CN114152380A - Quick-response second-stage pendulum device for micro-Newton thrust test - Google Patents
Quick-response second-stage pendulum device for micro-Newton thrust test Download PDFInfo
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Abstract
本发明公开了一种用于微牛级推力测试的快响应二级摆装置，包括：悬挂模块、微推进器、第一加速度计、第二加速度计、摆架框和监测模块；悬挂模块与摆架框连接，摆架框可绕水平方向或者竖直方向转动；微推进器对摆架框施加水平方向推力；第一加速度计和第二加速度计设置在摆架框上端和下端，用于差分测量摆架框的加速度；监测模块监测摆架框的位移变化并提供角度基准，对摆架框的位移与角度变化的比例系数进行标定。本发明采用扭摆和加速度计共同测试微推进器推力，扭摆的本征周期在秒量级，加速度计本征周期达到微秒量级，拥有更好的高频性能；能够在高精度测量微推进器推力的同时快速响应推力变化；结构简单，测量精度高，响应速度快且操作方便。
The invention discloses a fast-response secondary pendulum device for a microbull-level thrust test, comprising: a suspension module, a micro-propeller, a first accelerometer, a second accelerometer, a pendulum frame and a monitoring module; the suspension module is connected to a The swing frame is connected, and the swing frame can be rotated around the horizontal direction or the vertical direction; the micro-propeller exerts a horizontal thrust on the swing frame; the first accelerometer and the second accelerometer are arranged on the upper and lower ends of the swing frame, and are used for The acceleration of the swing frame is measured differentially; the monitoring module monitors the displacement change of the swing frame and provides an angle reference, and calibrates the proportional coefficient between the displacement and the angle change of the swing frame. The invention adopts the torsion pendulum and the accelerometer to jointly test the thrust of the micro-propeller, the intrinsic period of the torsion pendulum is in the order of seconds, the intrinsic period of the accelerometer reaches the order of microseconds, and has better high-frequency performance; it can measure the micro-propulsion with high precision. It can quickly respond to the change of thrust while the thrust of the device is simple; the structure is simple, the measurement accuracy is high, the response speed is fast and the operation is convenient.
Description
Technical Field
The invention belongs to the technical field of micro propeller thrust measurement, and particularly relates to a fast response secondary pendulum device for a micro-Newton thrust test.
Background
With the development of scientific technology, the requirement of human beings on space detection is more and more strong, and higher requirements are put on the drag-free control of satellites. In order to improve the control precision of the non-dragging, the resolution of the micro-propulsion system is required to reach the micro-Newton or even sub-micro-Newton level. Simultaneously, the micro-thruster also has high requirements on quick response, the minimum thrust rise time of the micro-thruster can be dozens of milliseconds when the micro-thruster works, and the dynamic thrust performance of the micro-thruster is acquired in order to accurately reflect the thrust rise process of the micro-thruster, so that a micro-Newton micro-thruster thrust measuring device with high precision and high response speed needs to be researched to meet the increasing technological development requirements.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a fast-response two-stage pendulum device for a micro-Newton thrust test, and aims to solve the problems that in the prior art, in order to achieve the purpose of high-precision measurement, the rigidity of the test device is small enough, so that the period of the test device is long and the response speed is slow.
The invention provides a quick response two-stage pendulum device for a micro-Newton thrust test, which comprises: the system comprises a suspension module, a micro-thruster, a first accelerometer, a second accelerometer, a swing frame and a monitoring module; the suspension module is connected with the swing frame, and the swing frame can rotate around the horizontal direction or the vertical direction; the micro-thruster is used for applying horizontal thrust to the swing frame; the first accelerometer and the second accelerometer are arranged at the upper end and the lower end of the swing frame and are used for differentially measuring the acceleration of the swing frame; the monitoring module is used for monitoring the displacement change of the swing frame, providing an angle reference and calibrating the coefficient between the displacement and the angle change of the swing frame.
