CN117949124A - Control moment gyro output moment measuring device and method based on overturn method - Google Patents
Control moment gyro output moment measuring device and method based on overturn method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
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- G—PHYSICS
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- 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
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Abstract
The invention provides a control moment gyro output moment measuring device and method based on a turnover method, and belongs to the technical field of moment measurement. The system comprises 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 high-precision 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. The method solves the technical problems of complicated output moment model, poor reliability and low reliability in the prior art.
Description
Technical Field
The invention relates to a control moment gyro output moment measuring device and method based on a turnover method, and belongs to the technical field of moment measurement.
Background
The Control Moment Gyroscope (CMG) plays a vital role in the attitude control of the spacecraft, the CMG works by utilizing the principle of conservation of angular momentum, and external moment is generated by changing the angular momentum direction of the high-speed rotating wheels, so that the precise adjustment of the attitude of the spacecraft is realized. CMG allows the spacecraft to achieve attitude change and stabilization by movement of internal mechanical components without external forces.
The CMG generates external moment by changing the direction of the angular momentum of the rotor, and the moment acts on the spacecraft, so that the precise adjustment of the gesture of the spacecraft is realized, and the measurement of the output moment of the control moment gyro is particularly critical for better understanding the actual effect of the CMG on the gesture control of the spacecraft.
For this reason, researchers have proposed a publication number CN111813159A, the name of the invention is a predictive method for controlling the moment gyro output moment, this method adopts the way of combining theoretical analysis and numerical simulation, consider the output moment model of the high-speed rotor micro-vibration of the output moment gyro CMG (control moment gyros), confirm the coupling transfer characteristic of high-speed rotor micro-vibration source and output moment, calculate the output moment of the complete machine quantitatively;
Although the method adopts a method combining theory and practice to measure the output torque, the result is excessively dependent on a model, the model is excessively complex, and the reliability is poor.
In the field of space control technology and application, the tension is improved, zhou Daning, gao Yanan and 2008 in 4 th year propose a control moment gyro frame control method and a frame rotating speed measurement method, the method aims at the increasingly urgent problem of the demand of a small and medium satellite rapid maneuvering platform based on a control moment gyro, a CMG frame rotating speed precision measurement method and a vector control scheme based on rotor magnetic field orientation are provided, and compensation for friction moment is added in frame control, so that stability of a frame driving control system is realized, and output moment is calculated through high-precision frame control and rotating speed measurement.
The method for measuring the output torque depends on high-precision measurement of the angular speed of the frame, belongs to indirect measurement of the torque, and can lead to low reliability of measurement results and also depends on a high-precision mathematical model.
Disclosure of Invention
The following presents a simplified summary of the invention in order to provide a basic understanding of some aspects of the invention. It should be understood that this summary is not an exhaustive overview of the invention. It is not intended to identify key or critical elements of the invention or to delineate the scope of the invention. Its purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is discussed later.
In view of the above, the invention provides a control moment gyro output moment measuring device and method based on a turnover method, which aims to solve the technical problems of complicated output moment model, poor reliability and low reliability in the prior art.
The first scheme is that the control moment gyro output moment measuring device based on the overturning method comprises 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.
Preferably, the system further comprises 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.
Scheme II, a control moment gyro output moment measuring method based on the turnover method, comprising the following steps:
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.
Preferably, the method for performing the overturn decision by the overturn tool according to the current state of the measured CMG comprises the following steps:
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;
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;
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.
Preferably, the method for measuring and compensating the moment by the moment measuring and calibrating module is as follows:
Y=hphi, wherein, The error angles are respectively installed for the x axis, the y axis and the z axis, T test is the moment value measured by the sensor after orthogonal overturning, delta 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.
The third scheme is that the electronic equipment comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the step of the control moment gyro output moment measuring method based on the overturning method when executing the computer program.
A fourth aspect is a computer readable storage medium, on which a computer program is stored, where the computer program when executed by a processor implements a control moment gyro output moment measurement method based on the flipping method described in the second aspect.
The beneficial effects of the invention are as follows:
1. the invention breaks away from a complex mathematical model to be used as a CMG measurement basis, and the measurement process is simple;
2. According to the invention, torque decoupling of CMGx axis, y axis and z axis is realized by using the overturning tool, and direct measurement of torque is realized by using the torque sensor, so that model uncertainty caused by indirect measurement is avoided;
3. according to the invention, the air bearing table is used as a measuring platform, so that the influence of external interference on moment measurement is greatly reduced, and the measuring precision is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
FIG. 1 is a diagram of a control moment gyro output moment measuring device based on a roll-over method;
FIG. 2 is a block diagram of a measurement module;
FIG. 3 is a flow chart of a method for measuring output torque of a control moment gyro based on a roll-over method;
Fig. 4 is a schematic diagram of a turnover process of the turnover tool.
