CN109141471B - Implementation method for screening high-stability satellite flywheel based on micro-interference torque - Google Patents
Implementation method for screening high-stability satellite flywheel based on micro-interference torque Download PDFInfo
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- CN109141471B CN109141471B CN201810684027.5A CN201810684027A CN109141471B CN 109141471 B CN109141471 B CN 109141471B CN 201810684027 A CN201810684027 A CN 201810684027A CN 109141471 B CN109141471 B CN 109141471B
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Abstract
The invention provides a method for realizing screening of a high-stability satellite flywheel based on micro-interference torque, which comprises the following steps of: the method comprises the following steps: n flywheels to be screened are arranged, and the micro interference rectangular platform is fixed on the optical vibration isolation platform; step two: building a micro interference torque test system, which mainly comprises a link of a micro interference torque platform and a power amplifier and data acquisition system; step three: and (3) mounting the same batch of to-be-tested flywheels on the micro interference torque platform through the rigid switching tool to prepare for testing the disturbance quantity at the bottom of the flywheel mounting. The invention guides the high-precision satellite platform to complete flywheel screening by analyzing and identifying the acquired signals as the input of flywheel screening.
Description
Technical Field
The invention relates to a method for realizing screening of a high-stability satellite flywheel, in particular to a method for realizing screening of the high-stability satellite flywheel based on micro interference torque.
Background
With the continuous development of satellite technology, the satellite structure is more and more complex, the load is also continuously increased, meanwhile, the requirement of the load on a satellite platform is higher and higher, and the micro-vibration problem becomes a main factor for restricting the development of a high-precision high-stability satellite. Among them, the flywheel is one of the important vibration sources causing the disturbance of the satellite platform, so the screening of the flywheel is more and more important.
For the current screening of the flywheel, the screening of the control characteristics is mainly performed by a flywheel supplier. Screening based on microvibration was not performed by the suppliers. The micro-vibration characteristic of the flywheel is an important restriction factor influencing the stability and the precision of the satellite load, so that the screening of the high-stability satellite flywheel based on the micro-interference torque is urgently needed. Accordingly, a screening method for determining a satellite flywheel based on a micro interference torque is also urgently needed.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a method for realizing screening of a high-stability satellite flywheel based on micro-interference torque, and provides a satellite flywheel screening method combining dominant frequency and frequency multiplication thereof as well as structural inherent frequency components of a micro-interference torque signal generated by a satellite flywheel on an installation bottom surface, wherein the dominant frequency and the frequency multiplication are acquired by a satellite flywheel ground micro-interference torque test under a frequency sweeping working condition; the acquired signals are analyzed and identified to be used as the input of flywheel screening, so that the high-precision satellite platform is guided to complete flywheel screening.
According to one aspect of the invention, a method for realizing screening of a high-stability satellite flywheel based on micro disturbance torque is provided, which is characterized by comprising the following steps:
the method comprises the following steps: n flywheels to be screened are arranged, wherein n is a natural number, and the micro interference rectangular platform is fixed on the optical vibration isolation platform;
step two: building a micro interference torque test system, which mainly comprises a link of a micro interference torque platform and a power amplifier and data acquisition system;
step three: mounting the same batch of to-be-tested flywheels on a micro interference torque platform through a rigid transfer tool to prepare for testing the disturbance quantity at the bottom of the flywheel mounting;