Further, the suspension modules are twisted wires or reeds. When the suspension module is a twisted wire, the twisted wire is made of metal or glass material, and the twisted wire can be cylindrical; when the suspension module is a reed, the reed is in two thin rectangular strips.
When the suspension module is a twisted wire, the swing frame can be in a rectangular structure and rotates around the vertical shaft; when the suspension module is a reed, the swing frame can be in a structure like a Chinese character 'ri', and the swing frame rotates around the horizontal shaft.
Still further, the monitoring module includes: the device comprises a capacitance displacement sensing unit, a reflector, an autocollimator and a data acquisition and processing unit; when the suspension module is a reed, the capacitance displacement sensing unit is arranged at the bottom of the swing frame, and the reflector is arranged at the lower end of the swing frame; when the suspension module is a torsion wire, the suspension module has no capacitance displacement sensing unit, and the reflecting mirror is arranged in the middle of the side surface of the swing frame. The autocollimators are all placed outdoors. The capacitance displacement sensing unit measures displacement change caused by the rotation of the swing frame. The reflecting mirror is used for reflecting incident light of the autocollimator, the autocollimator can obtain angle change of the swing frame after receiving the reflected light, displacement and swing angle coefficients of the capacitance displacement sensing unit are obtained by using angle change values (namely swing angles) of the swing frame measured by the autocollimator, and the coefficients are used for converting displacement of the capacitance displacement sensing unit into swing angles. The data acquisition and processing unit is used for acquiring the displacement signal output by the capacitance displacement sensing unit and the angle signal output by the autocollimator.
Wherein, the capacitance displacement sensing unit includes: the swing frame capacitor plate and the fixed capacitor plate; the fixed capacitor plate is fixed with the vacuum container, and the swing frame capacitor plate is fixed with the swing frame.
As an embodiment of the present invention, the fast response two-stage pendulum device further includes: and the micro propeller support is used for mounting the micro propeller on the swing frame.
As an embodiment of the present invention, the fast response two-stage pendulum device further includes: and the calibration support is provided with a calibration mass with known mass and used for calibrating the thrust of the micro propeller.
In the embodiment of the present invention, the fast response two-stage pendulum device further includes: a counterweight and an electromagnetic force unit, the counterweight being used for balancing the gravity of the micro-thruster; the magnetic unit is used for receiving known electromagnetic force applied by the outside.
Compared with the prior art, the torsion pendulum and the accelerometer are adopted to jointly test the thrust of the micro-thruster, the eigenperiod of the torsion pendulum is in the second order, the eigenperiod of the accelerometer can reach the ms order, and the micro-thruster has more excellent high-frequency performance; the thrust change can be responded quickly while the thrust of the micro propeller is measured with high precision.
Drawings
Fig. 1 is a front view of a fast-response secondary pendulum device for a micro-newton stage thrust test according to an embodiment of the present invention in a horizontal axis torsional pendulum working mode;
fig. 2 is a side view of a fast response two-stage pendulum device for a micro-newton stage thrust test according to an embodiment of the present invention in a horizontal axis torsional pendulum working mode;
fig. 3 is a structural diagram of a fast-response secondary pendulum device for a micro-newton stage thrust test according to an embodiment of the present invention in a horizontal axis torsional pendulum working mode;
FIG. 4 is a front view of the fast response secondary pendulum device for a micro-Newton thrust test provided in an embodiment of the present invention in a vertical axis torsional pendulum mode of operation;
FIG. 5 is a side view of the fast response two-stage pendulum device for a micro-Newton thrust test provided in an embodiment of the present invention in a vertical axis torsional pendulum mode of operation;
fig. 6 is a structural diagram of a fast-response secondary pendulum device for a micro-newton stage thrust test according to an embodiment of the present invention in a vertical axis torsional pendulum working mode.
