RU2586445C1 - Method of controlling driving torque margin in hinge devices of large-size mechanical systems of spacecraft above moments resistance - Google Patents

Abstract

FIELD: machine building.

SUBSTANCE: invention can be used for determination of driving torque margin in spacecraft hinge devices (HD) above resistive torques both in normal conditions and at extreme temperatures. Implementation of declared method is achieved due to independent from design of large-size mechanical device for determining moment of HD acting on all opening angle of the swivelling device. Independence of swivelling device is provided by HD assembly with all composing HD elements creating additional resistance at its standard opening, for example, by spring drive, such as sections of cable passing by transit through HD (intended for transfer to the spacecraft electric power generated by photo converters, installed on disclosed structural elements of mechanical device and transmission of telemetry signals to control unit of spacecraft), sensors of telemetric monitoring, units for locking HD, units for synchronous opening of separate elements of mechanical device, as well as for delay of opening of separate elements of swivelling device, providing for mechanical opening logic device as whole. HD assembly is performed at simulation of standard disclosure elements of large-sized structure of mechanical device which by weight in tens times less than mass of standard elements, but have seats and surfaces similar to standard ones, therefore additional resistors, acting on hinged device, by weight of movable simulator can be neglected. After determination of HD torque there is possibility of determining margin of driving torque in HD by formula.

EFFECT: technical result consists in improvement of accuracy of determining moments resistance acting in HD.

1 cl, 6 dwg

Description

The present invention relates to the field of mechanical engineering and can be used to determine the stock of torque in the hinged devices (SHU) of spacecraft over the moments of resistance both under normal conditions and at extreme temperatures.

From the existing level of technology there is a known method for testing the articulated devices of mechanical systems (patent RU2394218, G01M 13/02, 07/10/2010), which consists in the fact that when implementing the method, the articulated device is mounted in the mechanical system of the spacecraft using a direct electric technological drive direction, and is measured by the sensor resultant torque rotation of the hinge device in a forward direction Μ ₁ (φ), and then carry out rotation of the hinge device is directed in the opposite and and measuring the resultant torque of rotation of the hinge device in the reverse direction M ₂ (φ), and then determine the moment of resistance to rotation of the hinge device M _c (φ) using the formula

где

Where

- M _article (φ) is the moment of resistance of the stand to rotation φ without a hinge device (determined in advance during certification of the stand);

- φ is the opening angle of the hinge device (stand during certification).

и обратном $$M_2^{ну}(\varphi )$$

направлениях в нормальных условиях, отличающийся тем, что осуществляют поворот шарнирного устройства при помощи технологического электропривода с той же скоростью в прямом направлении при экстремальной температуре и измеряют датчиком результирующий крутящий момент повороту шарнирного устройства в прямом направлении при экстремальной температуре $$M_1^{экстр}(\varphi )$$

, после чего определяют момент сопротивления шарнирного устройства повороту при экстремальной температуре $$M_{с}^{экстр}(\varphi )$$

по формуле:Also known is a method of testing hinged devices of mechanical systems (patent RU2460983, G01M 13/00, 09/10/2012), aimed at determining the moment of resistance of the hinged device to the rotation φ on the bench at extreme temperatures, which consists in the fact that the hinge device is rotated using a technological electric drive installed coaxially to the axis of the articulated device with a predetermined minimum speed in the forward and reverse directions under normal conditions and measure the resulting th moment of rotation of the articulated device in direct $$M_{\mathrm{one}}^{n\mathrm{at}}(\varphi )$$

and vice versa $$M_2^{n\mathrm{at}}(\varphi )$$

directions under normal conditions, characterized in that they rotate the hinge device using a technological electric drive at the same speed in the forward direction at extreme temperature and measure the resulting torque by turning the hinge device in the forward direction at extreme temperature $$M_{\mathrm{one}}^{\mathrm{uh}\mathrm{to}\mathrm{from}tR}(\varphi )$$

then determine the moment of resistance of the articulated device to rotation at extreme temperature $$M_{\mathrm{from}}^{\mathrm{uh}\mathrm{to}\mathrm{from}tR}(\varphi )$$

according to the formula:

где

Where

- момент сопротивления стенда повороту φ без шарнирного устройства в нормальных условиях (определяется заранее при аттестации стенда);- $$M_{\mathrm{from}t}^{n\mathrm{at}}(\varphi )$$

- the moment of stand resistance to rotation φ without a hinge device under normal conditions (determined in advance during certification of the stand);

- φ is the opening angle of the hinge device (stand during certification). The described method is adopted as a prototype.

