CN112834218A - Momentum wheel bearing health assessment method and system in whole process of ground test - Google Patents

Momentum wheel bearing health assessment method and system in whole process of ground test Download PDF

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CN112834218A
CN112834218A CN202110154807.0A CN202110154807A CN112834218A CN 112834218 A CN112834218 A CN 112834218A CN 202110154807 A CN202110154807 A CN 202110154807A CN 112834218 A CN112834218 A CN 112834218A
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momentum wheel
health
bearing
test
wheel bearing
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CN112834218B (en
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边志强
曾擎
徐凯
孙英梅
栗双岭
洪振强
张健
朱海江
赵辉
步士超
王赟
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Shanghai Institute of Satellite Engineering
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Shanghai Institute of Satellite Engineering
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00—Testing of machine parts
    • G01M13/04—Bearings
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00—Testing of machine parts
    • G01M13/02—Gearings; Transmission mechanisms
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M99/00—Subject matter not provided for in other groups of this subclass
    • G01M99/002—Thermal testing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere

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  • General Physics & Mathematics (AREA)
  • Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)

Abstract

The invention provides a momentum wheel bearing health assessment method and system in the whole process of ground test, which comprises the following steps: step 1: setting monitoring parameters of a momentum wheel bearing in a ground test process; step 2: setting a monitoring stage of parameters in the ground test process; and step 3: detecting the set parameters; and 4, step 4: and establishing a health subset and evaluating the health state of the momentum wheel bearing by taking all parameters when the momentum wheel single machine is received as a performance baseline. The method integrates multiple key parameters of the momentum wheel to carry out overall process monitoring, has strong health assessment accuracy, does not need to increase hardware cost, and is suitable for long-period health assessment of the rotating part bearing in the whole satellite integration test stage.

Description

Momentum wheel bearing health assessment method and system in whole process of ground test
Technical Field
The invention relates to the technical field of momentum wheel bearing health assessment, in particular to a momentum wheel bearing health assessment method and system in the whole process of ground test.
Background
The satellite momentum wheel is used as a momentum exchange and momentum storage device, if the angular momentum of a satellite body needs to be maintained when the satellite receives external moment, the change of the angular momentum of the momentum wheel needs to be offset with the impulse of the external moment, and if the momentum wheel breaks down, the attitude of the satellite is unstable, and even the safety of the whole satellite is affected.
The moment output of the momentum wheel is not theoretical instruction moment due to the existence of friction moment in the rotation process of the momentum wheel, so that the moment output of the flywheel generates errors and interference is brought to a satellite attitude control system. Especially when the momentum wheel is installed orthogonally, the momentum wheel generally works at a lower rotating speed and can frequently pass through the zero rotating speed to change in a positive rotating speed component and a negative rotating speed component. The nonlinear characteristic of the friction torque of the momentum wheel bearing in the working area is strong, the friction torque has a jump condition, on one hand, the satellite attitude control precision is influenced, on the other hand, the oil film formation of the momentum wheel bearing ball is not facilitated during low speed, the lubricating effect is influenced, the friction torque can be increased after long-time working, and even the problem of jamming caused by the increase of the friction torque of the bearing is caused.
In the ground test process, the momentum wheel product needs to undergo single-machine level performance test, system closed-loop performance test after subsystem delivery and whole-satellite level test after whole-satellite delivery, the whole ground test period is 2-3 years, and how to evaluate the health state of the momentum wheel bearing in the long time is the key point of the whole ground test process. The momentum wheel belongs to an electromechanical rotating part, and the parameters reflecting the health state of the bearing mainly comprise bearing friction torque, motor driving current, bearing temperature under vacuum and the like.
Some momentum wheels have a plurality of problems on orbit, and actually, problem symptoms appear on the ground, only the ground does not have a system for comparing and analyzing related characteristic parameters when the momentum wheel test is carried out, and particularly, the time dimension does not carry out data consistency and stability analysis and comparison on the front test result and the rear test result.