The following describes each part name:
the system comprises a support 1, a suspension module 2, a calibration support 3, a micro propeller 4, a reflector 5, a first accelerometer 6, a second accelerometer 7, a swing frame 8, a micro propeller support 9, a capacitor plate 10, a counterweight 11 and an electromagnetic force unit 12.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides a quick-response secondary pendulum device for a micro-Newton thrust test, which can solve the contradiction between the high precision of the thrust of a micro-thruster and the quick-response test, quickly measure the acceleration applied to a pendulum by using a high-frequency accelerometer, differentially measure the acceleration of a pendulum frame generated when the micro-thruster works through accelerometers at different positions, further obtain the thrust of the micro-thruster according to a transfer function, measure the angle change of the pendulum through a capacitance displacement sensing unit and an autocollimator, and realize the quick dynamic measurement of the thrust while measuring the thrust at high precision.
The device main body provided by the embodiment of the invention is of a swing structure, and specifically comprises a support, a suspension module, a swing frame and a monitoring module; wherein, the swing frame is hung by the module that hangs, the swing frame can be periodic reciprocating motion under the effect of gravity or torsional wire restoring force, little propeller is installed on the swing frame through little propeller support, the gesture of swing frame can be adjusted through the position of adjusting little propeller fixed bolster, when little propeller thrust effect, the acceleration that the swing frame receives can change, thrust moment reaches the equilibrium at new equilibrium position and gravity moment or torsional wire restoring moment, the equilibrium position of swing frame can change this moment, displacement signal and the angle signal that the autocollimator surveyed according to electric capacity displacement sensing circuit monitoring, just can obtain the size of thrust that surveys. When the micro-thruster applies thrust, the accelerometer can monitor the acceleration change of the pendulum frame in real time, and the thrust of the micro-thruster can be dynamically obtained through a transfer function.
The capacitance displacement sensing circuit outputs the measured displacement change to the outside in a voltage form, and high-precision coefficient calibration is carried out on the voltage obtained by the capacitance displacement sensing circuit according to the angle change (namely the swing angle) of the swing frame monitored by the high-precision autocollimator, so that a differential voltage signal obtained by the displacement sensing circuit can be directly converted into a swing angle signal.
The pendulum is provided with the high-frequency accelerometer to directly measure the acceleration of the pendulum frame, and the angular change of the pendulum frame is accurately measured (specifically, the high-precision coefficient calibration can be carried out on the voltage obtained by the capacitance displacement sensing circuit according to the pendulum angle monitored by the high-precision autocollimator, the differential voltage signal obtained by the displacement sensing circuit can be directly converted into a pendulum angle signal, namely, the angle is accurately measured), the pendulum parameters can be calibrated through the gravity torque under the condition of horizontal axis torsion, and the pendulum parameters can be calibrated through the additional electromagnetic force under the condition of vertical axis torsion. And then the magnitude of the thrust and the dynamic change of the thrust are obtained according to the transfer function. Because the frequency of the accelerometer is very high, the response speed to the thrust of the micro-thruster is very high, which can reach dozens of milliseconds, and the dynamic response test requirement of the micro-thruster is met. Through the differential measurement of the two accelerometers, the influence of external vibration, gravitational acceleration and other interference factors on the acceleration to be measured can be reduced. The whole installation and test process is simple to operate and convenient to use.
As shown in fig. 1 to 6, a fast response two-stage pendulum device for a micro-newton thrust test according to an embodiment of the present invention includes: the system comprises a suspension module 2, a micro-thruster 4, a first accelerometer 6, a second accelerometer 7, a swing frame 8 and a monitoring module; the micro-thruster 4 is used for applying horizontal thrust to the swing frame 8; the first accelerometer 6 and the second accelerometer 7 are arranged at different positions on the swing frame 8 and are used for differentially measuring the acceleration of the swing frame 8, reducing the influence of external vibration and gravity acceleration on the swing frame 8 and measuring the dynamic performance of the micro-thruster; the suspension module 2 is connected with a swing frame 8, and the swing frame 8 can rotate around the horizontal direction or the vertical direction; the monitoring module is used for monitoring the displacement change of the swing frame 8, providing an angle reference and calibrating a proportionality coefficient of the displacement change measured by the capacitance displacement sensing unit and the angle change of the swing frame.
