CN112032244A - Variable-rigidity variable-damping mounting bracket of actuating mechanism - Google Patents
Variable-rigidity variable-damping mounting bracket of actuating mechanism Download PDFInfo
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- CN112032244A CN112032244A CN202010839317.XA CN202010839317A CN112032244A CN 112032244 A CN112032244 A CN 112032244A CN 202010839317 A CN202010839317 A CN 202010839317A CN 112032244 A CN112032244 A CN 112032244A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/022—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using dampers and springs in combination
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/28—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect
- B64G1/285—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect using momentum wheels
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/002—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion characterised by the control method or circuitry
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
- F16F15/06—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F7/00—Vibration-dampers; Shock-absorbers
- F16F7/08—Vibration-dampers; Shock-absorbers with friction surfaces rectilinearly movable along each other
- F16F7/082—Vibration-dampers; Shock-absorbers with friction surfaces rectilinearly movable along each other and characterised by damping force adjustment means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F2222/00—Special physical effects, e.g. nature of damping effects
- F16F2222/04—Friction
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
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Abstract
A variable-rigidity variable-damping mounting bracket of an actuating mechanism belongs to the technical field of vibration control. The variable-stiffness damping device comprises a U-shaped spring, connecting plates, a variable-stiffness damping device and an omnidirectional spring, the supporting stiffness is changed by adjusting the supporting position of the U-shaped spring on the upper connecting plate and the lower connecting plate, and a large-range variable-stiffness support is formed by the U-shaped spring, a cylindrical spring and the like; the variable damper is used for adjusting the compression degree of the damping material and adjusting the damping size. The mounting bracket can replace a traditional hard connection general assembly bracket and a traditional passive vibration isolator, realizes variable-rigidity variable-damping support on vibration isolation objects such as a flywheel or a control moment gyro and the like through rigidity and damping to be adjusted, adapts to the working rotating speed difference, the micro-vibration characteristic difference and the mounting layout difference of different satellites of different actuating mechanisms, meets different requirements of different satellites on performances such as micro-vibration and the like, optimizes system parameters, and better isolates the micro-vibration.
Description
Technical Field
The invention relates to a variable-rigidity variable-damping mounting bracket of an actuating mechanism, belonging to the technical field of vibration control.
Background
Actuating mechanisms such as a flywheel, a control moment gyroscope and the like are widely applied to high-precision spacecrafts such as a remote sensing satellite, a laser communication satellite, a space telescope and the like, and are key inertial actuating mechanisms for realizing attitude maneuver and attitude stability of the spacecrafts. With the development of aerospace technology, users have higher and higher requirements on satellite performance (such as the resolution of a camera), and payloads for realizing the performance have higher and higher requirements on the attitude precision and stability of a spacecraft platform. However, a high-speed rotor in an actuator generates broadband micro-vibration (abbreviated as micro-vibration) during high-speed rotation, and becomes one of main vibration sources of a spacecraft, thereby affecting the attitude stability of the spacecraft and also affecting the realization of performance indexes of loads and the realization of performances such as the service life of the actuator to a certain extent. The influence of micro-vibration of attitude actuating mechanisms such as a flywheel and the like on a satellite is mainly influenced by the micro-vibration excitation of the actuating mechanisms and the transmission of a spacecraft cabin plate, and is also influenced by the installation layout of sensitive loads on the satellite and the sensitivity degree of the sensitive loads on the micro-vibration, so that the following three problems exist:
(1) difference in micro-vibration characteristics of actuator
In view of the fact that a rotor of an actuating mechanism such as a flywheel and the like has a plurality of movable parts, and the problems of certain material nonuniformity, processing and manufacturing errors, assembly gaps and the like inevitably exist in each part. On one hand, the rotor has certain static and dynamic unbalance, and a larger centrifugal force and couple can be generated in the process of high-speed rotation; on the other hand, machining errors of a channel, a rolling body and the like of a bearing for supporting the rotor enable the bearing in a pre-tightening state to generate pre-tightening force fluctuation in the rotating process, and a series of factors such as instability of a bearing retainer, abnormal lubrication of the bearing, friction torque of the bearing, motor ripple torque and the like form a vibration source of the actuating mechanism. When these vibration source factors are coupled with structural modes such as rotors, large resonance occurs. The vibration is transmitted to the star body through the base in the form of force and moment, and is expressed as a series of broadband discrete micro-amplitude composite vibration which is the maximum interference source on the star. It has many characteristics such as inherent, miniaturity, broadband nature, uncontrollable nature and different individual difference. The attitude accuracy and stability of the satellite and the performance of adjacent loads may be affected; especially, when the product runs under a large vibration state for a long time, the product runs unstably and even the long-term running life of the product is affected.
