CN1851428A - Torque test air support rotating platform for control torque gyro - Google Patents
Torque test air support rotating platform for control torque gyro Download PDFInfo
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- CN1851428A CN1851428A CNA2006100118297A CN200610011829A CN1851428A CN 1851428 A CN1851428 A CN 1851428A CN A2006100118297 A CNA2006100118297 A CN A2006100118297A CN 200610011829 A CN200610011829 A CN 200610011829A CN 1851428 A CN1851428 A CN 1851428A
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Abstract
The invention relates to control moment gyro using moment testing gas floating rotate table that includes air hydrostatic bearing, main shaft encoder, workbench and torquer. The main shaft encoder is used to testing the angle location; the workbench is used to install testing object and the torguer is installed on the bottom of the air hydrostatic bearing to drive main shafting. The pressure of air hydrostatic bearing would be adjusted by pressure adjustor. The invention has the advantages of low attrition disturbance, easy to operate, convenience and high accuracy.
Description
Technical field
The present invention relates to a kind of control-moment gyro with moment test air turntable, can be used as control-moment gyro output torque, moment resolution high precision measurement equipment, also can be used as the high precision measurement equipment of momenttum wheel and counteraction flyback output torque.
Background technology
Development along with space technology, spacecraft such as space station, large-scale observation satellite becomes the important component part of countries in the world aerospace strategy, because momenttum wheel and counteraction flyback output torque are usually only in 1Nm, and along with the increase of output torque, power demand is also higher, and control-moment gyro (ControlMoment Gyroscope is called for short CMG) can effectively address the above problem, and therefore has been subjected to the extensive attention and the research of countries in the world.CMG is the crucial topworks that the Large Spacecraft (also comprising small-sized spacecrafts such as responsive satellite) of long-term operation such as space station realizes attitude control, and performances such as the output torque of CMG, control accuracy and moment resolution directly affect the overall performance of spacecraft, the performance that is CMG must be through accurately measuring, so the testing apparatus of CMG combination property is particularly important, and present testing apparatus and the instrument that yet there are no the CMG combination property at home and abroad.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, a kind of control-moment gyro moment test air turntable is provided, be mainly used in the output torque of test control-moment gyro, moment resolution, also can measure the moment of reaction of momenttum wheel and counteraction flyback, this testing apparatus has the measuring accuracy height, low friction and disturbance, advantage such as simple, convenient.
Technical solution of the present invention is: control-moment gyro moment test air turntable, it is characterized in that: it is made up of mechanical part and control section, wherein mechanical part comprises principle axis shafting and slip ring axle system, principle axis shafting comprises aerostatic bearing, spindle encoder, worktable and torquer, torquer is installed in the lower end of aerostatic bearing, be used for drive shaft axle system, aerostatic bearing is installed in the middle part of turntable, be connected with base, be used for supporting table, spindle encoder be installed in worktable below, be connected with aerostatic bearing, be used to measure the position, angle of turntable, worktable is in the top of turntable, be connected with aerostatic bearing, be used to install measurand; Slip ring axle system is in the turntable lower end, adopt rolling ball bearing, comprise slip ring, torque motor, slip ring shaft encoder and web joint are formed, wherein slip ring is in the lower end of turntable, upwards be followed successively by torque motor and slip ring shaft encoder, slip ring, the stationary part of torque motor and slip ring shaft encoder is connected with base, slip ring, the rotating part of torque motor and slip ring shaft encoder is connected with the rotation section of aerostatic bearing, torque motor is used to drive the slip ring axle, make it follow the principle axis shafting motion, to eliminate the moment of friction of slip ring, the slip ring shaft encoder is installed between principle axis shafting and the slip ring axle system by web joint, is used to measure the angle alternate position spike between main shaft and the slip ring axle; Connect by web joint between principle axis shafting and the slip ring axle system, whole turret systems is by base support; Electrical control system is finished the management of various data; handle and Presentation Function; based on the control and management computing machine; by shaft angle motion control template; the DSP template of transferring; the period measurement template; the signal Processing interface model; functional templates such as DSP expansion templates; and driver element; torquer and scrambler constitute closed-loop system; control computer is the basis of electrical control system; realization is to the motion control management of turntable main shaft and slip ring axle; various I/O to the user manage and control and management functions such as fault detect and safeguard protection, and it also finishes the management of various data; handle and Presentation Function.
