CN113093704B - Real-time synchronization performance testing device and method for control moment gyro symmetric frame system - Google Patents

Abstract

The invention discloses a real-time synchronization performance testing device and method for a control torque gyro symmetrical frame system. The left gyro frame and the right gyro frame are respectively connected with a left gyro frame drive mechanism and a right gyro frame drive mechanism that make them rotate, and the left gyro frame drive mechanism and the right gyro frame drive mechanism There are respectively a left gyro frame rotation axis and a right gyro frame rotation axis for driving the left gyro frame and the right gyro frame to rotate. The invention can accurately test the synchronization performance of the control moment gyro frame under the condition of consuming less hardware resources.

Description

A real-time synchronization performance testing device and method for a control moment gyro symmetrical frame system

technical field

The invention belongs to the technical field of control torque gyroscopes, and in particular relates to a real-time synchronization performance testing method of a symmetrical frame system of a control torque gyroscope.

Background technique

The control moment gyro (CMG, control moment gyro) obtains a certain angular momentum through the high-speed rotating rotor, and outputs the control torque by changing the direction of the angular momentum. It has a wide range of applications in aerospace, satellite, ship, intelligent transportation and other attitude control, and shows unique advantages.

The control torque gyroscope rotates at high speed around the rotation axis at an angular velocity ω through the gyro rotor, while the gyro frame rotates around the frame axis at an angular velocity ω _e . A frame system with two identical parameters distributed symmetrically in the control moment gyro. The two symmetrically distributed frame systems have equal rotation angles and opposite rotation directions, so as to achieve mutual cancellation of the longitudinal disturbance torque generated by a single gyro, thereby ensuring the stability of the controlled body and improving the control accuracy.

The synchronization of the control torque gyro symmetrical frame system is particularly important. It can be known from the gyro torque M _G = H×ω _e that the output size and direction are proportional to the frame angular velocity ω _e and the angular momentum H of the constant high-speed rotor, so the angle of the gyro frame is proportional to The control accuracy of the angular velocity and the torque gyro directly affects the output accuracy of the torque gyro control torque, thereby affecting the accuracy of the attitude adjustment of the controlled body. If the frame system cannot effectively ensure the synchronization of the output torque, it will directly affect the attitude control accuracy and stability. Therefore, it has important engineering application value and practical significance to ensure the angular synchronization, angular velocity synchronization and torque synchronization of the symmetrical frame system.

In the practical application of the symmetrically arranged control moment gyro system, if a better control effect is to be obtained, it is necessary to conduct experiments and tests on the synchronization performance of its frame system to ensure the accuracy and reliability of the control effect. There are two methods to test the synchronization performance of the control torque gyro symmetrical frame system, one is to measure the required data through a professional test bench, and the other is to obtain the required data through simulation. Simulation requires low cost, convenient operation, and consumes less hardware resources. However, because many practical factors are ignored in the simulation, the obtained simulation test results have a large error with the actual results, and the accuracy is not high. Professional test benches cost a lot, consume more hardware resources, and operate very complicated.

SUMMARY OF THE INVENTION

In view of the above-mentioned deficiencies of the prior art, the technical problem to be solved by the present invention is that the synchronization performance of the control torque gyro frame can be accurately tested under the condition of consuming less hardware resources.

In order to solve the above-mentioned technical problems, the present invention adopts the following technical solutions:

A real-time synchronization performance testing device for a symmetrical frame system of a control moment gyro, comprising a left gyro frame and a right gyro frame symmetrically arranged on a test base, and a left gyro frame and a right gyro frame capable of self-transmission are respectively provided on the left gyro frame and the right gyro frame. The moment gyro, the left gyro frame and the right gyro frame are respectively connected with a left gyro frame drive mechanism and a right gyro frame drive mechanism for making them rotate, and the left gyro frame drive mechanism and the right gyro frame drive mechanism are respectively equipped for driving the left gyro frame. The rotation axis of the left gyro frame and the right gyro frame rotation axis of the gyro frame and the right gyro frame;

