CN113325340A - Polarity testing method, system and device for double-supersatellite magnetic suspension actuator - Google Patents
Polarity testing method, system and device for double-supersatellite magnetic suspension actuator Download PDFInfo
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- CN113325340A CN113325340A CN202110444308.5A CN202110444308A CN113325340A CN 113325340 A CN113325340 A CN 113325340A CN 202110444308 A CN202110444308 A CN 202110444308A CN 113325340 A CN113325340 A CN 113325340A
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- 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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- G01R31/72—Testing of electric windings
Abstract
The invention provides a polarity testing device for a double-super-satellite magnetic suspension actuator, which comprises a platform cabin simulation piece, a load cabin air suspension platform, a magnetic suspension actuator and a current generator, wherein the magnetic suspension actuator comprises a magnetic steel assembly and a coil assembly; the platform cabin simulation piece is fixed in a horizontal plane, the load cabin air floating platform is fixedly connected with the magnetic steel assembly, the coil assembly is fixedly connected with the platform cabin simulation piece, and the control current is provided by the current generator; the load compartment air-bearing table comprises a load compartment simulation piece and an air-bearing system. The invention also provides a polarity test method and a polarity test system for the double-supersatellite magnetic suspension actuator, which are directly obtained by the translational motion directions of the load cabin air floating platform in the X direction and the Y direction in the air floating plane, and can intuitively and quickly determine the polarity of the output force of the magnetic suspension actuator.
Description
Technical Field
The invention relates to a satellite composite control technology, in particular to a polarity testing method, a system and a device for a double-supersatellite magnetic suspension actuator.
Background
The double-super satellite platform realizes dynamic and static isolation and ultrahigh pointing precision and ultrahigh stability control of the load cabin and the platform cabin through the non-contact magnetic suspension actuators between the cabins. The magnetic suspension actuator is used as a key executing mechanism of the double-super satellite platform and consists of a magnetic steel component and a coil component. Wherein, the magnetic steel component is provided with a permanent magnet, and the coil component is composed of two groups of coils which are vertical to the magnetic field of the permanent magnet. When current flows through the two groups of coils respectively, two-dimensional force perpendicular to the current and the magnetic field direction is generated on the coils and the magnetic steel assembly respectively, and the load cabin translation control can be realized by combining a plurality of groups of magnetic suspension actuators. Meanwhile, the magnetic suspension actuator can also generate rotating torque along three coordinate axis directions by considering the existence of force arms, so that the control of the attitude of the load cabin is realized.
According to the ampere rule, the direction of the output force of the magnetic suspension actuator is vertical to the direction of a magnetic field in the magnetic suspension actuator and the flow direction of current, and the polarity of the output force cannot be independently ensured according to the flow direction of the current and the installation of a permanent magnet; the NS pole of the magnetic steel of the magnetic suspension actuator is determined by installation, the current flow direction is influenced by the factors of the connection cable contact definition, the controller output current direction, the winding direction of the coil assembly and the like, but when the magnetic suspension actuator is assembled, the internal magnetic field direction and the current flow direction are undetectable items. In addition, the output force amplitude of the magnetic suspension actuator is small in consideration of the fact that the magnetic suspension actuator is used as a precise control device, and when the magnetic suspension actuator is placed on a table top, the output force of the magnetic suspension actuator is difficult to overcome friction force to enable the magnetic suspension actuator to move. When the magnetic suspension actuator is arranged on the satellite, the polarity of the output force of the magnetic suspension actuator cannot be measured through relative motion due to the fixing device between the two cabins.
Through retrieval, patent document CN109178344A discloses a novel layout and high-reliability redundancy design method for the combination of magnetic actuators, which performs layout design on 8 combinations of magnetic actuators to define the installation requirements of each magnetic actuator; establishing a command control force and moment pseudo-inverse distribution algorithm, realizing decoupling output of three-axis translation control force and three-axis rotation control moment, and meeting the decoupling control requirements of the attitude of the load cabin of the double super satellite platform and the relative centroid position of the two cabins; the redundancy of the magnetic suspension actuator combination is obtained through analyzing the rank of the force and moment distribution matrix, and the reliability of the combination is further calculated. Although the prior art realizes the reliable redundancy design of the combination of the magnetic suspension actuators, the prior art does not relate to an output force polarity test method, and the polarity of the output force of the magnetic suspension actuators cannot be measured through relative motion.