The disadvantages of these technical solutions is the presence of additional errors in the accuracy of determining the moments of resistance acting in the control room, such as the resistance in the stand for determining the moment of resistance in the control room (determined in advance during certification of the stand and cannot be precisely determined for each specific case of opening the control room), and aerodynamic drag of atmospheric air, which have a significant impact on structures with a large windage of the disclosed elements, designed to operate tation in space. These shortcomings lead to inaccuracies in determining the moments of resistance acting in the control room, and at the same time to an incorrect assessment of the main parameter of the reliability of the operation of mechanical systems of one-time operation - the stock of driving torque of the control room (excess of the driving moment over the resistance moment). Also, the disadvantages of these methods include their complexity, associated primarily with balancing large-sized structures, necessary to reduce the influence of mass under the influence of gravitational forces, because during normal operation as part of a spacecraft, they do not affect mechanical devices. With inaccurate balancing, the error in measuring the torque of the SH resistance is significantly increased due to the influence of the imbalance of large structures, it should be noted that the influence of the imbalance for this method of determining the moments of resistance cannot be excluded. In addition, the disadvantage is the lack of the ability to autonomously check the moments of resistance in the mechanisms of the control gear, which would allow us to determine the moments of resistance in the articulated devices at earlier stages and, accordingly, to track and eliminate errors in the design and development of the control gear in the case of ground experimental testing of products at the early stages, and also identify inaccuracies and defects in the manufacture of flight products.

Among the disadvantages of the method adopted for the prototype, it should be noted that this method of determining the moments of resistance, and especially when determining the moments of resistance when exposed to extreme temperatures (as a rule, for large-sized mechanical devices, checks are carried out at temperatures minus 100ºС and 100º), it is rather difficult to apply to modern designs of large spacecraft having large areas of disclosed elements. To date, spacecraft have been developed and are operating, which include the mechanical device of the solar battery, which includes five panels opened at an angle of 180 degrees, designed to accommodate photoconversion elements with an area of 10 m ² (4 × 2.5 m) and a rod disclosed at an angle of 90º with a length of 3.3 m). For this type of design, special equipment is required - stands for the opening and huge size of the pressure chamber (TAC), as well as a large amount of energy for cooling and heating the structure of a mechanical device in the TAC. In this case, it is necessary to maintain certain temperatures at the disclosure bench and other technological elements, so as not to create additional resistance when the mechanical device of the solar battery (MU BS) is opened. In addition, the disadvantages of this method include the fact that when determining the moments of resistance at extreme temperatures, the resistance arising in the test bench at extreme temperatures is not evaluated. Also, this method does not consider the possibility of determining the stock of driving torque in the SHU - the excess of the moment created by the standard SHU drives over the SHU resistance moments acting during disclosure, for which purpose the resistance moments acting in the SHU are actually determined.

The task to which the claimed method is directed is to control the stock of driving torque in the control room of large-sized mechanical devices of spacecraft over the moments of resistance at the entire opening angle (at any opening point) with increased accuracy, regardless of the dimensions of the disclosed structural elements of the mechanical device, as well as autonomous measurement of moments of resistance acting in the control room.