A left incremental encoder for measuring the rotational angular velocity of the left gyro frame, a left absolute encoder for measuring the rotational angle of the left gyro frame, and a left gyro frame for measuring the torque are coaxially arranged on the rotational axis of the left gyro frame. left torque sensor;

A right incremental encoder for measuring the rotational angular velocity of the right gyro frame, a right absolute encoder for measuring the rotation angle of the right gyro frame, and a right gyro frame for measuring the torque are coaxially arranged on the rotation axis of the right gyro frame. right torque sensor;

The rotating shaft of the left gyro frame is also coaxially provided with a left braking torque applying mechanism for applying load torque, and the rotating shaft of the right gyro frame is also coaxially provided with a right braking torque applying mechanism for applying load torque;

Also includes a data analysis device, which communicates with the left incremental encoder, the left absolute encoder, the left torque sensor, the right incremental encoder, the right absolute encoder, the right torque sensor, the left braking torque applying mechanism and the right braking torque Apply a connection for real-time analysis of the synchronization performance of the left gyro frame and the right gyro frame.

As an optimization, the left gyro frame driving mechanism includes a left front support frame and a left rear support frame, which are arranged on the test base and located on both sides of the left gyro frame in the length direction, and a left gyro frame drive motor. The left gyro frame drive motor is installed On the left front support frame, the output shaft of the left gyro frame driving motor is connected with the front end of the left gyro frame through the left front support frame, the rear end of the left gyro frame is connected with the rotation shaft of the left gyro frame, and the left gyro frame rotation shaft is connected with the left gyro frame drive motor The output shaft of the left gyro frame is coaxially arranged, and the rotating shaft of the left gyro frame passes through the bearing assembly on the left rear support frame, and extends outward with an extension section;

The right gyro frame drive mechanism includes a right front support frame and a right rear support frame disposed on the test base and located on both sides in the length direction of the right gyro frame, and a right gyro frame drive motor, and the right gyro frame drive motor is installed on the right front support. On the frame, the output shaft of the drive motor of the right gyro frame is connected to the front end of the right gyro frame through the right front support frame, the rear end of the right gyro frame is connected to the rotating shaft of the right gyro frame, and the rotating shaft of the right gyro frame is connected with the output shaft of the drive motor of the right gyro frame. Coaxially arranged, the rotating shaft of the right gyro frame passes through the right rear support frame through the bearing assembly, and extends outward with an extension section.

As an optimization, the input shaft of the left torque sensor is installed coaxially with the extension of the rotation shaft of the left gyro frame through the first left coupling, and the input shaft of the right torque sensor is connected to the rotation shaft of the right gyro frame through the first right coupling The extension section of the device is coaxially installed, and the left torque sensor and the right torque sensor are respectively arranged on the test base through the left first support and the right first support.

As an optimization, the left braking torque application mechanism includes a left magnetic powder brake, the left magnetic powder brake is connected to the output shaft of the left torque sensor through the second left coupling, the right braking torque application mechanism includes a right magnetic powder brake, and the right magnetic powder brake passes through the first coupling. The two right couplings are connected to the output shaft of the right torque sensor, and the left magnetic powder brake and the right magnetic powder brake are respectively arranged on the test base through the second left support and the second right support.

As an optimization, a left installation hole is opened in the top center of the left gyro frame, a left gyro rotor drive motor is installed in the left installation hole, the rotor of the left moment gyro is installed on the output shaft of the left gyro rotor drive motor, and the top center of the right gyro frame is installed A right installation hole is opened, a right gyro rotor drive motor is installed in the right installation hole, and the rotor of the right moment gyro is installed on the output shaft of the right gyro rotor drive motor.