step four: testing the system background noise under the condition that the flywheel is not powered;
step five: extracting a plurality of inherent modal frequencies of the system from the background noise of the system under the condition that the flywheel is not powered;
step six: controlling the flywheel according to a conventional frequency sweeping rate, and acquiring micro interference torque data of the first flywheel in the frequency sweeping process from 0 to the limit rotating speed;
step seven: controlling the flywheel according to a conventional sweep frequency rate, and reducing the rotating speed of the flywheel I to 0;
step eight: preliminarily analyzing the frequency sweep data collected in the sixth step, and recording the frequency point f with a larger frequency response valuem，m＝1,2,3；
Step nine: acquisition fixed frequency f1Under the working condition, the length of the data is not less than 30 s;
step ten: acquisition fixed frequency f2Under the working condition, the length of the data is not less than 30 s;
step eleven: acquisition fixed frequency f3Under the working condition, the length of the data is not less than 30 s;
step twelve: analyzing the micro-interference torque data of the ninth step to the eleventh step, and recording the frequency point fm(m ═ 1,2,3) and associated with the three frequency points f of the data analyzed in step eightmComparing the amplitudes of (m ═ 1,2, 3);
for the twelfth step, if the data value of the eighth step is basically consistent with the data value of the ninth step to the eleventh step, determining the control rate of the first flywheel frequency sweeping; if the data in the step eight is inconsistent with the data values in the step nine to the step eleven and the data in the step nine to the step eleven is larger than the corresponding frequency point amplitude in the step eight, performing speed reduction and frequency sweep control on the flywheel I;
if speed reduction frequency sweeping control is carried out in the steps, repeating the steps six to twelve after speed reduction is needed until the data in the step eight is consistent with the data values in the steps nine to eleven; thereby determining the appropriate speed of the next flywheel frequency sweep control;
step thirteen: acquiring micro interference torque data in a first flywheel frequency sweeping process;
fourteen steps: performing time domain peak-to-peak statistics on micro-interference torque data in the frequency sweeping process of the first flywheel, and recording as P1;
step fifteen: performing waterfall graph analysis on the micro-interference torque data in the first flywheel frequency sweeping process, removing a plurality of inherent modal frequencies of the system obtained in the fifth step, and finally obtaining the number k1 of the distribution of the main frequency components and the main frequency amplitude A1 in the flywheel frequency sweeping process;
sixthly, the steps are as follows: according to the sixth step to the fifteenth step, respectively carrying out micro-interference torque tests on the rest flywheels in sequence, and recording the peak value Pi of each flywheel, the distribution quantity ki of the main frequency components and the main frequency amplitude Ai in the frequency sweeping process;
seventeen steps: determining the maximum value Pmax of the peak-to-peak value of each flywheel through comparison;
eighteen steps: determining the maximum value kmax of the number of the main frequency component distribution of each flywheel through comparison;
nineteen steps: determining the main frequency amplitude Amax of each flywheel through comparison;
twenty steps: calculating a screening factor F1 of the first flywheel according to an empirical formula, wherein the empirical formula is as follows:
Fi＝(a*(Pi/Pmax))+(b*(ki/kmax))+(c*(Ai/Amax))
wherein, i is 1 … … n, a is peak-to-peak weight coefficient, 0.37 is selected, b is main frequency component fraction weight coefficient, 0.19 is selected, c is main frequency amplitude weight coefficient, 0.44 is selected;
twenty one: calculating the screening factor Fi of each flywheel according to the algorithm of the fourteenth step;
step twenty-two: and comparing the screening factors Fi of the flywheels, and selecting the flywheels with smaller screening factors as more preferable flywheels.
