CN117949124A - A device and method for measuring output torque of a control torque gyro based on a flipping method - Google Patents

Abstract

The present invention proposes a control torque gyro output torque measurement device and method based on the flip method, which belongs to the field of torque measurement technology. It includes a platform, a measurement module, a data transmission module and a data analysis module; the measurement module, the data transmission module and the data analysis module are electrically connected in sequence; the measurement module is installed on the platform; the platform is used to carry the measurement module; the data transmission module is used to realize data interaction; the data analysis module is used to measure the CMG output torque and analyze the CMG characteristics; the measurement module includes a mounting platform, a flip tool, an air-floating ball bearing and a torque sensor; the high-precision torque sensor is installed on the air-floating ball bearing; the air-floating ball bearing is installed at the bottom of the mounting platform; a flip tool is provided on the top of the mounting platform; and the CMG to be measured is placed in the flip tool. It solves the technical problems that the output torque model in the prior art is too complicated, has poor reliability and low credibility.

Description

A device and method for measuring output torque of a control torque gyro based on a flip method

Technical Field

The invention relates to a device and method for measuring the output torque of a control torque gyro based on a flipping method, and belongs to the technical field of torque measurement.

Background technique

The Controlled Torque Gyroscope (CMG) plays a vital role in the attitude control of spacecraft. CMG works based on the principle of conservation of angular momentum and generates external torque by changing the direction of the angular momentum of the high-speed rotating wheels, thereby achieving precise adjustment of the spacecraft's attitude. CMG allows spacecraft to achieve attitude changes and stability through the movement of internal mechanical parts without external forces.

CMG generates external torque by changing the direction of the rotor's angular momentum. This torque acts on the spacecraft to achieve precise adjustment of its attitude. In order to better understand the actual effect of CMG on spacecraft attitude control, it is particularly important to measure the output torque of the control torque gyro.

To this end, researchers have proposed a method for predicting the output torque of a control moment gyro (CMG) with publication number CN111813159A. The method combines theoretical analysis with numerical simulation, considers the output torque model of the high-speed rotor micro-vibration of the output moment gyro (CMG), clarifies the coupling transfer characteristics of the high-speed rotor micro-vibration source and the output torque, and quantitatively calculates the output torque of the whole machine.

Although this method combines theory with practice to measure the output torque, its results are overly dependent on the model, the model is too complex and has poor reliability.

In the field of space control technology and application, Zhang Jiyang, Zhou Daning, and Gao Yanan proposed a control torque gyro frame control method and a frame speed measurement method in April 2008. This method aims to address the increasingly urgent demand for rapid maneuvering platforms for small and medium-sized satellites based on control torque gyros. They proposed a CMG frame speed accuracy measurement method and a vector control scheme based on rotor magnetic field orientation. Friction torque compensation was added to the frame control to achieve the stability of the frame drive control system. The output torque was calculated through high-precision frame control and speed measurement.

This method relies on high-precision measurement of the frame angular velocity for measuring the output torque, which is an indirect measurement of the torque. This results in low reliability of the measurement results and is also dependent on a high-precision mathematical model.

Summary of the invention

A brief overview of the present invention is provided below in order to provide a basic understanding of certain aspects of the present invention. It should be understood that this overview is not an exhaustive overview of the present invention. It is not intended to identify key or important parts of the present invention, nor is it intended to limit the scope of the present invention. Its purpose is merely to present certain concepts in a simplified form as a prelude to a more detailed description discussed later.

In view of this, in order to solve the technical problems in the prior art that the output torque model is too complex, has poor reliability and low credibility, the present invention provides a control torque gyro output torque measurement device and method based on a flip method.

Solution 1: A control torque gyro output torque measurement device based on a flip method, comprising a platform, a measurement module, a data transmission module and a data analysis module;

The measuring module, the data transmission module and the data analysis module are electrically connected in sequence;

The measuring module is mounted on the platform;

The platform is used to carry the measurement module; the data transmission module is used to realize data interaction; the data analysis module is used to measure the CMG output torque and analyze the CMG characteristics;

The measuring module includes a mounting platform, a turning fixture, an air-floating ball bearing and a torque sensor;

The torque sensor is mounted on the air-floating ball bearing;

The air-floating ball bearing is installed at the bottom of the mounting platform; a turning tool is arranged on the top of the mounting platform; and the CMG to be tested is placed in the turning tool.