Principle of the present invention is: when testing the output torque of control-moment gyro, turntable is operated under " free rotating manner ", rotating platform control system does not form closed-loop control, be in open loop situations, the turntable table top is owing to supported by aerostatic bearing, moment of friction is very little, therefore can " freely rotate ", under this working method, DSP obtains the angle positional value of turntable by the signal that reads scrambler, and by angle measurement regularly or the speed of the method calculating turntable main shaft when decide angular measurement, thereby draw the output torque of moment gyro.When the moment of reaction that carries out flywheel (or high precision measurement of the less output torque of control-moment gyro) characteristic test, turntable is operated under " moment is balance mode again ", this moment, turntable constituted the moment ring on the basis of high-precision position closed loop, in the moment ring, load (control-moment gyro or counteraction flyback) is the input of moment ring to the opplied moment of turntable, the armature supply of turntable torquer obtains the size of loading moment as output and by computing, thereby realizes the high precision measurement of moment.
The present invention's advantage compared with prior art is: the present invention is owing to adopted the reduce friction influence of square of aerostatic bearing, owing to adopt the servo slip ring system to reduce the influence of slip ring moment of friction; Simple to operate, safe and reliable, measuring accuracy advantages of higher that the present invention has.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is a torque motor axial section of the present invention;
Fig. 3 is a torquer axial section of the present invention;
Fig. 4 is a source of the gas synoptic diagram of the present invention;
Fig. 5 is a control section theory diagram of the present invention;
Fig. 6 is the shaft angle motion control formwork structure block diagram among Fig. 5;
Fig. 7 is the structured flowchart of the period measurement template among Fig. 5;
Fig. 8 is a turntable moment ring structure schematic diagram of the present invention;
Fig. 9 is the structural drawing of the axis servomotor system among Fig. 5;
Figure 10 is a computer control process flow diagram of the present invention.
Embodiment
As shown in Figure 1, for the present invention is made up of mechanical part and control section, wherein mechanical part comprises principle axis shafting and slip ring axle system, principle axis shafting comprises aerostatic bearing 7, spindle encoder 8, worktable 9 and torquer 6, torquer 6 is installed in the lower end of aerostatic bearing 7, be used for drive shaft axle system, aerostatic bearing 7 is installed in the middle part of turntable, is connected with base 1, is used for supporting table 9, spindle encoder 8 be installed in worktable 9 below, be connected with aerostatic bearing 7, be used to measure the position, angle of turntable, worktable 9 is in the top of turntable, be connected with aerostatic bearing 7, be used to install measurand 10; Slip ring axle system is in the turntable lower end, adopt rolling ball bearing, comprise slip ring 2, torque motor 3, slip ring shaft encoder 5 and web joint 11 are formed, wherein slip ring 2 is in the lower end of turntable, upwards be followed successively by torque motor 3 and slip ring shaft encoder 5, slip ring 2, the stationary part of torque motor 3 and slip ring shaft encoder 5 is connected with base 1, slip ring 2, the rotating part of torque motor 3 and slip ring shaft encoder 5 is connected with the rotation section of aerostatic bearing 7, torque motor 3 is used to drive the slip ring axle, make it follow the principle axis shafting motion, to eliminate the moment of friction of slip ring 2, slip ring shaft encoder 5 is installed between principle axis shafting and the slip ring axle system by web joint 11, is used to measure the angle alternate position spike between main shaft and the slip ring axle; Connect by web joint 11 between principle axis shafting and the slip ring axle system, whole turret systems is by base 1 supporting.