Compared with the prior art, the invention has the following beneficial effects: firstly, the data is direct and real and is micro interference torque of the flywheel to the installation bottom surface; secondly, the physical significance is clear, and the butt joint with the unit index of the load is convenient; thirdly, the universality is strong, and the device is suitable for flywheels with various control modes and can also be used for screening gyros.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic diagram of a method for implementing a high-stability satellite flywheel screening based on micro disturbance torque according to the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1, the method for implementing the screening of the high-stability satellite flywheel based on the micro disturbance torque of the present invention includes the following steps:
the method comprises the following steps: n flywheels to be screened are arranged, wherein n is a natural number, and the micro interference rectangular platform is fixed on the optical vibration isolation platform;
step two: building a micro interference torque test system, which mainly comprises a link of a micro interference torque platform and a power amplifier and data acquisition system;
step three: mounting the same batch of to-be-tested flywheels on a micro interference torque platform through a rigid transfer tool to prepare for testing the disturbance quantity at the bottom of the flywheel mounting;
step four: testing the system background noise under the condition that the flywheel is not powered;
step five: extracting a plurality of inherent modal frequencies of the system from the background noise of the system under the condition that the flywheel is not powered;
step six: controlling the flywheel according to a conventional frequency sweeping rate, and acquiring micro interference torque data of the first flywheel in the frequency sweeping process from 0 to the limit rotating speed;
step seven: controlling the flywheel according to a conventional sweep frequency rate, and reducing the rotating speed of the flywheel I to 0;
step eight: preliminarily analyzing the frequency sweep data collected in the sixth step, and recording the frequency point f with a larger frequency response valuem，m＝1,2,3；
Step nine: acquisition fixed frequency f1Under the working condition, the length of the data is not less than 30 s;
step ten: acquisition fixed frequency f2Under the working condition, the length of the data is not less than 30 s;
step eleven: acquisition fixed frequency f3Under the working condition, the length of the data is not less than 30 s;
step twelve: analyzing the micro-interference torque data of the ninth step to the eleventh step, and recording the frequency point fm(m ═ 1,2,3) and associated with the three frequency points f of the data analyzed in step eightmComparing the amplitudes of (m ═ 1,2, 3);
for the twelfth step, if the data value of the eighth step is basically consistent with the data value of the ninth step to the eleventh step, determining the control rate of the first flywheel frequency sweeping; if the data in the step eight is inconsistent with the data values in the step nine to the step eleven and the data in the step nine to the step eleven is larger than the corresponding frequency point amplitude in the step eight, performing speed reduction and frequency sweep control on the flywheel I;
if speed reduction frequency sweeping control is carried out in the steps, repeating the steps six to twelve after speed reduction is needed until the data in the step eight is consistent with the data values in the steps nine to eleven; thereby determining the appropriate speed of the next flywheel frequency sweep control;
step thirteen: acquiring micro interference torque data in a first flywheel frequency sweeping process;
fourteen steps: performing time domain peak-to-peak statistics on micro-interference torque data in the frequency sweeping process of the first flywheel, and recording as P1;
step fifteen: performing waterfall graph analysis on the micro-interference torque data in the first flywheel frequency sweeping process, removing a plurality of inherent modal frequencies of the system obtained in the fifth step, and finally obtaining the number k1 of the distribution of the main frequency components and the main frequency amplitude A1 in the flywheel frequency sweeping process;
sixthly, the steps are as follows: according to the sixth step to the fifteenth step, respectively carrying out micro-interference torque tests on the rest flywheels in sequence, and recording the peak value Pi of each flywheel, the distribution quantity ki of the main frequency components and the main frequency amplitude Ai in the frequency sweeping process;
seventeen steps: determining the maximum value Pmax of the peak-to-peak value of each flywheel through comparison;
eighteen steps: determining the maximum value kmax of the number of the main frequency component distribution of each flywheel through comparison;
nineteen steps: determining the main frequency amplitude Amax of each flywheel through comparison;
twenty steps: calculating a screening factor F1 of the first flywheel according to an empirical formula, wherein the empirical formula is as follows:
Fi＝(a*(Pi/Pmax))+(b*(ki/kmax))+(c*(Ai/Amax))
wherein, i is 1 … … n, a is peak-to-peak weight coefficient, 0.37 is selected, b is main frequency component fraction weight coefficient, 0.19 is selected, c is main frequency amplitude weight coefficient, 0.44 is selected;
twenty one: calculating the screening factor Fi of each flywheel according to the algorithm of the fourteenth step;
step twenty-two: and comparing the screening factors Fi of the flywheels, and selecting the flywheels with smaller screening factors as more preferable flywheels.