This task is achieved by the method of controlling the stock of driving torque in the hinge devices of large-sized mechanical systems of spacecraft, which consists in the fact that to determine the driving torque of the hinge device (SHU) installed on the test bench, the hinge device is rotated using the swivel beam of the stand installed coaxial to the axis of rotation of the hinge device and associated with the measuring device. The drive torque acting on the entire aperture angle of the hinge device M _shu (φ), is determined independently of the construction of large-sized mechanical device wherein M _shu (φ) is the difference between the driving torque SHU M _dv (φ), generated by its staff (e.g., a spring ) by the drive, and the moment of resistance M _s (φ) arising when the hinge device is opened during normal operation (M _w (φ) = M _dv (φ) -M _s (φ)), after which the stock of the driving moment in ШУ at its disclosure n (φ) by the formula:

The technical result achieved consists in a more accurate determination of the resistance moments acting in articulated devices designed to reveal large-sized structures of any size by minimizing the influence on the measurement of resistance moments, factors that do not arise during normal operation of the mechanical devices of the spacecraft, and also reduces the complexity and energy costs to conduct tests, allows at earlier stages to evaluate errors in the design and manufacture of control rooms before they are installed Sections in the composition of a large-sized mechanical device, in addition, allows us to estimate the stock of driving moment in the control room of large-sized mechanical devices of spacecraft over the moments of resistance.

The invention is illustrated by drawings:

- in FIG. 1 shows a wing of BS panels mounted on a weightless bench in the open position;

- in FIG. 2 shows the installation of ШУ on standard BS panels (remote view Г according to Fig. 1);

- in FIG. 3 shows an autonomous control unit;

- in FIG. 4 shows views A and B of FIG. 3;

- in FIG. 5 shows a stand for determining M _shu with installed shu;

- in FIG. 6 shows a view B of FIG. 5.

The implementation of the method of controlling the stock of torque in the articulated devices of large-sized mechanical systems of spacecraft consists of two main aspects:

- autonomy of manufacture of ШУ as an object of testing;

- the method of testing the SHU using a device (stand), providing a measurement of the moment of the SHU M _shu , acting upon its disclosure.

Let us consider the task of determining the stock of driving moment in the SHM M _shu , and with it the moment of resistance arising in the ShU M _s when it is opened, using the SHU installed in the wing of the MU BS of the spacecraft as an example. The wing of the MU BS panels mounted on the weightless system is shown in FIG. 1, ШУ 1, which is part of the wing and connecting two adjacent panels 2, 3, is shown in FIG. 2.

Autonomy of the spacecraft is ensured by assembling the spacecraft with all the elements that make up the spacecraft, creating resistance when it is opened by a standard (for example, spring) drive, such as sections of the cable passing in transit through the spacecraft (designed to transmit electric energy generated by photoconverters to the spacecraft, mounted on the disclosed structural elements of a mechanical device and transmitting telemetry signals to the control unit of the spacecraft), telemetry monitoring sensors SHU rytogo position and pressing means is a sensor for locking nodes SHU, the synchronization elements for the synchronous opening parts of the mechanical devices, and delay elements disclosure parts of mechanical devices intended to provide disclosure of mechanical logic device as a whole. The folded and opened position of the control unit, as well as the direction of its opening, are shown in FIG. four.

The assembly of the ШУ is carried out on simulators of the standard disclosed elements of the large-sized design of the mechanical device (hereinafter the simulator), which are ten times smaller in mass than the mass of the standard elements, but at the same time having seats and surfaces similar to the standard ones, therefore additional resistances acting on the ШУ, for the mass count of the moving simulator can be neglected. The determined value of M _sh (φ) can be written in the form:

- M _shu (φ) - the moment determined in the process of disclosing the SHU (for example, a torque sensor or dynamometer);

- M _dv (φ) - the moment of a regular drive of opening ШУ (for example, a spring), the value of which moments (power diagram) as a function of the angle is known in advance, is determined during the manufacture of the drive;

- M _s (φ) is the moment of resistance in the current in the SH;

- φ is the opening angle of the hinge device.