In the embodiment of the invention, the suspension module 2 can be a twisted wire or a reed, and when the suspension module 2 is a reed, the swing frame 8 rotates around the horizontal direction and forms a horizontal shaft torsional pendulum; when the suspension module 2 is a twisted wire, the swing frame 8 rotates around the vertical direction and forms a vertical shaft twist pendulum. The horizontal shaft torsional pendulum is a general term of a pendulum twisted around a horizontal shaft, and the typical form of the pendulum is a compound pendulum; vertical axis pendulums are generic terms for pendulums that twist about a vertical axis, typically in the form of a torsion balance.
As an embodiment of the present invention, the suspension module 2 may be a reed or a twisted wire, and when the suspension module 2 is a twisted wire, the twisted wire may be made of metal or glass material and is cylindrical, and the swing frame rotates around the vertical shaft; when the suspension module 2 is a reed, the reed can be two thin rectangular strips, the swing frame rotates around the vertical shaft, the upper end of the suspension module is fixedly connected with the support, and the lower end of the suspension module is fixedly connected with the swing frame 8.
As an embodiment of the present invention, the spring plate in the suspension module 2 may be a metal material with a thickness of several tens to several hundreds of micrometers; the twisted wire can be made of metal or glass materials, the diameter of the twisted wire ranges from dozens of micrometers to hundreds of micrometers, and the diameter of the twisted wire can be adapted according to the thrust range and the pendulum mass of the micro-thruster to be measured.
The fast response secondary pendulum device provided by the embodiment of the invention can be connected through the suspension module, and parameters such as period, rotational inertia and the like of the whole device can be measured by placing the calibration mass on the calibration bracket on the pendulum frame 8 under the horizontal shaft torsional pendulum working mode. And in the vertical shaft torsional working mode, parameters such as period, rotational inertia and the like of the whole device are calibrated by applying known electromagnetic force. The thrust and the dynamic performance can be obtained according to the transfer function by combining the known parameters with the angle change measured by the capacitance displacement sensing unit and the acceleration of the swing frame 8 measured by the accelerometer.
As an embodiment of the present invention, the pendulum frame 8 may be made of a metal material or a glass material, and the shape thereof may be modified according to the installation components thereof. The torsional pendulum working mode of the horizontal shaft is in a shape of Chinese character 'ri', and the torsional pendulum working mode of the vertical shaft is in a shape of rectangle.
Specifically, a first accelerometer 6 and a second accelerometer 7 are mounted on a pendulum frame 8, which can differentially measure the acceleration of the pendulum.
In the embodiment of the invention, the electromagnetic force unit consists of a magnet and a damping disc, is only used in a vertical shaft working mode, passes through the suspension module and is used for increasing the damping of the swing frame; and a magnet which is opposite to the swing frame 8 is arranged on the side surface of the swing frame 8 and is used for providing damping for the swing of the swing.
In an embodiment of the present invention, the monitoring module includes: capacitive displacement sensing unit, speculum 5, autocollimator and data acquisition processing unit include: the device comprises a capacitance displacement sensing unit, a reflector, an autocollimator and a data acquisition and processing unit, wherein when a suspension module is a reed, the capacitance displacement sensing unit is arranged at the bottom of a swing frame, and the reflector is arranged at the lower end of the swing frame; when the suspension module is a torsion wire, the suspension module has no capacitance displacement sensing unit, and the reflecting mirror is arranged in the middle of the side surface of the swing frame. The autocollimators are all placed outdoors. The capacitance displacement sensing unit measures displacement change caused by the rotation of the swing frame. The reflector is used for incident light of the autocollimator, the autocollimator can obtain angle change of the swing frame after receiving the reflected light, displacement and swing angle coefficients of the capacitance displacement sensing unit are obtained by utilizing the angle change value of the swing frame measured by the autocollimator, and the displacement of the capacitance displacement sensing unit is converted into the angle change value of the swing frame by utilizing the coefficients. The data acquisition and processing unit is used for acquiring the displacement signal output by the capacitance displacement sensing unit and the angle signal output by the autocollimator.
