CN113340499A - Micro-thrust measuring device based on cam corner measurement - Google Patents
Micro-thrust measuring device based on cam corner measurement Download PDFInfo
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- CN113340499A CN113340499A CN202110560455.9A CN202110560455A CN113340499A CN 113340499 A CN113340499 A CN 113340499A CN 202110560455 A CN202110560455 A CN 202110560455A CN 113340499 A CN113340499 A CN 113340499A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0028—Force sensors associated with force applying means
- G01L5/0038—Force sensors associated with force applying means applying a pushing force
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- Chemical & Material Sciences (AREA)
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- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
The invention relates to a micro-thrust measuring device based on cam rotation angle measurement.A rotating beam, an elastic shaft and a mounting seat are combined and connected together in the device, a cam is arranged on the rotating beam, the circle center of the cam is positioned on a central shaft of the elastic shaft and the mounting seat, and a damping sheet is connected with the cam; the damping oil pool is arranged on the bottom plate, and the damping fins are immersed in the damping oil pool; the displacement measuring device adopts a non-contact optical displacement measuring device and is arranged on the bottom plate, and the measuring point is arranged on the side surface of the cam. The mass block is used for calibrating system parameters of the measuring device. The rotation angle of the rotating shaft can be measured by using a displacement sensor and cam combination, and the rotation angle measuring method can measure the rotation angle in a large range, and is different from a measuring method which approximately replaces the rotation angle by using linear displacement.
Description
Technical Field
The invention belongs to the technical field of devices or methods for measuring force, work, mechanical power or torque generated by impact, and relates to a micro thrust measuring device based on cam rotation angle measurement, wherein the international patent classification number is as follows: G01L 5/00.
Background
The micro-nano satellite has very wide application prospect in both military and civil aspects, and the development of the micro thruster is promoted. The thrust performance of a micro thruster is usually in tens of milli-newtons, hundreds of micro-newtons, or even tens or a few micro-newtons, which puts very high demands on the measurement system. At present, in order to measure the micro thrust, many scholars are dedicated to design and test the micro thrust measuring system. At present, a horizontal torsion pendulum type micro-thrust measuring device is a mechanical structure which is often adopted. The horizontal torsion pendulum of the actuating mechanism of the micro thrust measuring device generates a corner under the action of thrust, and the magnitude of the thrust can be calculated by utilizing the corner and calibrated measuring system parameters. Typically, the rotation angle is controlled to within 5 ° by selecting a suitable stiffness coefficient, whereby the rotation angle can be replaced by a linear displacement of a horizontal torsion pendulum, and the linear displacement is typically measured with a non-contact displacement sensor.
The Chinese patent application (200910312194.8) discloses a micro-thrust measuring device, which comprises a test computer, a balance, a displacement sensor, an electromagnetic damper, a communication line of a system to be tested and a power supply line of the system to be tested: the balance comprises a balance support, a balance support knife fixed on the balance support, a balance beam placed on the balance support knife, and a counterweight mass block arranged at the right end of the balance beam: the right end of the balance beam can be hung with a silicon code: the displacement sensor is arranged at the right end part of the balance beam: the electromagnetic damper is arranged between the right end of the balance beam and the balance support: and a power supply circuit of the system to be tested is led in from the contact part of the balance support knife and the balance beam and is fixed on the balance beam. The invention eliminates the influence of the propellant supply line on the thrust measurement.
The chinese utility model patent (application No. 201721179440.3) discloses a small thrust measuring device, mainly by balance system (move frame, fixed frame, balanced system), elastic support system, sensing system, supplementary damping system, integrated control and data acquisition system (hardware), low damping elastic cable system, protecting against shock/overload protection device, on-line calibration device, computer, other (power, optoelectronic isolation 485USB converter, cross cabin electric connector, shielded cable etc.) parts constitute. The problem that the existing thrust measuring device cannot effectively resist high-voltage electromagnetic interference is solved, and a reliable and accurate measuring means is provided for small thrust measurement.
In the currently disclosed micro-thrust measurement system, a non-contact displacement sensor is adopted to measure linear displacement, and the rotation angle is controlled within 5 degrees through the control of a rigidity system, so that the linear displacement measurement value at the measurement point of the displacement sensor can be approximately converted into the rotation angle measurement value. However, because of the assumption of a small angle, when the stiffness coefficient of the measurement system is determined, the range of the measurement system is limited. If the rotation angle measuring device is adopted, the measuring range of the measuring system can be increased, and the range of the micro thruster can be wider. However, the angular measurement resolution of the rotational angle measurement sensor is low, such as an angular encoder. The micro-thrust measuring device can measure the rotation angle with the resolution ratio of mu rad under the action of micro-thrust, which cannot be achieved by a rotation angle measuring sensor. In order to increase the rotation angle measurement range of the micro thrust system and achieve the measurement resolution of μ rad, it is necessary to search for an angle measurement method that can achieve such a requirement, thereby improving the performance of the micro thrust measurement apparatus.