As shown in Figure 2, torque motor 3 mainly is made up of parts such as electric machine stator iron 31, stator coil 32, permanent magnet 33, rotor cores 34, and wherein electric machine stator iron 31 and stator coil 32 are stationary part, and all the other are rotating part.
As shown in Figure 3, torquer 6 mainly is made up of parts such as stator core 61, stator coil 62, permanent magnet 63, rotor cores 64, and wherein stator core 61 and stator coil 62 are stationary part, and all the other are rotating part.
As shown in Figure 4, aerostatic bearing 7 is furnished with special-purpose source of the gas, form by air compressor, dehumidifier, filtrator, the size of pressure is regulated by pressure-regulating valve 4, need be furnished with source of the gas, source of the gas comprises air compressor, air drum, cooling driers and filtrator, and air forms the atmosphere of certain pressure by compressor and is stored in the air drum, through after drying, filtering, pass through pressure governor 4 air supply hydrostatic bearings 7 again.The axle of aerostatic bearing 7, axle sleeve, kickboard and nitrated steel materials such as thrust plate material selection 38Cr2MoAl or 25CrMoAl have advantages such as anti-corrosion, smooth.
As shown in Figure 5, TT﹠C system of the present invention mainly comprises control computer, shaft angle motion control template, DSP switching template, period measurement template, signal Processing interface model, power drive unit.Spindle encoder 8 feeds back to DSP with the angle position signal of main shaft by the signal Processing interface model, handles computing by DSP again, by signal Processing interface model output control signal, carries out the buffering and the switching of signal by DSP switching template then.The signal Processing interface model carries out the control signal of shaft angle motion control template output to export to power drive unit after the necessary processing, measures the armature supply in the torquer simultaneously.The turning error that slip ring shaft encoder 5 is measured between main shaft and the slip ring axle, with the controller of its turning error signal feedback torque motor 3,, thereby drive the slip ring axle by controller control moment motor 3, make it follow the principle axis shafting motion, to eliminate the moment of friction of slip ring 2.In TT﹠C system; control computer is the basis of TT﹠C system; realization is to the motion control management of turntable principle axis shafting and slip ring axle system, manage and control and management functions such as fault and safeguard protection user's various I/O; it also finishes management, processing and the Presentation Function of various data; as: user data input, data computing demonstration etc.
Power drive unit shown in Fig. 5: the spindle power driver element is the high linearity power amplifier based on high-power integrated transporting discharging, have overcurrent, overvoltage, spacing, lost-control protection is reported to the police and function such as drive current output detection; Slip ring shaft power driver element is the current feedback linear power amplifier based on MOS triode push-pull output circuit, has functions such as overcurrent, overvoltage, spacing, lost-control protection warning.
The DSP expansion templates is used for carrying out high-speed data transmission and exchange between shaft angle motion control template and the main control computer among Fig. 5, and the A/D of torquer current signal conversion.
Signal Processing interface model shown in Fig. 5: the signal Processing interface model is used for code device signal, servo controller, the processing of torquer armature supply sampled signal and interface, and it carries out the D/A control signal of shaft angle motion control template output to export to driver after the necessary processing.The signal Processing interface model also cushions the torquer armature current signal to be sent into A/D converter after the amplification and carries out analog to digital conversion to measure the armature supply of torquer.
As shown in Figure 6, shaft angle motion control template is made up of DSP, control interface and logic interfacing, and the shaft angle motion control template that is equipped in the control computer is the core of rotating platform control system.Spindle encoder 8 feeds back to DSP with the angle position signal of main shaft by control interface, handle computing by DSP again, then by control interface output control signal, carry out the buffering and the switching of signal by DSP switching template, the input and output of control signal are by the signal deciding that is input to logic interfacing.