The displacement change of the pendulum frame 8 is obtained through the capacitance displacement sensing unit and is represented in a voltage form, the autocollimator can provide an angle reference, and the coefficient between the voltage and the angle change is calibrated through the reflector 5. The acceleration change of the swing frame 8 is obtained through the difference of the first accelerometer 6 and the second accelerometer 7, and the thrust of the micro-thruster can be measured in a high-precision and quick-response mode through the combination of the three.
The capacitance displacement sensing unit is composed of a swing frame capacitance plate 10 and a fixed capacitance plate and is used for monitoring the movement displacement of the swing frame 8. The swing frame capacitor plate is fixed at the bottom end of the swing frame, and the fixed capacitor plate is fixedly connected with the vacuum container. The swing frame rotates to cause the distance between the swing frame capacitor polar plate and the fixed capacitor polar plate to change, and further the capacitance of the capacitance displacement sensing unit changes, and the capacitance displacement sensing unit obtains the displacement change of the swing frame by measuring the capacitance change quantity.
In the embodiment of the present invention, the fast response two-stage pendulum device further includes: the device comprises a calibration support 3, a micro-thruster support 9, a counterweight 11 and an electromagnetic force unit 12, wherein a calibration mass with known mass is placed on the calibration support 3 and is used for calibrating the thrust of a micro-thruster; the counterweight 11 is positioned at one side of the swing frame and at the end opposite to the micro propeller when the vertical shaft working mode is adopted, and is used for balancing the influence of the gravity of the micro propeller 4 on the inclined posture of the swing frame; when the horizontal shaft work mode is adopted, the micro propeller is positioned in the middle of the swing frame and is used for balancing the influence of the gravity of the micro propeller 4 on the elastic coefficient of the swing frame; and the magnetic unit 12 is arranged on the side surface of the swing frame and at the end opposite to the micro propeller when the vertical shaft working mode is adopted, and is used for generating horizontal thrust with known magnitude and measuring the elasticity coefficient of the swing frame by combining the measured angle change value of the swing frame. When the working mode is a horizontal axis working mode, a magnetic unit is not arranged, and the elastic coefficient of the swing frame is measured by adopting a gravity method;
wherein, little propeller 4 is installed on swing frame 8 through little propeller support 9, and swing frame 8's motion state can change when little propeller 4 applys thrust, rotates around hanging the module, arouses the capacitance variation of capacitance displacement sensing unit, and capacitance displacement sensing unit measures the capacitance variation and then obtains swing frame displacement variation.
The position and the gesture of the micro-propeller 4 can be adjusted by the micro-propeller support 9, the gesture of the swing frame 8 can be adjusted by adjusting the position of the micro-propeller 4, so that the micro-propeller is vertical, the coupling of the gravity component of the micro-propeller and the swing frame to the thrust measurement value of the micro-propeller is reduced, and the error of the thrust measurement value is reduced.
In the embodiment of the present invention, the fast response two-stage pendulum device further includes: the fixed support 1 is fixed, and the fixed support 1 is used for fixing the whole device in a vacuum container.
Wherein, put little propeller support 9 in the lower extreme of rocker frame 8, can adjust the gesture of rocker frame 8 through adjusting little propeller support 9 position. The reflector 5 is fixed on the swing frame 8, and the movement angle of the swing frame 8 can be measured and calibrated through the autocollimator. Two accelerometers are arranged at different positions on the swing frame 8, and the acceleration of the swing frame 8 can be measured in a differential mode. And in a horizontal shaft torsional pendulum working mode: the capacitance polar plate is fixed at the lowest end of the swing frame 8, and the capacitance polar plate below the swing frame 8 is positioned between the two capacitance polar plates of the displacement sensing circuit to form a differential capacitance. The side of the swing frame 8 can be used for fixing the air pipe and the circuit system of the micro propeller. The calibration support is installed in the middle of the front face of the swing frame 8, and the rotational inertia isoparametric and the thrust of the swing frame 8 can be calibrated by placing the calibration mass on the calibration support. In the vertical axis torsional mode: the circuitry for the air tube and micro-thruster is mounted along the vertical axis.