Preferably, it also includes a torque measurement calibration module; the torque measurement calibration module is communicatively connected with the measurement module and the data transmission module for torque measurement and compensation.

Solution 2: A method for measuring the output torque of a control torque gyro based on a flipping method, comprising the following steps:

S1. Install the CMG to be tested on the flip tool;

S2. Input the initial frame angle and frame angular velocity of CMG, and flip the tooling to move to the initial position;

S3. The torque sensor collects the torque generated by the CMG and transmits it to the data analysis module through the data transmission module;

S4. The flipping tool makes a flipping decision according to the current state of the CMG under test, and at the same time, the torque sensor collects the torque generated by the CMG and transmits it to the data analysis module through the data transmission module;

S5. The torque measurement calibration module performs torque measurement and compensation.

Preferably, the method for the flipping tool to make a flipping decision according to the current state of the CMG being tested is:

When the current state of the CMG under test is vertically flipping the tooling x-axis, the flipping tooling flips 90 degrees to the left along the y-axis;

When the current state of the CMG under test is vertically flipping the y-axis of the tooling, the flipping tooling is flipped 90 degrees upward along the z-axis;

When the current state of the CMG under test is parallel to the x-axis of the flipping tooling, the flipping tooling flips 90 degrees downward along the z-axis and flips 90 degrees to the right along the y-axis.

Preferably, the method for the torque measurement and compensation by the torque measurement calibration module is:

Y＝Hφ，where are the installation error angles of the x-axis, y-axis, and z-axis respectively, T _test is the torque value measured by the sensor after orthogonal flipping, δ and /> are the frame angle and frame angular velocity of CMG respectively;

The recursive least square method is used for real-time identification to obtain the installation error angle of the CMG. The CMG measurement torque is compensated according to the installation error angle. The compensation process is as follows:

Among them, T _o is the compensated CMG measured output torque.

Solution three, an electronic device, including a memory and a processor, the memory storing a computer program, and the processor implementing the steps of a method for measuring the output torque of a control torque gyro based on a flipping method as described in Solution two when executing the computer program.

Solution 4: A computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the method for measuring the output torque of a control torque gyro based on a flipping method as described in Solution 2 is implemented.

The beneficial effects of the present invention are as follows:

1. The present invention does not use complex mathematical models as the basis for CMG measurement, and the measurement process is simple;

2. The present invention utilizes a flip tool to decouple the CMG x-axis, y-axis, and z-axis torques, and uses a torque sensor to achieve direct measurement of torque, thus avoiding model uncertainty caused by indirect measurement;

3. The present invention adopts an air-floating platform as a measuring platform, which greatly reduces the influence of external interference on torque measurement and is conducive to improving measurement accuracy.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

FIG1 is a structural diagram of a control torque gyro output torque measurement device based on a flip method;

Figure 2 is a structural diagram of the measurement module;

FIG3 is a flow chart of a method for measuring the output torque of a control torque gyro based on a flip method;

FIG. 4 is a schematic diagram of the flipping process of the flipping tool.

In the figure, 1-platform; 2-torque measurement and calibration module; 3-measurement module; 4-data transmission module; 5-data analysis module; 6-measured CMG; 7-turning tooling; 8-mounting table; 9-air-floating ball bearing; 10-torque sensor.