(2) Difference in installation boundary of on-board actuator
Actuating mechanisms such as flywheels are installed on a star deck through a final assembly support, the internal structural layout of different satellites is large in difference, and accordingly, the installation boundary conditions of the actuating mechanisms are different, which is mainly reflected in the conditions that the supporting rigidity of the boundary is different, the distance from a sensitive load is different and the like, namely 1) the installation boundary conditions of the actuating mechanisms on different stars are different, and the installation boundary conditions of different actuating mechanisms on the same star are also different. 2) Under certain installation boundary conditions, the executing mechanism works at different rotating speeds, and indexes such as micro-vibration performance of the executing mechanism and the like have certain difference. When the mode of the system formed by the installation boundary and the actuating mechanism such as the flywheel is coupled with the micro-vibration frequency component of the actuating mechanism, large local structural resonance is generated, and the performance of the adjacent load and the performance of the actuating mechanism can be influenced.
(3) The micro-vibration requirements of the actuating mechanism of the satellite are different
In view of different application requirements of different satellites, requirements on micro-vibration amplitude and frequency bands of actuating mechanisms such as flywheels are different, and with implementation of high-grade special items, the requirements of the satellites on micro-vibration are increasingly improved. In order to reduce the influence of micro-vibration of actuators such as flywheels on nearby sensors or payloads such as cameras, the actuators with smaller micro-vibration can only be selected based on the existing micro-vibration test data. However, in the current small-batch production mode of the actuating mechanism such as the flywheel and the like, the sample size is small, and the selection is limited.
Disclosure of Invention
The technical problem solved by the invention is as follows: the invention provides a variable-rigidity variable-damping mounting bracket of an actuating mechanism, which overcomes the defects of the prior art, solves the characteristic differences of self rotating speed difference, micro vibration and the like of actuating mechanisms such as a flywheel and the like, the mounting layout difference in satellite application and the demand difference on micro vibration performance, and the like, and the defects of the non-adjustable traditional hard-connection assembly bracket. By adjusting the rigidity and the damping, the micro-vibration transmission rate adjusting device is suitable for actuating mechanisms such as different flywheels and different installation boundary environments, and can be used for adjusting the suitable micro-vibration transmission rate and meeting the application requirements of different satellites. The micro-vibration of the actuator is suppressed and the influence of the actuator on the load of the camera or the like is reduced. The satellite mounting boundary simulation support is used for a satellite mounting boundary simulation support for tests of micro-vibration characteristics and the like of single-machine products such as a flywheel and the like, test data closer to real micro-vibration and the like are provided for a star in advance through tests of micro-vibration and the like in a working process on a simulation satellite, and reference basis is provided for selecting working rotating speed of an execution mechanism and optimizing support rigidity and damping of the star to the mounting boundary of the execution mechanism such as the flywheel and the like.
The technical solution of the invention is as follows: a variable-rigidity variable-damping mounting bracket of an actuating mechanism comprises a first connecting plate, a second connecting plate, a variable-rigidity variable-damping device and an omnidirectional spring;
the first connecting plate is fixedly connected with an external actuating mechanism, and the second connecting plate is fixedly connected with a satellite cabin plate or a general assembly bracket;
the first connecting plate and the second connecting plate are respectively and fixedly connected to two branches of a U-shaped spring in the variable stiffness variable damping device;
the omnidirectional spring is installed between the first connecting plate and the second connecting plate through threads.