The invention can quickly respond the thrust change of the micro-thruster while measuring with high precision, and has good dynamic performance.
The method for obtaining the thrust of the micro propeller by using the device comprises the following steps:
(1) the micro-thruster is installed and adjusted in place, and the vertical direction of the swing frame 8 is ensured through the vertical direction reference and the reflecting mirror.
(2) Calibrating relevant parameters of the device: placing the demarcation quality on demarcating the support under the horizontal axis torsional pendulum mode, its quality is m, and it is lm to demarcate the quality to the hanging point distance, exerts electromagnetic force Fe on the pendulum under the vertical axis torsional pendulum mode, and the electromagnetic force arm of force is le, and the equation of motion of pendulum frame 8 can be expressed as:
wherein I, λ, K, θ (T), τ respectively represent the total moment of inertia, damping coefficient, stiffness, pendulum deflection angle and external moment of the pendulum frame 8, and according to the formula mgl ═ K Δ θ or Fele ═ K Δ θ, where g is the local gravitational acceleration and Δ θ is the angle variation of the balance position of the pendulum frame 8, the stiffness K of the pendulum frame 8 is obtained, the motion period T of the pendulum frame 8 is fitted through the angle variation of the pendulum frame 8, and according to the formula K ═ 4 pi 2I/T2, the motion period T of the pendulum frame 8 can be obtainedSo as to obtain the moment of inertia I of the pendulum frame 8, and simultaneously, a corresponding coefficient between the angle and the voltage is given according to the voltage variation delta V of the capacitance displacement sensing unit corresponding to the angle variation delta theta.
(3) The micro thruster is tested, the micro thruster applies thrust, the angle change of the swing frame 8 is jointly monitored by the capacitance displacement transmission system and the autocollimator, and the acceleration of the swing frame 8 is monitored by the accelerometer. When the accelerometers are horizontally mounted on the pendulum frame 8, the accelerometers measure acceleration in the horizontal direction, and by placing two accelerometers at different positions from the suspension point, the acceleration measured by the first accelerometer is
The acceleration measured by the second accelerometer is
Where θ is the motion angle of the pendulum frame 8, g is the local gravitational acceleration, l1And l2The distances from the first accelerometer and the second accelerometer to the rotating shaft are respectively. The difference between the two is
The effect of local gravitational acceleration on the measured acceleration can be eliminated by differentiation. This equation is also subject to laplace changes,
the transfer function of the system angle theta of the pendulum frame 8 to the external acceleration delta a after the difference of the accelerometer can be obtained
According to angle to thrust transfer function
Wherein L is the thrust arm of the micro-thruster, the transfer function from the acceleration to the thrust is
Substituting the transfer function into the parameter, performing inverse Laplace change to obtain an expression of the thrust F of the micro-thruster along with the time t,
the value of the thrust can be measured quickly from the measured acceleration and angle.
The embodiment of the invention adopts a two-stage pendulum form, can simultaneously measure the acceleration of the pendulum frame 8 and the angle change of the pendulum frame 8, has the advantages of high precision and quick response, can quickly measure the thrust ascending process of the micro-thruster while measuring the micro-Newton or even sub-micro-Newton thrust, reflects the thrust change, and has important significance for the development and development of the micro-thruster.
In the embodiment of the present invention, the calibration method specifically includes:
and under the horizontal shaft torsional pendulum working mode, the moment is given through the measurement of the calibration mass and the measurement of the moment arm, and then the moment arm of the micro-propeller is measured to calibrate the thrust. And calibrating the electromagnetic force and the arm of force of the electromagnetic force outside the device in a vertical shaft torsional working mode, and further measuring the arm of force of the micro-propeller to calibrate the thrust.