The traditional method for evaluating the health condition of the bearing mainly has the following characteristics: (1) complex monitoring sensor devices are installed. The method needs to install various vibration sensors and matched data transmission equipment on the rotating bearing, is complex in installation and operation and high in monitoring cost, and is not suitable for testing the momentum wheel product in multiple stages of the whole star. (2) And establishing parameters to be diagnosed according to the prior product knowledge base, and comparing and evaluating the parameters to be diagnosed with product associations in the product knowledge base by using a complex algorithm, such as a grey association algorithm, a cloud model and the like. The method needs to establish a large amount of prior knowledge bases, which is difficult to realize for small-batch space products, and various correlation algorithms are complex and difficult to realize.
Patent document CN101813560A (application number: CN200910311570.1) discloses a spectrum diagnosis and identification method for early failure of a momentum wheel, which analyzes the spectrum characteristics and change rules by performing time domain and frequency domain analysis on the dynamic response of the momentum wheel at different running times, and analyzes the reasons of spectral peak generation and spectral peak change by combining with the dynamic characteristic analysis of momentum wheel parts and the calculation and analysis of bearing part pulsation frequency, thereby more scientifically and accurately identifying the early failure of the momentum wheel.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a momentum wheel bearing health assessment method and system for the whole process of ground test.
The momentum wheel bearing health assessment method in the whole process of ground test provided by the invention comprises the following steps:
step 1: setting monitoring parameters of a momentum wheel bearing in a ground test process;
step 2: setting a monitoring stage of parameters in the ground test process;
and step 3: detecting the set parameters;
and 4, step 4: and establishing a health subset and evaluating the health state of the momentum wheel bearing by taking all parameters when the momentum wheel single machine is received as a performance baseline.
Preferably, the step 1 comprises:
setting monitoring parameters reflecting the health state of a bearing of the momentum wheel according to the ground test conditions of the momentum wheel, wherein the monitoring parameters comprise torque voltage, motor driving current, bearing friction torque and inertial sliding time;
and monitoring parameters after the momentum wheel body is vacuumized and in a sealing state.
Preferably, the step 2 comprises:
factors influencing the health state of the momentum wheel bearing comprise a vibration environment and a thermal environment, so that the whole monitoring process of the momentum wheel bearing is covered, and relevant parameters are monitored in five stages of single machine acceptance, whole satellite electric test or mechanical test, thermal vacuum test process and electric aging process, so that the health condition of the momentum wheel bearing is evaluated.
Preferably, the step 3 comprises:
step 3.1: monitoring torque voltage and motor driving current: setting different rotating speeds of the momentum wheel, and recording torque voltage U at different rotating speeds after the rotating speed is stable0jAnd motor current I0jMonitoring the torque voltage U at each stage of the momentum wheel testijAnd motor current IijI represents different rotating speeds, j represents different testing stages, and the condition of | U is satisfiedij-U0j|/U0j<α，|Iij-I0j|/I0j<If beta, alpha and beta are both 10%, judging that the health state of the momentum wheel bearing is good; otherwise, judging that the state of the momentum wheel bearing is abnormal;
step 3.2: and (3) inertial slip time testing: setting momentum wheel to high speed omega0After the rotating speed is stable, setting the control voltage of the momentum wheel to be 0, recording the current time T1, overcoming the friction torque of the bearing to slide freely when the momentum wheel is in a state without the control torque, recording the time T2 when the rotating speed of the momentum wheel is 0, and recording the time T20jThe inertia slip time is T2-T1, and the inertia slip time Delta T is monitored at each stage of the momentum wheel testijSatisfy |. DELTA.Tij-△T0j|/△T0j<If gamma is 10%, the health state of the momentum wheel bearing is judged to be good; otherwise, judging that the state of the momentum wheel bearing is abnormal;
step 3.3: testing the friction torque of the bearing: estimating the friction torque by indirectly observing the change rule of the rotating speed along with the time, wherein the friction torque is carried out together with the inertial slip time test, and the momentum wheel is set to be at a high rotating speed omega0After the rotating speed is stable, setting the control voltage of the momentum wheel to be 0, acquiring the rotating speed of the whole inertial slip process of the momentum wheel through equipment to reach the rule of the rotating speed changing along with time, and utilizing J, delta and omega to MfThe principle of (1) to calculate the rotation speed omega and the friction torque MfCurve relation M off0(omega), M obtained at each test stagefjThe (omega) curve satisfies | Mfj(Ω)-Mf0(Ω)|/Mf0(Ω)<If epsilon and epsilon are 10%, judging that the momentum wheel bearing is in a good health state; otherwise, judging that the state of the momentum wheel bearing is abnormal.