Patent document CN100335877C discloses a torque testing air-floating rotary table for a control torque gyroscope, which mainly comprises an air hydrostatic bearing, a main shaft encoder, a workbench and a torquer, wherein the main shaft encoder is used for measuring the angular position of the rotary table, the workbench is used for mounting a measured object, and the torquer is mounted at the lower end of the air hydrostatic bearing and used for driving a main shaft system. The slip ring shafting adopts a rolling ball bearing and mainly comprises a torque motor and a slip ring shaft encoder, wherein the torque motor is used for driving the slip ring shaft to move along with the main shaft so as to eliminate the friction torque of the slip ring, and the slip ring shaft encoder is arranged between the main shaft shafting and the slip ring shafting and is used for measuring the angular position difference between the main shaft and the slip ring shaft. The pressure of the aerostatic bearing can be regulated by a pressure regulator. In the prior art, the polarity and the magnitude of the output torque of the control moment gyro or the flywheel can be accurately measured through the rotation direction and the angular velocity of the air bearing table. However, in the prior art, the polarity of the output force needs to be tested by using the rotation direction and the angular velocity of the air bearing table, which is relatively complicated.
Also Zhang et al in the document "design of dual super satellite platform for dynamic and static isolation and master-slave cooperative control" (Shanghai navigation, 2014,31 (5): 7-11) states the principle of using eight unidirectional non-contact magnetic levitation actuators to realize high-precision control of satellite load and the installation and configuration forms of the magnetic levitation actuators, but does not relate to the polarity test method of the output force of the magnetic levitation actuators.
Therefore, it is necessary to develop a testing method capable of intuitively and rapidly determining the polarity of the output force of the magnetic levitation actuator.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a method, a system and a device for testing the polarity of a double-supersatellite magnetic suspension actuator.
The polarity testing device for the double-supersatellite magnetic suspension actuator comprises a platform cabin simulation piece, a load cabin air suspension platform, a magnetic suspension actuator and a current generator, wherein the magnetic suspension actuator comprises a magnetic steel assembly and a coil assembly; the platform cabin simulation piece is fixed in a horizontal plane, the load cabin air floating platform is fixedly connected with the magnetic steel assembly, the coil assembly is fixedly connected with the platform cabin simulation piece, and the control current is provided by the current generator; the load compartment air-bearing table comprises a load compartment simulation piece and an air-bearing system.
Preferably, the coil assembly comprises an X-direction coil assembly and a Y-direction coil assembly, and the X-direction force and the Y-direction force are generated respectively.
Preferably, the air floating system is used for realizing the air floating of the load cabin on the platform and simulating the microgravity environment of the load cabin.
Preferably, the plane formed by the two directions of the magnetic suspension actuator generating force, namely the X direction and the Y direction, is parallel to the air bearing table, so that the direction of the magnetic field in the magnetic steel assembly is perpendicular to the air bearing table of the load compartment, and the X-direction coil assembly and the Y-direction coil assembly of the coil assembly are perpendicular to the direction of the magnetic field and are parallel to the plane of the air bearing table of the load compartment.
According to the polarity testing method of the double-supersatellite magnetic suspension actuator, the polarity testing device of the double-supersatellite magnetic suspension actuator is adopted for magnetic testing, an air floatation system is used for providing a microgravity environment for movement of a load cabin, and after current is applied to the magnetic suspension actuator, the corresponding relation between the polarity of the control current and the polarity of the generated acting force is judged according to the movement direction of an air floatation table of the load cabin.
Preferably, the method comprises the following steps:
step S1: mounting a magnetic steel assembly of a magnetic suspension actuator on an air floating platform of a load cabin to realize air floating, and mounting a coil assembly on a platform cabin simulation piece and fixing the coil assembly on a horizontal plane;
step S2: the X direction coil assembly of the magnetic suspension actuator applies positive and negative direction currents respectively, and the control current and the polarities of the magnetic steel assembly and the coil assembly subjected to force are judged respectively according to the moving direction of the load cabin air floating platform along the X direction;
step S3: and the Y direction coil assembly of the magnetic suspension actuator applies positive and negative direction currents respectively, and the control current and the polarities of the magnetic steel assembly and the coil assembly subjected to force are judged respectively according to the motion direction of the load cabin air floating platform along the Y direction.
Preferably, step S2 allows the correspondence between the X-direction coil control current and the force polarity of the magnetic steel assembly of the magnetic suspension actuator, and the correspondence between the X-direction coil control current and the force polarity of the magnetic coil assembly of the magnetic suspension actuator to be obtained through different operating conditions.
Preferably, step S3 allows the correspondence between the Y-direction coil control current and the force polarity of the magnetic steel assembly of the magnetic suspension actuator, and the correspondence between the Y-direction coil control current and the force polarity of the magnetic coil assembly of the magnetic suspension actuator to be obtained through different operating conditions.
