CN110672129B - Device and method for controlling dynamic characteristic test of moment gyro - Google Patents
Device and method for controlling dynamic characteristic test of moment gyro Download PDFInfo
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- CN110672129B CN110672129B CN201911087652.2A CN201911087652A CN110672129B CN 110672129 B CN110672129 B CN 110672129B CN 201911087652 A CN201911087652 A CN 201911087652A CN 110672129 B CN110672129 B CN 110672129B
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- 239000006247 magnetic powder Substances 0.000 claims description 12
- 230000009471 action Effects 0.000 claims description 4
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- 238000005096 rolling process Methods 0.000 claims description 4
- 230000001419 dependent effect Effects 0.000 claims description 3
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- 238000002474 experimental method Methods 0.000 description 5
- 238000004088 simulation Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 2
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- 238000005859 coupling reaction Methods 0.000 description 2
- 238000009987 spinning Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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Classifications
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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 the dynamic characteristics of a control moment gyro, wherein 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, the left gyro motor and the right gyro motor are arranged on output shafts of a left precession motor and a right precession motor, the left precession motor and the right precession motor are arranged on a gyro support frame, the gyro support frame is arranged on a gyro test platform through a bearing, input moment transmission mechanisms and braking moment transmission mechanisms are arranged on the gyro test platforms on the left side and the right side of the gyro support frame, and a precession angular velocity omega is measured on the output shafts of the precession motors r An incremental encoder of (2) and an absolute encoder for measuring the precession angle θ. The method of the invention is to record different gyro combined moment T2 and precession angular velocity omega of the input moment transmission mechanism under the condition of providing different driving moment T1 respectively r And precession angle theta, drawing T1-omega on the upper computer PC according to the recorded data r And a graph curve of T1-theta, and obtaining the functional relation between every two by curve fitting.
Description
Technical Field
The invention relates to a control moment gyro characteristic test technology, in particular to a device and a method for testing the dynamic characteristic of a control moment gyro.
Background
One of the most effective examples of the practical application of moment gyroscopes in balance cars is Litmotor electric car, which is proposed by a company in the united states, in which two moment gyroscopes are installed at the chassis to generate gyroscopic moment to balance the tilting moment of the car body, so that the biggest feature is that it is never knocked over.
The control moment gyro is applied to the fields of two-wheel full-electric automobiles and the like, and is driven by self-transmission at high speed around a self-transmission shaft at angular speed omega, and simultaneously driven by precession at angular speed omega, and according to the principle of Chai Er, the external moment acted on the gyro is M 0 ＝Ω×J Z Omega (where J) z Moment of inertia of the spinning top to the self-transmission shaft), and spinning top moment M G ＝J Z Omega x omega at M G Realizes the gesture control adjustment under the action, thereby controlling the balance of the vehicle body.
In the practical application of the control moment gyro on the two-wheeled balance car, the control moment gyro needs to obtain a good control effect, and experiments and tests are carried out on the adopted control moment gyro in the process of adjusting the course and the transverse rolling gesture. For the test results of the control moment gyro, some are obtained through simulation, and some are obtained through a large complex professional test platform:
the simulation requires less hardware resources, has low cost and is convenient to implement, but the test result and the actual result have certain errors.
By adopting a large complex professional test platform, although accurate and high-precision measurement results can be obtained, a lot of hardware resources are needed, and the consumption cost is high.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a device and a method for testing the dynamic characteristics of a control moment gyro in two gesture and azimuth of course adjustment and roll by relatively fewer hardware matched resources and more accurately and efficiently.