Preferably, the step 4 comprises:
establishing a healthy subset S by taking parameters in the momentum wheel single machine acceptance as performance baselines0，S 01 stands for health, S 00 is unhealthy, and S0＝B10∩B20∩B30∩B40，B10Establishing a healthy subset S for torque and voltage healthy elements in the single acceptance stage of the momentum wheel in sequence in different stageskAnd k represents each test orderSegment, Sk＝B1k∩B2k∩B3k∩B4kComparing the test data of each stage with the baseline data, setting each health subset to be 1 when the relative error is smaller than a preset error value, and otherwise setting the health subset to be 0;
the momentum wheel bearing health is expressed as: z is S1∩S2∩S3…∩SkWhen S iskWhen the value is 1, the data B of each momentum wheel at a certain stage of the ground test is indicated1k～B4kThe state of health of the momentum wheel bearing is good, namely Z is 1; otherwise there is one B1k～B4kA value of 0 indicates that the momentum wheel bearing full cycle test procedure is unhealthy, i.e. Z equals 0.
The invention provides a momentum wheel bearing health assessment system for the whole process of ground test, which comprises:
module M1: setting monitoring parameters of a momentum wheel bearing in a ground test process;
module M2: setting a monitoring stage of parameters in the ground test process;
module M3: detecting the set parameters;
module M4: and establishing a health subset and evaluating the health state of the momentum wheel bearing by taking all parameters when the momentum wheel single machine is received as a performance baseline.
Preferably, the module M1 includes:
setting monitoring parameters reflecting the health state of a bearing of the momentum wheel according to the ground test conditions of the momentum wheel, wherein the monitoring parameters comprise torque voltage, motor driving current, bearing friction torque and inertial sliding time;
and monitoring parameters after the momentum wheel body is vacuumized and in a sealing state.
Preferably, the module M2 includes:
factors influencing the health state of the momentum wheel bearing comprise a vibration environment and a thermal environment, so that the whole monitoring process of the momentum wheel bearing is covered, and relevant parameters are monitored in five stages of single machine acceptance, whole satellite electric test or mechanical test, thermal vacuum test process and electric aging process, so that the health condition of the momentum wheel bearing is evaluated.
Preferably, the module M3 includes:
module M3.1: monitoring torque voltage and motor driving current: setting different rotating speeds of the momentum wheel, and recording torque voltage U at different rotating speeds after the rotating speed is stable0jAnd motor current I0jMonitoring the torque voltage U at each stage of the momentum wheel testijAnd motor current IijI represents different rotating speeds, j represents different testing stages, and the condition of | U is satisfiedij-U0j|/U0j<α，|Iij-I0j|/I0j<If beta, alpha and beta are both 10%, judging that the health state of the momentum wheel bearing is good; otherwise, judging that the state of the momentum wheel bearing is abnormal;
module M3.2: and (3) inertial slip time testing: setting momentum wheel to high speed omega0After the rotating speed is stable, setting the control voltage of the momentum wheel to be 0, recording the current time T1, overcoming the friction torque of the bearing to slide freely when the momentum wheel is in a state without the control torque, recording the time T2 when the rotating speed of the momentum wheel is 0, and recording the time T20jThe inertia slip time is T2-T1, and the inertia slip time Delta T is monitored at each stage of the momentum wheel testijSatisfy |. DELTA.Tij-△T0j|/△T0j<If gamma is 10%, the health state of the momentum wheel bearing is judged to be good; otherwise, judging that the state of the momentum wheel bearing is abnormal;
module M3.3: testing the friction torque of the bearing: estimating the friction torque by indirectly observing the change rule of the rotating speed along with the time, wherein the friction torque is carried out together with the inertial slip time test, and the momentum wheel is set to be at a high rotating speed omega0After the rotating speed is stable, setting the control voltage of the momentum wheel to be 0, acquiring the rotating speed of the whole inertial slip process of the momentum wheel through equipment to reach the rule of the rotating speed changing along with time, and utilizing J, delta and omega to MfThe principle of (1) to calculate the rotation speed omega and the friction torque MfCurve relation M off0(omega), M obtained at each test stagefjThe (omega) curve satisfies | Mfj(Ω)-Mf0(Ω)|/Mf0(Ω)<If epsilon and epsilon are 10%, judging that the momentum wheel bearing is in a good health state; otherwise, judging that the state of the momentum wheel bearing is abnormal.