With a known value of M _sh (φ), it is possible to determine M _with (φ) by the formula (1):

Knowing the value of M _to (φ) define a reserve drive torque CC n (φ) to all carbon SHU disclosure as well as anywhere in SHU disclosure:

In FIG. 3 presents an autonomous control unit. SHU conditionally divided into two halves SHU1 and SHU2. The basis for the assembly of this SHU are simulators of frames 4, 5, which have seats for docking with the SHU, similar in mounting and overall dimensions to the seats that are necessary for installing the SHU on the BS 2, 3 panel. Spring actuators 6 are installed in the autonomous SHU directly intended for opening the SHU, the springs are cocked by a certain amount of torque determined by the torque key when they are cocked, this moment is the driving moment acting in the SHU when it is opened - M _dv . For guaranteed docking of the ШУ when installing on the wing panel BS 2, 3 after tests on frame simulators, in the base brackets ШУ 7, 8, 9, 10, grooves are provided at the joints. Fixing the position of the base brackets ШУ is made by eccentrics 11, as well as adjusting screws 12. Docking ШУ with frame simulators 4, 5 and wing panels BS 2, 3 is provided by bolts 13. Due to the presence of a spherical bearing 14, in the axis of rotation of the ШУ - when assembling the ШУ on frame simulators provide a parallel position of the axes 15, 16 shown in FIG. 4, similar to the parallelism of the position of the axes 15, 16, which is provided when installing the SHU in the wing of the MU BS panels.

In addition, the autonomous control system includes the following structural elements that affect the value of M _shu when opening the ShU as part of the wing panels of the MU BS:

- blocking unit ШУ 61, intended for fixing the ШУ in the open position;

- a telemetry monitoring sensor 17, fixing the fact of the opening of the hinge assembly, when the rod 18 is pressed by means of the spring 19;

- a synchronization roller 20 — an SHU element designed to provide synchronous disclosure of panels in the wing of MU BS panels.

SHU autonomous structural element, has a significant impact on the value of M _shu, a portion of cable network 21, 22, transiting through CC (cable network transmits the telemetry signal, and the voltage on the spacecraft control unit). This portion is installed in SHU via filament bands 51 impregnated with glue, which form its configuration, providing alignment of the cable portion and SHU axis (cable runs to twist around its own axis), the configuration of the cable results in the smallest loss of the driving torque M _dv when disclosing SHU from folded to open. Excessive sections of the cable 21, 22, which is mounted as part of an autonomous control gear, are technologically tied to the frame simulators, cable sections end with structural elements 35 to be spliced by crimp splices 35, 36 with sections of the cable network laid along the panels of the wing of the MU BS. The brackets 23, 24, 26, 27 are designed directly to form the cable section of the required length, the brackets 29, 30 are technologically designed to save the cable configuration when moving the control cabinet from the frame simulators 4, 5 to the standard panels 2, 3, after installing the control panel on the panel MU BS wings - brackets 29, 30 are subject to dismantle. During the rearrangement of the control cabinet from the frame simulators, the brackets 26, 27 by means of fasteners 31, 32 are disconnected from the brackets 25, 28 and installed on the brackets 33, 34, similar in design to the brackets 25, 28, which ensures the unchanged configuration of the cable section passing into the cabinet from the configuration of the cable section that occurred during the installation of the cable in an autonomous control room. The brackets 25, 28 are mounted on the elements 52, which are fixed to the simulators of the frames 4, 5 so that they can adjust the position in the horizontal direction to simulate the position of the brackets 33, 34 mounted on the wing panels of the MU BS, i.e. the design of the frame simulator is universal and does not depend on the configuration of the MU BS panels.

