CN113093704A - Real-time synchronization performance testing device and method for control moment gyro symmetric frame system - Google Patents
Real-time synchronization performance testing device and method for control moment gyro symmetric frame system Download PDFInfo
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Abstract
The invention discloses a real-time synchronization performance testing device and method for a control moment gyro symmetric frame system, which comprises a left gyro frame and a right gyro frame which are symmetrically arranged on a testing base station, wherein the left gyro frame and the right gyro frame are respectively provided with a left moment gyro and a right moment gyro which can be transmitted by self, the left gyro frame and the right gyro frame are respectively connected with a left gyro frame driving mechanism and a right gyro frame driving mechanism which can drive the left gyro frame and the right gyro frame to rotate, and the left gyro frame driving mechanism and the right gyro frame driving mechanism are respectively provided with a left gyro frame rotating shaft and a right gyro frame rotating shaft which are used for driving the left gyro frame and the right gyro frame to rotate. The invention can accurately test the synchronization performance of the control moment gyro frame under the condition of consuming less hardware resources.
Description
Technical Field
The invention belongs to the technical field of control moment gyros, and particularly relates to a real-time synchronization performance testing method for a control moment gyro symmetric frame system.
Background
The Control Moment Gyro (CMG) obtains a certain angular momentum through a rotor rotating at a high speed, outputs a control moment outwards by changing the direction of the angular momentum, has a moment amplification effect, has the characteristics of high precision and no consumption of working media, is widely applied to attitude control aspects such as aerospace, satellite, naval vessel, intelligent traffic and the like, and shows unique advantages.
The control moment gyro rotates around the rotation shaft at high speed at angular speed omega through the gyro rotor, and the gyro frame rotates at angular speed omegaeRotating around the frame axis. Two symmetrically distributed frame systems with identical parameters in the control moment gyro. The rotation angles of the two symmetrically distributed frame systems are equal in size and opposite in rotation direction, so that longitudinal interference moments generated by a single gyroscope are mutually offset, the stability of a controlled body is guaranteed, and the control precision is improved.
The synchronism of the control moment gyro symmetrical frame system is particularly important, and the moment M of the gyro isG＝H×ωeIt can be known that the output magnitude and direction thereof and the frame angular velocity ωeAnd the angular momentum H of the constant high-speed rotor is in direct proportion, so the control precision of the angle and the angular speed of the gyro frame directly influences the output precision of the control moment of the moment gyro, thereby influencing the precision of posture adjustment of a controlled body, and directly influencing the posture control precision and stability if the frame system cannot effectively ensure the synchronism of the output moment. Therefore, the method has important engineering application value and practical significance for ensuring angle synchronization, angular speed synchronization and moment synchronization of the symmetrical frame system.
In practical application, if a better control effect is desired, the symmetrically arranged control moment gyro systems can not perform experiments and tests on the synchronization performance of the frame system, so that the accuracy and reliability of the control effect are ensured. The method for testing the synchronous performance of the control moment gyro symmetric frame system comprises two methods, namely, the required data is measured through a professional test bench, and the required data is obtained through analog simulation. The simulation has low cost, convenient operation and less consumed hardware resources, but because many practical factors are ignored in the simulation, the obtained simulation test result has larger error with the practical result, and the accuracy is not high. The cost required by a professional test bench is high, more hardware resources are consumed, and the operation is very complicated.
Disclosure of Invention
Aiming at the defects of the prior art, the technical problems to be solved by the invention are as follows: under the condition of consuming less hardware resources, the synchronous performance of the control moment gyro frame can be accurately tested.