Detailed ways

In order to make the technical solutions and advantages of the embodiments of the present invention more clearly understood, the exemplary embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than an exhaustive list of all the embodiments. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

Embodiment 1: Referring to FIG. 1-FIG 2, the present embodiment is described, a control moment gyro output torque measurement device based on the flip method, comprising a platform 1, a measurement module 3, a data transmission module 4 and a data analysis module 5;

The measuring module 3, the data transmission module 4 and the data analysis module 5 are electrically connected in sequence;

The data transmission module 4 is responsible for the data exchange between the stage and the off-stage. The data transmission module 4 sends the CMG instruction to the on-stage comprehensive test system, and the on-stage comprehensive test system sends the output signal of the measurement module 3 and the compensation information of the torque measurement calibration module 2 to the data analysis system through the data transmission module;

The data analysis module 5 is a terminal module for displaying and analyzing the output torque of the torque measurement device; the data analysis module 5 measures the CMG output torque according to the received data, and can analyze the measured torque data according to the needs to further obtain the relevant characteristics of the CMG, where the characteristics include, on the one hand, the CMG torque output accuracy, that is, the actual accuracy is obtained by comparing with the CMG nominal value, and the CMG accuracy evaluation is given; on the other hand, the vibration characteristics, the CMG will vibrate during operation, affecting the stability of the spacecraft itself. By analyzing the torque data under different rotational accelerations, the vibration frequency of the CMG itself can be obtained, thereby facilitating the design of vibration isolation in spacecraft control; the data analysis module 5 has the functions of sending and receiving data instructions and displaying and storing the results in real time.

The measuring module 3 is installed on the platform 1;

The measurement module 3 is a high-precision measurement module, which is the core module for measuring the output torque of CMG and is responsible for the execution of the measurement process and the measurement of the sensor. The measurement module consists of a high-precision flipping tool and a high-precision torque sensor. The CMG 6 to be measured is installed in the high-precision flipping tool, which is responsible for orthogonal flipping of the x-axis, y-axis and z-axis to achieve the decoupling of the x-axis, y-axis and z-axis torques. The high-precision torque sensor is installed in the CMG equipment installation platform to build a single-axis perturbation torque measurement environment.

The platform 1 is used to carry the measurement module 3; the data transmission module 4 is used to realize data interaction; the data analysis module 5 is used to measure the CMG output torque and analyze the CMG characteristics;

Platform 1 is the CMG equipment installation platform, which is the bearing part of the CMG output torque measurement. It is used to provide a friction-free, micro-interference torque environment, and at the same time provides an installation work platform for the CMG6 under test; the CMG equipment installation platform is built with an ultra-static suspension system to achieve nearly frictionless single-axis rotation, and at the same time uses air flotation technology to eliminate the influence of external interference on the torque test; the CMG equipment installation platform has a high-precision reference installation surface, and the CMG is installed on the reference surface through the high-precision flip tooling in the high-precision measurement module;

The measuring module 3 includes a mounting platform 8, a turning tool 7, an air-floating ball bearing 9 and a torque sensor 10;

The high-precision torque sensor 10 is installed on the air-floating ball bearing 9;

The air-floating ball bearing 9 is installed at the bottom of the mounting platform 8; a turning tool 7 is arranged on the top of the mounting platform 8; and the CMG 6 to be tested is placed in the turning tool 7.

The torque measurement device also includes a torque measurement calibration module 2; the torque measurement calibration module 2 is communicatively connected with the measurement module 3 and the data transmission module 4 for torque measurement and compensation;

The torque measurement calibration module 2 is used to compensate for the torque measurement error and improve the measurement accuracy. The flipping process of the high-precision flip tooling will introduce some errors. Among them, the parameter that has the greatest impact on the output torque is the installation angle error of the CMG in the tooling. The torque measurement calibration module performs real-time online identification of the installation error angle during the CMG output torque measurement process, and then passes the identification results to the data analysis module to achieve real-time torque compensation.