And carrying out high-precision coefficient calibration on the voltage obtained by the capacitance displacement sensing circuit according to the swing angle monitored by the high-precision autocollimator.
In the embodiment of the invention, the gravity reference can be traced by calibrating through the gravity torque in the horizontal shaft torsional pendulum working mode, and meanwhile, the gravity calibration is not influenced by the external environment, so that the calibration result is more accurate. The device can be calibrated continuously through electromagnetic force under the vertical shaft torsional pendulum working mode, and is more convenient.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. A fast response secondary pendulum device for a micro-Newton thrust test, comprising: the system comprises a suspension module, a micro-thruster, a first accelerometer, a second accelerometer, a swing frame and a monitoring module;
the suspension module is connected with the swing frame, and the swing frame can rotate around the horizontal direction or the vertical direction;
the micro-thruster is used for applying horizontal thrust to the swing frame;
the first accelerometer and the second accelerometer are arranged at the upper end and the lower end of the swing frame and are used for differentially measuring the acceleration of the swing frame;
the monitoring module is used for monitoring the displacement change of the swing frame, providing an angle reference and calibrating a proportional coefficient of the swing frame displacement and the angle change.
2. The fast response secondary pendulum device of claim 1 wherein the suspension module is a torsion wire or a reed.
3. The fast response secondary pendulum device of claim 2 wherein when the suspension module is a twisted wire, the twisted wire is a metal or glass material, the twisted wire is cylindrical; when the suspension module is a reed, the reed is in two thin rectangular strips.
4. The fast response secondary pendulum device of any one of claims 1 to 3 wherein when the suspension module is a torsion wire, the pendulum frame can be a rectangular structure, the pendulum frame rotating about a vertical axis; when the suspension module is a reed, the swing frame can be in a structure like a Chinese character 'ri', and the swing frame rotates around the horizontal shaft.
5. The fast response secondary pendulum device of any one of claims 1-4 wherein the monitoring module comprises: the device comprises a capacitance displacement sensing unit, a reflector, an autocollimator and a data acquisition and processing unit;
the capacitance displacement sensing unit is used for measuring displacement change caused by the rotation of the swing frame;
the reflecting mirror is used for reflecting incident light of the autocollimator, the autocollimator receives the reflected light to obtain angle change of the swing frame, the displacement and swing angle coefficients of the capacitance displacement sensing unit are obtained by using the angle change value (namely swing angle) of the swing frame measured by the autocollimator, and the displacement of the capacitance displacement sensing unit is converted into the angle change value of the swing frame by using the coefficients;
the data acquisition and processing unit is used for acquiring the displacement signal output by the capacitance displacement sensing unit and the angle signal output by the autocollimator.
6. The fast response secondary pendulum device of claim 5 wherein when the suspension module is a reed, the capacitive displacement sensing unit is disposed at the bottom of the pendulum frame and the mirror is disposed at the lower end of the pendulum frame;
when the suspension module is a torsion wire, the suspension module has no capacitance displacement sensing unit, and the reflecting mirror is arranged in the middle of the side surface of the swing frame.
7. The fast response secondary pendulum device of any one of claims 1-6 wherein the fast response secondary pendulum device further comprises: and the micro propeller support is used for mounting the micro propeller on the swing frame.
8. The fast response secondary pendulum device of any one of claims 1-7 wherein the fast response secondary pendulum device further comprises: and the calibration support is provided with a calibration mass with known mass and used for calibrating the thrust of the micro propeller.
9. The fast response secondary pendulum device of any one of claims 1-8 wherein the fast response secondary pendulum device further comprises: a counterweight and an electromagnetic force unit, the counterweight being used for balancing the gravity of the micro-thruster; the magnetic unit is used for receiving known electromagnetic force applied by the outside.
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