CN110672121B - Control moment gyro frame dynamic response test method and system - Google Patents
Control moment gyro frame dynamic response test method and system Download PDFInfo
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Abstract
A control moment gyro frame dynamic response test method and system, the step is: fixing a high-precision force measuring platform on a vibration isolation foundation, fixing a control moment gyroscope on the high-precision force measuring platform, connecting the output end of an upper computer of the control moment gyroscope with the input end of the control moment gyroscope, and realizing control on different rotating speeds of the control moment gyroscope through the upper computer; and fixedly mounting the laser vibration meter and the vibration isolation foundation, and adjusting the optical axis of the laser vibration meter to enable the optical axis to point to the edge of the low-speed frame of the control moment gyroscope. The output of the force measuring table is connected to the input end 1 of the data acquisition unit through a charge amplifier; the output of the laser vibration meter is connected to the input end 2 of the data acquisition unit; the output end of the data acquisition unit is connected with the data acquisition upper computer.
Description
Technical Field
The invention belongs to the field of spacecraft actuating mechanism testing, and relates to a dynamic response testing method and a dynamic response testing system for a control moment gyroscope frame.
Background
When an actuating mechanism on the spacecraft controls a moment gyro to operate, disturbance with rich frequency components can be generated, wherein the disturbance comprises friction moment disturbance and variable time delay characteristic parameter disturbance; such disturbances are easily transmitted to the payload of the spacecraft, such as high-precision instruments such as an optical camera, which seriously affect the normal operation of the spacecraft, and the dynamic response of the low-speed frame executing the control moment gyro needs to be studied.
The test of the dynamic response of the control moment gyro can provide first-hand test data for establishing an accurate dynamic model and model parameters. At present, the dynamic response test method of the control moment gyro is less researched, and the friction moment characteristic and the variable time delay characteristic parameter of the control moment gyro are not determined by an experimental method. The prior publications have less research on parameters of the friction torque characteristic and the time delay characteristic of the control torque gyroscope. In the test process, the existing literature considers that the time delay characteristic of the control moment gyro under the dynamic condition is invariable, and certain limitation exists.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method overcomes the defects of the prior art, provides a dynamic response test method for the control moment gyroscope frame, can overcome the defect that the noise is large when the angular velocity of the control moment gyroscope frame is measured by using the rotational variation difference in the existing test method, and designs the measurement of the angular velocity of the control moment gyroscope frame with high bandwidth and high precision based on the laser vibration meter.
The technical solution of the invention is as follows:
a dynamic response test method for a control moment gyro frame comprises the following steps:
(1) constructing a dynamic response test platform of a control moment gyroscope frame;
the method specifically comprises the following steps: fixing a force measuring platform (2) on a vibration isolation foundation (1), fixing a control moment gyroscope (3) on the force measuring platform (2), connecting an output end of an upper computer (4) of the control moment gyroscope with an input end of the control moment gyroscope (3), and realizing control on different rotating speeds of the control moment gyroscope through the upper computer (4); fixedly mounting a laser vibration meter (5) and a vibration isolation foundation, and adjusting an optical axis (6) of the laser vibration meter (5) to enable the optical axis (6) to point to the edge of the low-speed frame of the control moment gyroscope (3); the output of the force measuring platform (2) is connected to the first input end of the data collector (8) through the charge amplifier (7); the output of the laser vibration meter (5) is connected to the second input end of the data acquisition unit (8); the output end of the data acquisition unit (8) is connected with the data acquisition upper computer (9).
(2) Measuring the distance d between the marginal point of the low-speed frame of the control moment gyroscope (3) pointed by the optical axis of the laser vibration meter and the central line of the control moment gyroscope;
(3) applying a sinusoidal excitation signal with the frequency of omega and the period of A to the control moment gyroscope through the upper computer of the control moment gyroscope;
after an excitation signal with the frequency of omega and the period of A is applied to the control moment gyro through the upper computer of the control moment gyro, the low-speed frame angle of the control moment gyro can be expressed as
＝∫A sin(ωt)dt＝-A/t cos(ωt)，
t is time. The number of the frequencies applied to the control moment gyro by the control moment gyro upper computer is not less than 5.
(4) Recording a measuring signal of the laser vibrometer;
and the measuring signal of the laser vibration meter is the linear displacement r and the linear velocity v of the edge point of the control moment gyro low-speed frame.
(5) The angle of the low-speed frame of the control moment gyroscope is controlled within a range of +/-5 degrees near a zero position by controlling the upper computer of the control moment gyroscope, and the approximate relation between the rotation angle and linear displacement and the approximate relation between the angular speed and linear speed of the low-speed frame of the control moment gyroscope are obtained;
the control moment gyro has approximate relations of the rotation angle and the linear displacement of the low-speed frame and the angular speed and the linear speed
Wherein,
to control the angular velocity of the low-speed frame of the moment gyro.
