CN117949124A - A device and method for measuring output torque of a control torque gyro based on a flipping method - Google Patents
A device and method for measuring output torque of a control torque gyro based on a flipping method Download PDFInfo
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Abstract
本发明提出一种基于翻转法的控制力矩陀螺输出力矩测量装置及方法,属于力矩测量技术领域。包括平台、测量模块、数据传输模块和数据分析模块;所述测量模块、所述数据传输模块和数据分析模块依次电连接;所述测量模块安装在所述平台上;所述平台用于承载测量模块;所述数据传输模块用于实现数据交互;所述数据分析模块用于测量CMG输出力矩和分析CMG特性;所述测量模块包括安装台、翻转工装、气浮球轴承和扭矩传感器;所述高精度扭矩传感器安装在所述气浮球轴承上;所述气浮球轴承安装在安装台底部;所述安装台顶部设置有翻转工装;所述翻转工装内放置被测CMG。解决现有技术中存在的输出力矩模型过于复杂,可靠性差、可信度低的技术问题。
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
技术领域Technical Field
本发明涉及一种基于翻转法的控制力矩陀螺输出力矩测量装置及方法,属于力矩测量技术领域。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.
背景技术Background technique
在进行航天器的姿态控制时控制力矩陀螺仪(CMG)起到至关重要的作用,CMG利用角动量守恒原理工作,通过改变高速旋转轮子的角动量方向来产生外部力矩,从而实现对航天器姿态的精确调整。CMG允许航天器在没有外力作用的情况下,通过内部机械部件的运动来实现姿态的改变和稳定。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通过改变转子角动量的方向来产生外部力矩,这个力矩作用于航天器,从而实现对其姿态的精确调整,为了更好地了解CMG对航天器姿态控制的实际效果测量控制力矩陀螺输出力矩测量尤为关键。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.
为此有研究人员提出了公开号CN111813159A,发明名称一种控制力矩陀螺输出力矩的预示方法,该方法采用理论分析和数值仿真相结合的方式,考虑了输出力矩陀螺CMG(control moment gyros)高速转子微振动的输出力矩模型,明确高速转子微振动源与输出力矩的耦合传递特性,定量计算整机输出力矩;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.
该方法虽然采用了理论与实际相结合的方法测量输出力矩,但是其结果过度依赖模型且模型过于复杂,可靠性差。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.
在空间控制技术与应用领域,张激扬,周大宁,高亚楠,2008年4月提出了控制力矩陀螺框架控制方法及框架转速测量方法,该方法针对基于控制力矩陀螺的中小卫星快速机动平台的需求日益迫切的问题,提出了一种CMG框架转速精度测量方法以及基于转子磁场定向的矢量控制方案,在框架控制中加入了对摩擦力矩的补偿,从而实现框架驱动控制系统的稳定性,通过高精度的框架控制和转速测量计算输出力矩。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.
该方法对输出力矩的测量依赖于框架角速度的高精度测量,属于力矩的间接测量,会导致测量结果可信度低且同样依赖高精度的数学模型。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.
发明内容Summary of the invention
在下文中给出了关于本发明的简要概述,以便提供关于本发明的某些方面的基本理解。应当理解,这个概述并不是关于本发明的穷举性概述。它并不是意图确定本发明的关键或重要部分,也不是意图限定本发明的范围。其目的仅仅是以简化的形式给出某些概念,以此作为稍后论述的更详细描述的前序。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.
鉴于此,为解决现有技术中存在的输出力矩模型过于复杂,可靠性差、可信度低的技术问题,本发明提供一种基于翻转法的控制力矩陀螺输出力矩测量装置及方法。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.