According to the invention, a micro-interference torque signal generated by the flywheel on the installation bottom surface during working is sensed through the micro-interference torque test bed, an analog signal is converted into a digital signal through the acquisition card, main frequency components and amplitude values in the signal are extracted, then screening factors are synthesized through the weight coefficients, and the comparison screening factors are used as screening bases of the flywheel. The micro-interference torque signal can effectively reflect the direct disturbance of the satellite flywheel to the installation bottom surface of the satellite flywheel, and the time domain statistic can also be directly used as a primary screening parameter. The micro interference torque test is to measure the micro interference torque generated on the bottom surface of the installation under the working state of the satellite flywheel. The micro-interference torque platform comprises four high-precision broadband three-way force sensors, an analog quantity calculating circuit part, a power amplifier and a data acquisition system. The micro-interference torque acquisition device is used for acquiring micro-interference torque signals generated on the table top by the rotating component fixed on the micro-interference torque table. The weight coefficient is used for quantifying the influence of factors influencing the satellite flywheel screening in the screening, and the formulation basis is an empirical value. The measuring precision moment of the invention is better than 0.001N m. The method for realizing the screening of the high-stability satellite flywheel based on the micro-interference torque is characterized in that ground micro-interference torque test data of the flywheel are analyzed and optimized, and finally screening factors are synthesized through empirical weight coefficients and serve as screening bases of the flywheel. The invention mainly solves the problem that a high-precision satellite platform lacks screening quantification basis when screening a satellite flywheel.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (1)
1. A method for realizing high-stability satellite flywheel screening based on micro-interference torque is characterized by comprising the following steps:
the method comprises the following steps: n flywheels to be screened are arranged, wherein n is a natural number, and the micro interference rectangular platform is fixed on the optical vibration isolation platform;
step two: building a micro interference torque test system, which mainly comprises a link of a micro interference torque platform and a power amplifier and data acquisition system;
step three: mounting the same batch of to-be-tested flywheels on a micro interference torque platform through a rigid transfer tool to prepare for testing the disturbance quantity at the bottom of the flywheel mounting;
step four: testing the background noise of the micro interference torque test system under the condition that the flywheel is not electrified;
step five: extracting a plurality of inherent modal frequencies of the micro-interference torque test system from background noise of the micro-interference torque test system under the condition that the flywheel is not powered;
step six: controlling the flywheel according to a conventional frequency sweeping rate, and acquiring micro interference torque data of the first flywheel in the frequency sweeping process from 0 to the limit rotating speed;
step seven: controlling the flywheel according to a conventional sweep frequency rate, and reducing the rotating speed of the flywheel I to 0;
step eight: preliminarily analyzing the frequency sweep data collected in the sixth step, and recording frequency points fm with larger frequency response values, wherein m is 1,2 and 3;
step nine: acquiring micro interference torque data of a first flywheel under the working condition of fixed frequency f1, wherein the data length is not less than 30 s;
step ten: acquiring micro interference torque data of a first flywheel under the working condition of fixed frequency f2, wherein the data length is not less than 30 s;
step eleven: acquiring micro interference torque data of a first flywheel under the working condition of fixed frequency f3, wherein the data length is not less than 30 s;
step twelve: analyzing the micro interference torque data in the ninth step to the eleventh step, recording the amplitude of the frequency point fm, and comparing the amplitude with the amplitudes of the three frequency points fm of the data analyzed in the eighth step, wherein m is 1,2 and 3;