The technical scheme of the device capable of solving the control moment gyro dynamic characteristic test of the technical problems comprises a left moment gyro and a right moment gyro, wherein the left moment gyro and the right moment gyro are respectively arranged 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 arranged on longitudinal output shafts of the left precession motor and the right precession motor, the left precession motor and the right precession motor are arranged on a gyro support frame, a left transverse rotating shaft and a right transverse rotating shaft of the gyro support frame are respectively arranged on a gyro test board through a left bearing assembly and a right bearing assembly, and input moment transmission mechanisms and brake moment transmission mechanisms are respectively arranged on gyro test boards on the left side and the right side of the gyro support frame, wherein:
1. each braking moment transmission mechanism comprises a braking moment sensor and a moment brake, wherein a rotating shaft of the moment brake is connected with an input shaft of the braking moment sensor, and an output shaft of the braking moment 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 the torque brake through a constant speed gear transmission pair.
The torque input motor can effectively simulate the driving torque transmitted to the torque 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 moment brake is a magnetic powder brake.
Preferably, the torque input motor is a long-strip motor.
Preferably, each gyro motor adopts a model airplane brushless motor.
Preferably, each precession motor is a pancake motor.
The invention relates to a method for testing dynamic characteristics of a control moment gyro, which comprises the following scheme steps:
1. the left moment input motor and the right moment input motor provide a driving moment T1, and the left driving moment T1 and the right driving moment T1 are respectively transmitted to the left moment gyro and the right moment gyro through corresponding transmission paths.
2. The left moment gyro and the right moment gyro are driven by a left gyro motor and a right gyro motor to rotate at high speed respectively and are driven by a left precession motor and a right precession motor to precess respectively, and under the actions of rotation and precession, the left moment gyro and the right moment gyro generate gyro moment respectively.
3. The gyro combined moment T2 generated by the left moment gyro and the right moment gyro are mutually offset in the navigation direction, and are used for balancing the main moment T1 transmitted to the moment gyro by the moment input motor in the rolling direction.
4. The braking torque sensor detects a gyro resultant torque T2, and the input torque sensor detects a main torque T1.
5. An incremental encoder on the precession motor shaft measures the precession angular velocity omega r The absolute encoder measures the precession angle θ.
6. The precession angular velocity omega of different gyro combined moments T2 and moment gyroscopes under the condition of providing different main moments T1 by the moment input motor is recorded respectively r And the precession angle theta of the moment gyro, and drawing T1-omega on the upper computer PC according to the recorded data r And a graph curve of T1-theta, obtaining a functional relation between every two by curve fitting, and finally analyzing to obtain a gyro resultant moment T2 as a dependent variable and a precession angular velocity omega as an independent variable r And 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 on the aspect of adjusting the roll and heading postures of the two-wheeled balance car, can carry out actual test experiments in a small occupied space, and has more convenient acquisition of experimental results.
2. According to the invention, physical simulation is carried out on the PC, so that physical experiments can be carried out efficiently, and the complexity of preliminary preparation work of the physical experiments and the manpower and material resources consumed by large-scale adjustment of parameters at the initial stage of the physical experiments are greatly reduced.
3. The invention measures the gyro moment T (omega) of the control moment gyro r θ) has important reference and guiding significance for balance control of a general gyroscopic moment physical prototype.
4. The invention not only can verify the effect of the gyro moment effect, but also can acquire and upload data from time to time through the sensor, and achieves the effect of controlling the gyro moment in real time through processing and feedback.
Drawings
Fig. 1 is a top view of one embodiment of the present invention.
Drawing number identification: 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; 8. a left transverse rotating shaft; 9. a right transverse rotating shaft; 10. a left bearing assembly; 11. a right bearing assembly; 12. a gyroscopic test bench; 13. a left magnetic powder brake; 14. a right magnetic powder brake; 15. a left long motor; 16. a right elongate motor; 17. a left input torque sensor; 18. a right input torque sensor; 19. a left speed reducing gear transmission pair; 20. a right speed reducing gear transmission pair; 21. a left constant speed gear transmission pair; 22. 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 coupler I; 28. a right coupler I; 29. a left coupling II; 30. right coupling ii.
Detailed Description
The technical scheme of the invention is further described below with reference to the embodiment shown in the drawings.