Disclosure of Invention
The invention aims to solve the defect that the measurement range of micro thrust is limited in the prior art, and provides a micro thrust measurement device and a measurement method based on cam rotation angle measurement.
The technical scheme of the invention is as follows:
a micro thrust measuring device based on cam rotation angle measurement comprises a bottom plate and a support arranged on the bottom plate, wherein an elastic shaft and a mounting seat are assembled and arranged on the support, a rotating beam is combined and connected with the elastic shaft and the mounting seat, a cam is arranged on the rotating beam, the circle center of the cam is positioned on a central shaft of the elastic shaft and the mounting seat, a damping sheet is connected with the cam, and the symmetric axis of the damping sheet is overlapped with the central shaft of the elastic shaft and the central shaft of the mounting seat; the damping oil pool is installed on the bottom plate, the damping fins are immersed in the damping oil pool, and the displacement measuring device is installed on the bottom plate.
A micro-thrust measuring method based on cam rotation angle measurement is characterized in that a rigidity coefficient, natural angular frequency, damping ratio and rotational inertia of a measuring system are calibrated by a free oscillation method of an additional mass block;
the displacement measuring device adopts a non-contact optical displacement measuring method, and the measuring point is arranged on the side surface of the cam; the mass block is a regular geometric body with uniform mass.
The expression of the cam profile curve is as follows:
wherein x and y are the abscissa and ordinate of any point on the curve, and the unit is m; r is the inner diameter of the profile curve at the starting moment, and the unit is m; d is the linear distance between the starting point time and the end point time, and the unit is m; t is time in units of s, at the starting point t is 0 s;
the method for determining the straight-line distance d between the starting point time and the end point time comprises the following steps:
wherein L isεIs the resolution of the displacement measuring device (9) and has the unit of m, AenvironmentIs the ambient noise amplitude in rad.
The invention has the beneficial effects that:
(1) the cam and the displacement sensor are combined to directly measure the rotation angle of the micro-thrust measuring system, and the rotation angle measuring range can be expanded without being constrained by small-angle approximation.
(2) The key parameter design of the cam profile curve takes the environmental noise and the resolution of the displacement sensor into consideration, so that the rotation angle measurement resolution of the measuring system can be ensured.
(3) The invention is suitable for the micro-thrust measurement system with any mechanical configuration of horizontal torsional pendulum type, hanging pendulum type, inverted pendulum type and balance type, and has universality.
Drawings
The invention has 2 figures, wherein figure 1 is a figure of an abstract of the specification.
FIG. 1 is a view showing a configuration of a minute thrust measuring apparatus with a cam;
fig. 2 is a cam profile curve diagram.
In the figure: a base plate 1; a bracket 2; an elastic shaft and mounting seat combination 3; a turning beam 4; a mass block 5; a cam 6; a damping fin 7; a damping oil pool 8; and a displacement measuring device 9.
Detailed Description
The minute thrust measuring device based on the cam rotation angle measurement according to the present invention will now be described in further detail by way of specific examples with reference to fig. 1 and 2.
Referring to fig. 1, the micro thrust measuring device based on cam rotation angle measurement includes a bottom plate 1, a bracket 2, an elastic shaft and mounting seat assembly 3, a rotating beam 4, a mass block 5, a cam 6, a damping fin 7, a damping oil pool 8, and a displacement measuring device 9.
Referring to fig. 1, a bracket 2 is mounted on a base plate 1; the elastic shaft and mounting seat assembly 3 is mounted on the bracket 2; the rotating beam 4 is connected with the elastic shaft and mounting seat assembly 3; the cam 6 is arranged on the rotating beam 4, and the circle center of the cam 6 is positioned on the central shaft of the elastic shaft and mounting seat combination 3; the damping fin 7 is connected with the cam 6, and the symmetric axis of the damping fin 7 is superposed with the central axis of the elastic shaft and the mounting seat assembly 3; the damping oil pool 8 is arranged on the bottom plate 1, and the damping fins 7 are immersed in the damping oil pool 8; the displacement measuring device 9 is installed on the bottom plate 1, and the displacement measuring device 9 adopts a capacitance type displacement sensor of German Iridium company.
Referring to fig. 1, the displacement measuring device 9 employs a non-contact optical displacement measuring method, and the measuring point is on the side of the cam 6.
Referring to fig. 1, the mass 5 is a regular geometric body with uniform mass.
Referring to fig. 1, the stiffness coefficient, natural angular frequency, damping ratio and moment of inertia of the measurement system are calibrated by the free oscillation method of the additional mass 5.
Referring to fig. 2, the profile curve expression of the cam 6 is:
wherein x and y are the abscissa and ordinate of any point on the curve, and the unit is m; r is the inner diameter of the profile curve at the starting moment, and the unit is m; d is the linear distance between the starting point time and the end point time, and the unit is m; t is time in units of s, and t is 0s at the starting point.
