CN112611495A - Device and method for simultaneously measuring thrust and eccentric thrust of main shaft of thruster - Google Patents
Device and method for simultaneously measuring thrust and eccentric thrust of main shaft of thruster Download PDFInfo
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- CN112611495A CN112611495A CN202011280501.1A CN202011280501A CN112611495A CN 112611495 A CN112611495 A CN 112611495A CN 202011280501 A CN202011280501 A CN 202011280501A CN 112611495 A CN112611495 A CN 112611495A
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- thruster
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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
- G01L5/12—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring axial thrust in a rotary shaft, e.g. of propulsion plants
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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
Abstract
A device and a method for simultaneously measuring thrust and eccentric thrust of a main shaft of a thruster belong to the technical field of force measurement. The device comprises a thruster, two bases, two supporting shafts, two force sensors, a propellant guide pipe, a force signal processing unit and a computer. The first cross beam rotates around the first support shaft, and the second cross beam rotates around the second support shaft; the two supporting shafts are positioned in the same vertical plane and are arranged in parallel. The thruster is arranged on the second beam, and the axis of the main shaft of the thruster is vertical to the central connecting line of the two supporting shafts. The method is characterized in that thrust is decomposed into main shaft thrust and eccentric thrust, the eccentric thrust is decomposed into two component forces in two-dimensional directions, the component force in each direction is measured by a moment balance method, and the thrust values of the eccentric thrust and the main shaft direction can be given by force synthesis. The device has the advantages of simple principle structure, convenient operation, good repeatability and the like, and can meet the requirements of measuring the thrust in the main shaft direction and the micro eccentric thrust of different types of thrusters.
Description
Technical Field
The invention relates to force measurement equipment, in particular to a thrust measurement device and method for simultaneously measuring micro eccentric thrust and main shaft thrust of a thruster, and belongs to the technical field of force measurement.
Background
The thruster has the function of providing impulse for attitude adjustment and orbit maintenance control of various spacecrafts such as satellites, spacecrafts and other space crafts, and provides thrust along the axial line (main shaft) direction of the thruster in a mode of spraying propellant during working. However, while these thrusters provide the thrust of the main shaft, due to the installation error of the thrusters themselves during the machining process, the machining and position error of the nozzle, the variation of the injection angle of the propellant, the asymmetry of catalyst loading and other factors, the thrusters have a thrust component in the radial direction of the nozzle outlet plane in addition to the main thrust along the main shaft, that is: the presence of an eccentric thrust, if this force is too great, can have a significant effect on the attitude adjustment of the aircraft. The value of this radial thrust component is gradually decreasing as machining accuracy and assembly testing techniques advance. If the requirement of the aircraft on the control precision is not high, the component force can be ignored, when the aircraft needs to complete some high-precision tasks, such as accurate fixed point relative position and the like, or when the thrusters need to be used in a matched mode, additional moment can be generated to act on the aircraft, the influence of the radial thrust component can become obvious, and therefore the force value range and the acting direction of the radial thrust component need to be given. The force has the outstanding characteristic that the force value is very small, and compared with the thrust of the main shaft, the force value is about a few percent of the thrust of the main shaft or smaller, so that the measurement difficulty is higher. Therefore, in addition to measuring the thrust in the main axis direction of the thruster, it is necessary to accurately estimate and measure the eccentric thrust of the thruster.
In the prior art, for example, (ZL201410141249.4) discloses "a range-adjustable micro thrust measuring device", which can measure the micro thrust of a thruster well, but can only measure the thrust in the main shaft direction of the thruster, and cannot measure the thrust of the main shaft and the eccentric thrust simultaneously. Therefore, it is necessary to develop a thrust measuring device capable of measuring both the thrust in the main shaft direction and the minute eccentric thrust.
Disclosure of Invention
The invention aims to provide a thrust measuring device which can measure the thrust of a main shaft of a thruster and can also measure the micro eccentric thrust, so that an integrated structure is realized, namely the thrust in the main shaft direction and the micro eccentric thrust generated in the working process of the thruster can be effectively measured at the same time, and the thrust measuring device has important engineering application value for researching the working characteristics of the thruster under the vacuum condition, so that the thrust measuring device plays an important role in the research and performance test of the micro thrust of the thruster in the aerospace field.
