CN110672129A - Device and method for testing dynamic characteristics of control moment gyroscope - Google Patents
Device and method for testing dynamic characteristics of control moment gyroscope Download PDFInfo
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- CN110672129A CN110672129A CN201911087652.2A CN201911087652A CN110672129A CN 110672129 A CN110672129 A CN 110672129A CN 201911087652 A CN201911087652 A CN 201911087652A CN 110672129 A CN110672129 A CN 110672129A
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- 238000005096 rolling process Methods 0.000 claims description 3
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
Abstract
The invention discloses a device and a method for testing dynamic characteristics of a control moment gyro.A left moment gyro and a right moment gyro of the device are arranged on output shafts of a left gyro motor and a right gyro motor which are arranged on the output shafts of a left precession motor and a right precession motor which are arranged on a gyro support frame, the gyro support frame is arranged on a gyro test bench through a bearing, the gyro test benches at the left side and the right side of the gyro support frame are respectively provided with an input moment transmission mechanism and a braking moment transmission mechanism, and the output shaft of the precession motor is provided with a measuring precession angular velocity omegarAnd an absolute encoder that measures the precession angle theta. The method of the invention is to respectively record different gyro resultant moments T2 and precession angular velocities omega of an input moment transmission mechanism under the condition of providing different main moment T1rAnd the precession angle theta, drawing T1-omega on the PC according to the recorded datarAnd a graphical curve of T1-theta by curve fittingAnd obtaining the functional relation between every two.
Description
Technical Field
The invention relates to a control moment gyro characteristic testing technology, in particular to a device and a method for testing the dynamic characteristic of a control moment gyro.
Background
One example of the most effective practical application of the dynamic characteristics of the moment gyro to the balance car is the Litmotor electric car which is introduced by a company in the united states and has two moment gyros mounted on a chassis thereof for generating gyro moments to balance the tilting moment of the car body, so that the most characteristic is that the car cannot be knocked over.
The control moment gyroscope is applied to the fields of two-wheeled all-electric automobiles and the like, self-transmission is carried out at high speed around a self-transmission shaft at an angular speed omega, the gyroscope moves at the angular speed omega, and the external moment acted on the gyroscope is M at the moment according to the Lasiohel theorem0＝Ω×JZω (where J)zIs the moment of inertia of the gyroscope to the axis of rotation), and the moment of the gyroscope MG＝JZOmega x omega at MGAnd the attitude control and adjustment are realized under the action, so that the balance of the vehicle body is controlled.
In the practical application of the control moment gyro in the two-wheeled balance vehicle, in order to obtain a good control effect, the adopted control moment gyro is firstly tested in two attitude directions of course adjustment and rolling. Some test results of the control moment gyroscope are obtained through analog simulation, and other test results are obtained through a large-scale complex professional test platform:
the simulation needs less hardware resources, has low cost and is convenient to implement, but certain errors still exist between the test result and the actual result.
By adopting a large-scale complex professional test platform, although a relatively accurate and high-precision measurement result can be obtained, a lot of hardware resources are needed, and the consumption cost is very high.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a device and a method for testing dynamic characteristics of a control moment gyro in two attitude orientations, namely course adjustment and roll, with relatively few hardware supporting resources and relatively high accuracy and efficiency.
The device for testing the dynamic characteristics of the control moment gyroscope can solve the technical problems and comprises a left moment gyroscope and a right moment gyroscope, wherein the left moment gyroscope and the right moment gyroscope are respectively installed on upward output shafts of a left gyro motor and a right gyro motor, the left gyro motor and the right gyro motor are respectively installed on longitudinal output shafts of a left precession motor and a right precession motor, the left precession motor and the right precession motor are installed on a gyro support frame, a left transverse rotating shaft and a right transverse rotating shaft of the gyro support frame are respectively installed on a gyro test bench through a left bearing assembly and a right bearing assembly, and an input moment transmission mechanism and a braking moment transmission mechanism are respectively arranged on the gyro test benches on the left side and the right side of the gyro support frame, wherein:
1. each braking torque transmission mechanism comprises a braking torque sensor and a torque brake, a rotating shaft of the torque brake is connected with an input shaft of the braking torque sensor, and an output shaft of the braking torque sensor is connected with a transverse rotating shaft corresponding to the gyro support frame.
The moment brake can effectively simulate the impedance moment transmitted to the moment gyro.
2. Each input torque transmission mechanism comprises an electromagnetic clutch, a torque input motor and an input torque sensor, wherein an output shaft of the torque input motor is connected with an input shaft of the input torque sensor through a speed reduction gear transmission pair, an output shaft of the input torque sensor is connected with an input shaft of the electromagnetic clutch, and an output shaft of the electromagnetic clutch is connected with a rotating shaft of a torque brake through a constant speed gear transmission pair.
