CN111964826A - Calibration device and method for micro thruster test system - Google Patents
Calibration device and method for micro thruster test system Download PDFInfo
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- CN111964826A CN111964826A CN202010883795.0A CN202010883795A CN111964826A CN 111964826 A CN111964826 A CN 111964826A CN 202010883795 A CN202010883795 A CN 202010883795A CN 111964826 A CN111964826 A CN 111964826A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0028—Force sensors associated with force applying means
- G01L5/0038—Force sensors associated with force applying means applying a pushing force
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/08—Measuring force or stress, in general by the use of counterbalancing forces
- G01L1/086—Measuring force or stress, in general by the use of counterbalancing forces using electrostatic or electromagnetic counterbalancing forces
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Abstract
The invention relates to a calibration device and a calibration method of a micro thruster test system. Meanwhile, the electrified solenoid coil is used as a main structure of the electromagnetic force measuring device, so that the influence of the environment on a test result can be avoided to a great extent, and the micro-thrust measurement accuracy generated by the micro-thruster is improved.
Description
Technical Field
The invention relates to the technical field of force measurement, in particular to a calibration device and method for a micro thruster test system.
Background
With the progress and development of scientific technology, small satellites are receiving more and more attention and applications. The micro thruster is a power component of the micro satellite and plays an important role in satellite attitude adjustment and orbit adjustment, so that the performance of the micro thruster is directly related to the wide application of the micro satellite. However, since the thrust of the micro thruster is usually in the order of micro newton to millinewton, testing the thrust of the micro thruster is often a difficult problem in the design and manufacturing process of the micro thruster.
However, when the existing micro thruster testing system carries out analog measurement on the micro thrust generated by the micro thruster, the problems that the influence of the environmental temperature is large and the testing result is not accurate enough often exist.
Disclosure of Invention
The invention aims to provide a calibration device and a calibration method for a micro thruster test system, which can reduce the influence of the difference between a normal temperature environment and a vacuum environment on a test result and obtain a more accurate test result.
In order to achieve the purpose, the invention provides the following scheme:
a calibration device for a micro thruster test system comprises
The weighing device is used for measuring the acting force borne by the magnet; the magnet is fixed through a magnet supporting rod arranged on the surface of an induction area of the weighing device;
the electromagnetic force measuring device is used for simulating micro thrust generated by the micro thruster and is suspended above the induction area of the weighing device through a bracket; the electromagnetic force measuring device comprises a hollow solenoid and two coils which are wound at two ends of the hollow solenoid respectively and have opposite winding directions and the same coil turns, the hollow solenoid is vertically placed above an induction area of the weighing device, and the magnet is positioned in the hollow solenoid; the coil is connected with a current stabilizing circuit, and the current stabilizing circuit supplies power to the coil to drive the electromagnetic force measuring device to apply acting force on the magnet;
and determining the relationship between the current value of the micro thruster and the micro thrust according to the relationship between the current of the current stabilizing circuit and the acting force borne by the magnet, and completing the calibration of the micro thrust generated by the micro thruster.
Optionally, the bracket is provided with a fixing rod, one end of the fixing rod is connected with the main body of the bracket, the other end of the fixing rod is provided with a three-dimensional adjuster, the three-dimensional adjuster is fixedly connected with a hollow solenoid coil of the electromagnetic force measuring device, and the three-dimensional adjuster comprises an X-direction knob, a Y-direction knob and a Z-direction knob and is used for adjusting the position of the electromagnetic force measuring device in the direction X, Y, Z.
Optionally, the support includes a first support rod and a second support rod which are vertically arranged, and a horizontal support rod which is transversely arranged between the first support rod and the second support rod; the top end of the fixed rod is fixedly connected with the horizontal supporting rod, and the bottom end of the fixed rod is connected with the three-dimensional regulator.
Optionally, the electromagnetic force measuring device adjusts the acting force of the magnet by changing the distance between the magnet and the coil, and the acting force and the distance satisfy
And I is the current value of the current stabilizing circuit, L is the equivalent inductance of the coil, and z is the distance between the magnet and the force application coil.
Optionally, the weighing device is replaced by a pressure sensing device.