The technical scheme provided by the invention is as follows:
a device for simultaneously measuring thrust and eccentric thrust of a main shaft of a thruster comprises the thruster, a first base, a first cross beam, a first support shaft, a propellant guide pipe, a first force sensor, a force signal processing unit and a computer; the first cross beam is hoisted on the first base through a first supporting shaft and a first connecting plate, and can rotate around the first supporting shaft; the method is characterized in that: the device also comprises a second base, a second cross beam, a second support shaft and a second force sensor; the first cross beam is connected with the second base through a first support; the second cross beam is hoisted on the second base through a second support shaft and a second connecting plate and can rotate around the second support shaft; the first support shaft and the second support shaft are positioned in the same vertical plane and are arranged in parallel; the thruster is arranged at one end of the second cross beam through a flange, and the other end of the second cross beam is provided with an adjusting mass block; the extension line of the main shaft of the thruster passes through the center of the second support shaft and is vertical to the connecting line of the centers of the two support shafts; the force signal processing unit is respectively connected with the first force sensor and the second force sensor through signal lines.
Furthermore, propellant flow channels are arranged in the first support shaft and the second support shaft, the outlet of the propellant guide pipe is communicated with the inlet of the propellant flow channel in the first cross beam and then communicated with the propellant flow channel in the second support shaft through a section of vertical guide pipe, and the outlet of the propellant flow channel of the second support shaft is connected with the inlet of the thruster through the propellant guide pipe parallel to the second cross beam.
Further, a second support 4 is arranged at the lower part of the second support shaft 6 along the vertical direction, the upper end of the second support is fixed with a second cross beam 7, and a balancing weight 3 is arranged at the lower end of the second support.
The invention provides a method for simultaneously measuring eccentric thrust and spindle thrust of a thruster, which is characterized by comprising the following steps of:
1) starting the thruster to generate a thrust Fx in the direction of the main shaft and a component Fz of the eccentric thrust, so that the component Fz of the eccentric thrust vertically acts on the second cross beam;
2) a force value F acting on the vertical direction of the first cross beam and the second cross beam is respectively measured by the first force sensor and the second force sensorS1And FS2；
3) According to the moment balance principle, solving a thrust Fx in the main shaft direction and a component force Fz of an eccentric thrust by using equations (1) and (2);
FS2·Lz2＝Fz·Lz1 (1)
FS1·Lx1＝Fx·Lxz+Fz·Lz1 (2)
4) rotating the thruster by 90 degrees along the main shaft, and repeating the steps 1) -2), generating a thrust Fx in the direction of the main shaft and another component force Fy of the eccentric thrust, so that the other component force Fy of the eccentric thrust vertically acts on the second cross beam;
according to the moment balance principle, solving a thrust Fx in the main shaft direction and a component force Fy of the eccentric thrust by using equations (3) and (4);
FS2·Lz2＝Fy·Lz1 (3)
FS1·Lx1＝Fx·Lxz+Fy·Lz1 (4)
5) according to the force synthesis principle, the eccentric thrust F of the thruster is obtained by using the formula (5) and the formula (6)RSize and direction of (c):
in the formula: fxThe thrust in the main shaft direction of the thruster is obtained; fyAnd FzTwo component forces of the eccentric thrust in the vertical direction are respectively; fS1The force value acts on the first cross beam in the vertical direction, the value of the force value is equal to the force value measured by the first sensor in size, and the direction of the force value is opposite; fS2The force value acting on the second cross beam in the vertical direction is equal to the force value measured by the second sensor in magnitude and opposite in direction; l isx1A force arm of the first force sensor relative to the first support shaft; l isxzIs thrust F of the main shaft direction of the thrusterxA force arm opposite the first support shaft; l isz1Is eccentric thrust component FzA moment arm opposite the second support shaft; l isz2A moment arm of the second force sensor relative to the second support shaft; fRThe eccentric thrust of the thruster; theta is an included angle between the eccentric thrust and the z-axis direction.
Compared with the prior art, the invention has the following advantages and prominent technical effects: the invention effectively overcomes the technical defect that the thrust in the main shaft direction of the thruster can only be measured in the prior art, realizes the function of simultaneously measuring the thrust in the main shaft direction and the micro eccentric thrust on the same equipment, and can simultaneously provide the thrust values in two directions. The device has the advantages of simple principle structure, convenient operation, good repeatability and the like, and can meet the measurement requirements of micro eccentric thrusts of thrusters of different types. The force value of the eccentric thrust of the thruster is about several percent of the thrust of the main shaft or smaller, the micro eccentric thrust can be accurately measured, the resolution capability of the eccentric thrust can reach millinewton magnitude, and the thrust range of the main shaft direction can be from dozens of millinewton to newton magnitude; the method has important engineering application value for researching the working characteristics of the thruster under the vacuum condition, and plays an important role in micro thrust research and performance test of the thruster in the aerospace field.
Drawings
Fig. 1 is a schematic structural diagram of a measuring device according to an embodiment of the present invention.