Further, the variable stiffness damping device comprises a U-shaped spring, an inner constraint damping layer and an outer constraint damping layer; two branches of the U-shaped spring are provided with channels which are used as external installation interfaces; the inner and outer sides of the bottom bending section of the U-shaped spring are respectively stuck with an inner constraint damping layer and an outer constraint damping layer.
Further, the variable stiffness and damping device also comprises a variable damper, wherein the variable damper is arranged in a groove at the opening end of the U-shaped spring or at the tail end of the U-shaped spring; the variable damper comprises a compression screw, a damping container, a first disc-shaped rubber ring, a second disc-shaped rubber ring, a damping screw and a damping material;
one end of the compression screw is installed at one end of the opening end of the U-shaped spring, the other end of the compression screw is connected with one end of the damping container, the other end of the damping container is connected with one end of the damping screw, and the other end of the damping screw is connected with the other end of the opening end of the U-shaped spring;
the damping container is internally provided with a damping material, and a first disc-shaped rubber ring and a second disc-shaped rubber ring are respectively arranged at two ends of the damping container and used for blocking the damping material from leaking.
Furthermore, the relative positions of the compression screw and the damping container are adjusted by adjusting the position of the compression screw in the axial direction, so that the transverse pressure inside the damping material is adjusted, the pressure between the damping material and the damping screw is adjusted, the friction force of the variable damper is adjusted, and the damping adjustment of the mounting bracket is realized.
Further, the inner and outer constrained damping layers are used to provide constant damping; the variable damper is used for providing continuously adjustable damping; the variable-rigidity variable-damping device and the variable-rigidity variable-damping device are overlapped to realize the continuous adjustment of the system damping of the variable-rigidity variable-damping device in a certain range, and further realize the adjustment of the damping of the mounting bracket.
Furthermore, the omnidirectional spring is of a circumferential slotted structure and has axial stiffness and radial stiffness simultaneously.
Furthermore, the support length of the U-shaped spring is adjusted by adjusting the positions of the connecting screws between the first connecting plate, the second connecting plate and the U-shaped spring on the two branches of the U-shaped spring, so that the support rigidity of the variable-rigidity variable-damping device is continuously adjustable.
Further, segmenting the supporting rigidity of the mounting bracket according to different structural parameters of the omnidirectional spring; when the rigidity requirement is lower than a preset value, the omnidirectional spring is removed, and the first connecting plate and the second connecting plate of the mounting bracket are supported only by the variable rigidity damping device.
Furthermore, the supporting rigidity of the mounting support can be continuously adjusted in a large range in a segmented mode by not mounting the omnidirectional springs, a plurality of groups of omnidirectional springs and U-shaped springs with different rigidities and using the omnidirectional springs and the U-shaped springs in different mounting positions in a combined mode.
Compared with the prior art, the invention has the advantages that:
(1) the invention adopts the U-shaped spring to support, and adjusts the different mounting positions of the two connecting plates on the U-shaped spring according to the test results of micro-vibration or modal and the like of the system composed of the actuating mechanisms such as the on-board flywheel and the like, the variable-rigidity variable-damping mounting bracket, the satellite cabin plate and the like, thereby realizing different supporting rigidity, further changing the modal of the actuating mechanisms such as the flywheel and the like and the system of the satellite structure and the like, avoiding the working rotating speed frequency and reducing the influence of the micro-vibration. Different from a traditional hard connection assembly bracket, the traditional bracket cannot adjust the local mode of a system and can only be guaranteed through the design of the assembly bracket, but a certain deviation often exists in the design, and if the assembly bracket needs to be modified, the bracket needs to be integrally replaced, so that the cost is high. The vibration isolator is also different from the traditional vibration isolator, the spring of the traditional vibration isolator is generally a spiral spring or a slotted spring and the like, and basically does not have the function of adjusting the supporting rigidity, so that the difference of the working rotating speed of the flywheel, the difference of the micro-vibration characteristics, the difference of the installation boundary, the difference of different requirements of different satellites and the like are difficult to reconcile. Therefore, the structural support rigidity of the invention is adjustable, which is more beneficial to adjusting the difference.