方案一、一种基于翻转法的控制力矩陀螺输出力矩测量装置,包括平台、测量模块、数据传输模块和数据分析模块;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;
所述测量模块、所述数据传输模块和数据分析模块依次电连接;The measuring module, the data transmission module and the data analysis module are electrically connected in sequence;
所述测量模块安装在所述平台上;The measuring module is mounted on the platform;
所述平台用于承载测量模块;所述数据传输模块用于实现数据交互;所述数据分析模块用于测量CMG输出力矩和分析CMG特性;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;
所述测量模块包括安装台、翻转工装、气浮球轴承和扭矩传感器;The measuring module includes a mounting platform, a turning fixture, an air-floating ball bearing and a torque sensor;
所述扭矩传感器安装在所述气浮球轴承上;The torque sensor is mounted on the air-floating ball bearing;
所述气浮球轴承安装在安装台底部;所述安装台顶部设置有翻转工装;所述翻转工装内放置被测CMG。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.
优选的,还包括力矩测量校准模块;所述力矩测量校准模块与测量模块和数据传输模块通讯连接,用于力矩测量和补偿。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.
方案二、一种基于翻转法的控制力矩陀螺输出力矩测量方法,包括以下步骤:Solution 2: A method for measuring the output torque of a control torque gyro based on a flipping method, comprising the following steps:
S1.将被测CMG安装在翻转工装上;S1. Install the CMG to be tested on the flip tool;
S2.输入CMG初始框角、框架角速度,同时翻转工装运动到初始位置;S2. Input the initial frame angle and frame angular velocity of CMG, and flip the tooling to move to the initial position;
S3.扭矩传感器采集CMG产生的力矩通过数据传输模块传输至数据分析模块;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.翻转工装根据被测CMG当前状态进行翻转决策,同时扭矩传感器采集CMG产生的力矩通过数据传输模块传输至数据分析模块;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.力矩测量校准模块进行力矩测量和补偿。S5. The torque measurement calibration module performs torque measurement and compensation.
优选的,翻转工装根据被测CMG当前状态进行翻转决策的方法是:Preferably, the method for the flipping tool to make a flipping decision according to the current state of the CMG being tested is:
当被测CMG当前状态垂直翻转工装x轴时,翻转工装沿y轴向左翻转90度;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;
当被测CMG当前状态垂直翻转工装y轴时,翻转工装沿z轴向上翻转90度;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;
当被测CMG当前状态平行翻转工装x轴时,翻转工装沿z轴向下翻转90度,延y轴向右翻转90度。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.
优选的,力矩测量校准模块进行力矩测量和补偿的方法是:Preferably, the method for the torque measurement and compensation by the torque measurement calibration module is:
Y=Hφ,其中, 分别为x轴、y轴、z轴安装误差角,Ttest为正交翻转后传感器测量的力矩值,δ和/>分别为CMG的框架角和框架角速度;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;
使用递推最小二乘法进行实时辨识,得到CMG的安装误差角,根据安装误差角对CMG测量力矩进行补偿,补偿过程如下: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:
其中,To即为补偿后的CMG测量输出力矩。Among them, T o is the compensated CMG measured output torque.
方案三、一种电子设备,包括存储器和处理器,存储器存储有计算机程序,所述的处理器执行所述计算机程序时实现方案二所述的一种基于翻转法的控制力矩陀螺输出力矩测量方法的步骤。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.
方案四、一种计算机可读存储介质,其上存储有计算机程序,所述计算机程序被处理器执行时实现方案二所述的一种基于翻转法的控制力矩陀螺输出力矩测量方法。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.