Fig. 2a is a schematic diagram of the principle of the present invention for simultaneously measuring the thrust Fx in the main shaft direction and the component Fz of the eccentric thrust.
Fig. 2b is a schematic diagram of the principle of simultaneously measuring the thrust Fx in the main shaft direction and another component Fy perpendicular to the component Fz after rotating the thruster by 90 ° around its axis.
Fig. 3a is a schematic view of the force analysis of the component Fz of the thrust Fx and the eccentric thrust in the main shaft direction measured simultaneously according to the present invention.
Fig. 3b is a schematic diagram of the force analysis of the component force Fy of the thrust Fx and the eccentric thrust in the main shaft direction measured simultaneously according to the present invention.
In the figure: 1-a thruster; 2-installing a flange; 3-a balancing weight; 4-a second scaffold; 5-a second connecting plate; 6-a second support shaft; 7-a second beam; 8-adjusting the mass block; 9-a second force sensor; 10-a second base; 11-a first support; 12-a first connection plate; 13-a first support shaft; 14-a first beam; 15-a propellant conduit; 16-a first force sensor; 17-a first base; 18-a force signal processing unit; 19-computer.
Detailed Description
The specific structure, operation principle and operation process of the present invention will be further described with reference to the accompanying drawings.
Referring to fig. 1, the structural principle schematic diagram of the device for simultaneously measuring the eccentric thrust and the main shaft thrust of the thruster provided by the invention comprises a thruster 1, a first base 17, a second base 10, a first beam 14, a second beam 7, a first support shaft 13, a second support shaft 6, a propellant conduit 15, a first force sensor 16, a second force sensor 9, a force signal processing unit 18 and a computer 19; the first beam 14 is hung on the first base 17 through the first support shaft 13 and the first connecting plate 12, and the first beam 14 can rotate around the first support shaft 13; the second cross beam 7 is hung on the second base 10 through a second support shaft 6 and a second connecting plate 5, and the second cross beam 7 can rotate around the second support shaft 6; the first support shaft 13 and the second support shaft 6 are located in the same vertical plane and are arranged in parallel. One end of the first force sensor 16 is arranged on the first base 17, and the other end of the first force sensor is in contact with the first cross beam 14; the second force sensor 9 is mounted on the second base 10 at one end and contacts the second beam 7 at the other end. The first beam 14 is connected to the second base 10 via the first bracket 11. One end of the first bracket 11 is fixed to the first beam 14, and the other end is fixed to the second base 10. And a second support 4 is arranged at the lower part of the second support shaft 6 along the vertical direction, the upper end of the second support is fixed with a second cross beam 7, and a balancing weight 3 is arranged at the lower end of the second support.
The thruster 1 is arranged at one end of a second beam 7 through an installation flange 2, and the other end of the second beam is provided with an adjusting mass block 8; the axis of the main shaft of the thruster passes through the center of the second support shaft 6 and is vertical to the connecting line of the centers of the two support shafts. Because the force in the direction of the main shaft passes through the center of the second supporting shaft, the force arm of the second supporting shaft is 0, and the measurement of the eccentric thrust cannot be influenced.
The first force sensor 16 and the second force sensor 9 are respectively connected with a force signal processing unit 18 through data lines, and the force signal processing unit is connected with a computer 19 through data lines; analog signals given by the first force sensor and the second force sensor are processed by the force signal processing unit 18 and then input to the computer 19 for data recording, conversion and storage.
The propellant conduit 15 is connected to the thruster 1 by a first support shaft 13 and a second support shaft 6, and is fixed to a first base 17. Specifically, propellant flow channels are arranged in the first supporting shaft 13 and the second supporting shaft 6, an outlet of the propellant guide pipe 15 is communicated with an inlet of the propellant flow channel in the first cross beam 14 and then communicated with the propellant flow channel in the second supporting shaft 6 through a section of vertical pipeline, and an outlet of the propellant flow channel of the second supporting shaft 6 is connected with an inlet of the thruster through a propellant pipeline parallel to the second cross beam 7.
Set up second support 4 along vertical direction in the lower part of second back shaft 6, at the bottom installation balancing weight 3 of this second support, through the weight of adjustment balancing weight 3, make the focus of the system that thrustor 1, second crossbeam 7, adjusting mass block 8 and balancing weight 3 constitute fall in the below of second back shaft 6, guarantee measuring device's overall stability.
The measuring method and the working principle of the present invention will be described in detail below with reference to fig. 2a, 2b, 3a and 3 b.