(6) Recording a measuring signal of the force measuring table, namely controlling the torque output by the rotation of the low-speed frame of the torque gyro;
(7) initial angular velocity of gyro low-speed frame with given control moment
Then power offControlling the low-speed frame of the moment gyroscope to be in a free sliding state under a friction state; recording the friction torque tau output by the force-measuring table1Recording the angular velocity of the low-speed frame of the control moment gyro
(8) Calculating friction moment coefficient k of low-speed frame of control moment gyroscope1；
The method specifically comprises the following steps:
(9) step responses with different amplitudes are applied to the control moment gyroscope through the upper computer of the control moment gyroscope, the error between the command angular velocity and the actual angular velocity of the low-speed frame of the control moment gyroscope is calculated, and the time delay characteristic of the control moment gyroscope is determined.
Furthermore, the invention also provides a dynamic response test system of the control moment gyro frame, which comprises the following components:
a platform building module: constructing a dynamic response test platform of a control moment gyroscope frame;
a distance measurement module: measuring the distance d between the marginal point of the low-speed frame of the control moment gyroscope (3) pointed by the optical axis of the laser vibration meter and the central line of the control moment gyroscope;
an excitation application module: applying an excitation signal with the frequency of omega and the period of A to the control moment gyroscope through the upper computer of the control moment gyroscope; recording a measuring signal of the laser vibrometer;
output torque measurement module: the angle of the low-speed frame of the control moment gyroscope is controlled within a range of +/-5 degrees near a zero position by controlling the upper computer of the control moment gyroscope, and the approximate relation between the rotation angle and linear displacement and the approximate relation between the angular speed and linear speed of the low-speed frame of the control moment gyroscope are obtained; recording a measuring signal of the force measuring table, namely controlling the torque output by the rotation of the low-speed frame of the torque gyro;
friction torque coefficient calculation module: initial angular velocity of gyro low-speed frame with given control moment
Then the power is cut off, and the low-speed frame of the moment gyro is controlled to be in a free sliding state under a friction state; recording the friction torque tau output by the force-measuring table1Recording the angular velocity of the low-speed frame of the control moment gyro
Calculating friction moment coefficient k of low-speed frame of control moment gyroscope1；
A delay characteristic determination module: step responses with different amplitudes are applied to the control moment gyroscope through the upper computer of the control moment gyroscope, the error between the command angular velocity and the actual angular velocity of the low-speed frame of the control moment gyroscope is calculated, and the time delay characteristic of the control moment gyroscope is determined.
Compared with the prior art, the invention has the advantages that:
(1) the existing control moment gyro testing method mainly focuses on the relation between the command response command output moments of the control moment gyro and lacks the tests of friction moment characteristics and variable time delay characteristic parameters under the dynamic response of a control moment gyro frame. The invention focuses on the characteristic parameter test of the control moment gyroscope under dynamic response, and the method can simply and effectively measure the friction moment characteristic and the variable time delay characteristic parameter under the dynamic response of the control moment gyroscope and provide reliable test data for establishing an accurate control moment gyroscope dynamic model.
(2) The existing test method for measuring angular velocity mostly adopts a method of rotary variation difference to obtain the angular velocity information of a measured object. The method has the defects of large measurement noise and low measurement bandwidth. The method provided by the invention can obtain the angular velocity with high precision and high bandwidth based on the measurement of the laser vibration meter and by adopting small angle approximation. Accurate data are provided for accurately identifying the variable time delay characteristic parameters of the control moment gyro.
Drawings
FIG. 1 is a block flow diagram of the method of the present invention;
FIG. 2 is a schematic diagram of a test of the method of the present invention;
FIG. 3 is a diagram illustrating the identification of friction torque characteristics according to the present invention;
FIG. 4 is a comparison graph of the accuracy of measuring angular velocity according to the present invention;
fig. 5 is a time delay characteristic parameter identification diagram of the present invention.