In order to solve the technical problems, the invention adopts the following technical scheme:
a real-time synchronization performance testing device of a control moment gyro symmetric frame system comprises a left gyro frame and a right gyro frame which are symmetrically arranged on a testing base station, wherein a left moment gyro and a right moment gyro which can transmit automatically are respectively arranged on the left gyro frame and the right gyro frame;
a left incremental encoder for measuring the rotation angular speed of the left gyro frame, a left absolute encoder for measuring the rotation angle of the left gyro frame and a left torque sensor for measuring the torque of the left gyro frame are coaxially arranged on the rotation shaft of the left gyro frame;
a right incremental encoder for measuring the rotating angular speed of the right gyro frame, a right absolute encoder for measuring the rotating angle of the right gyro frame and a right moment sensor for measuring the torque of the right gyro frame are coaxially arranged on the rotating shaft of the right gyro frame;
the left gyro frame rotating shaft is coaxially provided with a left brake torque applying mechanism for applying a load torque, and the right gyro frame rotating shaft is coaxially provided with a right brake torque applying mechanism for applying a load torque;
the device is characterized by further comprising a data analysis device, wherein the data analysis device is connected with the left incremental encoder, the left absolute encoder, the left torque sensor, the right incremental encoder, the right absolute encoder, the right torque sensor, the left braking torque applying mechanism and the right braking torque transmission applying mechanism in a transmission and applying mode and is used for analyzing the synchronization performance of the left gyro frame and the right gyro frame in real time.
As optimization, the left gyro frame driving mechanism comprises a left front support frame, a left rear support frame and a left gyro frame driving motor which are arranged on the test base station and positioned on two sides of the left gyro frame in the length direction, the left gyro frame driving motor is arranged on the left front support frame, an output shaft of the left gyro frame driving motor penetrates through the left front support frame and is connected with the front end of the left gyro frame, the rear end of the left gyro frame is connected with a left gyro frame rotating shaft, a left gyro frame rotating shaft and the output shaft of the left gyro frame driving motor are coaxially arranged, and the left gyro frame rotating shaft penetrates through a bearing assembly on the left rear support frame and extends outwards to form an extension section;
right side top frame actuating mechanism is including setting up right front support frame and right back support frame and the right top frame driving motor that just is located right top frame length direction both sides on the test base station, right side top frame driving motor installs on right front support frame, and right top frame driving motor's output shaft passes right front support frame and is connected with right top frame front end, and right top frame rear end and right top frame rotating shaft are connected, and right top frame axis of rotation sets up with the axial of output shaft of right top frame driving motor, and right top frame axis of rotation wears to locate on the support frame behind the right side through bearing assembly to outwards stretch out and have the extension section.
As optimization, the input shaft of the left torque sensor is coaxially installed with the extension section of the left gyro frame rotating shaft through a first left coupler, the input shaft of the right torque sensor is coaxially installed with the extension section of the right gyro frame rotating shaft through a first right coupler, and the left torque sensor and the right torque sensor are arranged on the test base platform through a left first support and a right first support respectively.
As optimization, the left brake torque applying mechanism comprises a left magnetic powder brake, the left magnetic powder brake is connected with an output shaft of the left torque sensor through a second left coupler, the right brake torque applying mechanism comprises a right magnetic powder brake, the right magnetic powder brake is connected with an output shaft of the right torque sensor through a second right coupler, and the left magnetic powder brake and the right magnetic powder brake are arranged on the test base station through a left second support and a right second support respectively.
As optimization, a left mounting hole is formed in the center of the top of the left gyro frame, a left gyro rotor driving motor is mounted in the left mounting hole, a rotor of the left moment gyro is mounted on an output shaft of the left gyro rotor driving motor, a right mounting hole is formed in the center of the top of the right gyro frame, a right gyro rotor driving motor is mounted in the right mounting hole, and a rotor of the right moment gyro is mounted on an output shaft of the right gyro rotor driving motor.