The invention also provides a micro thruster calibration method using the calibration device, which is characterized by comprising the following steps:
connecting the electromagnetic force measuring device with a current stabilizing circuit, and recording the current value of the current stabilizing circuit;
after the electromagnetic force measuring device generates acting force on the magnet, acquiring a reading change value of the weighing device to obtain the change gravity of the magnet;
calculating the torque of the variable gravity according to the current value of the current stabilizing circuit and the indicating change value of the weighing device;
obtaining the electromagnetic torque of the electromagnetic force measuring device through the torque of the variable gravity according to a torque balance principle;
changing the current value of the current stabilizing circuit, returning to the step of obtaining the indication change value of the weighing device after the electromagnetic force measuring device generates acting force on the magnet, obtaining electromagnetic torque values corresponding to different current values, and drawing a curve graph of the electromagnetic torque values changing along with the current values;
and obtaining the micro-thrust generated by the micro-thruster according to the curve graph and the current value of the micro-thruster, and completing the calibration of the micro-thrust of the micro-thruster.
Optionally, the method further includes an offset adjustment operation: the X, Y, Z directional displacement knob of the three-dimensional regulator is adjusted to make the magnet be located at the middle position in the hollow solenoid, and the distance between the magnet and the coils at two ends of the hollow solenoid is equal.
Optionally, the moment value of the varying gravity is G ═ Δ m × G, where Δ m is an index variation value of the weighing device, and G is a local gravity acceleration.
Optionally, a pressure sensing device is used to directly measure a pressure change value of the magnet to the pressure sensing device before and after the electromagnetic force measuring device is powered on.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a calibration device and a calibration method for a micro-thruster test system, which utilize a current stabilizing circuit to simulate the thrust of a micro-thruster by the electromagnetic force exerted on a magnet after a solenoid coil of an electromagnetic force measuring device is electrified. The acting force received by the magnet is converted into the changing gravity of the magnet or the changing pressure of the magnet to the pressure sensing device by utilizing the weighing device or the pressure sensing device, the moment of the changing force is obtained, the electromagnetic moment to be detected is obtained according to the moment balance principle, so that the corresponding relation between the current value of the current stabilizing circuit and the electromagnetic moment value is obtained, the calibration of the micro-thrust generated by the micro-thruster is completed, and the size of the micro-thrust generated by the micro-thruster is obtained according to the current value of the micro-thruster testing system. Continuous thrust simulation can be performed by adopting the electromagnetic force measuring device, so that a current-electromagnetic torque curve chart with a good linear relation is obtained. Meanwhile, structures such as permanent magnets and the like which are easily influenced by the ambient temperature are avoided, so that the calibration result is closer to that in a vacuum environment, and the accuracy of the calibration result is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a structural diagram of a calibration device for a micro thrust testing system according to an embodiment of the present invention;
FIG. 2 is a flowchart of a calibration method using a calibration device for a micro thrust test system according to an embodiment of the present invention;
FIG. 3 is a graph showing a relationship between a current and a thrust obtained by the calibration device in the embodiment of the present invention.
Description of the symbols: 1. the weighing device comprises a weighing device body, 2 parts of a bracket base, 3-1 parts of a first supporting rod, 3-2 parts of a second supporting rod, 4 parts of a horizontal supporting rod, 5 parts of a fixing rod, 6 parts of a three-dimensional regulator, 7.8.9 parts of a X, Y, Z direction knob, 10.11 parts of a coil, 12 parts of a magnet, 13 parts of a magnet fixing rod, 14 parts of a weighing device induction area and 15 parts of a hollow solenoid.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a calibration device and a calibration method for a micro thruster test system, which are used for simulating micro thrust generated by a micro thruster by using an electromagnetic force measuring device, so that calibration of the micro thrust generated by the micro thruster is completed through a simple and easy-to-implement structure, and errors brought by the environment are reduced.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
In one embodiment of the present invention, a calibration device for a micro thruster testing system is provided, as shown in fig. 1, and includes a weighing device 1, a bracket, an electromagnetic force measuring device, a magnet 12 and a magnet fixing rod 13.