According to the polarity test system for the double-supersatellite magnetic suspension actuator, the polarity test method for the double-supersatellite magnetic suspension actuator is adopted to carry out polarity test on the magnetic suspension actuator.
Preferably, the following modules are included:
module M1: mounting a magnetic steel assembly of a magnetic suspension actuator on an air floating platform of a load cabin to realize air floating, and mounting a coil assembly on a platform cabin simulation piece and fixing the coil assembly on a horizontal plane;
module M2: the X direction coil assembly of the magnetic suspension actuator applies positive and negative direction currents respectively, and the control current and the polarities of the magnetic steel assembly and the coil assembly subjected to force are judged respectively according to the moving direction of the load cabin air floating platform along the X direction;
module M3: and the Y direction coil assembly of the magnetic suspension actuator applies positive and negative direction currents respectively, and the control current and the polarities of the magnetic steel assembly and the coil assembly subjected to force are judged respectively according to the motion direction of the load cabin air floating platform along the Y direction.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention is directly obtained by the load cabin air floating platform along the X and Y translational motion directions in the air floating plane, and can intuitively and quickly determine the polarity of the output force of the magnetic suspension actuator.
2. The invention can obtain the corresponding relation between the X-direction coil control current and the stress polarity of the magnetic steel assembly of the magnetic suspension actuator and the corresponding relation between the X-direction coil control current and the stress polarity of the magnetic suspension actuator coil assembly through different working conditions.
3. The invention can obtain the corresponding relation between the Y-direction coil control current and the stress polarity of the magnetic steel assembly of the magnetic suspension actuator and the corresponding relation between the Y-direction coil control current and the stress polarity of the magnetic suspension actuator coil assembly through different working conditions.
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 flow chart of a polarity testing method for a dual supersatellite magnetic levitation actuator based on an air bearing table according to the present invention;
FIG. 2 is a diagram of the overall configuration of a polarity testing system for a dual supersatellite magnetic levitation actuator based on an air bearing table according to the present invention.
In the figure:
a platform cabin simulation piece 1; a load compartment air bearing table 2; a magnetic steel component 3; a coil block 4; a current generator 5.
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.
The invention provides a polarity testing device for a double-super-satellite magnetic suspension actuator, which comprises a platform cabin simulation piece 1, a load cabin air suspension platform 2, a magnetic suspension actuator and a current generator 5, wherein the magnetic suspension actuator comprises a magnetic steel component 3 and a coil component 4; the platform cabin simulation piece 1 is fixed in a horizontal plane, the load cabin air floating platform 2 is fixedly connected with the magnetic steel component 3, the coil component 4 is fixedly connected with the platform cabin simulation piece 1, and a control current is provided by the current generator 5; the load compartment air bearing table 2 comprises a load compartment simulation and an air bearing system.
Preferably, the coil assembly 4 includes an X-direction coil assembly and a Y-direction coil assembly, which generate forces in both X-direction and Y-direction, respectively.
Preferably, the air floating system is used for realizing the air floating of the load cabin on the platform and simulating the microgravity environment of the load cabin.
Preferably, the plane formed by the two directions X and Y of the force generated by the magnetic levitation actuator is parallel to the air bearing table, so that the direction of the magnetic field in the magnetic steel assembly 3 is perpendicular to the air bearing table 2 of the load compartment, and the X-direction coil assembly and the Y-direction coil assembly of the coil assembly 4 are perpendicular to the direction of the magnetic field and are parallel to the plane of the air bearing table 2 of the load compartment.
The invention also provides a polarity test method of the double-supersatellite magnetic suspension actuator, which adopts the polarity test device of the double-supersatellite magnetic suspension actuator to carry out magnetic test, utilizes the air floatation system to provide a microgravity environment for the movement of the load cabin, and judges the corresponding relation between the polarity of the control current and the polarity of the generated acting force according to the movement direction of the air floatation table 2 of the load cabin after the magnetic suspension actuator applies current.
Further, the method comprises the following steps:
step S1: a magnetic steel component 3 of a magnetic suspension actuator is arranged on a load cabin air floating platform 2 and realizes air floating, and a coil component 4 is arranged on a platform cabin simulation piece 1 and fixed on a horizontal plane;
step S2: the X direction coil assembly of the magnetic suspension actuator applies positive and negative direction currents respectively, and the control current and the polarities of the force applied to the magnetic steel assembly 3 and the coil assembly 4 are judged respectively according to the movement direction of the load cabin air floating platform along the X direction;
step S3: and currents in positive and negative directions are respectively applied to the coil assembly in the Y direction of the magnetic suspension actuator, and the control currents, the magnetic steel assembly 3 and the polarity of the force applied to the coil assembly 4 are respectively judged according to the motion direction of the load cabin air-bearing table 2 in the Y direction.