The invention relates to a device for controlling dynamic characteristic test of a moment gyro, which comprises a gyro support frame 7 for bearing a left moment gyro 1 and a right moment gyro 2. The left transverse rotating shaft 8 and the right transverse rotating shaft 9 which are coaxial at the left end and the right end of the gyro support frame 7 are respectively installed on the gyro test board 12 through a left bearing assembly 10 and a right bearing assembly 11, the left moment gyro 1 is installed on an upward output shaft of the left gyro motor 3 (a model airplane brushless motor), the left gyro motor 3 is installed on a longitudinal (horizontal forward extending) output shaft of the left gyro motor 5 (a pancake motor), the left gyro motor 5 is installed on the rear end of the gyro support frame 7, the right moment gyro 2 is installed on an upward output shaft of the right gyro motor 4 (a model airplane brushless motor), the right gyro motor 4 is installed on a longitudinal (horizontal backward extending) output shaft of the right gyro motor 6 (a pancake motor), the right gyro motor 6 is installed on the front end of the gyro support frame 7, an incremental encoder for measuring the angular velocity and an absolute encoder for measuring the angular velocity are arranged on the output shaft of the left gyro motor 5, and an incremental encoder for measuring the angular velocity is also arranged on the output shaft of the right gyro motor 6, as shown in fig. 1.
The left side of the gyro support frame 7 is provided with a left braking torque transmission mechanism coaxial with the left transverse rotating shaft 8 and a left input torque transmission mechanism arranged beside the left braking torque transmission mechanism, and the left input torque transmission mechanism is specifically:
the left braking torque transmission mechanism comprises a left magnetic powder brake 13 and a left braking 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 braking torque sensor 25 through a left coupler II 29, and an output shaft of the left braking 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 braking torque transmission mechanism and comprises a left long motor 15, a left input torque sensor 17 and a left electromagnetic clutch 23 which are arranged from right to left, wherein an output shaft of the left long 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.
The gyro test bench 12 on the right side of the gyro support frame 7 is provided with a right braking torque transmission mechanism coaxial with the right transverse rotating shaft 9 and a right input torque transmission mechanism arranged beside the right braking torque transmission mechanism, and the specific components are as follows:
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, wherein the right magnetic powder brake 14 is arranged 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 a right transverse rotating shaft 9 through a right coupler I28; the right input torque transmission mechanism is arranged on the front side of the right braking torque transmission mechanism and comprises a right long-strip motor 16, a right input torque sensor 18 and a right electromagnetic clutch 24 which are arranged from left to right, wherein an output shaft of the right long-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 relates to a method for testing dynamic characteristics of a control moment gyro, which comprises the following scheme steps:
1. the left and right long motors 15 and 16 synchronously provide a driving torque T1 (input of the electromagnetic clutch control driving torque T1), and the left and right driving torques T1 are transmitted to the left moment gyro 1 and the right moment gyro 2 through corresponding transmission paths, respectively.
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 a 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 generate gyro moment respectively.
3. The gyro combined moment T2 generated by the left moment gyro 1 and the right moment gyro 2 are mutually offset in the navigation direction, and are used for balancing the main moment T1 transmitted to the moment gyro by the strip motor in the transverse rolling direction.
4. The braking torque sensor detects a gyro resultant torque T2, the input torque sensor detects a driving torque T1, and the torque sensor arranged in the center of the bottom of the gyro test bench 12 detects whether the gyro test bench 12 has a torque effect in the navigation direction.
5. Precession motor rotationAn incremental encoder on the shaft measures the precession angular velocity ω r The absolute encoder measures the precession angle θ.
6. Different gyro resultant moments T2 of the strip motor under the condition of providing different main moments T1 are recorded respectively, and the precession angular velocity omega of the moment gyro is recorded respectively r And the precession angle theta of the moment gyro, and drawing T1-omega on the upper computer PC according to the recorded data r And a graph curve of T1-theta, obtaining a functional relation between every two by curve fitting, and finally analyzing to obtain the precession angular velocity omega of which the dependent variable is gyro resultant moment T2 and the independent variable is moment gyro r And the precession angle theta of the moment gyro.