本发明的有益效果如下:The beneficial effects of the present invention are as follows:
1、本发明脱离复杂的数学模型作为CMG测量依据,测量过程简单;1. The present invention does not use complex mathematical models as the basis for CMG measurement, and the measurement process is simple;
2、本发明利用翻转工装使CMGx轴、y轴、z轴力矩解耦,采用扭矩传感器实现力矩的直接测量,避免了间接测量所带来的模型不确定性;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、本发明采用气浮台作为测量平台,极大程度减少了外界干扰对力矩测量的影响,有利于提高测量精度。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.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
此处所说明的附图用来提供对本发明的进一步理解,构成本发明的一部分,本发明的示意性实施例及其说明用于解释本发明,并不构成对本发明的不当限定。在附图中: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:
图1为一种基于翻转法的控制力矩陀螺输出力矩测量装置结构图;FIG1 is a structural diagram of a control torque gyro output torque measurement device based on a flip method;
图2为测量模块结构图;Figure 2 is a structural diagram of the measurement module;
图3为一种基于翻转法的控制力矩陀螺输出力矩测量方法的流程图;FIG3 is a flow chart of a method for measuring the output torque of a control torque gyro based on a flip method;
图4为翻转工装翻转过程示意图。FIG. 4 is a schematic diagram of the flipping process of the flipping tool.
图中,1-平台;2-力矩测量校准模块;3-测量模块;4-数据传输模块;5-数据分析模块;6-被测CMG;7-翻转工装;8-安装台;9-气浮球轴承;10-扭矩传感器。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.
具体实施方式Detailed ways
为了使本发明实施例中的技术方案及优点更加清楚明白,以下结合附图对本发明的示例性实施例进行进一步详细的说明,显然,所描述的实施例仅是本发明的一部分实施例,而不是所有实施例的穷举。需要说明的是,在不冲突的情况下,本发明中的实施例及实施例中的特征可以相互组合。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.
实施例1:参照图1-图2说明本实施方式,一种基于翻转法的控制力矩陀螺输出力矩测量装置,包括平台1、测量模块3、数据传输模块4和数据分析模块5;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;
所述测量模块3、所述数据传输模块4和数据分析模块5依次电连接;The measuring module 3, the data transmission module 4 and the data analysis module 5 are electrically connected in sequence;
数据传输模块4负责台上与台下的数据交互。数据传输模块4将CMG指令发送给台上综合试验系统,台上综合试验系统通过数据传输模块将测量模块3的输出信号以及力矩测量校准模块2的补偿信息发送给数据分析系统;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;
数据分析模块5是显示和分析力矩测量装置输出力矩的终端模块;数据分析模块5根据接收数据对CMG输出力矩进行测量,同时可以根据需求对测量得到的力矩数据进行分析进一步得到CMG的相关特性,其中特性一方面包括CMG力矩输出精度,即与CMG出场标称值对比标定得到实际精度,给出CMG精度评价;另一方面振动特性,CMG在运行过程中会有振动现象影响航天器自身稳定,通过分析不同转动加速度下的力矩数据可以得到CMG自身的振动频率进而方便在航天器控制中振动隔离的设计;数据分析模块5具备数据指令收发及结果实时显示储存的功能。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.
所述测量模块3安装在所述平台1上;The measuring module 3 is installed on the platform 1;
测量模块3为高精度测量模块,是测量CMG输出力矩的核心模块,负责测量过程的执行和传感器的测量工作;测量模块由高精度翻转工装和高精度扭矩传感器组成;高精度翻转工装中安装有被测CMG6,负责对其进行x轴、y轴、z轴正交翻转,以实现x轴、y轴、z轴力矩的解耦;高精度扭矩传感器安装于CMG设备安装平台中,用于搭建单轴微扰动力矩测量环境;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.
所述平台1用于承载测量模块3;所述数据传输模块4用于实现数据交互;所述数据分析模块5用于测量CMG输出力矩和分析CMG特性;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;
平台1为CMG设备安装平台,是CMG输出力矩测量的承载部分,用于提供无摩擦、微干扰力矩环境,同时提供被测CMG6的安装工作平台;CMG设备安装平台采用超静悬浮系统搭建,实现近似无摩擦的单轴转动,同时使用气浮技术排除外界干扰对力矩测试的影响;CMG设备安装平台具有高精度的基准安装面,CMG通过高精度测量模块中的高精度翻转工装安装在基准面上;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;
所述测量模块3包括安装台8、翻转工装7、气浮球轴承9和扭矩传感器10;The measuring module 3 includes a mounting platform 8, a turning tool 7, an air-floating ball bearing 9 and a torque sensor 10;
所述高精度扭矩传感器10安装在所述气浮球轴承9上;The high-precision torque sensor 10 is installed on the air-floating ball bearing 9;
所述气浮球轴承9安装在安装台8底部;所述安装台8顶部设置有翻转工装7;所述翻转工装7内放置被测CMG6。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.