In the figure, 1-platform; 2-a moment measurement calibration module; 3-a measurement module; 4-a data transmission module; 5-a data analysis module; 6-CMG to be tested; 7-overturning the tool; 8-a mounting table; 9-an air floating ball bearing; 10-torque sensor.
Detailed Description
In order to make the technical solutions and advantages of the embodiments of the present invention more apparent, the following detailed description of exemplary embodiments of the present invention is provided in conjunction with the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present invention and not exhaustive of all embodiments. It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
Example 1: 1-2, a control moment gyro output moment measuring device based on a turnover method comprises a platform 1, a measuring 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 data interaction on the table and under the table. The data transmission module 4 sends the CMG instruction to the comprehensive test system on the bench, and the comprehensive test system on the bench sends the output signal of the measurement module 3 and the compensation information of the moment 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 measuring device; the data analysis module 5 measures the output torque of the CMG according to the received data, and meanwhile, the measured torque data can be analyzed according to the requirements to further obtain the relevant characteristics of the CMG, wherein the characteristics comprise the torque output precision of the CMG on one hand, namely, the actual precision is obtained by comparing and calibrating the torque output precision with the nominal value of the CMG, and the CMG precision evaluation is given; on the other hand, the vibration characteristics of the CMG can cause vibration phenomenon to influence the stability of the spacecraft in the running process, and the vibration frequency of the CMG can be obtained by analyzing moment data under different rotation accelerations so as to facilitate the design of vibration isolation in the spacecraft control; the data analysis module 5 has the function of receiving and transmitting data instructions and displaying and storing results in real time.
The measuring module 3 is mounted on the platform 1;
The measuring module 3 is a high-precision measuring module and is a core module for measuring the output torque of the CMG and is responsible for the execution of the measuring process and the measuring work of the sensor; the measuring module consists of a high-precision overturning tool and a high-precision torque sensor; the high-precision overturning tool is provided with a measured CMG6 which is responsible for orthogonally overturning the CMG to the X-axis, the Y-axis and the Z-axis so as to realize decoupling of the moment of the X-axis, the Y-axis and the Z-axis; the high-precision torque sensor is arranged in the CMG equipment installation platform and is used for building a single-axis perturbation dynamic moment measurement environment;
the platform 1 is used for bearing a measuring module 3; the data transmission module 4 is used for realizing data interaction; the data analysis module 5 is used for measuring the output torque of the CMG and analyzing the CMG characteristics;
The platform 1 is a CMG equipment mounting platform and is a bearing part for measuring the output torque of the CMG, and is used for providing a friction-free and micro-interference torque environment and a mounting working platform of the CMG6 to be tested; the CMG equipment mounting platform is built by adopting an ultra-static suspension system, so that approximately friction-free single-shaft rotation is realized, and meanwhile, the influence of external interference on a moment test is eliminated by using an air floatation technology; the CMG equipment installation platform is provided with a high-precision reference installation surface, and the CMG is installed on the reference surface through a high-precision overturning tool in the high-precision measurement module;
The measuring module 3 comprises an installing table 8, a turnover tool 7, an air floating ball bearing 9 and a torque sensor 10;
the high-precision torque sensor 10 is arranged on the air floating ball bearing 9;
The air floating ball bearing 9 is arranged at the bottom of the mounting table 8; the top of the mounting table 8 is provided with a turnover tool 7; and the CMG6 to be tested is placed in the overturning tool 7.
The moment measuring device also comprises a moment measuring calibration module 2; the moment measurement calibration module 2 is in communication connection with the measurement module 3 and the data transmission module 4 and is used for moment measurement and compensation;
The moment measurement calibration module 2 is used for compensating moment measurement errors and improving measurement accuracy. The overturning process of the high-precision overturning tool can introduce partial errors. The parameter with the greatest influence on the output torque is the mounting angle error of the CMG in the tool. The moment measurement calibration module carries out real-time online identification on the installation error angle in the measurement process of the output moment of the CMG, and then transmits the identification result to the data analysis module to realize real-time moment compensation.