(2) According to the invention, the restrained damping layer is adhered to the bent part of the U-shaped spring, so that the damping of the system can be improved to a certain extent, and the micro-vibration amplitude of the flywheel at the critical rotating speed is reduced; more importantly, the variable damping is provided through the friction between the screw and the rubber, and the like, and the pressure between the damping material and the screw is mainly adjusted through adjusting the deformation of the damping material such as rubber particles and the like; under the forced micro-vibration of the actuating mechanism such as a flywheel and the like in the working process, the relative motion between the granular rubber and the screw rod is generated, so that macroscopic sliding friction damping and microscopic material damping in the rubber are generated. Namely, the damping adjustment of the mounting bracket is realized by adjusting the relative position between the compression screw and the particle rubber container, and the adjustment of different micro-vibration transfer rates is realized. The traditional hard connection assembly bracket mainly adopts metal structural members such as aluminum alloy and the like, the provided structure has small damping, the micro-vibration inhibition capability is small, and the traditional hard connection assembly bracket has no damping adjustment function; in the design stage of the traditional passive vibration isolator, a better damper such as a damping cushion is generally selected through selective tests of damping materials with several loss factors, multiple damping structures are obviously needed, the cost is higher due to multiple tests and screening, the key point is that the damper cannot be adjusted randomly, and the proper loss factor damper cannot be found. In contrast, the present invention can arbitrarily adjust the damping over a wide range by merely changing the pressure. The supporting rigidity is adjusted by combining the change of the supporting position, the variable rigidity and variable damping are more likely to adjust better micro-vibration transmission rate, the difference can be adjusted, and the influence of the micro-vibration of actuating mechanisms such as a flywheel on the satellite attitude, the load performance and the like can be inhibited.
Drawings
FIG. 1 is a schematic structural view of a variable stiffness and variable damping mounting bracket of the present invention;
FIG. 2 is a schematic structural diagram of a variable stiffness and damping device according to the present invention;
FIG. 3 is a schematic view of the variable damper of the present invention;
FIG. 4 is a schematic view of an omnidirectional spring structure according to the present invention;
FIG. 5 is a stiffness adjustment diagram of the variable stiffness variable damping mounting bracket of the present invention;
FIG. 6 is a damping adjustment diagram of the variable stiffness variable damping mounting bracket of the present invention.
Detailed Description
In order to better understand the technical solutions, the technical solutions of the present application are described in detail below with reference to the drawings and specific embodiments, and it should be understood that the specific features in the embodiments and examples of the present application are detailed descriptions of the technical solutions of the present application, and are not limitations of the technical solutions of the present application, and the technical features in the embodiments and examples of the present application may be combined with each other without conflict.
Aiming at the difference of the working rotating speed and the micro-vibration characteristic of actuating mechanisms such as a flywheel, a control moment gyroscope and the like, in order to adapt to different installation boundary conditions of different satellites and meet different requirements of the satellites on micro-vibration in application, the invention changes the current situation that the damping and the rigidity of the traditional hard connection general assembly support and the passive vibration isolator on the satellite are not adjustable, and provides a variable-rigidity variable-damping mounting support of the actuating mechanism. On the other hand, the invention also provides an installation support which is closer to the boundary of the satellite body cabin plate by adjusting rigidity and damping for a ground test, and can obtain performance data of micro vibration, kurtosis and the like of a single machine product under different rigidity and different damping supporting conditions through a ground simulation test of the single machine product of an actuating mechanism under different conditions, thereby providing more real reference for the selection of the working rotating speed range of actuating mechanisms such as a flywheel, a control moment gyroscope and the like and the optimization of the installation boundary structure of the single machine products by a satellite.
The variable-stiffness variable-damping mounting bracket of the actuator provided by the embodiment of the application is further described in detail with reference to the attached drawings in the specification.