The weighing device 1 is used for measuring the acting force applied to the magnet 12; the magnet 12 is fixed by a magnet support rod 13 arranged on the surface of an induction area 14 of the weighing device; the weighing device 1 can be embodied as an electronic analytical balance.
The electromagnetic force measuring device is suspended above an induction area of the weighing device through a bracket and is used for simulating micro thrust generated by the micro thruster; the electromagnetic force measuring device comprises a hollow solenoid 15 and two coils 10 and 11 which are wound at two ends of the hollow solenoid respectively and have opposite winding directions and the same coil turns, wherein the hollow solenoid 15 is vertically placed above an induction area 14 of the weighing device, and the magnet 12 is positioned inside the hollow solenoid 15; the coils 10 and 11 are connected with a current stabilizing circuit, and the current stabilizing circuit supplies power to the coils 10 and 11 to drive the electromagnetic force measuring device to apply acting force to the magnet 12;
because the winding directions of the coil 10 and the coil 11 are opposite, and the magnet 12 is positioned between the two coils, the directions of the forces generated by the coil 10 and the coil 11 on the magnet 12 after being electrified are the same, when the two coils generate upward resultant force on the magnet 12, the pressure of the magnet 12 on the weighing device 1 is reduced, which shows that the reading measured by the weighing device 1 is reduced, and conversely, when the directions of the resultant force generated by the two coils on the magnet 12 are downward, the pressure of the magnet 12 on the weighing device 1 is increased, which shows that the reading of the weighing device 1 is increased. Therefore, the acting force generated by the electromagnetic force measuring device on the magnet 12 is converted into the change of the indication number of the weighing device 1, namely the change of the gravity of the magnet 12, so that the acting force generated by the electromagnetic force measuring device can be measured conveniently and quickly.
Because the calibration device in this embodiment converts the acting force of the electromagnetic force measuring device on the magnet 12 into the pressure change of the magnet 12 on the weighing device 1, and finally shows the pressure change of the magnet 12 as a gravity change of the magnet 12, the weighing device 1 can be replaced by a pressure sensing device, and the pressure change of the magnet 12 on the pressure sensing device can be directly displayed. Of course, any sensing device capable of indicating a change in the force applied to the magnet 12 is within the scope of the present invention.
In the calibration device provided by this embodiment, the electromagnetic force measuring device simulates a device for generating thrust by the micro thruster, and the magnet is used for expressing the electromagnetic force generated by the electromagnetic force measuring device in a manner of being easier to solve by using ampere's law.
After the relation between the current of the current stabilizing circuit and the acting force borne by the magnet 12 is obtained, the magnitude of the thrust of the micro thruster is obtained by combining the output current of a PID control circuit in the micro thruster, and the calibration of the micro thrust generated by the micro thruster is completed. Meanwhile, after the relation between the current and the acting force is obtained, the relation between the angular displacement of the system balance support in the micro thrust measurement system and the acting force is obtained, and then the system balance support which is deviated under the thrust action of the thruster returns to a balance position by manufacturing a force with the same size and opposite direction, so that the measurement accuracy is improved.
In order to simulate the micro thrust generated by the micro thruster more flexibly, the acting force applied to the magnet by the electromagnetic force measuring device is adjusted by changing the distance between the magnet 12 and the coil, and the acting force and the distance meet
Wherein I is the current value of the current stabilizing circuit, and L is a coilAnd z is the distance between the magnet and the force application coil. Meanwhile, the number of turns of the coil 10 and the number of turns of the coil 11 in the electromagnetic force measuring device can be adjusted and matched, the number of the magnets 12 can be changed if necessary, and further, simulation of force from a micro-Newton level to a Newton level and spanning a range of 6 magnitude orders can be realized through different currents.
In order to adjust the distance between the magnet 12 and the two coils conveniently, the bracket is provided with a fixing rod 5, one end of the fixing rod 5 is connected with the main body of the bracket, the other end of the fixing rod is provided with a three-dimensional regulator 6, the three-dimensional regulator 6 is fixedly connected with a hollow solenoid 15 of the electromagnetic force measuring device, the three-dimensional regulator 6 comprises an X-direction knob 7, a Y-direction knob 8 and a Z-direction knob 9, and the three-dimensional regulator is used for adjusting the position of the electromagnetic force measuring device in the direction X, Y, Z, so that the magnet 12 can be ensured to be positioned inside the hollow solenoid 15, the distance between the magnet and the coil can be well adjusted, and the continuous simulation of the magnitude of thrust is.