Referring to fig. 2, the method for determining the linear distance d between the starting point time and the ending point time includes:
wherein L isεIs the resolution of the displacement measuring device (9) and has the unit of m, AenvironmentIs the ambient noise amplitude in rad.
If the ambient noise amplitude is 1 × 10-6In the rad level, the resolution of a high-precision laser triangular sensor is 1 multiplied by 10-8m, if d is more than or equal to 6.28cm, for the convenience of processing, d can be 6.5cm or 7 cm.
The method for calculating the rotating angle by using the cam and the displacement sensor to measure the rotating angle comprises the following steps:
in the formula, theta is a rotation angle of the thrust measurement system, and the unit is rad; p is the current measured value of the displacement sensor when the thrust measurement system rotatesIn the unit of m; p is a radical of0The measured value of the displacement sensor is m when the thrust measuring system is at the equilibrium position.
The method for calibrating the stiffness coefficient, the natural angular frequency, the damping ratio and the rotational inertia by the free oscillation method of the additional mass block is implemented as follows:
in the first step, a measurement object is mounted on the turning beam 4, and the center of gravity of the turning beam 4, the measurement object, and the balance weight as a whole is positioned on the rotating shaft by the balance weight.
Secondly, the rotating beam 4 is forced to vibrate, for example, the rotating beam is stirred by hands, a measuring curve of a rotating angle can be obtained through the measuring value of the displacement sensor, and the vibration period T of the thrust measuring device at the moment can be extracted from the measuring curve of the rotating angle according to the free vibration characteristic of a second-order vibration system0Damping ratio xi, the natural angular frequency omega of the thrust measurement systemnIs composed of
Thirdly, the mass blocks 5 with the same size and the same weight are symmetrically arranged at two sides of the rotating beam 4, and the vibration period T of the thrust measuring device after the mass blocks 5 are added can be obtained in the same step as the second step0', damping ratio ξ', and natural angular frequency
Fourthly, calculating the rigidity coefficient and the rotational inertia of the thrust measuring device, and assuming that the weight of the mass block 5 is m and the distance between the geometric center of the mass block 5 and the rotating shaft is r, calculating the rotational inertia J of the two mass blocks 5 relative to the rotating shaft0Is J0＝mr2The moment of inertia of the rotating part of the thrust measuring device relative to the rotating shaft is
The stiffness coefficient of the thrust measuring device is
k＝ωn 2J
The stiffness coefficient, natural angular frequency, damping ratio and moment of inertia of the thrust measuring device bearing the measured object are k and omega respectivelyn、ξ、J。
This application is not intended to be limited to the details shown in the description and the claims, which follow, and any modifications and variations known in the art are intended to be included within the scope of this application.
Claims (3)
1. A micro thrust measuring device based on cam rotation angle measurement comprises a bottom plate (1) and a bracket (2) arranged on the bottom plate (1), and is characterized in that: the elastic shaft and mounting seat combination (3) is mounted on the support (2), the rotating beam (4) is connected with the elastic shaft and mounting seat combination (3), the cam (6) is mounted on the rotating beam (4), the mass blocks (5) with the same size and the same weight are symmetrically arranged on two sides of the rotating beam (4), the circle center of the cam (6) is positioned on the central shaft of the elastic shaft and mounting seat combination (3), the damping sheet (7) is connected with the cam (6), and the symmetric shaft of the damping sheet (7) is superposed with the central shaft of the elastic shaft and mounting seat combination (3); the damping oil pool (8) is arranged on the bottom plate (1), the damping fins (7) are immersed in the damping oil pool (8), and the displacement measuring device (9) is arranged on the bottom plate (1).
2. The minute thrust force measuring device based on the cam rotation angle measurement according to claim 1, characterized in that: the displacement measuring device (9) adopts a non-contact optical displacement measuring method, and the measuring point is arranged on the side surface of the cam (6); the mass block (5) is a regular geometric body with uniform mass.
3. A minute thrust force measuring apparatus based on cam rotation angle measurement according to claim 1, wherein: the expression of the profile curve of the cam (6) is as follows:
wherein x and y are the abscissa and ordinate of any point on the curve, and the unit is m; r is the inner diameter of the profile curve at the starting moment, and the unit is m; d is the linear distance between the starting point time and the end point time, and the unit is m; t is time in units of s, at the starting point t is 0 s;
the method for determining the straight-line distance d between the starting point time and the end point time comprises the following steps:
wherein L isεIs the resolution of the displacement measuring device (9) and has the unit of m, AenvironmentIs the ambient noise amplitude in rad.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110560455.9A CN113340499B (en) | 2021-05-21 | 2021-05-21 | Micro-thrust measuring device based on cam corner measurement |
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| CN202110560455.9A CN113340499B (en) | 2021-05-21 | 2021-05-21 | Micro-thrust measuring device based on cam corner measurement |
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