As shown in fig. 1, the variable stiffness and variable damping mounting bracket for an actuator provided by the invention comprises a first connecting plate 1, a second connecting plate 2, a variable stiffness and variable damping device 3 and an omnidirectional spring 4. The first connecting plate 1 is fixedly connected with actuating mechanisms such as a flywheel and the like, and the second connecting plate 2 is fixedly connected with a satellite cabin plate or a general assembly support and the like. Specific parameters such as external interfaces and quality characteristics of different actuating mechanisms are further optimized and determined to form the structure of the first connecting plate 1; and the structural form of the second connecting plate 2 is further optimized and determined according to the specific layouts such as the installation positions and the installation forms of the actuating mechanisms of different satellites. The first connecting plate 1 and the second connecting plate 2 are fixedly connected to two branches of a U-shaped spring in the variable stiffness damping device 3 through fasteners such as screws. The omnidirectional spring 4 is installed between the first connecting plate 1 and the second connecting plate 2 through screw threads.
In the solution provided in the embodiment of the present application, the variable stiffness and damping device 3 is shown in fig. 2, and mainly includes a U-shaped spring 5, an inner constraint damping layer 6, an outer constraint damping layer 7, and a variable damper. Two branch grooves of the U-shaped spring 5 are used as external mounting interfaces of the spring. An inner constraint damping layer 6 and an outer constraint damping layer 7 are respectively stuck on the inner side and the outer side of the middle bending section of the U-shaped spring 5. The variable damper is mounted in a groove or an end of the U-shaped spring 5 by a fastener such as a nut, as shown in fig. 3.
In the scheme provided by the embodiment of the application, the support length of the U-shaped spring 5 is adjusted by adjusting the positions of the connecting screws between the first connecting plate 1, the second connecting plate 2 and the U-shaped spring 5 on the two branches of the U-shaped spring. According to the mechanics of materials, the longer the rod between the two fulcrums is, the smaller the transverse rigidity of the rod is; conversely, the shorter the rod length, the greater its transverse stiffness; thus, in the embodiment shown in fig. 2, the closer to the branch end of the U-shaped spring 5, the lower its stiffness; and the closer to the arc end, the greater its support stiffness. Namely, the support length of the rod piece is adjusted by adjusting the mounting position of the connecting screw on the U-shaped spring 5, so that the transverse rigidity is adjustable.
Further, in one possible implementation, as shown in fig. 4, the omnidirectional spring 4 is designed with a circumferential slot and a structure optimized design, so that the omnidirectional spring has a certain axial stiffness and a certain radial stiffness. The supporting rigidity of the mounting bracket can be adjusted in a large range by systematic design of the omnidirectional springs 4, the U-shaped springs 5 and the like, and an adjustable bracket is provided for satellite supporting rigidity and system mode distribution to be adjusted.
Therefore, when the system is in low-rigidity requirement, the omnidirectional spring (4) can be removed, and the first connecting plate (1) and the second connecting plate (2) of the mounting bracket are supported only by the variable-rigidity variable damping device (3); when the requirement of the supporting rigidity of the system is high, the supporting rigidity of the mounting bracket can be continuously adjusted in a large range in a segmented manner as shown in fig. 5 by using a combination of I, II, III and other groups of omnidirectional springs 4 and U-shaped springs 5 with different rigidities. The invention can adjust the support rigidity of the satellite to the actuating mechanism such as the flywheel and the like, further change the modes of the actuating mechanism, the satellite structure and other systems, avoid the working rotating speed frequency and reduce the influence of micro-vibration.
In the solution provided in the embodiment of the present application, as shown in fig. 3, the variable damper is mainly composed of a compression screw 8, a damping container 9, a first disc-shaped rubber ring 10, a second disc-shaped rubber ring 11, a damping screw 12, a damping material 13, and the like. Damping materials 13 such as rubber particles are filled in the damping container 9, and the first disc-shaped rubber ring 10 and the second disc-shaped rubber ring 11 which are arranged at the two ends of the damping container 9 prevent the damping materials 13 such as the rubber particles and the substances such as grinding and the like which are possibly generated in the long-term working process from leaking.