Detailed Description
As shown in fig. 1, which is a flow chart of the method of the present invention, the method for testing dynamic response of a control moment gyro frame provided by the present invention mainly comprises the following steps:
(1) constructing a dynamic response test platform of a control moment gyroscope frame;
as shown in fig. 2, specifically, it is: fixing a force measuring platform 2 on a vibration isolation foundation 1, fixing a control moment gyroscope 3 on the force measuring platform 2, connecting an output end of an upper computer 4 of the control moment gyroscope with an input end of the control moment gyroscope 3, and realizing control on different rotating speeds of the control moment gyroscope through the upper computer 4; fixedly mounting a laser vibration meter 5 and a vibration isolation foundation, and adjusting an optical axis 6 of the laser vibration meter 5 to enable the optical axis 6 to point to the edge of the low-speed frame of the control moment gyroscope 3; the output of the force measuring platform 2 is connected to a first input end of a data acquisition unit 8 through a charge amplifier 7; the output of the laser vibration meter 5 is connected to the second input end of the data acquisition unit 8; the output end of the data acquisition unit 8 is connected with the data acquisition upper computer 9.
(2) Measuring the distance d between the marginal point of the low-speed frame of the control moment gyroscope 3 pointed by the optical axis of the laser vibration meter and the central line of the control moment gyroscope;
(3) applying a sinusoidal excitation signal with the frequency of omega and the period of A to the control moment gyroscope through the upper computer of the control moment gyroscope;
after an excitation signal with the frequency of omega and the period of A is applied to the control moment gyro through the upper computer of the control moment gyro, the low-speed frame angle of the control moment gyro can be expressed as
＝∫A sin(ωt)dt＝-A/t cos(ωt)，
t is time. The number of the frequencies applied to the control moment gyro by the control moment gyro upper computer is not less than 5.
(4) Recording a measuring signal of the laser vibrometer;
and the measuring signal of the laser vibration meter is the linear displacement r and the linear velocity v of the edge point of the control moment gyro low-speed frame.
(5) The angle of the low-speed frame of the control moment gyroscope is controlled within a range of +/-5 degrees near a zero position by controlling the upper computer of the control moment gyroscope, and the approximate relation between the rotation angle and linear displacement and the approximate relation between the angular speed and linear speed of the low-speed frame of the control moment gyroscope are obtained;
the control moment gyro has approximate relations of the rotation angle and the linear displacement of the low-speed frame and the angular speed and the linear speed
Wherein,
to control the angular velocity of the low-speed frame of the moment gyro.
(6) Recording a measuring signal of the force measuring table, namely controlling the torque output by the rotation of the low-speed frame of the torque gyro;
(7) initial angular velocity of gyro low-speed frame with given control moment
Then the power is cut off, and the low-speed frame of the moment gyro is controlled to be in a free sliding state under a friction state; recording the friction torque tau output by the force-measuring table1Recording the angular velocity of the low-speed frame of the control moment gyro
(8) Calculating friction moment coefficient k of low-speed frame of control moment gyroscope1；
The method specifically comprises the following steps:
(9) step responses with different amplitudes are applied to the control moment gyroscope through the upper computer of the control moment gyroscope, the error between the command angular velocity and the actual angular velocity of the low-speed frame of the control moment gyroscope is calculated, and the time delay characteristic of the control moment gyroscope is determined.
The examples given in the present invention are as follows:
(1) and (4) building a dynamic response test platform of the control moment gyroscope frame.
As shown in fig. 2, a force measuring platform 2 is fixed on a vibration isolation foundation 1, a control moment gyro 3 is fixed on the force measuring platform 2, an output end of an upper computer 4 of the control moment gyro is connected with an input end of the control moment gyro 3, and the control of different rotating speeds of the control moment gyro is realized through the upper computer 4; fixedly mounting a laser vibration meter 5 and a vibration isolation foundation, and adjusting an optical axis 6 of the laser vibration meter 5 to enable the optical axis 6 to point to the edge of the low-speed frame of the control moment gyroscope 3; the output of the force measuring platform 2 is connected to a first input end of a data acquisition unit 8 through a charge amplifier 7; the output of the laser vibration meter 5 is connected to the second input end of the data acquisition unit 8; the output end of the data acquisition unit 8 is connected with the data acquisition upper computer 9.
(2) And the distance between the marginal point of the optical axis 6 pointing to the low-speed frame of the control moment gyro 3 and the central line of the control moment gyro is measured, namely d is 15 cm.
(3) Sinusoidal excitation information with frequency omega and period A is applied to the control moment gyro 3 through the control moment gyro upper computer 4, namely the control moment gyro low-speed frame angle theta can be expressed as
(4) And recording measurement signals of the laser vibration meter 8, namely the linear displacement r and the linear velocity v of the edge point of the low-speed frame of the control moment gyro 3.
(5) The control of the moment gyro upper computer 4 is used for controlling the low-speed frame angle theta of the moment gyro within the range of +/-5 degrees near a zero position. The control moment gyro has approximate relations of the rotation angle and the linear displacement of the low-speed frame and the angular speed and the linear speed as
(6) And recording a measuring signal of the high-precision force measuring platform 2, namely, controlling the torque output by the rotation of the low-speed frame of the moment gyro.