The invention also discloses a real-time synchronization performance test method of the control moment gyroscope symmetric frame system, which adopts the real-time synchronization performance test device of the control moment gyroscope symmetric frame system to test and comprises the following steps:
step a, starting a left gyro rotor driving motor, a right gyro rotor driving motor, a left gyro frame driving motor and a right gyro frame driving motor to enable a left moment gyro and a right moment gyro to generate autorotation and enable the left moment gyro and the right moment gyro to generate precession under the driving of the left gyro frame and the right gyro frame respectively;
b, respectively applying load moments with different sizes to a left gyro frame rotating shaft and a right gyro frame rotating shaft by controlling a left brake moment applying mechanism and a left and right brake moment applying mechanism, measuring the rotating angular speed, the rotating angle and the corresponding torque of the left gyro frame by a left incremental encoder, a left absolute encoder and a left moment sensor, measuring the rotating angular speed, the rotating angle and the corresponding torque of the right gyro frame by a right incremental encoder, a right absolute encoder and a right moment sensor, obtaining the rotating angular speed, the rotating angle and the corresponding torque of the left gyro frame and the right gyro frame under different load conditions, and transmitting data to a data analysis device;
and c, drawing change curves of the rotating angular speed, the rotating angle and the torque of the left gyro frame and the right gyro frame along with time under the same load condition in the data analysis device according to the data transmitted in real time, and judging the synchronization performance of the left gyro frame and the right gyro frame according to the fitting degree of the change curves of the corresponding items.
Compared with the prior art, the invention has the following beneficial effects: the invention designs a set of efficient and simple testing device aiming at the control moment gyro frame synchronization performance test, the actual test experiment can be completed in a smaller space, the test operation is simple and convenient, and the data acquisition is more convenient. During testing, incremental encoders, absolute encoders and torque sensors are arranged on driving mechanisms on a left gyro frame and a right gyro frame which are symmetrically arranged, different load torques are applied to the driving mechanisms through a braking torque applying mechanism, the measured angular speeds, rotation angles and torque of the left gyro frame and the right gyro frame under different load conditions are compared and analyzed, and the synchronous performance of the symmetrically arranged gyro frames is judged through data measured by the left gyro frame and the right gyro frame which have the same structure.
Drawings
FIG. 1 is a top view of an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
In the specific implementation: referring to fig. 1 and 2, a real-time synchronization performance testing device for a control moment gyro symmetric frame system comprises a left gyro frame 3 and a right gyro frame 21 which are symmetrically arranged on a testing base 18, wherein the left gyro frame 3 and the right gyro frame 21 are respectively provided with a left moment gyro 4 and a right moment gyro 20 which can transmit automatically, the left gyro frame 3 and the right gyro frame 21 are respectively connected with a left gyro frame driving mechanism and a right gyro frame driving mechanism which enable the left gyro frame 3 and the right gyro frame 21 to rotate, and the left gyro frame driving mechanism and the right gyro frame driving mechanism are respectively provided with a left gyro frame rotating shaft and a right gyro frame rotating shaft which are used for driving the left gyro frame and the right gyro frame to rotate;
a left incremental encoder for measuring the rotation angular speed of the left gyro frame, a left absolute encoder 7 for measuring the rotation angle of the left gyro frame 3 and a left torque sensor 9 for measuring the torque of the left gyro frame are coaxially arranged on the rotation shaft of the left gyro frame;
a right incremental encoder for measuring the rotating angular speed of the right gyro frame, a right absolute encoder 16 for measuring the rotating angle of the right gyro frame and a right moment sensor 14 for measuring the torque of the right gyro frame are coaxially arranged on the rotating shaft of the right gyro frame;
a left braking torque applying mechanism 11 for applying a load torque is coaxially arranged on the left gyro frame rotating shaft, and a right braking torque applying mechanism 12 for applying a load torque is coaxially arranged on the right gyro frame rotating shaft;
the device further comprises a data analysis device 24 which is connected with the left incremental encoder, the left absolute encoder, the left torque sensor, the right incremental encoder, the right absolute encoder, the right torque sensor, the left braking torque applying mechanism and the right braking torque transmission applying mechanism and used for analyzing the synchronization performance of the left gyro frame and the right gyro frame in real time.
Therefore, the invention designs a set of efficient and simple testing device aiming at the control moment gyro frame synchronization performance test, the actual test experiment can be completed in a smaller space, the test operation is simple and convenient, and the data acquisition is more convenient. During testing, an incremental encoder, an absolute encoder and a torque sensor are arranged on driving mechanisms on a left gyro frame and a right gyro frame which are symmetrically arranged, different load torques are applied to the driving mechanisms through a braking torque applying mechanism, the measured angular speeds, rotating angles and torque of the left gyro frame and the right gyro frame under different load conditions are compared and analyzed with data measured by the left gyro frame and the right gyro frame which have the same structure, the synchronization performance of the symmetrically arranged gyro frames is judged, and a data analyzing device is a computer.