力矩测量装置还包括力矩测量校准模块2;所述力矩测量校准模块2与测量模块3和数据传输模块4通讯连接,用于力矩测量和补偿;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;
力矩测量校准模块2用于补偿力矩测量误差,提高测量精度。高精度翻转工装的翻转过程会引入部分误差。其中对输出力矩影响最大的参数为CMG在工装中的安装角误差。力矩测量校准模块通过在CMG输出力矩测量过程中对安装误差角进行实时在线辨识,进而将辨识结果传递给数据分析模块实现实时力矩补偿。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.
实施例2:参照图3-图4说明本实施方式,一种基于翻转法的控制力矩陀螺输出力矩测量方法,包括以下步骤: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.将被测CMG6安装在翻转工装7上;S1. Install the CMG6 to be tested on the flip tool 7;
S2.输入CMG初始框角、框架角速度,同时翻转工装7运动到初始位置;S2. Input the initial frame angle and frame angular velocity of CMG, and flip the tool 7 to move to the initial position;
S3.扭矩传感器10采集CMG产生的力矩通过数据传输模块4传输至数据分析模块5;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.翻转工装7根据被测CMG6当前状态进行翻转决策,同时扭矩传感器10采集CMG产生的力矩通过数据传输模块4传输至数据分析模块5;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;
进行翻转决策的方法是:The method to make a flip decision is:
当被测CMG6当前状态垂直翻转工装7x轴时,翻转工装7沿y轴向左翻转90度;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;
当被测CMG6当前状态垂直翻转工装7y轴时,翻转工装7沿z轴向上翻转90度;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;
当被测CMG6当前状态平行翻转工装7x轴时,翻转工装7沿z轴向下翻转90度,延y轴向右翻转90度;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.力矩测量校准模块2进行力矩测量和补偿:S5. Torque measurement and calibration module 2 performs torque measurement and compensation:
Y=Hφ,其中, 分别为x轴、y轴、z轴安装误差角,Ttest为正交翻转后传感器测量的力矩值,δ和/>分别为CMG的框架角和框架角速度,β为CMG安装角度;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;
使用渐消记忆递推最小二乘法进行实时辨识,得到CMG的安装误差角,辨识过程如下对每次翻转决策建立递推式如下: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:
在翻转决策1状态下:In the flip decision 1 state:
θ1(k)=[μ1,μ2]θ 1 (k) = [μ 1 , μ 2 ]
在翻转决策2状态下:In the flip decision 2 state:
θ2(k)=[μ3,μ4]θ 2 (k) = [μ 3 ,μ 4 ]
在翻转决策3状态下:In the flip decision 3 state:
θ3(k)=[μ5,μ6]θ 3 (k) = [μ 5 , μ 6 ]
其中,上式中λ代表渐消记忆参数,通过上述递推表达式可以得到安装误差角为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
根据安装误差角对CMG测量力矩进行补偿,补偿过程如下:The CMG measurement torque is compensated according to the installation error angle. The compensation process is as follows:
其中,To即为补偿后的CMG测量输出力矩。Among them, T o is the compensated CMG measured output torque.