The moment input motor can effectively simulate the driving moment transmitted to the moment gyro through the gear transmission pair.
3. An incremental encoder for measuring the precession angular velocity and an absolute encoder for measuring the precession angle are arranged on the output shaft of each precession motor.
Preferably, the torque brake is a magnetic powder brake.
Preferably, the torque input motor is a long-bar motor.
Preferably, each gyro motor is an aeromodelling brushless motor.
Preferably, each precession motor is a pancake motor.
The invention discloses a method for testing dynamic characteristics of a control moment gyroscope, which comprises the following steps:
1. the left torque input motor and the right torque input motor provide driving torque T1, and the left driving torque T1 and the right driving torque T1 are respectively transmitted to the left torque gyro and the right torque gyro through corresponding transmission paths.
2. The left moment gyro and the right moment gyro are driven by the left gyro motor and the right gyro motor to rotate at high speed respectively and are driven by the left precession motor and the right precession motor to generate precession respectively, and under the actions of rotation and precession, the left moment gyro and the right moment gyro generate gyro moments respectively.
3. The gyro resultant torque T2 generated by the left moment gyro and the right moment gyro is mutually offset in the heading direction and is used for balancing the active torque T1 transmitted to the moment gyro by the moment input motor in the roll direction.
4. The brake torque sensor measures a gyro resultant torque T2, and the input torque sensor measures an active torque T1.
5. The incremental encoder on the rotating shaft of the precession motor measures the precession angular velocity omegarAnd the absolute encoder measures the precession angle theta.
6. Respectively recording different gyro resultant moments T2 and precession angular velocities omega of moment gyros under the condition that the moment input motor provides different driving moments T1rAnd the precession angle theta of the moment gyro, and drawing T1-omega on an upper computer PC according to the recorded datarAnd a graphical curve of T1-theta, obtained by curve fittingThe functional relation between every two is obtained, and the final analysis obtains the dependent variable as gyro resultant moment T2 and the independent variable as precession angular velocity omegarAnd the variable function implication relation of the precession angle theta.
The invention has the beneficial effects that:
1. the invention designs a set of simple and efficient simulation test platform aiming at the moment gyro in the aspect of adjusting the roll and course postures of the two-wheeled balance vehicle, can carry out actual test experiments in a smaller occupied space, and is more convenient to obtain experimental results.
2. The invention can carry out physical simulation on the PC machine with high efficiency, thereby greatly reducing the complexity of preliminary preparation work of the physical experiment and the manpower and material resources consumed by large-range adjustment of parameters at the initial stage of the experiment physics.
3. The gyro moment T (omega) of the control moment gyro obtained by the measurement of the inventionrAnd theta) has important reference and guiding significance for the balance control of a general gyro moment physical prototype.
4. The invention can not only verify the action of the moment effect of the gyroscope, but also obtain and upload data from time to time through the sensor, and achieve the effect of controlling the moment of the gyroscope in real time through processing and feedback.
Drawings
FIG. 1 is a top view of one embodiment of the present invention.
And (3) identifying the figure number: 1. a left moment gyro; 2. a right moment gyro; 3. a left gyro motor; 4. a right gyro motor; 5. a left precession motor; 6. a right precession motor; 7. a top support frame; 8. a left transverse rotating shaft; 9. a right transverse rotating shaft; 10. a left bearing assembly; 11. a right bearing assembly; 12. a gyro test bench; 13. a left magnetic powder brake; 14. a right magnetic powder brake; 15. a left elongated motor; 16. a right elongated motor; 17. a left input torque sensor; 18. a right input torque sensor; 19. a left reduction gear transmission pair; 20. a right reduction gear transmission pair; 21. a left constant speed gear transmission pair; 22. the right constant-speed gear transmission pair; 23. a left electromagnetic clutch; 24. a right electromagnetic clutch; 25. a left braking torque sensor; 26. a right braking torque sensor; 27. a left coupling I; 28. a right coupler I; 29. a left coupling II; 30. and a right coupling II.
Detailed Description
The technical solution of the present invention will be further explained with reference to the embodiments shown in the drawings.