In FIG. 5 shows a stand 53 for determining M _shu acting in the ShU when it is opened together with the ShU 54 fasteners 37, 38 ShU 54 installed on its fixed beam 39, intended for testing. SHU 54 is attached to the stand 35 through a fixed simulator of the frame 45. The fixed beam 39 through the grooves made in its base 55, as well as the grooves made in the base of the plate 40, has the ability to adjust the axis position of the tested SHU, to ensure alignment with the axis of the roller 41, mounted and fixed coaxially with the swing beam 42, while the rotation mechanism 43 of the swing beam 42 is provided with a bearing to minimize drag when turning the swing beam 42 during testing. The horizontal position of the stand 53 is ensured by the rotation of the supports 56 with the subsequent fixation of their position by the nuts 57. The moment of resistance arising during tests when turning the swing beam M _st is determined in advance during the certification of the stand, often this is a fairly small amount that does not significantly affect the test result, which can be neglected. The simulation of the impact on the disclosure of the SHU of the loads coming from the synchronization system consists in installing a rod 59 on the roller 20, equipped with springs 58 and mounted on the process roller 60. The springs 58 provide a specified load value. The pivot beam 42 through a pin 44 is connected to a movable frame simulator 46. The pivot beam 42 is connected through a roller 41 and a rod 47 mounted on a roller 41 to a dynamometer 49 mounted on a movable carriage 50. The carriage ensures that the lock is held in the folded position and due to its mobility has the ability to move in the direction D with a certain step, thereby releasing the ШУ and giving it the possibility of opening by means of spring drives 6. The linear movement of the movable carriage 50 in accord with the steer angle SHU so that the control moments M _{shu operating} SHU, can be determined before step SHU disclosure 1º. The force value measured by the dynamometer 49 due to the predetermined radius of the roller 41 is converted into the value of the moment M _sh . It should be noted that the mass of the mobile SHU simulator is small (about 0.1 kg) and does not require weightlessness.

Due to the fact that the regular operation of the control cabinets installed in the MU BS wing occurs under vacuum, and can also occur in conditions of temperatures decreased to minus 110 ° C and elevated to 110 ° C, it is planned to place stand 35 in a heat chamber to determine the moments operating in the control room at extreme temperatures . In this case, the movable frame simulator 45, the stationary frame simulator 46, the fixed stand beam 39 and the swing beam of the stand 42 are made of the same material - to exclude the occurrence of temperature deformations during testing. Based on the results of earlier experiments, it was determined that the presence of vacuum does not affect the components of the SH and their performance, therefore, tests to determine the driving torque of the SH at extreme temperatures are carried out in a heat chamber.

After determining the moment M _shu, which is effective during the opening in the ШУ, according to formula 2, the moment of resistance acting in the ШУ at the opening of M _c is determined by formula 2, and then, using the formula 3, the torque stock in the ШУ n (φ) at the entire angle of the ШУ opening is determined.

Thus, the proposed method for testing the control gear used in the mechanical devices of spacecraft differs from previously known patent objects. The proposed technical solution allows us to track defects in the manufacture of ШУ, as well as errors in the design and construction of newly created structures, at the early stages of manufacturing, which can significantly reduce energy costs and the complexity of testing. This method is suitable for determining the stock of driving moment in the spacecraft control system for large-sized mechanical systems of spacecraft over the resistance moments for the disclosed objects (for example, MU BS panels, reflectors, etc.) of any overall and structural dimensions, as well as any configuration. Using this method when conducting tests of SH, there is no influence of the disclosure stands (in the case of tests as part of mechanical devices), which makes it possible to more accurately determine the values of the reserves of the torque of the SH and confirm the reliability of each SH used in the composition of large-sized mechanical systems of spacecraft.

Claims (1)

A method of controlling the stock of torque in the hinge devices of large-sized mechanical systems of spacecraft, which consists in the fact that to determine the driving moment of the hinge device (SHU) installed on the test bench, the hinge device is rotated using the swivel beam of the stand mounted coaxially to the axis of rotation of the hinge device and associated with the measuring device, characterized in that the driving torque acting on the entire opening angle of the hinge device M _sh (φ) is determined autonomously from the design of a large-sized mechanical device, while M _ШУ (φ) is the difference between the driving moment of the ШУ M _dv (φ) created by its standard, for example, spring drive, and the moment of resistance M _с (φ) arising when the hinge device is opened in during normal operation (M _w (φ) = M _dv (φ) -M _s (φ)), after which the stock of torque in the control room when it is opened n (φ) is determined by the formula:

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