Further, in a possible implementation, by adjusting the relative positions of the compacting screw 8 and the damping container 9, so that the damping material 13 is deformed in the axial direction, it is known from the theory of mechanics of materials that the transverse stress σ '═ E ″ -E' μ of a general damping material is differentiated to obtain: σ ' ═ E ' μ, where σ ' is the transverse stress of the damping material; e' is the transverse modulus of elasticity of the damping material 13; ' is the transverse strain of the damping material 13; is the axial strain of the damping material 13; mu is the Poisson's ratio of the damping material; are differential symbols. It can be seen that axial deflection adjustment will produce lateral stress changes and thus lateral pressure changes. Therefore, by adjusting the relative positions of the compression screw 8 and the damping container 9, the transverse pressure inside the damping material 13 can be adjusted, and the pressure between the damping material 13 and the damping screw 12 can be adjusted.
Further, in a possible implementation manner, the micro-vibration during the operation of the flywheel or other actuator forces the two branches of the U-shaped spring 5 in the variable stiffness damping device 3 to generate relative movement, the relative movement of the two branches of the U-shaped spring 5 can amplify the relative movement at the position of the variable damper located at the far end, amplify the relative movement between the damping material 13 such as rubber particles and the damping screw 12, and adjust the amplification factor of the relative movement by adjusting the relative installation position of the variable damper on the U-shaped spring 5. According to the friction theory of theoretical mechanics, the kinetic friction force generated by the relative motion is positively correlated with the positive pressure, and the kinetic friction force F' F is approximately presentsFNWherein f issIs the equivalent dynamic friction coefficient of the damper; fNIs the lateral pressure between the damping material 13 and the damping screw 12. It can be seen that the change in lateral pressure will affect the magnitude of the axial sliding friction, with greater pressure providing greater frictional resistance and greater microscopic material damping of the damping material 13 under deformation conditions.
It can be seen that by adjusting the relative position between the compression screw 8 and the damping container 9, the pressure adjustment between the damping material 13 and the damping screw 12 is firstly realized, so that the dynamic friction force of the damper is adjusted, and finally the damping adjustment of the mounting bracket is realized. In a word, the inner constraint damping layer 6, the outer constraint damping layer 7 and the like mainly provide constant value damping; while the variable damper provides adjustable damping. The two are superposed to realize the system damping adjustment function of the mounting bracket in a certain range as shown in figure 6.
The invention has the application capability of the following scenes:
1. although the operating speed difference and the micro-vibration characteristic of the actuating mechanism are different, the structural support rigidity and the damping to be adjusted can adapt to different installation boundary conditions of different satellites, meet different requirements of the satellites on micro-vibration in application and adjust the differences.
2. In a single machine development stage, the boundary conditions of satellite installation are simulated through the support, rigidity and damping adjustment is carried out, the modes of the support and a rotor system are changed, and through ground simulation tests such as system mode test, micro-vibration performance test and the like, better support rigidity, damping parameters and mode distribution can be selected from the angle of data statistics, micro-vibration of an actuating mechanism is improved, and reference data are provided for whole satellite layout.
In conclusion, the variable-rigidity variable-damping mounting bracket can provide test data reference for whole satellite layout in a development stage; the method can also be used as a link to be adjusted of the supporting rigidity and damping of the whole satellite on the installation boundary of the actuating mechanisms such as the flywheel and the like, so that the influence of the micro-vibration of the actuating mechanisms on the attitude of a satellite platform is reduced, the performance influence on the load of a camera and the like is reduced, and the influence on the long-term working state of the actuating mechanisms is also reduced.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
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 (9)
1. The utility model provides a variable rigidity becomes damping installing support of actuating mechanism which characterized in that: the variable stiffness damping device comprises a first connecting plate (1), a second connecting plate (2), a variable stiffness damping device (3) and an omnidirectional spring (4);
the first connecting plate (1) is fixedly connected with an external actuating mechanism, and the second connecting plate (2) is fixedly connected with a satellite cabin plate or a general assembly bracket;
the first connecting plate (1) and the second connecting plate (2) are respectively and fixedly connected to two branches of a U-shaped spring (5) in the variable stiffness damping device (3);
the omnidirectional spring (4) is installed between the first connecting plate (1) and the second connecting plate (2) through threads.