For more clear explanation of the calibration device provided in this embodiment, fig. 1 specifically shows a structure of a bracket, which includes a first support rod 3-1 and a second support rod 3-2 arranged vertically, and a horizontal support rod 4 arranged transversely between the first support rod 3-1 and the second support rod 3-2; the top end of the fixed rod 5 is fixedly connected with the horizontal supporting rod 4, and the bottom end of the fixed rod 5 is connected with the three-dimensional regulator 6; the base 2 is further arranged at one end of the first supporting rod 3-1 and one end of the second supporting rod 3-2, which are in contact with the weighing device 1, so that the electromagnetic force measuring device can be more stably supported. It is to be noted that the detailed description of the bracket structure should not be construed as a further limitation of the bracket, and any device capable of supporting the electromagnetic force-measuring device in suspension, such as a regular tetrahedron, a cube-shaped frame, etc., should fall within the scope of the present application.
In another embodiment of the present invention, a method for calibrating the magnitude of micro thrust of a micro thruster is provided, as shown in fig. 2, the method includes:
the method comprises the following steps: connecting the electromagnetic force measuring device with a current stabilizing circuit, and recording the current value of the current stabilizing circuit;
step two: after the electromagnetic force measuring device generates acting force on the magnet 12, acquiring a reading change value of the weighing device 14 to obtain the change gravity of the magnet 12;
step three: calculating the moment of the changing gravity according to the current value of the current stabilizing circuit and the indication change value of the weighing device 14, wherein the calculation method is G- Δ m G, G is the moment of the changing gravity, Δ m is the indication change value of the weighing device, and G is the local gravity acceleration;
step four: obtaining the electromagnetic torque of the electromagnetic force measuring device through the torque of the variable gravity according to a torque balance principle; the variable gravity torque and the electromagnetic torque are a pair of balance forces, and the electromagnetic torque value can be obtained according to a torque balance principle.
Step five: changing the current value of the current stabilizing circuit, repeating the steps from two to four to obtain electromagnetic torque values corresponding to different current values, and drawing a curve graph of the electromagnetic torque values changing along with the current values so as to obtain the micro thrust generated by the micro thruster according to the curve graph and the current values of the micro thruster and finish the calibration of the micro thrust test system. Fig. 3 shows a graph of the relationship between current and thrust.
Furthermore, it is also possible to perform a deflection adjustment operation before the step one, adjusting the three-dimensional actuator 6 so that the magnet 12 is placed at an intermediate position inside the hollow solenoid 15 with the N-pole of the magnet pointing in the Z-direction.
In order to simulate the micro thrust generated by the micro thruster in the micro thruster testing system more flexibly, the distance between the magnet 12 and the electromagnetic force measuring device coil 10 and the electromagnetic force measuring device coil 11 can be adjusted through the three-dimensional regulator 6, so that the acting force of the magnet 12 on the coil 10 and the coil 11 can be changed.
As an optional implementation manner, the weighing device 14 may also be replaced by a pressure sensing device, and the indication change of the pressure sensing device is the torque of the changed pressure applied to the magnet 12, so that conversion of gravity torque is not required, the method flow for calibrating the relationship between micro thrust and current is further simplified, and higher efficiency is achieved.