Preferably, the module M4 includes:
establishing a healthy subset S by taking parameters in the momentum wheel single machine acceptance as performance baselines0，S 01 stands for health, S 00 is unhealthy, and S0＝B10∩B20∩B30∩B40，B10Establishing a healthy subset S for torque and voltage healthy elements in the single acceptance stage of the momentum wheel in sequence in different stageskK stands for the respective test stage, Sk＝B1k∩B2k∩B3k∩B4kComparing the test data of each stage with the baseline data, setting each health subset to be 1 when the relative error is smaller than a preset error value, and otherwise setting the health subset to be 0;
the momentum wheel bearing health is expressed as: z is S1∩S2∩S3…∩SkWhen S iskWhen the value is 1, the data B of each momentum wheel at a certain stage of the ground test is indicated1k～B4kThe state of health of the momentum wheel bearing is good, namely Z is 1; otherwise there is one B1k～B4kA value of 0 indicates that the momentum wheel bearing full cycle test procedure is unhealthy, i.e. Z equals 0.
Compared with the prior art, the invention has the following beneficial effects:
(1) the method integrates multiple key parameters of the momentum wheel to carry out overall process monitoring, has strong health assessment accuracy, does not need to increase hardware cost, and is particularly suitable for long-period health assessment of the rotating part bearing in the whole satellite integrated test stage;
(2) the invention monitors the magnitude of the relevant parameters of the momentum wheel and the stability of data of each stage aiming at the testing requirement of the momentum wheel in the whole period from a single stage, a system level and a whole star stage, evaluates the health state of the momentum wheel, and is suitable for evaluating the health state of the bearing in the ground testing process of various rotating parts.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic flow chart of a method for evaluating health of a momentum wheel bearing according to the present invention;
fig. 2 is a diagram of the health evaluation process of the momentum wheel bearing of the satellite ground overall process.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Example (b):
as shown in fig. 1, the specific process content of the present invention includes 4 parts, which are respectively: determining monitoring parameters, selecting a monitoring stage, detecting the parameters and evaluating the health state.
1. Determining momentum wheel bearing monitoring parameters in a ground testing process
Aiming at the ground test condition of the momentum wheel, the monitoring parameters reflecting the health state of the bearing of the momentum wheel are determined to include control voltage, motor driving current, bearing friction torque and inertia slip time, and the monitoring of the parameters is carried out after the wheel body of the momentum wheel is vacuumized and in a sealed state.
2. Monitoring stage of key parameters in ground test process
The health states of the momentum wheel bearing are mainly influenced by a vibration environment, a thermal environment and the like, and in order to ensure the coverage of the whole monitoring process of the momentum wheel bearing and avoid reducing the testing efficiency by repeated testing, relevant parameters are monitored in five stages of single machine acceptance, whole satellite testing or before mechanical testing, after mechanical testing, a thermal vacuum testing process and an electric aging process, so that the health condition of the momentum wheel bearing is evaluated.
3. Key parameter monitoring method
(1) Monitoring torque voltage and motor driving current: setting different rotation speeds (such as 500rpm, 1000rpm, 2000rpm, 3000rpm) of the momentum wheel, and recording the rotation speeds at different rotation speeds after the rotation speed is stabilized for 1minMoment voltage U0jAnd motor current I0j. Monitoring the Torque Voltage U at various stages of the momentum wheel testijAnd motor current Iij(i represents different rotation speeds, j represents different test phases) which satisfy | Uij-U0j|/U0j<α，|Iij-I0j|/I0j<Beta (the alpha and the beta are generally 5 to 10 percent), and the momentum wheel bearing is considered to be in good health state. Otherwise, the state of the momentum wheel bearing is considered to be abnormal.