As shown in Figure 7, period measurement template 14 of the present invention mainly is made up of 24 frequency programmable dividing circuit, output buffer, frequency multiplication direction judgment circuit, programmable count circuit, state recording device circuit and data buffering and logic control circuit, is used for turntable and decides the generation of angle intervals synchronization pulse, tachometric survey and operational data and state online record.This template receives the delta pulse signal of spindle encoder input, decide angle recurrent pulse (synchronizing pulse) and export and carry out deciding the angle recurrence interval and calculate by forming behind frequency multiplication direction judgment circuit and 24 the frequency programmable dividing circuit and through output buffer, by counting circuit able to programme and state recording device circuit online record turntable service data and state and power down maintenance, and by positional information sampling and calculating and the demonstration revolving table position of control computer to record.
As shown in Figure 8, be turntable moment ring structure synoptic diagram of the present invention.When carrying out the output torque characteristic test of control-moment gyro (or flywheel), turntable is operated under " moment is balance mode again ", this moment, turntable constituted the moment ring on the basis of high-precision position closed loop, in the moment ring, load is the input of moment ring to the opplied moment of turntable, and the armature supply of turntable torquer obtains the size of loading moment as output and by computing, and dotted portion is represented the Computing part among the figure, θ is the turntable corner, K
iBe the mutual conductance of current-type driver, i is the torquer armature supply, K
mBe the moment coefficient of torquer, T
LBe loading moment, T
mElectromagnetic torque for torquer.
For converting the moment of inertia on the torquer armature,
For axle is a moment of friction,
Be ratio of damping,
Be the COMPUTER CALCULATION value, show for output and use.
As shown in Figure 9, servo slip ring unit among Fig. 5 and slip ring shaft encoder constitute slip ring shafting structure of the present invention, mainly by slip ring 2, torque motor 3, slip ring shaft encoder 5 and web joint 11 are formed, the stationary part of torque motor 3 and slip ring shaft encoder 5 is connected with base 1, slip ring 2, the rotating part of torque motor 3 and slip ring shaft encoder 5 is connected with the rotation section of aerostatic bearing 7, slip ring shaft encoder 5 is installed between principle axis shafting and the slip ring axle system by web joint 11, it is poor to be used to the turning error measured between main shaft and the slip ring axle, controller with its turning error signal feedback torque motor 3, by controller control moment motor 3, thereby drive the slip ring axle, make it follow the principle axis shafting motion, to eliminate the moment of friction of slip ring 2.
As shown in figure 10, be computer control software process flow diagram of the present invention.Behind the system initialization, at first select working method: free rotating manner still is a moment balance mode again.When measuring for free rotating manner, write controlled variable at first for the slip ring axle, closed then slip ring axle, mode begins to measure when selecting regularly angle measurement or deciding angular measurement, show current state (free rotating manner, when decide angular measurement or the timing angle measurement, malfunction) and spindle speed, position and moment (data and graphic presentation), measure finish after, preserve data.Stop at last measuring, log off.When balance mode is measured again for moment, write controlled variable at first for main shaft and slip ring axle, closed then main shaft and slip ring axle, before beginning to measure, turntable makes zero, and by moment balance mode measurement again, shows current state (moment is balance mode, malfunction again) and main spindle's and moment (data and graphic presentation), after measuring end, preserve data.
When testing the output torque of control-moment gyro, turntable is operated under " free rotating manner ", rotating platform control system does not form closed-loop control, be in open loop situations, turntable table top 9 can " freely rotate ", and under this working method, DSP obtains the angle positional value of turntable by the signal that reads scrambler, and by angle measurement regularly or the speed of the method calculating turntable main shaft when decide angular measurement, thereby draw the output torque of moment gyro.
When carrying out the moment of reaction characteristic test of flywheel, turntable is operated under " moment is balance mode again ", this moment, turntable constituted the moment ring on the basis of high-precision position closed loop, in the moment ring, the opplied moment of 10 pairs of turntables of measurand is the input of moment ring, and the armature supply of turntable torquer 6 is as the size of exporting and obtain by computing loading moment.