Embodiment 2: Referring to FIG. 3-FIG 4, the present embodiment is described, a method for measuring the output torque of a control torque gyro based on a flipping method, comprising the following steps:

S1. Install the CMG6 to be tested on the flip tool 7;

S2. Input the initial frame angle and frame angular velocity of CMG, and flip the tool 7 to move to the initial position;

S3. The torque sensor 10 collects the torque generated by the CMG and transmits it to the data analysis module 5 through the data transmission module 4;

S4. Flip tool 7 makes a flip decision according to the current state of the measured CMG6, and the torque sensor 10 collects the torque generated by the CMG and transmits it to the data analysis module 5 through the data transmission module 4;

The method to make a flip decision is:

When the current state of the tested CMG6 is vertically flipping the tooling 7 x-axis, the flipping tooling 7 flips 90 degrees to the left along the y-axis;

When the current state of the tested CMG6 is vertically flipping the tooling 7 y-axis, the flipping tooling 7 is flipped 90 degrees upward along the z-axis;

When the current state of the tested CMG6 is parallel to the x-axis of the flipping tool 7, the flipping tool 7 flips 90 degrees downward along the z-axis and flips 90 degrees to the right along the y-axis;

S5. Torque measurement and calibration module 2 performs torque measurement and compensation:

Y＝Hφ，where are the installation error angles of the x-axis, y-axis, and z-axis respectively, T _test is the torque value measured by the sensor after orthogonal flipping, δ and /> are the frame angle and frame angular velocity of CMG, respectively, and β is the installation angle of CMG;

The fading memory recursive least squares method is used for real-time identification to obtain the installation error angle of the CMG. The identification process is as follows: The recursive formula for each flip decision is as follows:

In the flip decision 1 state:

θ ₁ (k) = [μ ₁ , μ ₂ ]

In the flip decision 2 state:

θ ₂ (k) = [μ ₃ ,μ ₄ ]

In the flip decision 3 state:

θ ₃ (k) = [μ ₅ , μ ₆ ]

Among them, λ in the above formula represents the gradually disappearing memory parameter. Through the above recursive expression, the installation error angle can be obtained as

The CMG measurement torque is compensated according to the installation error angle. The compensation process is as follows:

Among them, T _o is the compensated CMG measured output torque.

The implementation principle of the present invention:

The CMG equipment installation platform uses air flotation to provide a micro-disturbance torque measurement platform to achieve nearly frictionless relative motion conditions. At the same time, it is connected to a high-precision torque sensor to build a single-axis micro-disturbance torque test environment. The CMG6 under test is installed on the test platform in a specified manner through a high-precision flip tooling;

When the off-stage monitoring system sends instructions to the CMG under test on the stage, the CMG will generate a specified torque, and under the action of the torque, the measuring platform will generate a corresponding motion trend. At this time, the torque sensor installed in the direction of the rotation axis of the test platform will be sensitive to the output torque in the direction of the rotation axis, that is, the single-axis output torque of the CMG is measured. When the instruction is completed, the flip tool will make a corresponding decision based on the current state, and select the corresponding orthogonal flip mode according to the decision. The flip decision is shown in Figure 4; when the flip tool is in the decision 1 state and executes the corresponding instruction, it enters the decision 2 mode, and the tool executes the corresponding orthogonal flip. When decision 2 is executed, the tool executes decision 3, and so on, thereby realizing the torque measurement of CMG. At the same time, in order to ensure the corresponding relationship between the CMG x-axis, y-axis, and z-axis torques before and after the flip, the CMG needs to maintain the same operating mode during the flip process. After completing the above operations, the CMG x-axis, y-axis, and z-axis torques can be directly measured by high-precision sensors.

Embodiment 2: The computer device of the present invention may be a device including a processor and a memory, such as a single chip microcomputer including a central processing unit, etc. Moreover, the processor is used to implement the steps of the above-mentioned method for measuring the output torque of a control torque gyro based on the flip method when executing the computer program stored in the memory.

The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area may store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

Embodiment 3: Computer readable storage medium embodiment.

The computer-readable storage medium of the present invention can be any form of storage medium that can be read by the processor of a computer device, including but not limited to non-volatile memory, volatile memory, ferroelectric memory, etc. A computer program is stored on the computer-readable storage medium. When the processor of the computer device reads and executes the computer program stored in the memory, the steps of the above-mentioned method for measuring the output torque of a control torque gyro based on the flipping method can be implemented.