(2) And (3) inertial slip time testing: setting momentum wheel to high speed omega0(the rotation speed value is generally slightly larger than the highest rotation speed value of practical application, and is generally 3000rpm), after the rotation speed is stabilized for 1min, the control voltage of the momentum wheel is set to be 0, and the current time T1 is recorded. The momentum wheel overcomes the friction torque of the bearing to slide freely under the state of no control torque, records the time T2 when the rotating speed of the momentum wheel is 0, and records the time delta T0jT2-T1 is the inertia slip time of the momentum wheel. Monitoring of inertial slip time Δ T at various stages of momentum wheel testingij(i for different rotation speeds and j for different test phases) which satisfy |. DELTA.Tij-△T0j|/△T0j<Gamma (gamma is generally 10%) and the momentum wheel bearing is considered to be in good health. Otherwise, the state of the momentum wheel bearing is considered to be abnormal.
(3) And (3) testing friction torque: because the friction torque can not be directly observed, the friction torque is estimated by indirectly observing the change rule of the rotating speed along with the time. The item can be carried out together with the inertia slip time test, after the momentum wheel is set to a certain high rotating speed to be stable, the control voltage of the momentum wheel is set to be 0, the rotating speed of the whole inertia slip process of the momentum wheel is collected through equipment, and the rule that the rotating speed changes along with time is achieved. Using J x Δ Ω ═ MfThe principle of (1) to calculate the rotation speed omega and the friction torque MfCurve relation M off0(omega). M obtained at each test stagefjThe (omega) curve satisfies | Mfj(Ω)-Mf0(Ω)|/Mf0(Ω)<The momentum wheel bearing health is considered good when e (j represents the different test phases, e is typically 20%). Otherwise, the state of the momentum wheel bearing is considered to be abnormal.
4. Momentum wheel parameter evaluation of momentum wheel bearing health
Establishing a health group S by taking various parameters during the single momentum wheel acceptance as performance baselines0(S 01 for healthy, 0 for unhealthy), and S0＝B10∩B20∩B30∩B40(such as B)10The moment voltage health element in the single machine acceptance phase of the momentum wheel). Successively establishing a health subset S in different subsequent stagesk(k denotes the respective test stage, Sk＝B1k∩B2k∩B3k∩B4k) Comparing the test data of each stage with the baseline data, setting each health subset to be 1 when the relative error is less than a certain error value, and otherwise setting the health subset to be 0.
Finally, the momentum wheel bearing health is expressed as Z ═ S1∩S2∩S3…∩SkWhen S iskWhen the value is 1, the data B of each momentum wheel at a certain stage of the ground test is explained1k～B4kThe condition is valid, stable, within the success envelope, showing a good momentum wheel bearing health, i.e. Z ═ 1. Otherwise there is one B1k～B4kAt 0, the momentum wheel bearing full cycle test procedure was characterized as unhealthy (Z ═ 0), and a problem occurred.
Taking the health evaluation process of the momentum wheel bearing of a certain satellite ground test full period as an example, taking the single machine acceptance data of the momentum wheel as a baseline, setting 4 test stages of the whole satellite electrical test, the mechanical test, the thermal vacuum test and the electrical aging as full process monitoring points, selecting 500rpm, 1000rpm, 2000rpm and 3000rpm as monitoring elements for motor current and torque voltage, starting from 3000rpm to test the inertia slip time, collecting the rotating speed and calculating the friction torque of the bearing, and taking a momentum wheel bearing health evaluation process chart of the satellite ground full process as a chart 2.
The method integrates multiple key parameters of the momentum wheel to carry out overall process monitoring, has strong health assessment accuracy, does not need to increase hardware cost, and is particularly suitable for long-period health assessment of the rotating part bearing in the whole satellite integration test stage.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims (10)

1. A momentum wheel bearing health assessment method of the whole process of ground testing is characterized by comprising the following steps:
step 1: setting monitoring parameters of a momentum wheel bearing in a ground test process;
step 2: setting a monitoring stage of parameters in the ground test process;
and step 3: detecting the set parameters;
and 4, step 4: and establishing a health subset and evaluating the health state of the momentum wheel bearing by taking all parameters when the momentum wheel single machine is received as a performance baseline.
2. The method of claim 1, wherein the step 1 comprises:
setting monitoring parameters reflecting the health state of a bearing of the momentum wheel according to the ground test conditions of the momentum wheel, wherein the monitoring parameters comprise torque voltage, motor driving current, bearing friction torque and inertial sliding time;
and monitoring parameters after the momentum wheel body is vacuumized and in a sealing state.