Claims (6)
1. The device for controlling the dynamic characteristic test of the moment gyro comprises a left moment gyro and a right moment gyro, wherein the left moment gyro and the right moment gyro are respectively arranged 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 arranged on longitudinal output shafts of the left precession motor and the right precession motor, the left precession motor and the right precession motor are arranged on a gyro support frame, a left transverse rotating shaft and a right transverse rotating shaft of the gyro support frame are respectively arranged on a gyro test platform through a left bearing assembly and a right bearing assembly, and input moment transmission mechanisms and braking moment transmission mechanisms are respectively arranged on the gyro test platforms on the left side and the right side of the gyro support frame, wherein:
each braking moment transmission mechanism comprises a braking moment sensor and a moment brake, wherein a rotating shaft of the moment brake is connected with an input shaft of the braking moment sensor, and an output shaft of the braking moment sensor is connected with a transverse rotating shaft corresponding to the gyro support frame;
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 the 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 moment gyro dynamic characteristics test according to claim 1, wherein: the moment brake is a magnetic powder brake.
3. The apparatus for controlling moment gyro dynamic characteristics test according to claim 1, wherein: the moment input motor is a strip motor.
4. The apparatus for controlling moment gyro dynamic characteristics test according to claim 1, wherein: each gyro motor is a model airplane brushless motor.
5. The apparatus for controlling moment gyro dynamic characteristics test according to claim 1, wherein: each precession motor is a pancake motor.
6. A method for testing dynamic characteristics of a control moment gyro, characterized in that a device for testing dynamic characteristics of a control moment gyro according to any one of claims 1 to 5 is used, comprising the steps of:
(1) the left moment input motor and the right moment input motor provide a driving moment T1, and the left driving moment T1 and the right driving moment T1 are respectively transmitted to the left moment gyro and the right moment gyro through corresponding transmission paths;
(2) the left moment gyro and the right moment gyro are driven by a left gyro motor and a right gyro motor to rotate at high speed respectively and are driven by a left precession motor and a right precession motor to precess respectively, and under the actions of rotation and precession, the left moment gyro and the right moment gyro generate gyro moment respectively;
(3) the gyro combined moment T2 generated by the left moment gyro and the right moment gyro are mutually offset in the navigation direction, and are used for balancing the main moment T1 transmitted to the moment gyro by the moment input motor in the rolling direction;
(4) the braking torque sensor detects a gyro resultant torque T2, and the input torque sensor detects a main power torque T1;
(5) an incremental encoder on the rotating shaft of the precession motor measures the precession angular velocity omega r The absolute encoder measures the precession angle theta;
(6) respectively recording different gyro combined moments T2 and precession angular speeds omega of moment gyroscopes of the moment input motor under the condition of providing different main moments T1 r And the precession angle theta of the moment gyro, and drawing T1-omega on the upper computer PC according to the recorded data r And a graph curve of T1-theta, obtaining a functional relation between every two by curve fitting, and finally analyzing to obtain a gyro resultant moment T2 as a dependent variable and a precession angular velocity omega as an independent variable r And the precession angle theta.
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113093704B (en) * | 2021-04-01 | 2022-06-14 | 重庆理工大学 | Real-time synchronization performance testing device and method for control moment gyro symmetric frame system |
| CN113124904B (en) * | 2021-04-25 | 2023-09-08 | 重庆理工大学 | Moment gyro recovery moment test bed and measuring method |
| CN114370886B (en) * | 2021-11-23 | 2024-01-02 | 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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| US8561944B2 (en) * | 2010-06-17 | 2013-10-22 | Lockheed Martin Corporation | System and method for desaturation of a control moment gyroscope |
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