As optimization, the left gyro frame driving mechanism comprises a left front support frame 2, a left rear support frame 6 and a left gyro frame driving motor 1 which are arranged on the test base station and positioned at two sides of the left gyro frame in the length direction, the left gyro frame driving motor 1 is arranged on the left front support frame 2, an output shaft of the left gyro frame driving motor penetrates through the left front support frame and is connected with the front end of the left gyro frame, the rear end of the left gyro frame 3 is connected with a left gyro frame rotating shaft, a left gyro frame rotating shaft and the output shaft of the left gyro frame driving motor are coaxially arranged, the left gyro frame rotating shaft penetrates through a bearing assembly on the left rear support frame 6 and extends outwards to form an extension section;
right side top frame actuating mechanism is including setting up right front support frame 22 and right rear support frame 17 and the right top frame driving motor 23 that just is located right top frame length direction both sides on the test base station, right side top frame driving motor installs on right front support frame, and right top frame driving motor's output shaft passes right front support frame and is connected with right top frame front end, and right top frame 21 rear end is connected with right top frame rotating shaft, and right top frame axis of rotation sets up with right top frame driving motor's output shaft is coaxial, and right top frame axis of rotation wears to locate on the right rear support frame through bearing assembly to outwards stretch out and have the extension section.
Therefore, the left top frame 3 and the right top frame 21 can be well installed by arranging the left front support frame 2, the left rear support frame 6, the right front support frame 22 and the right rear support frame 17, the left top frame driving motor 1 and the right top frame driving motor 23 select pancake motors, and during testing, the driving directions of the left top frame and the right top frame are opposite, so that the left top frame and the right top frame are driven to rotate in opposite directions.
As optimization, the input shaft of the left torque sensor 9 is coaxially mounted with the extension section of the left gyro frame rotating shaft through the first left coupler 8, the input shaft of the right torque sensor 14 is coaxially mounted with the extension section of the right gyro frame rotating shaft through the first right coupler 15, and the left torque sensor and the right torque sensor are respectively arranged on the test base platform through the left first support and the right first support.
Therefore, by arranging the first left coupler and the first right coupler, the input shaft of the left torque sensor can be stably connected with the rotating shaft of the left gyro frame and the input shaft of the right torque sensor is stably connected with the rotating shaft of the right gyro frame, and the rigid flange plate coupler is preferably selected by the first left coupler and the first right coupler.
As optimization, left braking moment application mechanism 11 includes left magnetic powder brake, and left magnetic powder brake passes through the output shaft of second left coupling 10 connection left torque sensor, and right braking moment application mechanism 12 includes right magnetic powder brake, and right magnetic powder brake passes through the output shaft of second right coupling 13 connection right torque sensor, and left magnetic powder brake and right magnetic powder brake set up on the test base station through left second support and right second support respectively.
Therefore, the magnetic powder brake can be used for simulating loads, has the advantages of stable operation, excellent performance, no vibration, no impact and no noise in the starting, operation and braking states, is connected with the output shaft of the left torque sensor and the output shaft of the right torque sensor through the second left coupler and the second right coupler respectively, is convenient for applying different loads to the rotating shafts of the left gyro frame and the right gyro frame, and preferably selects the rigid flange plate coupler through the second left coupler and the second right coupler.
As optimization, a left mounting hole is formed in the center of the top of the left gyro frame, a left gyro rotor driving motor 5 is mounted in the left mounting hole, a rotor of the left moment gyro is mounted on an output shaft of the left gyro rotor driving motor, a right mounting hole is formed in the center of the top of the right gyro frame, a right gyro rotor driving motor 19 is mounted in the right mounting hole, and a rotor of the right moment gyro is mounted on an output shaft of the right gyro rotor driving motor.