3. The method of claim 1, wherein the step 2 comprises:
factors influencing the health state of the momentum wheel bearing comprise a vibration environment and a thermal environment, so that the whole monitoring process of the momentum wheel bearing is covered, and relevant parameters are monitored in five stages of single machine acceptance, whole satellite electric test or mechanical test, thermal vacuum test process and electric aging process, so that the health condition of the momentum wheel bearing is evaluated.
4. The method of claim 1, wherein the step 3 comprises:
step 3.1: monitoring torque voltage and motor driving current: setting different rotating speeds of the momentum wheel, and recording torque voltage U at different rotating speeds after the rotating speed is stable0jAnd motor current I0jMonitoring the torque voltage U at each stage of the momentum wheel testijAnd motor current IijI represents different rotating speeds, j represents different testing stages, and the condition of | U is satisfiedij-U0j|/U0j<α，|Iij-I0j|/I0j<If beta, alpha and beta are both 10%, judging that the health state of the momentum wheel bearing is good; otherwise, judging that the state of the momentum wheel bearing is abnormal;
step 3.2: and (3) inertial slip time testing: setting momentum wheel to high speed omega0After the rotating speed is stable, setting the control voltage of the momentum wheel to be 0, recording the current time T1, overcoming the friction torque of the bearing to slide freely when the momentum wheel is in a state without the control torque, recording the time T2 when the rotating speed of the momentum wheel is 0, and recording the time T20jThe inertia slip time is T2-T1, and the inertia slip time Delta T is monitored at each stage of the momentum wheel testijSatisfy |. DELTA.Tij-△T0j|/△T0j<When gamma is 10%, the wheel is judged as a momentum wheelThe bearing health state is good; otherwise, judging that the state of the momentum wheel bearing is abnormal;
step 3.3: testing the friction torque of the bearing: estimating the friction torque by indirectly observing the change rule of the rotating speed along with the time, wherein the friction torque is carried out together with the inertial slip time test, and the momentum wheel is set to be at a high rotating speed omega0After the rotating speed is stable, setting the control voltage of the momentum wheel to be 0, acquiring the rotating speed of the whole inertial slip process of the momentum wheel through equipment to reach the rule of the rotating speed changing along with time, and utilizing J, delta and omega to MfThe principle of (1) to calculate the rotation speed omega and the friction torque MfCurve relation M off0(omega), M obtained at each test stagefjThe (omega) curve satisfies | Mfj(Ω)-Mf0(Ω)|/Mf0(Ω)<If epsilon and epsilon are 10%, judging that the momentum wheel bearing is in a good health state; otherwise, judging that the state of the momentum wheel bearing is abnormal.
5. The method of claim 1, wherein the step 4 comprises:
establishing a healthy subset S by taking parameters in the momentum wheel single machine acceptance as performance baselines0，S01 stands for health, S00 is unhealthy, and S0＝B10∩B20∩B30∩B40，B10Establishing a healthy subset S for torque and voltage healthy elements in the single acceptance stage of the momentum wheel in sequence in different stageskK stands for the respective test stage, Sk＝B1k∩B2k∩B3k∩B4kComparing the test data of each stage with the baseline data, setting each health subset to be 1 when the relative error is smaller than a preset error value, and otherwise setting the health subset to be 0;
the momentum wheel bearing health is expressed as: z is S1∩S2∩S3…∩SkWhen S iskWhen the value is 1, the data B of each momentum wheel at a certain stage of the ground test is indicated1k～B4kThe state of health of the momentum wheel bearing is good, namely Z is 1; otherwise there is one B1k～B4kA value of 0 indicates that the momentum wheel bearing full cycle test procedure is unhealthy, i.e. Z equals 0.
6. A momentum wheel bearing health assessment system for a full process of ground testing, comprising:
module M1: setting monitoring parameters of a momentum wheel bearing in a ground test process;
module M2: setting a monitoring stage of parameters in the ground test process;
module M3: detecting the set parameters;
module M4: and establishing a health subset and evaluating the health state of the momentum wheel bearing by taking all parameters when the momentum wheel single machine is received as a performance baseline.