Example 2: referring to fig. 3 to 4, the present embodiment describes a control moment gyro output moment measuring method based on a roll-over method, including the steps of:
s1, mounting a measured CMG6 on a turnover tool 7;
s2, inputting an initial frame angle and frame angular speed of the CMG, and simultaneously moving the overturning tool 7 to an initial position;
S3, torque generated by the CMG is collected by the torque sensor 10 and transmitted to the data analysis module 5 through the data transmission module 4;
S4, the overturning tool 7 carries out overturning decision according to the current state of the CMG6 to be tested, and meanwhile, the torque sensor 10 collects torque generated by the CMG and transmits the torque to the data analysis module 5 through the data transmission module 4;
the method for making the flip decision is as follows:
when the current state of the CMG6 to be tested is vertical to the x axis of the overturning tool 7, the overturning tool 7 overturns left by 90 degrees along the y axis;
when the current state of the CMG6 to be tested is vertical to the y axis of the overturning tool 7, the overturning tool 7 overturns for 90 degrees along the z axis;
when the current state of the CMG6 to be tested is parallel to the X axis of the overturning tool 7, the overturning tool 7 is downwards overturned for 90 degrees along the Z axis and rightwards overturned for 90 degrees along the Y axis;
s5, moment measurement and compensation are carried out by the moment measurement calibration module 2:
Y=hphi, wherein, The error angles are respectively installed for the x axis, the y axis and the z axis, T test is the moment value measured by the sensor after orthogonal overturning, delta and/>The frame angle and the frame angular velocity of the CMG are respectively, and beta is the CMG installation angle;
real-time identification is carried out by using an fading memory recursive least square method to obtain an installation error angle of the CMG, and the identification process is as follows, and a recursive formula is established for each overturn decision as follows:
in the flip decision 1 state:
θ1(k)＝[μ1,μ2]
In the flip decision 2 state:
θ2(k)＝[μ3,μ4]
in the flip decision 3 state:
θ3(k)＝[μ5,μ6]
Wherein lambda represents an evanescent memory parameter, and the installation error angle can be obtained by the recursive expression
And compensating the CMG measuring moment 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.
The invention realizes the principle:
The CMG equipment mounting platform provides a micro-disturbance moment measuring platform by using air floatation, achieves a relative motion condition similar to friction-free, and is connected with a high-precision torque sensor for building a test environment of single-axis micro-disturbance moment; the CMG6 to be tested is arranged on the test platform in a specified mode through a high-precision overturning tool;
When the under-platform monitoring system sends a command to the on-platform tested CMG, the CMG generates a designated moment, and under the action of the moment, the measuring platform generates a corresponding movement trend. At this time, the torque sensor installed in the rotation axis direction of the test platform will be sensitive to the output torque in the rotation axis direction, i.e. the uniaxial output torque of the CMG is measured. When the instruction is completed, the overturning tool makes corresponding decisions according to the current state, and corresponding orthogonal overturning modes are selected according to the decisions, wherein the overturning decisions are shown in fig. 4; when the overturning tool is in the decision 1 state and the corresponding instruction is executed, the overturning tool enters the decision 2 mode, and the tool executes corresponding orthogonal overturning. And after the decision 2 is executed, the tool executes the decision 3, and so on, so that the moment measurement of the CMG is realized. Meanwhile, in order to ensure the corresponding relation of the moments of the axis CMGx, the y axis and the z axis before and after overturning, the CMG needs to keep the same operation mode in the overturning process. After the operation is finished, CMGx-axis, y-axis and z-axis moments can be directly measured by a high-precision sensor.
Example 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. And the processor is used for realizing the step of the control moment gyro output moment measuring method based on the overturning method when executing the computer program stored in the memory.
The Processor may be a central processing unit (Central Processing Unit, CPU), other general purpose Processor, digital signal Processor (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), off-the-shelf Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like; the storage data area may store data (such as audio data, phonebook, etc.) created according to the use of the handset, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart memory card (SMART MEDIA CARD, SMC), secure Digital (SD) card, flash memory card (FLASH CARD), at least one disk storage device, flash memory device, or other volatile solid-state storage device.
Example 3: computer-readable storage medium embodiments.
The computer readable storage medium of the present invention may be any form of storage medium that is read by a processor of a computer device, including but not limited to a nonvolatile memory, a volatile memory, a ferroelectric memory, etc., on which a computer program is stored, and when the processor of the computer device reads and executes the computer program stored in the memory, the steps of a control moment gyro output moment measuring method based on the flipping method described above may be implemented.
The computer program comprises computer program code which may be in source code form, object code form, executable file or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the computer readable medium contains content that can be appropriately scaled according to the requirements of jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is subject to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.
While the invention has been described with respect to a limited number of embodiments, those skilled in the art, having benefit of the above description, will appreciate that other embodiments are contemplated within the scope of the invention as described herein. Furthermore, it should be noted that the language used in the specification has been principally selected for readability and instructional purposes, and may not have been selected to delineate or circumscribe the inventive subject matter. Accordingly, many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the appended claims. The disclosure of the present invention is intended to be illustrative, but not limiting, of the scope of the 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.
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