The device for controlling the dynamic characteristic test of the moment gyroscope comprises a gyroscope support frame 7 for bearing a left moment gyroscope 1 and a right moment gyroscope 2. A left transverse rotating shaft 8 and a right transverse rotating shaft 9 which are coaxial at the left end and the right end of a gyro support frame 7 are respectively arranged on a gyro test bench 12 through a left bearing assembly 10 and a right bearing assembly 11, a left moment gyro 1 is arranged on an upward output shaft of a left gyro motor 3 (an aeromodelling brushless motor), the left gyro motor 3 is arranged on an output shaft of a left precession motor 5 (a pancake motor) which longitudinally (horizontally forwards) extends, the left precession motor 5 is arranged on the rear end of the gyro support frame 7, a right moment gyro 2 is arranged on an upward output shaft of a right gyro motor 4 (an aeromodelling brushless motor), the right gyro motor 4 is arranged on an output shaft of a right precession motor 6 (a pancake motor) which longitudinally (horizontally backwards) extends, the right precession motor 6 is arranged on the front end of the gyro support frame 7, an incremental encoder for measuring the precession angular velocity and an absolute encoder for measuring the precession angle are arranged on angle on of, an incremental encoder for measuring precession angular velocity and an absolute encoder for measuring precession angle are also provided on the output shaft of the right precession motor 6, as shown in fig. 1.
Be equipped with on the left top testboard 12 of top support frame 7 with the coaxial left braking torque transfer mechanism of left transverse rotating shaft 8 and locate the other left input torque transfer mechanism in left braking torque transfer mechanism side, it is specific:
the left brake torque transmission mechanism comprises a left magnetic powder brake 13 and a left brake torque sensor 25 which are arranged from left to right, the left magnetic powder brake 13 is arranged on the gyro test bench 12 through a corresponding support, a rotating shaft of the left magnetic powder brake 13 is connected with an input shaft of the left brake torque sensor 25 through a left coupler II 29, and an output shaft of the left brake torque sensor 25 is connected with a left transverse rotating shaft 8 through a left coupler I27; the left input torque transmission mechanism is arranged at the rear side of the left brake torque transmission mechanism and comprises a left strip motor 15, a left input torque sensor 17 and a left electromagnetic clutch 23 which are arranged from right to left, an output shaft of the left strip motor 15 is connected with an input shaft of the left input torque sensor 17 through a left speed reduction gear transmission pair 19, an output shaft of the left input torque sensor 17 is connected with an input shaft of the left electromagnetic clutch 23, and an output shaft of the left electromagnetic clutch 23 is connected with a rotating shaft of the left magnetic powder brake 13 through a left constant speed gear transmission pair 21, as shown in fig. 1.
Be equipped with on the top testboard 12 on top support frame 7 right side with the coaxial right braking torque transfer mechanism of right transverse rotating shaft 9 and locate the other right input torque transfer mechanism in right braking torque transfer mechanism side, specific:
the right braking torque transmission mechanism comprises a right magnetic powder brake 14 and a right braking torque sensor 26 which are arranged from right to left, the right magnetic powder brake 14 is installed on the gyro test bench 12 through a corresponding support, a rotating shaft of the right magnetic powder brake 14 is connected with an input shaft of the right braking torque sensor 26 through a right coupler II 30, and an output shaft of the right braking torque sensor 26 is connected with the right transverse rotating shaft 9 through a right coupler I28; the right input torque transmission mechanism is arranged at the front side of the right brake torque transmission mechanism and comprises a right strip motor 16, a right input torque sensor 18 and a right electromagnetic clutch 24 which are arranged from left to right, an output shaft of the right strip motor 16 is connected with an input shaft of the right input torque sensor 18 through a right speed reduction gear transmission pair 20, an output shaft of the right input torque sensor 18 is connected with an input shaft of the right electromagnetic clutch 24, and an output shaft of the right electromagnetic clutch 24 is connected with a rotating shaft of the right magnetic powder brake 14 through a right constant speed gear transmission pair 22, as shown in fig. 1.
The invention discloses a method for testing dynamic characteristics of a control moment gyroscope, which comprises the following steps:
1. the left strip motor 15 and the right strip motor 16 synchronously provide driving torque T1 (the electromagnetic clutch controls the input of the driving torque T1), and the left and right driving torques T1 are transmitted to the left torque gyro 1 and the right torque gyro 2 through corresponding transmission paths, respectively.
2. The left moment gyro 1 and the right moment gyro 2 respectively rotate at high speed under the drive of the left gyro motor 3 and the right gyro motor 4, and respectively generate precession under the drive of the left precession motor 5 and the right precession motor 6, and under the actions of rotation and precession, the left moment gyro 1 and the right moment gyro 2 respectively generate gyro moments.
3. The gyro resultant torque T2 generated by the left moment gyro 1 and the right moment gyro 2 is mutually offset in the aviation direction and is used for balancing the active torque T1 transmitted to the moment gyro by the strip motor in the rolling direction.
4. The braking torque sensor measures a gyro resultant torque T2, the input torque sensor measures a main dynamic torque T1, and the torque sensor arranged in the center of the bottom of the gyro test bench 12 measures whether the gyro test bench 12 has a torque effect in the heading direction.