For the thruster which needs to measure the eccentric thrust and the thrust in the main shaft direction, the thruster is firstly installed on the installation flange 2 and connected with a corresponding propellant pipeline and a corresponding control lead, the calibration of the system is carried out by using weights, and the sensitivity coefficient in each direction, namely the conversion relation between the voltage and the thrust value is given. And (3) starting the thruster, enabling the thrusts in two directions generated by working to act on the first force sensor and the second force sensor through the first cross beam and the second cross beam respectively, and inputting the obtained analog electric signals into the force signal processing unit for amplification and processing and then inputting the analog electric signals into the computer. Since the magnitude and direction of the eccentric thrust of the thruster are unknown along the radial direction, in the measurement of the eccentric thrust, force decomposition of the eccentric thrust (refer to fig. 3a and 3b) is required to be performed, the eccentric thrust is decomposed into two component forces (Fy and Fz) perpendicular to each other, and Fx and Fz are measured and calculated first; then the thruster is installed along the axis by rotating 90 degrees, at the moment, the force in the y direction rotates to the z direction, Fx and Fy are measured and calculated, and the magnitude and the direction of the eccentric thrust are given by using the force synthesis principle; the specific measurement method is as follows:
1) starting the thruster, and generating a thrust Fx in the direction of the main shaft and a component Fz of the eccentric thrust by the system to enable the component Fz of the eccentric thrust to vertically act on the second cross beam; is obtained by using a force sensor
2) A force value F acting on the vertical direction of the first cross beam and the second cross beam is respectively measured by the first force sensor and the second force sensorS1And FS2；
3) According to the moment balance principle, solving a thrust Fx in the main shaft direction and a component force Fz of an eccentric thrust by using equations (1) and (2);
FS2·Lz2＝Fz·Lz1 (1)
FS1·Lx1＝Fx·Lxz+Fz·Lz1 (2)
4) rotating the thruster by 90 degrees along the main shaft, and repeating the steps 1) -2), generating a thrust Fx in the direction of the main shaft and another component force Fy of the eccentric thrust, so that the other component force Fy of the eccentric thrust vertically acts on the second cross beam;
according to the moment balance principle, solving a thrust Fx in the main shaft direction and a component force Fy of the eccentric thrust by using equations (3) and (4);
FS2·Lz2＝Fy·Lz1 (3)
FS1·Lx1＝Fx·Lxz+Fy·Lz1 (4)
5) according to the force synthesis principle, the eccentric thrust F of the thruster is obtained by using the formula (5) and the formula (6)RSize and direction of (c):
in the formula: fxIs the thrust of a main shaft of the thruster; fyAnd FzTwo component forces of the eccentric thrust in the vertical direction are respectively; fS1The force value acts on the first cross beam in the vertical direction, the value of the force value is equal to the force value measured by the first sensor in size, and the direction of the force value is opposite; fS2The force value acting on the second cross beam in the vertical direction is equal to the force value measured by the second sensor in magnitude and opposite in direction; l isx1The force arm of the first force sensor relative to the first support shaft is a design parameter; l isxzAs thrust F of main shaft of thrusterxThe force arm relative to the first support shaft is a design parameter; l isz1Is eccentric thrust component FzThe force arm corresponding to the second support shaft is a design parameter; l isz2The force arm of the second force sensor relative to the second support shaft is a design parameter; fRThe eccentric thrust of the thruster; theta is an included angle between the eccentric thrust and the z-axis direction.
Claims (4)
1. A device for simultaneously measuring thrust and eccentric thrust of a main shaft of a thruster comprises the thruster (1), a first base (17), a first beam (14), a first support shaft (13), a propellant guide pipe (15), a first force sensor (16), a force signal processing unit (18) and a computer (19); the first cross beam (14) is hung on the first base (17) through a first supporting shaft (13) and a first connecting plate (12), and the first cross beam (14) can rotate around the first supporting shaft (13); the method is characterized in that: the device also comprises a second base (10), a second cross beam (7), a second support shaft (6) and a second force sensor (9); the first cross beam (14) is connected with the second base (10) through a first bracket (11); the second cross beam (7) is hung on the second base (10) through a second support shaft (6) and a second connecting plate (5), and the second cross beam (7) can rotate around the second support shaft (6); the first support shaft (13) and the second support shaft (6) are positioned in the same vertical plane and are arranged in parallel; the thruster (1) is arranged at one end of a second cross beam (7) through a flange (2), and the other end of the second cross beam is provided with an adjusting mass block (8); the extension line of the main shaft of the thruster passes through the center of the second support shaft and is vertical to the connecting line of the centers of the two support shafts; the force signal processing unit (18) is respectively connected with the first force sensor (16) and the second force sensor (9) through signal lines.