Continuing further, step S2 includes four conditions:
the first working condition is as follows: when a forward 500mA current is applied to the X-direction coil assembly, the load cabin generates translational motion in the + X direction, and the magnetic field assembly of the magnetic suspension actuator can be judged to be subjected to the force in the + X direction according to the Newton second law
The coil assembly is subjected to a force in the-X direction
The second working condition is as follows: when a forward 500mA current is applied, the load cabin generates translational motion towards the-X direction, and the magnetic field assembly of the magnetic suspension actuator at the moment can be judged to be subjected to the force in the-X direction according to Newton's second law
The coil assembly is subjected to a force in the + X direction
The third working condition is as follows: when negative 500mA current is applied to the X-direction coil assembly, the load cabin moves in a translation motion in the + X direction, and the magnetic field assembly of the magnetic suspension actuator can be judged to be subjected to the force in the + X direction according to the Newton second law
The coil assembly is subjected to a force in the-X direction
The fourth working condition is as follows: when a negative current of 500mA is applied, the load cabin generates translational motion towards the-X direction, and the magnetic field assembly of the magnetic suspension actuator at the moment can be judged to be subjected to the force in the-X direction according to Newton's second law
The coil assembly is subjected to a force in the + X direction
Step S3 includes four conditions:
working condition 1: when a forward 500mA current is applied to the Y-direction coil assembly, the load cabin generates translational motion in the + Y direction, and the magnetic field assembly of the magnetic suspension actuator can be judged to be subjected to the force in the + Y direction according to the Newton second law
The coil assembly is subjected to a force in the-Y direction
Working condition 2: when a forward 500mA current is applied, the load cabin generates translational motion towards the-Y direction, and the force of the magnetic field assembly of the magnetic suspension actuator on the-Y direction can be judged according to Newton's second law
The coil assembly is subjected to a force in the + Y direction
Working condition 3: when negative 500mA current is applied to the Y-direction coil assembly, the load cabin moves in translation in the + Y direction, and the magnetic field assembly of the magnetic suspension actuator can be judged to be subjected to the force in the + Y direction according to the Newton's second law
The coil assembly is subjected to a force in the-Y direction
Working condition 4: when a negative current of 500mA is applied, the load cabin generates translational motion in the-Y direction, and the magnetic field assembly of the magnetic suspension actuator can be judged to be subjected to the force in the-Y direction according to Newton's second law
The coil assembly is subjected to a force in the + Y direction
The invention also provides a polarity test system of the double-super-satellite magnetic suspension actuator, and the polarity test method of the double-super-satellite magnetic suspension actuator is adopted to carry out polarity test on the magnetic suspension actuator.
Preferably, the following modules are included:
module M1: mounting a magnetic steel assembly of a magnetic suspension actuator on an air floating platform of a load cabin to realize air floating, and mounting a coil assembly on a platform cabin simulation piece and fixing the coil assembly on a horizontal plane;
module M2: the X direction coil assembly of the magnetic suspension actuator applies positive and negative direction currents respectively, and the control current and the polarities of the magnetic steel assembly and the coil assembly subjected to force are judged respectively according to the moving direction of the load cabin air floating platform along the X direction;
module M3: and the Y direction coil assembly of the magnetic suspension actuator applies positive and negative direction currents respectively, and the control current and the polarities of the magnetic steel assembly and the coil assembly subjected to force are judged respectively according to the motion direction of the load cabin air floating platform along the Y direction.
Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, units provided by the present invention as pure computer readable program code, the system and its various devices, modules, units provided by the present invention can be fully implemented by logically programming method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units included in the system for realizing various functions can also be regarded as structures in the hardware component; means, modules, units for performing the various functions may also be regarded as structures within both software modules and hardware components for performing the method.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
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. The polarity testing device for the double-supersatellite magnetic suspension actuator is characterized by comprising a platform cabin simulation piece (1), a load cabin air-bearing table (2), a magnetic suspension actuator and a current generator (5), wherein the magnetic suspension actuator comprises a magnetic steel assembly (3) and a coil assembly (4);
the platform cabin simulation piece (1) is fixed in a horizontal plane, the load cabin air floating platform (2) is fixedly connected with the magnetic steel component (3), the coil component (4) is fixedly connected with the platform cabin simulation piece (1), and control current is provided through the current generator (5);
the load compartment air-floating platform (2) comprises a load compartment simulation piece and an air-floating system.