The invention also discloses a method for testing the real-time synchronization performance of a control torque gyro symmetric frame system, using the control torque gyro symmetric frame system real-time synchronization performance testing device for testing, comprising the following steps:

Step a, start the left gyro rotor drive motor, the right gyro rotor drive motor, the left gyro frame drive motor and the right gyro frame drive motor, so that the left moment gyro and the right moment gyro are rotated, and the left gyro frame and the right gyro frame are respectively rotated. Drive the left moment gyro and the right moment gyro to precess;

Step b. By controlling the left braking torque application mechanism and the left and right braking torque application mechanisms, load torques of different sizes are respectively applied to the rotation axis of the left gyro frame and the rotation axis of the right gyro frame, and the left incremental encoder and the left absolute encoder are used. The encoder and the left torque sensor measure the rotation angular velocity, rotation angle and corresponding torque of the left gyro frame, and measure the rotation angular velocity, rotation angle and corresponding torque of the right gyro frame through the right incremental encoder, the right absolute encoder and the right torque sensor. Torque magnitude, obtain the rotational angular velocity, rotational angle and corresponding torque magnitude of the left gyro frame and the right gyro frame under different load conditions, and transmit the data to the data analysis device;

Step c, according to each data transmitted in real time, in the data analysis device, draw the angular velocity of rotation, the rotation angle and torque of the left gyro frame and the right gyro frame under the same load condition with time change curve, according to each corresponding item change curve The fitting degree of , so as to judge the synchronization performance of the left gyro frame and the right gyro frame.

Compared with the prior art, the present invention has the following beneficial effects: the present invention designs a set of high-efficiency and simple test device for the synchronous performance test of the control moment gyro frame, the actual test experiment can be completed in a small space, and the test operation is simple and convenient And data acquisition is more convenient. During the test, an incremental encoder, an absolute encoder and a torque sensor are set on the drive mechanisms on the symmetrically arranged left gyro frame and right gyro frame, and different load torques are applied to them through the braking torque application mechanism. The angular velocity, rotation angle and torque of the left gyro frame and the right gyro frame under different loads are compared and analyzed by comparing and analyzing the measured data of the left gyro frame and the right gyro frame with the same structure to judge the synchronization of the symmetrically arranged gyro frames. performance.

Description of drawings

1 is a top view of an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of an embodiment of the present invention.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings.

During specific implementation: referring to Fig. 1 and Fig. 2, a real-time synchronization performance test device for a control moment gyro symmetrical frame system, comprising a left gyro frame 3 and a right gyro frame 21 symmetrically arranged on the test base 18, left gyro frame 3 and The right gyro frame 21 is respectively provided with a left moment gyro 4 and a right moment gyro 20 that can be self-reported, and the left gyro frame 3 and the right gyro frame 21 are respectively connected with a left gyro frame drive mechanism and a right gyro frame drive mechanism that make it rotate. the left gyro frame drive mechanism and the right gyro frame drive mechanism respectively have a left gyro frame rotation axis and a right gyro frame rotation axis for driving the left gyro frame and the right gyro frame to rotate;

A left incremental encoder for measuring the rotational angular velocity of the left gyro frame, a left absolute encoder 7 for measuring the rotational angle of the left gyro frame 3 and a left absolute encoder 7 for measuring the rotation of the left gyro frame are coaxially arranged on the rotating shaft of the left gyro frame. The left torque sensor 9 of the moment;

A right incremental encoder for measuring the rotational angular velocity of the right gyro frame, a right absolute encoder 16 for measuring the rotational angle of the right gyro frame, and a right gyro frame torque are coaxially arranged on the rotating shaft of the right gyro frame The right torque sensor 14;

The rotating shaft of the left gyro frame is also coaxially provided with a left braking torque applying mechanism 11 for applying load torque, and the rotating shaft of the right gyro frame is also coaxially provided with a right braking torque applying mechanism for applying load torque. 12;

Also included is a data analysis device 24, which is associated with a left incremental encoder, a left absolute encoder, a left torque sensor, a right incremental encoder, a right absolute encoder, a right torque sensor, a left braking torque application mechanism, and a right braking torque. The transfer application connection is used to analyze the synchronization performance of the left gyro frame and the right gyro frame in real time.

In this way, the present invention designs an efficient and simple test device for the control torque gyro frame synchronization performance test, the actual test experiment can be completed in a small space, the test operation is simple and the data acquisition is relatively convenient. During the test, an incremental encoder, an absolute encoder and a torque sensor are set on the drive mechanisms on the symmetrically arranged left gyro frame and right gyro frame, and different load torques are applied to them through the braking torque application mechanism. The angular velocity, rotation angle and torque of the left gyro frame and the right gyro frame under different loads are compared and analyzed by comparing and analyzing the measured data of the left gyro frame and the right gyro frame with the same structure to judge the synchronization of the symmetrically arranged gyro frames. performance, the data analysis device is a computer.