2. The apparatus for simultaneously measuring thrust of a main shaft of a thruster and eccentric thrust of claim 1, wherein: propellant flow channels are arranged in the first supporting shaft (13) and the second supporting shaft (6), an outlet of the propellant guide pipe (15) is communicated with an inlet of the propellant flow channel in the first cross beam (14), and then is communicated with the propellant flow channel in the second supporting shaft (6) through a section of vertical guide pipe, and an outlet of the propellant flow channel of the second supporting shaft (6) is connected with an inlet of the thruster through the propellant guide pipe parallel to the second cross beam (7).
3. The apparatus for simultaneously measuring thrust of a main shaft of a thruster and eccentric thrust of claim 1 or 2, wherein: and a second support (4) is arranged at the lower part of the second support shaft (6) along the vertical direction, the upper end of the second support is fixed with a second cross beam (7), and a balancing weight (3) is installed at the lower end of the second support.
4. A method for simultaneously measuring an eccentric thrust and a spindle thrust of a thruster using the apparatus of claim 1, comprising the steps of:
1) starting the thruster, and generating a thrust Fx in the direction of the main shaft and a component Fz of the eccentric thrust by the system to enable the component Fz of the eccentric thrust to vertically act on the second cross beam;
2) a force value F acting on the vertical direction of the first cross beam and the second cross beam is respectively measured by the first force sensor and the second force sensorS1And FS2；
3) According to the moment balance principle, solving a thrust Fx in the main shaft direction and a component force Fz of an eccentric thrust by using equations (1) and (2);
FS2·Lz2＝Fz·Lz1 (1)
FS1·Lx1＝Fx·Lxz+Fz·Lz1 (2)
4) rotating the thruster by 90 degrees along the main shaft, repeating the steps 1) -2), measuring to obtain a thrust Fx in the direction of the main shaft and another component Fy of the eccentric thrust, and enabling the other component Fy of the eccentric thrust to vertically act on the second cross beam;
according to the moment balance principle, solving a thrust Fx in the main shaft direction and a component force Fy of the eccentric thrust by using equations (3) and (4);
FS2·Lz2＝Fy·Lz1 (3)
FS1·Lx1＝Fx·Lxz+Fy·Lz1 (4)
5) according to the force synthesis principle, the eccentric thrust F of the thruster is obtained by using the formula (5) and the formula (6)RSize and direction of (c):
in the formula: fxIs the thrust of a main shaft of the thruster; fyAnd FzTwo component forces of the eccentric thrust in the vertical direction are respectively; fS1The force value acts on the first cross beam in the vertical direction, the value of the force value is equal to the force value measured by the first sensor in size, and the direction of the force value is opposite; fS2The force value acting on the second cross beam in the vertical direction is equal to the force value measured by the second sensor in magnitude and opposite in direction; l isx1A force arm of the first force sensor relative to the first support shaft; l isxzAs thrust F of main shaft of thrusterxA force arm opposite the first support shaft; l isz1Is eccentric thrust component FzA moment arm opposite the second support shaft; l isz2A moment arm of the second force sensor relative to the second support shaft; fRThe eccentric thrust of the thruster; theta is an included angle between the eccentric thrust and the z-axis direction.
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| CN202011280501.1A CN112611495B (en) | 2020-11-16 | 2020-11-16 | Device and method for simultaneously measuring thrust and eccentric thrust of main shaft of thruster |
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| CN103900752A (en) * | 2014-04-09 | 2014-07-02 | 清华大学 | Range-adjustable device for measuring small pushing force of engine |
| CN105157896A (en) * | 2015-06-03 | 2015-12-16 | 中国人民解放军装备学院 | Variable-range thrust measuring device applicable to microminiature thruster |
| US20160202131A1 (en) * | 2013-08-26 | 2016-07-14 | University Of Florida Research Foundation Inc. | Method and Apparatus for Measuring Thrust |
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2020
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1916580A (en) * | 2006-07-31 | 2007-02-21 | 北京航空航天大学 | System for measuring thrust suitable to thrust engine with tiny space |
| CN101614606A (en) * | 2009-07-30 | 2009-12-30 | 中国科学院力学研究所 | A kind of measurement mechanism and method that detects the space plasma thruster thrust vectoring |
| CN101726382A (en) * | 2009-12-24 | 2010-06-09 | 中国航天科技集团公司第六研究院第十一研究所 | Device for measuring micro-thrust |
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| US20160202131A1 (en) * | 2013-08-26 | 2016-07-14 | University Of Florida Research Foundation Inc. | Method and Apparatus for Measuring Thrust |
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