2. The polarity testing device of a double-supersatellite magnetic suspension actuator according to claim 1, wherein the coil assembly (4) comprises an X-direction coil assembly and a Y-direction coil assembly, and the X-direction coil assembly and the Y-direction coil assembly generate acting forces in two directions, namely an X direction and a Y direction, respectively.
3. The polarity testing device of a double-supersatellite magnetic-levitation actuator as claimed in claim 1, wherein the load compartment is floated on the platform by an air floating system to simulate the microgravity environment to which the load compartment is subjected.
4. The polarity testing device of the double-supersatellite magnetic-levitation actuator as claimed in claim 2, wherein the planes formed by the forces generated by the magnetic-levitation actuator in the X and Y directions are parallel to the air-bearing table, so that the magnetic field direction in the magnetic steel assembly (3) is perpendicular to the air-bearing table (2) of the load compartment, and the X-direction coil assembly and the Y-direction coil assembly of the coil assembly (4) are perpendicular to the magnetic field direction and parallel to the plane of the air-bearing table (2) of the load compartment.
5. A polarity testing method for a double-supersatellite magnetic suspension actuator is characterized in that the polarity testing device for the double-supersatellite magnetic suspension actuator in claim 1 is adopted for polarity testing, an air floatation system is used for providing a microgravity environment for movement of a load cabin, and after current is applied to the magnetic suspension actuator, the corresponding relation between the polarity of the control current and the polarity of the generated acting force is judged according to the movement direction of an air floatation table (2) of the load cabin.
6. The method for polarity testing of a double-supersatellite magnetic levitation actuator as recited in claim 5, comprising the steps of:
step S1: a magnetic steel component (3) of a magnetic suspension actuator is arranged on a load cabin air floating platform (2) to realize air floatation, and a coil component (4) is arranged on a platform cabin simulation piece (1) and fixed on a horizontal plane;
step S2: the X-direction coil assembly of the magnetic suspension actuator applies positive and negative currents respectively, and the control current, the magnetic steel assembly (3) and the polarity of the force applied to the coil assembly (4) are judged respectively according to the motion direction of the load cabin air-bearing table (2) along the X-direction;
step S3: and current in positive and negative directions is respectively applied to the coil assembly in the Y direction of the magnetic suspension actuator, and the control current, the magnetic steel assembly (3) and the polarity of the force applied to the coil assembly (4) are respectively judged according to the motion direction of the load cabin air-bearing table (2) in the Y direction.
7. The method for testing the polarity of a magnetic levitation actuator of a double supersatellite according to claim 6, wherein the step S2 allows the corresponding relationship between the control current of the X-direction coil and the applied polarity of the magnetic steel assembly of the magnetic levitation actuator, and the corresponding relationship between the control current of the X-direction coil and the applied polarity of the magnetic coil assembly of the magnetic levitation actuator to be obtained through different working conditions.
8. The method for testing the polarity of a magnetic levitation actuator of a double supersatellite according to claim 6, wherein the step S3 allows the corresponding relationship between the Y-direction coil control current and the force polarity of the magnetic steel assembly of the magnetic levitation actuator and the corresponding relationship between the Y-direction coil control current and the force polarity of the magnetic coil assembly of the magnetic levitation actuator to be obtained through different working conditions.
9. A polarity testing system for a double-supersatellite magnetic-levitation actuator is characterized in that the polarity testing method for the double-supersatellite magnetic-levitation actuator is adopted to carry out polarity testing on the magnetic-levitation actuator according to claim 5.
10. The polarity testing system for the double-supersatellite magnetic-levitation actuator of claim 9, comprising the following modules:
module M1: a magnetic steel component (3) of a magnetic suspension actuator is arranged on a load cabin air floating platform (2) to realize air floatation, and a coil component (4) is arranged on a platform cabin simulation piece (1) and fixed on a horizontal plane;
module M2: the X-direction coil assembly of the magnetic suspension actuator applies positive and negative currents respectively, and the control current, the magnetic steel assembly (3) and the polarity of the force applied to the coil assembly (4) are judged respectively according to the motion direction of the load cabin air-bearing table (2) along the X-direction;
module M3: and current in positive and negative directions is respectively applied to the coil assembly in the Y direction of the magnetic suspension actuator, and the control current, the magnetic steel assembly (3) and the polarity of the force applied to the coil assembly (4) are respectively judged according to the motion direction of the load cabin air-bearing table (2) in the Y direction.
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