7. The system of claim 6, wherein the module M1 comprises:
setting monitoring parameters reflecting the health state of a bearing of the momentum wheel according to the ground test conditions of the momentum wheel, wherein the monitoring parameters comprise torque voltage, motor driving current, bearing friction torque and inertial sliding time;
and monitoring parameters after the momentum wheel body is vacuumized and in a sealing state.
8. The system of claim 6, wherein the module M2 comprises:
factors influencing the health state of the momentum wheel bearing comprise a vibration environment and a thermal environment, so that the whole monitoring process of the momentum wheel bearing is covered, and relevant parameters are monitored in five stages of single machine acceptance, whole satellite electric test or mechanical test, thermal vacuum test process and electric aging process, so that the health condition of the momentum wheel bearing is evaluated.
9. The system of claim 6, wherein the module M3 comprises:
moduleM3.1: monitoring torque voltage and motor driving current: setting different rotating speeds of the momentum wheel, and recording torque voltage U at different rotating speeds after the rotating speed is stable0jAnd motor current I0jMonitoring the torque voltage U at each stage of the momentum wheel testijAnd motor current IijI represents different rotating speeds, j represents different testing stages, and the condition of | U is satisfiedij-U0j|/U0j<α，|Iij-I0j|/I0j<If beta, alpha and beta are both 10%, judging that the health state of the momentum wheel bearing is good; otherwise, judging that the state of the momentum wheel bearing is abnormal;
module M3.2: and (3) inertial slip time testing: setting momentum wheel to high speed omega0After the rotating speed is stable, setting the control voltage of the momentum wheel to be 0, recording the current time T1, overcoming the friction torque of the bearing to slide freely when the momentum wheel is in a state without the control torque, recording the time T2 when the rotating speed of the momentum wheel is 0, and recording the time T20jThe inertia slip time is T2-T1, and the inertia slip time Delta T is monitored at each stage of the momentum wheel testijSatisfy |. DELTA.Tij-△T0j|/△T0j<If gamma is 10%, the health state of the momentum wheel bearing is judged to be good; otherwise, judging that the state of the momentum wheel bearing is abnormal;
module M3.3: testing the friction torque of the bearing: estimating the friction torque by indirectly observing the change rule of the rotating speed along with the time, wherein the friction torque is carried out together with the inertial slip time test, and the momentum wheel is set to be at a high rotating speed omega0After the rotating speed is stable, setting the control voltage of the momentum wheel to be 0, acquiring the rotating speed of the whole inertial slip process of the momentum wheel through equipment to reach the rule of the rotating speed changing along with time, and utilizing J, delta and omega to MfThe principle of (1) to calculate the rotation speed omega and the friction torque MfCurve relation M off0(omega), M obtained at each test stagefjThe (omega) curve satisfies | Mfj(Ω)-Mf0(Ω)|/Mf0(Ω)<If epsilon and epsilon are 10%, judging that the momentum wheel bearing is in a good health state; otherwise, judging that the state of the momentum wheel bearing is abnormal.
10. The system of claim 6, wherein the module M4 comprises:
establishing a healthy subset S by taking parameters in the momentum wheel single machine acceptance as performance baselines0，S01 stands for health, S00 is unhealthy, and S0＝B10∩B20∩B30∩B40，B10Establishing a healthy subset S for torque and voltage healthy elements in the single acceptance stage of the momentum wheel in sequence in different stageskK stands for the respective test stage, Sk＝B1k∩B2k∩B3k∩B4kComparing the test data of each stage with the baseline data, setting each health subset to be 1 when the relative error is smaller than a preset error value, and otherwise setting the health subset to be 0;
the momentum wheel bearing health is expressed as: z is S1∩S2∩S3…∩SkWhen S iskWhen the value is 1, the data B of each momentum wheel at a certain stage of the ground test is indicated1k～B4kThe state of health of the momentum wheel bearing is good, namely Z is 1; otherwise there is one B1k～B4kA value of 0 indicates that the momentum wheel bearing full cycle test procedure is unhealthy, i.e. Z equals 0.
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US5133211A (en) * 1991-02-07 1992-07-28 Aircraft Braking Systems Corporation Wheel bearing test system
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