本发明实现原理:The implementation principle of the present invention:
CMG设备安装平台使用气浮提供微干扰力矩测量平台,实现近似无摩擦的相对运动条件,同时连接有高精度扭矩传感器,用于搭建单轴微扰动力矩的测试环境;被测CMG6通过高精度翻转工装以指定方式安装在测试平台上;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;
当台下监控系统向台上被测CMG发送指令时,CMG将会产生指定力矩,在力矩作用下,测量平台将会产生相应的运动趋势。此时,安装于测试平台旋转轴方向上的扭矩传感器将会敏感到旋转轴方向上的输出力矩,即测量得到CMG的单轴输出力矩。当指令完成后,翻转工装将根据当前状态进行相应决策,根据决策选择对应的正交翻转模式,翻转决策如图4所示;当翻转工装处于决策1状态并执行完成相应指令后,其进入决策2模式,工装执行对应正交翻转。当决策2执行完毕后,工装执行决策3,以此类推,从而实现CMG的力矩测量。同时为保证翻转前后CMGx轴、y轴、z轴力矩的对应关系,翻转过程中CMG需保持相同的运行方式。完成上述操作后,CMGx轴、y轴、z轴力矩便可通过高精度传感器直接测量得到。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.
实施例2:本发明的计算机装置可以是包括有处理器以及存储器等装置,例如包含中央处理器的单片机等。并且,处理器用于执行存储器中存储的计算机程序时实现上述的一种基于翻转法的控制力矩陀螺输出力矩测量方法的步骤。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.
所称处理器可以是中央处理单元(Central Processing Unit,CPU),还可以是其他通用处理器、数字信号处理器(Digital Signal Processor,DSP)、专用集成电路(Application Specific Integrated Circuit,ASIC)、现成可编程门阵列(Field-Programmable Gate Array,FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。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.
所述存储器可主要包括存储程序区和存储数据区,其中,存储程序区可存储操作系统、至少一个功能所需的应用程序(比如声音播放功能、图像播放功能等)等;存储数据区可存储根据手机的使用所创建的数据(比如音频数据、电话本等)等。此外,存储器可以包括高速随机存取存储器,还可以包括非易失性存储器,例如硬盘、内存、插接式硬盘,智能存储卡(Smart Media Card,SMC),安全数字(Secure Digital,SD)卡,闪存卡(Flash Card)、至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。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.
实施例3:计算机可读存储介质实施例。Embodiment 3: Computer readable storage medium embodiment.
本发明的计算机可读存储介质可以是被计算机装置的处理器所读取的任何形式的存储介质,包括但不限于非易失性存储器、易失性存储器、铁电存储器等,计算机可读存储介质上存储有计算机程序,当计算机装置的处理器读取并执行存储器中所存储的计算机程序时,可以实现上述的一种基于翻转法的控制力矩陀螺输出力矩测量方法的步骤。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.
所述计算机程序包括计算机程序代码,所述计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。所述计算机可读介质可以包括:能够携带所述计算机程序代码的任何实体或装置、记录介质、U盘、移动硬盘、磁碟、光盘、计算机存储器、只读存储器(ROM,Read-Only Memory)、随机存取存储器(RAM,Random Access Memory)、电载波信号、电信信号以及软件分发介质等。需要说明的是,所述计算机可读介质包含的内容可以根据司法管辖区内立法和专利实践的要求进行适当的增减,例如在某些司法管辖区,根据立法和专利实践,计算机可读介质不包括电载波信号和电信信号。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.
尽管根据有限数量的实施例描述了本发明,但是受益于上面的描述,本技术领域内的技术人员明白,在由此描述的本发明的范围内,可以设想其它实施例。此外,应当注意,本说明书中使用的语言主要是为了可读性和教导的目的而选择的,而不是为了解释或者限定本发明的主题而选择的。因此,在不偏离所附权利要求书的范围和精神的情况下,对于本技术领域的普通技术人员来说许多修改和变更都是显而易见的。对于本发明的范围,对本发明所做的公开是说明性的,而非限制性的,本发明的范围由所附权利要求书限定。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.
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