5. The incremental encoder on the rotating shaft of the precession motor measures the precession angular velocity omegarAnd the absolute encoder measures the precession angle theta.
6. Respectively recording different gyro resultant moments T2 and precession angular velocities omega of the moment gyro under the condition that the strip motor provides different driving moments T1rAnd the precession angle theta of the moment gyro, and drawing T1-omega on an upper computer PC according to the recorded datarAnd a graph curve of T1-theta, obtaining a functional relation between every two graphs through curve fitting, and finally analyzing to obtain a dependent variable T2 of a gyro resultant moment and an independent variable omega of the precession angular velocity of a moment gyrorAnd the precession angle theta of the moment gyro.
Claims (6)
1. The device for controlling the test of the dynamic characteristics of the moment gyroscope comprises a left moment gyroscope (1) and a right moment gyroscope (2), wherein the left and right moment gyroscopes (1 and 2) are respectively arranged on upward output shafts of a left gyro motor (3) and a right gyro motor (4), the left and right gyro motors (3 and 4) are respectively arranged on longitudinal output shafts of a left precession motor (5) and a right precession motor (6), the left and right precession motors (5 and 6) are arranged on a gyroscope support frame (7), the left transverse rotating shaft (8) and the right transverse rotating shaft (9) of the gyro support frame (7) are respectively arranged on a gyro test bench (12) through a left bearing assembly (10) and a right bearing assembly (11), all be equipped with input torque transfer mechanism and braking torque transfer mechanism on top testboard (12) of top support frame (7) left and right both sides, wherein:
each braking torque transmission mechanism comprises a braking torque sensor and a torque brake, a rotating shaft of the torque brake is connected with an input shaft of the braking torque sensor, and an output shaft of the braking torque sensor is connected with a transverse rotating shaft corresponding to the gyro support frame (7);
each input torque transmission mechanism comprises an electromagnetic clutch, a torque input motor and an input torque sensor, wherein an output shaft of the torque input motor is connected with an input shaft of the input torque sensor through a speed reduction gear transmission pair, an output shaft of the input torque sensor is connected with an input shaft of the electromagnetic clutch, and an output shaft of the electromagnetic clutch is connected with a rotating shaft of a torque brake through a constant speed gear transmission pair;
an incremental encoder for measuring the precession angular velocity and an absolute encoder for measuring the precession angle are arranged on the output shaft of each precession motor.
2. The apparatus for controlling a moment gyro dynamics test according to claim 1, wherein: the torque brake is a magnetic powder brake.
3. The apparatus for controlling a moment gyro dynamics test according to claim 1, wherein: the torque input motor is a long-strip motor.
4. The apparatus for controlling a moment gyro dynamics test according to claim 1, wherein: each gyro motor is a model airplane brushless motor.
5. The apparatus for controlling a moment gyro dynamics test according to claim 1, wherein: each precession motor is a pancake motor.
6. The method for testing the dynamic characteristic of the control moment gyroscope is characterized by adopting the device for testing the dynamic characteristic of the control moment gyroscope, which is disclosed by any one of claims 1-5, and the method comprises the following steps:
①, a left moment input motor and a right moment input motor provide an active moment T1, and the left active moment T1 and the right active moment T are respectively transmitted to the left moment gyro (1) and the right moment gyro (2) through corresponding transmission paths;
②, the left moment gyro (1) and the right moment gyro (2) are driven by a left gyro motor (3) and a right gyro motor (4) to rotate at high speed respectively, and are driven by a left precession motor (5) and a right precession motor (6) to precess respectively, and under the actions of rotation and precession, the left moment gyro (1) and the right moment gyro (2) respectively generate gyro moments;
③, a gyro resultant moment T2 generated by the left moment gyro (1) and the right moment gyro (2) is mutually offset in the heading direction and is used for balancing the active moment T1 transmitted to the moment gyro by the moment input motor in the rolling direction;
④, a gyro resultant torque T2 is measured by the braking torque sensor, and a main driving torque T1 is measured by the input torque sensor;
⑤, measuring the precession angular velocity by an incremental encoder on the precession motor rotating shaft and measuring the precession angle theta by an absolute encoder;
⑥, recording different gyro resultant moments T2, the precession angular velocities of the moment gyros and the precession angles theta of the moment gyros respectively when the moment input motors provide different main moments T1, drawing graph curves of T1-T1-theta on the PC according to recorded data, obtaining a functional relationship between the two components through curve fitting, and finally analyzing to obtain a variable function inclusion relationship of which the dependent variable is the gyro resultant moment T2 and the independent variable is the precession angular velocities and the precession angles theta.
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| CN114370886A (en) * | 2021-11-23 | 2022-04-19 | 上海航天控制技术研究所 | Full-angle mode vibration gyro measurement error self-calibration method based on virtual rotation |
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