As an optimization, the left gyro frame drive mechanism includes a left front support frame 2 and a left rear support frame 6 and a left gyro frame drive motor 1 that are disposed on the test base and located on both sides in the length direction of the left gyro frame, and the left gyro frame The drive motor 1 is installed on the left front support frame 2, the output shaft of the left gyro frame drive motor is connected to the front end of the left gyro frame through the left front support frame, the rear end of the left gyro frame 3 is connected with the left gyro frame rotating shaft, and the left gyro frame rotating shaft. It is arranged coaxially with the output shaft of the left gyro frame drive motor, and the left gyro frame rotating shaft passes through the bearing assembly on the left rear support frame 6, and extends outward with an extension section;

The right gyro frame drive mechanism includes a right front support frame 22, a right rear support frame 17 and a right gyro frame drive motor 23, which are arranged on the test base and located on both sides in the length direction of the right gyro frame, and the right gyro frame drive motor is installed. On the right front support frame, the output shaft of the drive motor of the right gyro frame passes through the right front support frame and is connected with the front end of the right gyro frame, the rear end of the right gyro frame 21 is connected with the rotation shaft of the right gyro frame, and the rotation shaft of the right gyro frame is driven by the right gyro frame. The output shaft of the motor is coaxially arranged, and the rotating shaft of the right gyro frame passes through the right rear support frame through the bearing assembly, and extends outward with an extension section.

In this way, by arranging the left front support frame 2, the left rear support frame 6, the right front support frame 22 and the right rear support frame 17, the left gyro frame 3 and the right gyro frame 21 can be better installed, and the left gyro frame drive motor 1 and the right gyro frame can be installed. The gyro frame drive motor 23 is a pancake motor. During the test, the driving directions of the two are opposite, and the left gyro frame and the right gyro frame are driven in opposite directions of rotation.

As an optimization, the input shaft of the left torque sensor 9 is installed coaxially with the extension of the rotation shaft of the left gyro frame through the first left coupling 8, and the input shaft of the right torque sensor 14 is connected to the right torque sensor 14 through the first right coupling 15. The extension section of the rotating shaft of the gyro frame is coaxially installed, and the left moment sensor and the right moment sensor are respectively arranged on the test base through the left first support and the right first support.

In this way, by arranging the first left coupling and the first right coupling, the input shaft of the left torque sensor can be stably connected to the rotating shaft of the left gyro frame and the input shaft of the right torque sensor can be connected to the rotating shaft of the right gyro frame. , the first left coupling and the first right coupling are preferably rigid flange couplings.

As an optimization, the left braking torque applying mechanism 11 includes a left magnetic powder brake, the left magnetic powder brake is connected to the output shaft of the left torque sensor through the second left coupling 10 , the right braking torque applying mechanism 12 includes a right magnetic powder brake, and the right magnetic powder The brake is connected to the output shaft of the right torque sensor through the second right coupling 13, and the left magnetic powder brake and the right magnetic powder brake are respectively set on the test base through the second left support and the second right support.

In this way, the magnetic powder brake can be used to simulate the load, and has the advantages of stable operation and superior performance, no vibration, no impact and no noise under the state of starting, running and braking, through the second left coupling and the second right coupling The shaft coupler connects the left magnetic powder brake and the right magnetic powder brake with the output shaft of the left torque sensor and the output shaft of the right torque sensor respectively, so that different loads can be applied to the rotating shafts of the left gyro frame and the right gyro frame, and the second left coupling and The second right coupling is preferably a rigid flange coupling.

As an optimization, a left installation hole is opened in the center of the top of the left gyro frame, the left gyro rotor drive motor 5 is installed in the left installation hole, the rotor of the left moment gyro is installed on the output shaft of the left gyro rotor drive motor, and the top of the right gyro frame is installed A right installation hole is opened in the center, a right gyro rotor drive motor 19 is installed in the right installation hole, and the rotor of the right moment gyro is installed on the output shaft of the right gyro rotor drive motor.