(7) Initial angular velocity of gyro low-speed frame with given control moment
And then the power is cut off, and the low-speed frame of the moment gyro is controlled to be in a free sliding state in a friction state. Recording the friction torque tau output by the high precision force measuring table 21Recording the angular velocity of the low-speed frame of the control moment gyro
(8) Calculating the friction moment coefficient of the low-speed frame of the control moment gyro into
FIG. 3 shows the friction torque test result of the low-speed frame of the control moment gyro, and the friction torque coefficient k can be obtained through calculation1＝0.26Nm/rad。
(9) Step responses with different amplitudes are applied to the control moment gyroscope 3 through the control moment gyroscope upper computer 4, the error between the command angular velocity of the control moment gyroscope low-speed frame and the actual angular velocity obtained through the laser vibration meter 5 is calculated, and the time delay characteristic of the control moment gyroscope is determined.
(10) And 9, repeating the step 9 to obtain step responses with different amplitudes applied to the control moment gyroscope 3, and determining the time delay characteristics of the control moment gyroscope at different frame angular velocities. The number of the amplitude values of the applied step response excitation signals is 6 groups. The applied step response magnitudes are: 0.05 °/s, 0.1 °/s, 0.5 °/s, 1 °/s, 5 °/s, 10 °/s. Fig. 4 shows the angular velocity of a control moment gyro obtained by the method of the present invention and the rotational variation difference. As can be seen from the figure, the method for measuring the angular velocity based on the laser vibration meter has higher precision. FIG. 5 shows the results of the command frame step response and test comparison of 0.1/s. As can be seen from tests, under the step response, the time delay of the control moment gyro is 1.1 s.
(11) And fitting the time delay characteristic parameters of 6 groups of control moment gyroscopes by adopting a least square method, and identifying the variable test characteristic parameters of the control moment gyroscopes at different low-speed frame rotating speeds.
The invention focuses on the characteristic parameter test of the control moment gyroscope under dynamic response, and the method can simply and effectively measure the friction moment characteristic and the variable time delay characteristic parameter under the dynamic response of the control moment gyroscope and provide reliable test data for establishing an accurate control moment gyroscope dynamic model. The method provided by the invention can obtain the angular velocity with high precision and high bandwidth based on the measurement of the laser vibration meter and by adopting small angle approximation. Accurate data are provided for accurately identifying the variable time delay characteristic parameters of the control moment gyro.
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 (8)
1. A control moment gyro frame dynamic response test method is characterized by comprising the following steps:
(1) constructing a dynamic response test platform of a control moment gyroscope frame;
(2) measuring the distance d between the marginal point of the low-speed frame of the control moment gyroscope (3) pointed by the optical axis of the laser vibration meter and the central line of the control moment gyroscope;
(3) applying an excitation signal with the frequency of omega and the period of A to the control moment gyroscope through the upper computer of the control moment gyroscope;
(4) recording a measuring signal of the laser vibrometer;
measuring signals of the laser vibration meter are linear displacement r and linear velocity v of edge points of a low-speed frame of the control moment gyroscope;
(5) the control of the upper computer of the control moment gyro is used for realizing the range of the angle of the low-speed frame of the control moment gyro within +/-5 degrees near a zero position, and obtaining the approximate relation between the rotation angle and the linear displacement of the low-speed frame of the control moment gyro and the approximate relation between the angular speed and the linear speed;
the control moment gyro has approximate relations of the rotation angle and the linear displacement of the low-speed frame and the angular speed and the linear speed
Wherein,
controlling the angular speed of the low-speed frame of the moment gyro;
(6) recording a measuring signal of the force measuring table, namely controlling the torque output by the rotation of the low-speed frame of the torque gyro;
(7) initial angular velocity of gyro low-speed frame with given control moment
Then the power is cut off, and the low-speed frame of the moment gyro is controlled to be in a free sliding state under a friction state; recording the friction torque tau output by the force-measuring table1Recording the angular velocity of the low-speed frame of the control moment gyro
(8) Calculating friction moment coefficient k of low-speed frame of control moment gyroscope1；
(9) Step responses with different amplitudes are applied to the control moment gyroscope through the upper computer of the control moment gyroscope, the error between the command angular velocity and the actual angular velocity of the low-speed frame of the control moment gyroscope is calculated, and the time delay characteristic of the control moment gyroscope is determined.
