentum wheel;
1.4 establishing a linear rotating speed-rotating speed remote measuring voltage model w of the measured momentum wheeli＝kw·Vi+w0To obtain kwAnd w0：
four test patterns defining the maximum reaction moment:
test mode 1: the rotation speed of the measured momentum wheel is zero in the initial state; the termination state is that the rotating speed of the measured momentum wheel is the highest forward rotating speed;
test mode 2: the rotation speed of the measured momentum wheel is zero in the initial state; the termination state is that the rotating speed of the measured momentum wheel is the negative highest rotating speed;
test mode 3: the initial state is that the rotating speed of the measured momentum wheel is the highest forward rotating speed; the termination state is that the rotating speed of the measured momentum wheel is zero;
test mode 4: the initial state is that the rotating speed of the measured momentum wheel is the negative highest rotating speed; the rotation speed of the measured momentum wheel in the termination state is zero;
selecting one test mode from the four test modes to obtain the rotating speed characteristic information of the measured momentum wheel in the current test mode:
the measured momentum wheel is in the initial state of the current test mode, the rotating speed telemetering voltage of the measured momentum wheel and the control command voltage applied to the measured momentum wheel are continuously measured and recorded until the measured momentum wheel is in the termination state of the current test mode, and the recorded data are as follows:
tj、uj、Ujj ═ 1, 2, …, m, where:
tjthe sampling time corresponding to the jth sampling point;
ujthe control command voltage applied to the measured momentum wheel corresponding to the jth sampling point;
Ujthe rotation speed telemetering voltage of the measured momentum wheel corresponding to the jth sampling point is measured;
and 4, calculating the maximum reaction moment of the measured momentum wheel in the current test mode:
4.1 ] obtaining the linear rotating speed-rotating speed remote measuring voltage model of the measured momentum wheel according to the step 1.4 ] and recording the rotating speed remote measuring voltage U in the step 3jCalculating the measured momentum wheel at each sampling time tjRotational speed w ofjThe specific calculation formula is as follows:
wj＝kw·Uj+w0
4.2 ] vs. tj，wjFitting the sequence by an N-order polynomial to obtain a time-rotating speed relational expression of the momentum wheel, and recording the relational expression as follows:
n is 5, 6, 7 or 8;
4.3 calculating momentum wheel at each sampling time tjCorresponding angular acceleration
The specific calculation formula is as follows:
4.4 taking the moment of inertia J of the momentum wheel rotor measured before the momentum wheel is covered, calculating the moment of sampling t of the momentum wheeljCorresponding maximum reaction moment L (t)j) The specific calculation formula is as follows:
4.5 ] at a rotational speed wjOn the abscissa, with the maximum reaction moment L (t)j) Drawing a curve of rotating speed-maximum reaction moment for a vertical coordinate, namely obtaining the maximum reaction moment of the momentum wheel in the whole rotating speed range of the current test mode;
5, judging whether all the test modes are finished in a traversing way, if not, returning to the step 3; if yes, the test flow is ended.
2. A momentum wheel maximum reaction moment testing device for realizing the momentum wheel maximum reaction moment testing method of claim 1, which is characterized in that: the system comprises a computer, a circuit box, a frequency meter and a multi-channel oscilloscope;
the computer is used for sending a control instruction to the circuit box, processing data measured and recorded by the frequency meter and the multi-channel oscilloscope, and acquiring a rotating speed-rotating speed remote measuring voltage linear model of the measured momentum wheel and the maximum reaction torque of the measured momentum wheel under each mode;
the circuit box is used for generating a control instruction voltage for controlling the rotation of the measured momentum wheel according to the control instruction sent by the computer;
the frequency meter is used for measuring the rotating speed pulse frequency of the measured momentum wheel;
the multi-channel oscilloscope is used for continuously measuring and recording the rotating speed telemetering voltage of the measured momentum wheel and the control command voltage generated by the circuit box.
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| US6311931B1 (en) * | 1999-12-17 | 2001-11-06 | The Boeing Company | Bi-directional momentum bias spacecraft attitude control |
| EP1169618A2 (en) * | 1999-03-17 | 2002-01-09 | AlliedSignal Inc. | An angular rate and reaction torque assembly |
| CN109143861A (en) * | 2018-09-07 | 2019-01-04 | 哈尔滨工业大学 | A kind of speed change tilt momentum wheel system Active Vibration Suppression Method based on torquer |
| CN109211272A (en) * | 2018-09-07 | 2019-01-15 | 哈尔滨工业大学 | Angle transducer constant multiplier measurement method is tilted using the speed change tilt momenttum wheel of Space Rotating torque |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6691955B2 (en) * | 2001-11-27 | 2004-02-17 | Space Systems/Loral | Spacecraft having a momentum wheel configuration that prevents zero wheel speeds |
| CN201083563Y (en) * | 2007-10-25 | 2008-07-09 | 北京航空航天大学 | Momentum wheel rotary torsion-testing device |
| CN104062054B (en) * | 2014-06-10 | 2016-08-24 | 北京控制工程研究所 | A kind of torgue measurement method under the lean information condition of the momenttum wheel slow-speed of revolution |
| CN109459167B (en) * | 2018-09-30 | 2020-12-18 | 中国空间技术研究院 | Satellite momentum wheel friction torque ground online test method and system |
| CN109143280B (en) * | 2018-10-10 | 2021-05-07 | 上海微小卫星工程中心 | Satellite integrated state closed-loop test system and corresponding test method |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1169618A2 (en) * | 1999-03-17 | 2002-01-09 | AlliedSignal Inc. | An angular rate and reaction torque assembly |
| US6311931B1 (en) * | 1999-12-17 | 2001-11-06 | The Boeing Company | Bi-directional momentum bias spacecraft attitude control |
| CN109143861A (en) * | 2018-09-07 | 2019-01-04 | 哈尔滨工业大学 | A kind of speed change tilt momentum wheel system Active Vibration Suppression Method based on torquer |
| CN109211272A (en) * | 2018-09-07 | 2019-01-15 | 哈尔滨工业大学 | Angle transducer constant multiplier measurement method is tilted using the speed change tilt momenttum wheel of Space Rotating torque |
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