JPH02205710A - Apparatus for measuring gyro-actuator torque - Google Patents

Abstract

PURPOSE:To make it possible to measure torque even if only one gyro actuator is used by providing a table for supporting a spherical bearing having rotation freedom in three axes. CONSTITUTION:At first, a gyro actuator 01 is provided at the center of a table 1. At a stationary time, the output direction of the gyro actuator 01 is made to be the direction of the central axis of the table 1. Under this state, a gimbal which supports the wheel of the gyro actuator 01 is driven so that the rotary angular speed becomes a sine wave. Then, both the magnitude and the direction of the output torque vector are changed in the sine wave state. At this time, the table 1 performs rotary motion in conformity with the direction of the output torque vector. The table 1 is rotated in approximately sine wave state around the central axis. The rotation is measured with a sensor 6, and the acceleration in the tangential direction of the table 1 is obtained. When the rotation around the orthogonal axis by recovering moment is suppressed to the sufficiently small value, the output torque can be measured by the expression of relation.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a gyro actuator torque measuring device that is applied to measuring the torque of a gyro actuator for use in space and the like.

[Conventional technology]

Gyro actuators that generate torque through the gyro effect, as shown in an overview in Figure 3, change the direction of the torque generated due to their structure. It is difficult to measure with torque measuring means. For this reason, conventionally, two or more gyro actuators are placed on a table supported by air bearings, etc., and the rotation angle and rotational angular velocity of the table are measured and processed, and then fed back to the gyro actuator. It has been common practice to measure and evaluate output torque indirectly by building a so-called closed-loop attitude control system.

[Problem to be solved by the invention]

The conventional gyro actuator torque measuring device described above has the following problems to be solved.

In other words, conventional devices require multiple gyro actuators, are measured as a closed-loop attitude control system, require an additional device for feedback, and are difficult to measure the torque of the gyro actuators themselves. It doesn't even become.

The present invention makes it possible to create a closed-loop system even when only one gyro actuator is used, by using a table that supports a spherical bearing with three degrees of rotational freedom and obtaining the acceleration of the table using a sensor installed on the table. The object of the present invention is to provide a gyro actuator measuring device that enables torque measurement without the use of a gyro actuator.

[Means to solve the problem]

The present invention provides a table capable of installing a gyro actuator that generates torque through a gyro effect to be measured, an additional mass that can be attached to the table, and a spherical bearing that supports the table. , a supply device that supplies gas or liquid to the spherical bearing;
It is an object of the present invention to provide a gyro actuator torque measuring device characterized by comprising a pedestal supporting the spherical bearing, a sensor block for detecting the movement of the table, and a sensor signal processing device. .

[Effect]

Since the present invention is configured as described above, it has the following effects.

That is, the table with spherical bearings allows free rotational movement around three axes, and since posture control is not required, torque measurement is possible with a single gyro actuator.

Furthermore, since it is possible to attach additional mass to the table, the mass of the table can be easily adjusted.

Further, by supplying a fluid with low friction to the spherical bearing, disturbances can be reduced.

〔Example〕

An embodiment of the present invention will be described with reference to FIG.

In the figure, the gyro actuator torque measuring device of this embodiment includes a table 1 on which a gyro actuator 01 is installed, and a cylindrical additional mass 2 that can be attached to the table l.
, a spherical bearing 3 that supports the table l on the lower surface of the table l, a supply device 4 that supplies air or liquid to the spherical bearing 3, a pedestal 5 that supports the spherical bearing 3, and a sensor that detects the movement of the table l and obtains acceleration information. - Consists of a block 6 and a sensor signal processing device 7 for processing and monitoring sensor signals.

In the figure, A is the rotation center of the table 1, and B is the center of mass of the table 1.

Next, the operation of the above structure will be explained with reference to the principle of operation of the gyro actuator shown in FIG.

First, as shown in FIG. 1, the gyro actuator 01 is installed at the center of the table 1, so that when it is stationary, the torque output direction of the gyro actuator 01 is set at the center of the table 1.
Make sure that the center axis is in the direction of the center axis. In this state, if the gimbal supporting the wheel of gyro actuator 01 in Figure 2 is driven so that the rotational angular velocity becomes a sine wave, the output torque vector will change in a sine wave shape in both magnitude and direction as shown in the figure. . This is based on the principle that the output torque vector of the gyro actuator 01 is given by the cross product of the angular momentum vector and the rotational angular velocity vector. At this time, the table 1 performs rotational movement according to the output torque vector direction, but in a range where the fluctuation angle in the output torque direction is small, the rotation around the two axes perpendicular to the central axis of the table 1 is restored by the table 1's own weight. The resulting moment causes the table to rotate approximately sinusoidally around its central axis. If this rotation is measured with a sensor to obtain the acceleration in the tangential direction of the table l, then when the rotation around the orthogonal axis due to the restoring moment is suppressed to a sufficiently small value, the output torque can be measured as follows.

(Table inertia factor) x (tangential acceleration) (output torque) = (radial distance from center to sensor) Additional mass 2 is:
These measurement conditions are used to perform j[ffff.

[Effects of the Invention] Since the present invention is configured as described above, it has the following effects.

(1) Torque can be measured with only one gyro actuator, without requiring multiple gyro actuators at the same time.

(2) Torque can be easily measured using only the sensor installed on the table without feedback of sensor signals and building a closed-loop attitude control system.

(3) Spherical bearings enable free rotational movement around three axes with a simple structure, and the restoring moment of the table's own weight can be used to restrict movement around one axis.

(4) Disturbances in torque measurement can be reduced by configuring the spherical bearing as an air bearing or other fluid bearing with low friction.

(5) Measurement conditions can be adjusted using additional mass that can be attached to the table. Furthermore, by making the additional mass cylindrical, for example, it is possible to maintain the rigidity of the table and suppress measurement disturbances caused by vibrations of the table itself.

[Brief explanation of the drawing]

FIG. 1 is a schematic configuration diagram of a gyro actuator torque measuring device according to an embodiment of the present invention, in which (a) is a longitudinal cross-sectional view, (a) is a plan view, and FIG. 2 is a gyro actuator to be measured.・An explanatory diagram of the operating principle of the actuator. FIG. 3 is a schematic side view of a conventional gyro actuator torque measuring device. 1.-table, 2.-additional mass, 3.-spherical bearing, 4.-supply device, 5.-mounting frame,
6.-Sensor block, 7-Signal processing device. Agent: Patent Attorney Akigai Sakama (2 people) Figure 2

Claims (1)

[Claims] A table on which a gyro actuator that generates torque due to the gyro effect to be measured can be installed;
an additional mass that can be attached to the table, a spherical bearing that supports the table, a supply device that supplies gas or liquid to the spherical bearing, a pedestal that supports the spherical bearing, and a sensor that detects the movement of the table. A gyro actuator torque measuring device comprising a block and a sensor signal processing device.