The computer program includes computer program code, which may be in source code form, object code form, executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer readable media do not include electric carrier signals and telecommunication signals.

Although the present invention has been described according to a limited number of embodiments, it will be apparent to those skilled in the art, with the benefit of the above description, that other embodiments may be envisioned within the scope of the invention thus described. In addition, it should be noted that the language used in this specification is selected primarily for readability and didactic purposes, rather than for explaining or defining the subject matter of the present invention. Therefore, many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the appended claims. The disclosure of the present invention is illustrative, not restrictive, with respect to the scope of the present invention, which is defined by the appended claims.

Claims (7)

1. The control moment gyro output moment measuring device based on the overturning method is characterized by comprising a platform, a measuring module, a data transmission module and a data analysis module;

The measuring module, the data transmission module and the data analysis module are electrically connected in sequence;

The measuring module is arranged on the platform;

The platform is used for bearing the measuring module; the data transmission module is used for realizing data interaction; the data analysis module is used for measuring the output torque of the CMG and analyzing the CMG characteristics;

The measuring module comprises an installing table, a turnover tool, an air floating ball bearing and a torque sensor;

the torque sensor is arranged on the air floating ball bearing;

The air floating ball bearing is arranged at the bottom of the mounting table; the top of the mounting table is provided with a turnover tool; and a CMG to be tested is placed in the overturning tool.

2. The control moment gyro output moment measuring device based on the overturning method according to claim 1, further comprising a moment measurement calibration module; the moment measurement calibration module is in communication connection with the measurement module and the data transmission module and is used for measuring and compensating moment.

3. The method for measuring the output torque of the control moment gyro based on the overturning method is characterized by comprising the following steps of:

s1, mounting a CMG to be tested on a turnover tool;

S2, inputting an initial frame angle and frame angular speed of the CMG, and simultaneously moving the overturning tool to an initial position;

S3, the torque sensor collects torque generated by the CMG and transmits the torque to the data analysis module through the data transmission module;

s4, the overturning tool carries out overturning decision according to the current state of the CMG to be detected, and meanwhile, a torque sensor collects torque generated by the CMG and transmits the torque to a data analysis module through a data transmission module;

S5, the moment measurement calibration module performs moment measurement and compensation.

4. The method for measuring the output torque of the control moment gyroscope based on the overturning method according to claim 3, wherein the method for carrying out overturning decision by the overturning tool according to the current state of the CMG to be measured is as follows:

Flip decision 1: when the current state of the CMG to be tested is vertical to the X axis of the overturning tool, the overturning tool overturns left by 90 degrees along the y axis;

Flip decision 2: when the current state of the CMG to be tested is vertical to the y axis of the overturning tool, the overturning tool overturns by 90 degrees along the z axis;

Flip decision 3: when the current state of the CMG to be tested is parallel to the X-axis of the overturning tool, the overturning tool overturns downwards by 90 degrees along the Z-axis and overturns rightwards by 90 degrees along the y-axis.

5. The method for measuring the output torque of the control moment gyro based on the overturning method as set forth in claim 4, wherein the method for measuring and compensating the torque by the moment measuring and calibrating module is as follows:

Y＝Hφ

Wherein, Θ, γ are the mounting error angles of the x axis, the y axis and the z axis respectively, T _test is the moment value measured by the sensor after orthogonal overturning, and δ and/>Frame angle and frame angular velocity of CMG, respectively;

Real-time identification is carried out by using a recursive least square method, so that the installation error angle of the CMG is obtained, and the CMG measuring moment is compensated according to the installation error angle, wherein the compensation process is as follows:

Wherein T _o is the measurement output torque of the compensated CMG.

6. An electronic device comprising a memory and a processor, the memory storing a computer program, the processor implementing the steps of a control moment gyro output moment measuring method based on a flipping method as claimed in any one of claims 3 to 5 when executing the computer program.

7. A computer-readable storage medium, having stored thereon a computer program which, when executed by a processor, implements a control moment gyro output moment measuring method based on a flipping method as claimed in any one of claims 3 to 5.