Installed in this way, the rotor of the left gyro and the rotor of the right gyro can be driven by the left gyro rotor drive motor and the right gyro rotor drive motor respectively at high speed, and the left gyro frame and the right gyro frame are driven by the left gyro frame motor and the right gyro frame respectively. The right gyro frame is driven by the drive motor to rotate, so that the left moment gyro and the right moment gyro precess. Under the combined action of autobiography and precession, the left moment gyro and the right moment gyro generate outward output gyro torque.

The invention also discloses a method for testing the real-time synchronization performance of a control torque gyro symmetric frame system, using the control torque gyro symmetric frame system real-time synchronization performance testing device for testing, comprising the following steps:

Step a, start the left gyro rotor drive motor, the right gyro rotor drive motor, the left gyro frame drive motor and the right gyro frame drive motor, so that the left moment gyro and the right moment gyro are rotated, and the left gyro frame and the right gyro frame are respectively rotated. Drive the left moment gyro and the right moment gyro to precess;

Step b. By controlling the left braking torque application mechanism and the left and right braking torque application mechanisms, load torques of different sizes are respectively applied to the rotation axis of the left gyro frame and the rotation axis of the right gyro frame, and the left incremental encoder and the left absolute encoder are used. The encoder and the left torque sensor measure the rotation angular velocity, rotation angle and corresponding torque of the left gyro frame, and measure the rotation angular velocity, rotation angle and corresponding torque of the right gyro frame through the right incremental encoder, the right absolute encoder and the right torque sensor. Torque magnitude, obtain the rotational angular velocity, rotational angle and corresponding torque magnitude of the left gyro frame and the right gyro frame under different load conditions, and transmit the data to the data analysis device;

Step c, according to each data transmitted in real time, in the data analysis device, draw the angular velocity of rotation, the rotation angle and torque of the left gyro frame and the right gyro frame under the same load condition with time change curve, according to each corresponding item change curve The fitting degree of , so as to judge the synchronization performance of the left gyro frame and the right gyro frame.

Although embodiments of the present invention have been shown and described, various changes, modifications, substitutions and alterations can be made in these embodiments by those skilled in the art without departing from the principle and basis of this invention , the scope of the present invention is defined by the appended claims and their equivalents, so the embodiment of the present invention is only an illustrative example of the present invention, and the embodiment of the present invention does not limit the present invention from any point of view.

Claims (5)

1. The utility model provides a real-time synchronization capability test device of control moment top symmetrical frame system, sets up left top frame and right top frame on the test base station including the symmetry, is equipped with left moment top and the right moment top that can pass certainly on left top frame and the right top frame respectively, left side top frame and right top frame are connected with respectively and make its pivoted left top frame actuating mechanism and right top frame actuating mechanism, its characterized in that: the left top frame driving mechanism and the right top frame driving mechanism are respectively provided with a left top frame rotating shaft and a right top frame rotating shaft which are used for driving the left top frame and the right top frame to rotate;

a left incremental encoder for measuring the rotation angular speed of the left gyro frame, a left absolute encoder for measuring the rotation angle of the left gyro frame and a left torque sensor for measuring the torque of the left gyro frame are coaxially arranged on the rotation shaft of the left gyro frame;

a right incremental encoder for measuring the rotating angular speed of the right gyro frame, a right absolute encoder for measuring the rotating angle of the right gyro frame and a right moment sensor for measuring the torque of the right gyro frame are coaxially arranged on the rotating shaft of the right gyro frame;

the left gyro frame rotating shaft is coaxially provided with a left brake torque applying mechanism for applying a load torque, and the right gyro frame rotating shaft is coaxially provided with a right brake torque applying mechanism for applying a load torque;

the device also comprises a data analysis device which is connected with the left incremental encoder, the left absolute encoder, the left torque sensor, the right incremental encoder, the right absolute encoder, the right torque sensor, the left braking torque applying mechanism and the right braking torque transmission applying mechanism and is used for analyzing the synchronization performance of the left gyro frame and the right gyro frame in real time;

the left braking torque applying mechanism comprises a left magnetic powder brake, the left magnetic powder brake is connected with an output shaft of the left torque sensor through a second left coupler, the right braking torque applying mechanism comprises a right magnetic powder brake, the right magnetic powder brake is connected with an output shaft of the right torque sensor through a second right coupler, and the left magnetic powder brake and the right magnetic powder brake are arranged on the test base platform through a left second support and a right second support respectively.