The installation like this can be so that the rotor of left moment top and the rotor of right moment top are high-speed self-transmitting under left top rotor driving motor and the drive of right top rotor driving motor respectively, and left top frame and right top frame rotate under the drive of left top frame driving motor and right top frame driving motor respectively to make left moment top and right moment top take place the precession, under the combined action of self-transmitting and precession, make left moment top and right moment top produce the gyro moment of outside output.
The invention also discloses a real-time synchronization performance test method of the control moment gyroscope symmetric frame system, which adopts the real-time synchronization performance test device of the control moment gyroscope symmetric frame system to test and comprises the following steps:
step a, starting a left gyro rotor driving motor, a right gyro rotor driving motor, a left gyro frame driving motor and a right gyro frame driving motor to enable a left moment gyro and a right moment gyro to generate autorotation and enable the left moment gyro and the right moment gyro to generate precession under the driving of the left gyro frame and the right gyro frame respectively;
b, respectively applying load moments with different sizes to a left gyro frame rotating shaft and a right gyro frame rotating shaft by controlling a left brake moment applying mechanism and a left and right brake moment applying mechanism, measuring the rotating angular speed, the rotating angle and the corresponding torque of the left gyro frame by a left incremental encoder, a left absolute encoder and a left moment sensor, measuring the rotating angular speed, the rotating angle and the corresponding torque of the right gyro frame by a right incremental encoder, a right absolute encoder and a right moment sensor, obtaining the rotating angular speed, the rotating angle and the corresponding torque of the left gyro frame and the right gyro frame under different load conditions, and transmitting data to a data analysis device;
and c, drawing change curves of the rotating angular speed, the rotating angle and the torque of the left gyro frame and the right gyro frame along with time under the same load condition in the data analysis device according to the data transmitted in real time, and judging the synchronization performance of the left gyro frame and the right gyro frame according to the fitting degree of the change curves of the corresponding items.
Although embodiments of the present invention have been shown and described, it will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents, and thus the embodiments of the present invention are intended only as illustrative examples of the invention and are not to be construed as limiting the invention in any way.
Claims (6)
1. The utility model provides a real-time synchronization capability test device of control moment top symmetrical frame system, sets up left top frame and right top frame on the test base station including the symmetry, is equipped with left moment top and the right moment top that can pass certainly on left top frame and the right top frame respectively, left side top frame and right top frame are connected with respectively and make its pivoted left top frame actuating mechanism and right top frame actuating mechanism, its characterized in that: the left top frame driving mechanism and the right top frame driving mechanism are respectively provided with a left top frame rotating shaft and a right top frame rotating shaft which are used for driving the left top frame and the right top frame to rotate;
a left incremental encoder for measuring the rotation angular speed of the left gyro frame, a left absolute encoder for measuring the rotation angle of the left gyro frame and a left torque sensor for measuring the torque of the left gyro frame are coaxially arranged on the rotation shaft of the left gyro frame;
a right incremental encoder for measuring the rotating angular speed of the right gyro frame, a right absolute encoder for measuring the rotating angle of the right gyro frame and a right moment sensor for measuring the torque of the right gyro frame are coaxially arranged on the rotating shaft of the right gyro frame;
the left gyro frame rotating shaft is coaxially provided with a left brake torque applying mechanism for applying a load torque, and the right gyro frame rotating shaft is coaxially provided with a right brake torque applying mechanism for applying a load torque;
the device is characterized by further comprising a data analysis device, wherein the data analysis device is connected with the left incremental encoder, the left absolute encoder, the left torque sensor, the right incremental encoder, the right absolute encoder, the right torque sensor, the left braking torque applying mechanism and the right braking torque transmission applying mechanism in a transmission and applying mode and is used for analyzing the synchronization performance of the left gyro frame and the right gyro frame in real time.