for the twelfth step, if the amplitude of the frequency point in the eighth step is basically consistent with the amplitude of the frequency point in the ninth step to the eleventh step, determining that the conventional frequency sweeping rate is the control rate of the frequency sweeping of the first flywheel; if the amplitude of the frequency point in the step eight is not consistent with the amplitude of the frequency point in the steps nine to eleven and the data in the steps nine to eleven are larger than the amplitude of the corresponding frequency point in the step eight, performing speed reduction and frequency sweep control on the flywheel I;
if speed reduction frequency sweeping control is carried out in the steps, repeating the steps six to twelve after speed reduction is needed until the data in the step eight is consistent with the data values in the steps nine to eleven; thereby determining the appropriate speed of the next flywheel frequency sweep control;
step thirteen: acquiring micro interference torque data in a first flywheel frequency sweeping process;
fourteen steps: performing time domain peak-to-peak statistics on micro-interference torque data in the frequency sweeping process of the first flywheel, and recording as P1;
step fifteen: performing waterfall graph analysis on the micro-interference torque data in the first flywheel frequency sweeping process, eliminating a plurality of inherent modal frequencies of the micro-interference torque test system obtained in the fifth step, and finally obtaining the distribution quantity k1 of the main frequency components and the main frequency amplitude A1 in the flywheel frequency sweeping process;
sixthly, the steps are as follows: according to the sixth step to the fifteenth step, respectively carrying out micro-interference torque tests on the rest flywheels in sequence, and recording the peak value Pi of each flywheel, the distribution quantity ki of the main frequency components and the main frequency amplitude Ai in the frequency sweeping process;
seventeen steps: determining the maximum value Pmax of the peak-to-peak value of each flywheel through comparison;
eighteen steps: determining the maximum value kmax of the number of the main frequency component distribution of each flywheel through comparison;
nineteen steps: determining the main frequency amplitude Amax of each flywheel through comparison;
twenty steps: calculating a screening factor F1 of the flywheel I according to an empirical formula, wherein the empirical formula is as follows:
Fi＝(a*(Pi/Pmax))+(b*(ki/kmax))+(c*(Ai/Amax))
wherein, i is 1 … … n, a is peak-to-peak weight coefficient, 0.37 is selected, b is main frequency component fraction weight coefficient, 0.19 is selected, c is main frequency amplitude weight coefficient, 0.44 is selected;
twenty one: calculating screening factors Fi of each flywheel according to the algorithm in the twenty step;
step twenty-two: and comparing the screening factors Fi of the flywheels, and selecting the flywheels with smaller screening factors as more preferable flywheels.
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8287430B2 (en) * | 2009-04-27 | 2012-10-16 | Schaeffler Technologies AG & Co. KG | Method for operating a drive train |
| CN105786008A (en) * | 2016-03-31 | 2016-07-20 | 北京航空航天大学 | Flexible spacecraft attitude control method for flywheel saturation and friction characteristics |
| CN105938368A (en) * | 2016-05-26 | 2016-09-14 | 北京航空航天大学 | Flexible spacecraft attitude control method based on limited time friction estimation |
| CN106742071A (en) * | 2017-01-20 | 2017-05-31 | 上海航天控制技术研究所 | A kind of method for avoiding zero passage using the control of orthogonal Flywheel |
| CN107618678A (en) * | 2017-08-25 | 2018-01-23 | 中国科学院长春光学精密机械与物理研究所 | Attitude control information consolidation method of estimation under attitude of satellite angular deviation |
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- 2018-06-28 CN CN201810684027.5A patent/CN109141471B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8287430B2 (en) * | 2009-04-27 | 2012-10-16 | Schaeffler Technologies AG & Co. KG | Method for operating a drive train |
| CN105786008A (en) * | 2016-03-31 | 2016-07-20 | 北京航空航天大学 | Flexible spacecraft attitude control method for flywheel saturation and friction characteristics |
| CN105938368A (en) * | 2016-05-26 | 2016-09-14 | 北京航空航天大学 | Flexible spacecraft attitude control method based on limited time friction estimation |
| CN106742071A (en) * | 2017-01-20 | 2017-05-31 | 上海航天控制技术研究所 | A kind of method for avoiding zero passage using the control of orthogonal Flywheel |
| CN107618678A (en) * | 2017-08-25 | 2018-01-23 | 中国科学院长春光学精密机械与物理研究所 | Attitude control information consolidation method of estimation under attitude of satellite angular deviation |
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