2. The device for testing the real-time synchronization performance of the control moment gyro symmetric frame system according to claim 1, characterized in that: the left gyro frame driving mechanism comprises a left front support frame, a left rear support frame and a left gyro frame driving motor which are arranged on the test base station and positioned on two sides of the left gyro frame in the length direction, the left gyro frame driving motor is arranged on the left front support frame, an output shaft of the left gyro frame driving motor penetrates through the left front support frame to be connected with the front end of the left gyro frame, the rear end of the left gyro frame is connected with a rotating shaft of the left gyro frame, a rotating shaft of the left gyro frame and the output shaft of the left gyro frame driving motor are coaxially arranged, and the rotating shaft of the left gyro frame penetrates through a bearing assembly to be arranged on the left rear support frame and extends outwards to form an extension section;

right side top frame actuating mechanism is including setting up right front support frame and right back support frame and the right top frame driving motor that just is located right top frame length direction both sides on the test base station, right side top frame driving motor installs on right front support frame, and right top frame driving motor's output shaft passes right front support frame and is connected with right top frame front end, and right top frame rear end and right top frame rotating shaft are connected, and right top frame axis of rotation sets up with the axial of output shaft of right top frame driving motor, and right top frame axis of rotation wears to locate on the support frame behind the right side through bearing assembly to outwards stretch out and have the extension section.

3. The device for testing the real-time synchronization performance of the control moment gyro symmetric frame system according to claim 2, characterized in that: the input shaft of the left torque sensor is coaxially installed with the extension section of the left gyro frame rotating shaft through a first left coupler, the input shaft of the right torque sensor is coaxially installed with the extension section of the right gyro frame rotating shaft through a first right coupler, and the left torque sensor and the right torque sensor are arranged on the test base station through a left first support and a right first support respectively.

4. The device for testing the real-time synchronization performance of the control moment gyro symmetric frame system according to claim 2, characterized in that: the top center of the left gyro frame is provided with a left mounting hole, a left gyro rotor driving motor is mounted in the left mounting hole, a rotor of the left moment gyro is mounted on an output shaft of the left gyro rotor driving motor, the top center of the right gyro frame is provided with a right mounting hole, a right gyro rotor driving motor is mounted in the right mounting hole, and a rotor of the right moment gyro is mounted on an output shaft of the right gyro rotor driving motor.

5. A real-time synchronization performance test method for a control moment gyro symmetric frame system is characterized in that the real-time synchronization performance test device for the control moment gyro symmetric frame system is adopted for testing, and comprises the following steps:

step a, starting a left gyro rotor driving motor, a right gyro rotor driving motor, a left gyro frame driving motor and a right gyro frame driving motor to enable a left moment gyro and a right moment gyro to generate autorotation and enable the left moment gyro and the right moment gyro to generate precession under the driving of the left gyro frame and the right gyro frame respectively;

b, respectively applying load moments with different sizes to a left gyro frame rotating shaft and a right gyro frame rotating shaft by controlling a left brake moment applying mechanism and a left and right brake moment applying mechanism, measuring the rotating angular speed, the rotating angle and the corresponding torque of the left gyro frame by a left incremental encoder, a left absolute encoder and a left moment sensor, measuring the rotating angular speed, the rotating angle and the corresponding torque of the right gyro frame by a right incremental encoder, a right absolute encoder and a right moment sensor, obtaining the rotating angular speed, the rotating angle and the corresponding torque of the left gyro frame and the right gyro frame under different load conditions, and transmitting data to a data analysis device;

and c, drawing change curves of the rotating angular speed, the rotating angle and the torque of the left gyro frame and the right gyro frame along with time under the same load condition in the data analysis device according to the data transmitted in real time, and judging the synchronization performance of the left gyro frame and the right gyro frame according to the fitting degree of the change curves of the corresponding items.

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