2. The device for testing the real-time synchronization performance of the control moment gyro symmetric frame system according to claim 1, characterized in that: the left gyro frame driving mechanism comprises a left front support frame, a left rear support frame and a left gyro frame driving motor which are arranged on the test base station and positioned on two sides of the left gyro frame in the length direction, the left gyro frame driving motor is arranged on the left front support frame, an output shaft of the left gyro frame driving motor penetrates through the left front support frame to be connected with the front end of the left gyro frame, the rear end of the left gyro frame is connected with a rotating shaft of the left gyro frame, a rotating shaft of the left gyro frame and the output shaft of the left gyro frame driving motor are coaxially arranged, and the rotating shaft of the left gyro frame penetrates through a bearing assembly to be arranged on the left rear support frame and extends outwards to form an extension;
right side top frame actuating mechanism is including setting up right front support frame and right back support frame and the right top frame driving motor that just is located right top frame length direction both sides on the test base station, right side top frame driving motor installs on right front support frame, and right top frame driving motor's output shaft passes right front support frame and is connected with right top frame front end, and right top frame rear end and right top frame rotating shaft are connected, and right top frame axis of rotation sets up with the axial of output shaft of right top frame driving motor, and right top frame axis of rotation wears to locate on the support frame behind the right side through bearing assembly to outwards stretch out and have the extension section.
3. The device for testing the real-time synchronization performance of the control moment gyro symmetric frame system according to claim 2, characterized in that: the input shaft of the left torque sensor is coaxially installed with the extension section of the left gyro frame rotating shaft through a first left coupler, the input shaft of the right torque sensor is coaxially installed with the extension section of the right gyro frame rotating shaft through a first right coupler, and the left torque sensor and the right torque sensor are arranged on the test base station through a left first support and a right first support respectively.
4. The device for testing the real-time synchronization performance of the control moment gyro symmetric frame system according to claim 3, characterized in that: the left braking torque applying mechanism comprises a left magnetic powder brake, the left magnetic powder brake is connected with an output shaft of the left torque sensor through a second left coupler, the right braking torque applying mechanism comprises a right magnetic powder brake, the right magnetic powder brake is connected with an output shaft of the right torque sensor through a second right coupler, and the left magnetic powder brake and the right magnetic powder brake are arranged on the test base platform through a left second support and a right second support respectively.
5. The device for testing the real-time synchronization performance of the control moment gyro symmetric frame system according to claim 2, characterized in that: the top center of the left gyro frame is provided with a left mounting hole, a left gyro rotor driving motor is mounted in the left mounting hole, a rotor of the left moment gyro is mounted on an output shaft of the left gyro rotor driving motor, the top center of the right gyro frame is provided with a right mounting hole, a right gyro rotor driving motor is mounted in the right mounting hole, and a rotor of the right moment gyro is mounted on an output shaft of the right gyro rotor driving motor.
6. A real-time synchronization performance test method for a control moment gyro symmetric frame system is characterized in that the real-time synchronization performance test device for the control moment gyro symmetric frame system is adopted for testing, and comprises the following steps:
step a, starting a left gyro rotor driving motor, a right gyro rotor driving motor, a left gyro frame driving motor and a right gyro frame driving motor to enable a left moment gyro and a right moment gyro to generate autorotation and enable the left moment gyro and the right moment gyro to generate precession under the driving of the left gyro frame and the right gyro frame respectively;
b, respectively applying load moments with different sizes to a left gyro frame rotating shaft and a right gyro frame rotating shaft by controlling a left brake moment applying mechanism and a left and right brake moment applying mechanism, measuring the rotating angular speed, the rotating angle and the corresponding torque of the left gyro frame by a left incremental encoder, a left absolute encoder and a left moment sensor, measuring the rotating angular speed, the rotating angle and the corresponding torque of the right gyro frame by a right incremental encoder, a right absolute encoder and a right moment sensor, obtaining the rotating angular speed, the rotating angle and the corresponding torque of the left gyro frame and the right gyro frame under different load conditions, and transmitting data to a data analysis device;
and c, drawing change curves of the rotating angular speed, the rotating angle and the torque of the left gyro frame and the right gyro frame along with time under the same load condition in the data analysis device according to the data transmitted in real time, and judging the synchronization performance of the left gyro frame and the right gyro frame according to the fitting degree of the change curves of the corresponding items.
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| CN114136337B (en) * | 2021-11-23 | 2023-04-25 | 长春理工大学 | Double-frame control moment gyro platform system and moment testing method |
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