Claims (6)
1, control-moment gyro moment test air turntable, it is characterized in that: it is made up of mechanical part and control section, wherein mechanical part comprises principle axis shafting and slip ring axle system, principle axis shafting comprises aerostatic bearing (7), spindle encoder (8), worktable (9) and torquer (6), torquer (6) is installed in the lower end of aerostatic bearing (7), be used for drive shaft axle system, aerostatic bearing (7) is installed in the middle part of turntable, be connected with base (1), be used for supporting table (9), spindle encoder (8) be installed in worktable (9) below, be connected with aerostatic bearing (7), be used to measure the position, angle of turntable, worktable (9) is in the top of turntable, be connected with aerostatic bearing (7), be used to install measurand (10); Slip ring axle system is in the turntable lower end, adopt rolling ball bearing, comprise slip ring (2), torque motor (3), slip ring shaft encoder (5) and web joint (11) are formed, wherein slip ring (2) is in the lower end of turntable, upwards be followed successively by torque motor (3) and slip ring shaft encoder (5), slip ring (2), the stationary part of torque motor (3) and slip ring shaft encoder (5) is connected with base (1), slip ring (2), the rotating part of torque motor (3) and slip ring shaft encoder (5) is connected with the rotation section of aerostatic bearing (7), torque motor (3) is used to drive the slip ring axle, make it follow the principle axis shafting motion, to eliminate the moment of friction of slip ring (2), slip ring shaft encoder (5) is installed between principle axis shafting and the slip ring axle system by web joint (11), is used to measure the angle alternate position spike between main shaft and the slip ring axle; Connect by web joint (11) between principle axis shafting and the slip ring axle system, whole turret systems is supported by base (1); Electrical control system is finished the management of various data; handle and Presentation Function; based on the control and management computing machine; by shaft angle motion control template; the DSP template of transferring; the period measurement template; the signal Processing interface model; functional templates such as DSP expansion templates; and driver element; torquer and scrambler constitute closed-loop system; control computer is the basis of electrical control system; realization is to the motion control management of turntable main shaft and slip ring axle; various I/O to the user manage and control and management functions such as fault detect and safeguard protection, and it also finishes the management of various data; handle and Presentation Function.
2, control-moment gyro according to claim 1 moment test air turntable, it is characterized in that: described aerostatic bearing (7) need be furnished with source of the gas, described source of the gas comprises air compressor, air drum, cooling driers and filtrator, air forms the atmosphere of certain pressure by compressor and is stored in the air drum, through after drying, filtering, pass through pressure governor (4) air supply hydrostatic bearing (7) again.
3, control-moment gyro according to claim 1 is characterized in that: the axle of described aerostatic bearing 7, axle sleeve, kickboard and thrust plate material selection 38Cr2MoAl or 25CrMoAl with moment test air turntable.
4, control-moment gyro according to claim 1 moment test air turntable, it is characterized in that: the pressure of described aerostatic bearing (7) is regulated by pressure governor (4), pressure governor (4) is in the middle part of base (1), and is connected with base (1).
5, control-moment gyro according to claim 1 is characterized in that: described spindle encoder (8) and slip ring shaft encoder (5) employing noncontact angular position encoder with moment test air turntable.
6, control-moment gyro according to claim 5 moment test air turntable, it is characterized in that: described noncontact angular position encoder is a photoelectric encoder, or rotary transformer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100118297A CN100335877C (en) | 2006-04-30 | 2006-04-30 | Torque test air support rotating platform for control torque gyro |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100118297A CN100335877C (en) | 2006-04-30 | 2006-04-30 | Torque test air support rotating platform for control torque gyro |
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| CN1851428A true CN1851428A (en) | 2006-10-25 |
| CN100335877C CN100335877C (en) | 2007-09-05 |
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| CNB2006100118297A Expired - Fee Related CN100335877C (en) | 2006-04-30 | 2006-04-30 | Torque test air support rotating platform for control torque gyro |
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