2. The method for testing the dynamic response of the control moment gyro frame according to claim 1, characterized in that: the control moment gyro frame dynamic response test platform specifically comprises: fixing a force measuring platform (2) on a vibration isolation foundation (1), fixing a control moment gyroscope (3) on the force measuring platform (2), connecting an output end of an upper computer (4) of the control moment gyroscope with an input end of the control moment gyroscope (3), and realizing control on different rotating speeds of the control moment gyroscope through the upper computer (4); fixedly mounting a laser vibration meter (5) and a vibration isolation foundation, and adjusting an optical axis (6) of the laser vibration meter (5) to enable the optical axis (6) to point to the edge of the low-speed frame of the control moment gyroscope (3); the output of the force measuring platform (2) is connected to the first input end of the data collector (8) through the charge amplifier (7); the output of the laser vibration meter (5) is connected to the second input end of the data acquisition unit (8); the output end of the data acquisition unit (8) is connected with the data acquisition upper computer (9).
3. The method for testing the dynamic response of the control moment gyro frame according to claim 1, characterized in that: after an excitation signal with the frequency of omega and the period of A is applied to the control moment gyroscope through the control moment gyroscope upper computer, the low-speed frame angle of the control moment gyroscope can be expressed as ═ Asin (ω t) dt ═ A/tcos (ω t),
t is time.
4. The method for testing the dynamic response of the control moment gyro frame according to claim 1, characterized in that: calculating friction moment coefficient k of low-speed frame of control moment gyroscope1The method specifically comprises the following steps:
5. the method for testing the dynamic response of the control moment gyro frame according to claim 1, characterized in that: the excitation signal is a sinusoidal signal.
6. The method for testing the dynamic response of the control moment gyro frame according to claim 1, characterized in that: in the step 3, the number of the frequencies applied to the control moment gyro by the control moment gyro upper computer is not less than 5.
7. A test system implemented by the control moment gyro frame dynamic response test method according to claim 1, characterized by comprising:
a platform building module: constructing a dynamic response test platform of a control moment gyroscope frame;
a distance measurement module: measuring the distance d between the marginal point of the low-speed frame of the control moment gyroscope (3) pointed by the optical axis of the laser vibration meter and the central line of the control moment gyroscope;
an excitation application module: applying an excitation signal with the frequency of omega and the period of A to the control moment gyroscope through the upper computer of the control moment gyroscope; recording a measuring signal of the laser vibrometer; measuring signals of the laser vibration meter are linear displacement r and linear velocity v of edge points of a low-speed frame of the control moment gyroscope;
output torque measurement module: the angle of the low-speed frame of the control moment gyroscope is controlled within a range of +/-5 degrees near a zero position by controlling the upper computer of the control moment gyroscope, and the approximate relation between the rotation angle and linear displacement and the approximate relation between the angular speed and linear speed of the low-speed frame of the control moment gyroscope are obtained; recording a measuring signal of the force measuring table, namely controlling the torque output by the rotation of the low-speed frame of the torque gyro; the control moment gyro has approximate relations of the rotation angle and the linear displacement of the low-speed frame and the angular speed and the linear speed
Wherein,
controlling the angular speed of the low-speed frame of the moment gyro;
friction torque coefficient calculation module: initial angular velocity of gyro low-speed frame with given control moment
Then the power is cut off, and the low-speed frame of the moment gyro is controlled to be in a free sliding state under a friction state; recording the friction torque tau output by the force-measuring table1Recording the angular velocity of the low-speed frame of the control moment gyro
Calculating friction moment coefficient k of low-speed frame of control moment gyroscope1；
A delay characteristic determination module: step responses with different amplitudes are applied to the control moment gyroscope through the upper computer of the control moment gyroscope, the error between the command angular velocity and the actual angular velocity of the low-speed frame of the control moment gyroscope is calculated, and the time delay characteristic of the control moment gyroscope is determined.
8. The test system of claim 7, wherein: the control moment gyro frame dynamic response test platform specifically comprises: fixing a force measuring platform (2) on a vibration isolation foundation (1), fixing a control moment gyroscope (3) on the force measuring platform (2), connecting an output end of an upper computer (4) of the control moment gyroscope with an input end of the control moment gyroscope (3), and realizing control on different rotating speeds of the control moment gyroscope through the upper computer (4); fixedly mounting a laser vibration meter (5) and a vibration isolation foundation, and adjusting an optical axis (6) of the laser vibration meter (5) to enable the optical axis (6) to point to the edge of the low-speed frame of the control moment gyroscope (3); the output of the force measuring platform (2) is connected to the first input end of the data collector (8) through the charge amplifier (7); the output of the laser vibration meter (5) is connected to the second input end of the data acquisition unit (8); the output end of the data acquisition unit (8) is connected with the data acquisition upper computer (9).
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