2. The variable stiffness and variable damping mounting bracket of an actuator of claim 1, wherein: the variable stiffness damping device (3) comprises a U-shaped spring (5), an inner constraint damping layer (6) and an outer constraint damping layer (7); two branches of the U-shaped spring (5) are provided with channels as external installation interfaces; an inner constraint damping layer (6) and an outer constraint damping layer (7) are respectively stuck to the inner side and the outer side of the bottom bending section of the U-shaped spring (5).
3. The variable stiffness and variable damping mounting bracket of an actuator of claim 1, wherein: the variable stiffness variable damping device (3) further comprises a variable damper, and the variable damper is installed in a groove at the opening end of the U-shaped spring (5) or at the tail end of the U-shaped spring; the variable damper comprises a compression screw (8), a damping container (9), a first disc-shaped rubber ring (10), a second disc-shaped rubber ring (11), a damping screw (12) and a damping material (13);
one end of the compression screw rod (8) is installed at one end of the opening end of the U-shaped spring (5), the other end of the compression screw rod is connected with one end of the damping container (9), the other end of the damping container (9) is connected with one end of the damping screw rod (12), and the other end of the damping screw rod (12) is connected with the other end of the opening end of the U-shaped spring (5);
damping material (13) are equipped with in damping container (9), first dish-shaped rubber ring (10) and second dish-shaped rubber ring (11) are installed respectively to damping container (9) both ends for block damping material (13) and leak outward.
4. A variable stiffness and variable damping mounting bracket for an actuator according to claim 3, wherein: the position of the compression screw rod (8) in the axial direction is adjusted, the relative position of the compression screw rod (8) and the damping container (9) is adjusted, the transverse pressure inside the damping material (13) is adjusted, the pressure between the damping material (13) and the damping screw rod (12) is adjusted, the friction force of the variable damper is adjusted, and accordingly the damping adjustment of the mounting bracket is achieved.
5. The variable stiffness and variable damping mounting bracket of an actuator of claim 4, wherein: the inner constraint damping layer (6) and the outer constraint damping layer (7) are used for providing constant damping; the variable damper is used for providing continuously adjustable damping; the two devices are overlapped to realize the continuous adjustment of the system damping of the variable-rigidity variable-damping device (3) in a certain range, thereby realizing the adjustment of the damping of the mounting bracket.
6. The variable stiffness and variable damping mounting bracket of an actuator of claim 1, wherein: the omnidirectional spring (4) is of a circumferential slotted structure and has axial stiffness and radial stiffness.
7. The variable stiffness and variable damping mounting bracket of an actuator of claim 1, wherein: the support length of the U-shaped spring (5) is adjusted by adjusting the positions of the connecting screws between the first connecting plate (1), the second connecting plate (2) and the U-shaped spring (5) on the two branches of the U-shaped spring (5), and further the support stiffness of the variable-stiffness damping device (3) is continuously adjustable.
8. The variable stiffness and damping mounting bracket for an actuator of claim 7, wherein: segmenting the supporting rigidity of the mounting bracket according to different structural parameters of the omnidirectional spring (4); when the rigidity requirement is lower than a preset value, the omnidirectional spring (4) is removed, and the first connecting plate (1) and the second connecting plate (2) of the mounting bracket are supported only by the variable rigidity variable damping device (3).
9. The variable-stiffness variable-damping mounting bracket of the actuating mechanism according to claims 6 to 8, wherein: the supporting rigidity of the mounting support can be continuously adjusted in a large range in a segmented mode by not mounting the omnidirectional spring (4), a plurality of groups of omnidirectional springs (4) with different rigidities, the U-shaped springs (5) and the different mounting positions of the U-shaped springs (5).
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| CN112032244B (en) | 2022-07-05 |
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