In the present specification, the emphasis points of the embodiments are different from those of the other embodiments, and the same and similar parts among the embodiments may be referred to each other. The method disclosed by the embodiment corresponds to the device disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the device part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (9)
1. A calibration device for a micro thruster test system is characterized by comprising
The weighing device is used for measuring the acting force borne by the magnet; the magnet is fixed through a magnet supporting rod arranged on the surface of an induction area of the weighing device;
the electromagnetic force measuring device is used for simulating micro thrust generated by the micro thruster and is suspended above the induction area of the weighing device through a bracket; the electromagnetic force measuring device comprises a hollow solenoid and two coils which are wound at two ends of the hollow solenoid respectively and have opposite winding directions and the same coil turns, the hollow solenoid is vertically placed above an induction area of the weighing device, and the magnet is positioned in the hollow solenoid; the coil is connected with a current stabilizing circuit, and the current stabilizing circuit supplies power to the coil to drive the electromagnetic force measuring device to apply acting force on the magnet;
and determining the relationship between the current value of the micro thruster and the micro thrust according to the relationship between the current of the current stabilizing circuit and the acting force borne by the magnet, and completing the calibration of the micro thrust generated by the micro thruster.
2. The calibration device for the micro-thruster testing system as claimed in claim 1, wherein the bracket is provided with a fixing rod, one end of the fixing rod is connected with the main body of the bracket, the other end of the fixing rod is provided with a three-dimensional adjuster, the three-dimensional adjuster is fixedly connected with a hollow solenoid coil of the electromagnetic force measuring device, and the three-dimensional adjuster comprises an X-direction knob, a Y-direction knob and a Z-direction knob and is used for adjusting the position of the electromagnetic force measuring device in X, Y, Z directions.
3. The calibration device for the micro-thruster testing system as claimed in claim 2, wherein the bracket comprises a first support bar and a second support bar which are vertically arranged, and a horizontal support bar which is transversely arranged between the first support bar and the second support bar; the top end of the fixed rod is fixedly connected with the horizontal supporting rod, and the bottom end of the fixed rod is connected with the three-dimensional regulator.
4. The calibration device for the micro-thruster testing system as claimed in claim 1, wherein the magnitude of the acting force of the electromagnetic force measuring device on the magnet is adjusted by changing the distance between the magnet and the coil, and the acting force and the distance satisfy
And I is the current value of the current stabilizing circuit, L is the equivalent inductance of the coil, and z is the distance between the magnet and the force application coil.
5. The calibration device for the micro thruster testing system as claimed in claim 1, wherein the weighing device is replaced by a pressure sensing device.
6. A calibration method for a micro thruster test system using the calibration apparatus as set forth in claim 1, wherein the method comprises:
connecting the electromagnetic force measuring device with a current stabilizing circuit, and recording the current value of the current stabilizing circuit;
after the electromagnetic force measuring device generates acting force on the magnet, acquiring a reading change value of the weighing device to obtain the change gravity of the magnet;
calculating the torque of the variable gravity according to the current value of the current stabilizing circuit and the indicating change value of the weighing device;
obtaining the electromagnetic torque of the electromagnetic force measuring device through the torque of the variable gravity according to a torque balance principle;
changing the current value of the current stabilizing circuit, returning to the step of obtaining the indication change value of the weighing device after the electromagnetic force measuring device generates acting force on the magnet, obtaining electromagnetic torque values corresponding to different current values, and drawing a curve graph of the electromagnetic torque values changing along with the current values;
and obtaining the micro-thrust generated by the micro-thruster according to the curve graph and the current value of the micro-thruster, and completing the calibration of the micro-thrust of the micro-thruster.
7. The calibration method for the micro thruster test system as claimed in claim 6, wherein the method further comprises an offset adjustment operation: the X, Y, Z directional displacement knob of the three-dimensional regulator is adjusted to make the magnet be located at the middle position in the hollow solenoid, and the distance between the magnet and the coils at two ends of the hollow solenoid is equal.
8. The calibration method for the micro-thruster testing system as claimed in claim 6, wherein the moment value of the varying gravity is G- Δ m-G, where Δ m is an index variation value of the weighing apparatus and G is a local gravitational acceleration.
9. The calibration method for the micro-thruster testing system as claimed in claim 6, wherein a pressure sensing device is used to directly measure the pressure variation value of the magnet on the pressure sensing device before and after the electromagnetic force measuring device is powered on.
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| CN116007892A (en) * | 2023-03-27 | 2023-04-25 | 中国人民解放军火箭军工程大学 | Jet propulsion micro-thrust testing method |
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| CN111964826B (en) | 2021-05-18 |
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