CN105021926B - A kind of momenttum wheel automatic test device and method of testing - Google Patents
A kind of momenttum wheel automatic test device and method of testing Download PDFInfo
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- CN105021926B CN105021926B CN201510424121.3A CN201510424121A CN105021926B CN 105021926 B CN105021926 B CN 105021926B CN 201510424121 A CN201510424121 A CN 201510424121A CN 105021926 B CN105021926 B CN 105021926B
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Abstract
The present invention relates to a kind of momenttum wheel test device and method of testing, test device includes support, bearing, rotation platform, pretension stopping means, installation pinboard, piezoelectric accelerometer, process circuit.Rotation platform, support is connected to by bearing, is rotated with bearing in the range of spacing angle, rotation platform upper end is provided with rectangular channel；Pretension stopping means is fixed on the vertical portion of support, the rectangular teeth with two protrusions, and the rectangular teeth of two protrusions is arranged on the rotating range of limitation rotation platform in rectangular channel；The housing of tested momenttum wheel, which is arranged on, to be installed on pinboard, when wheel body accelerates to rotate, due to the moment of reaction, housing, which can drive, to be rotated freely platform and reversely rotates, the rectangular teeth of piezoelectric accelerometer and pretension stopping means is caused to be touched, the piezoelectric accelerometer provides electric signal, reflects the acceleration direction of wheel body.The present invention realizes the polarity test of momenttum wheel and closed circuit test simultaneously using set of device, reduces dismounting number of times, simplifies testing process.
Description
Technical field
The present invention relates to a kind of momenttum wheel test device and method of testing, the polarity test for the momenttum wheel that is particularly suitable for use in and
The closed circuit test of subsystem is controlled in satellite.
Background technology
Momenttum wheel is one of executing agency the most frequently used on spacecraft, is the important ring for realizing spacecraft attitude closed-loop control
Section.In the ground electric test of spacecraft control, momenttum wheel needs long-time access system to carry out open circuit and closed circuit survey
Examination.The open test of momenttum wheel is mainly polarity test, and closed circuit test is then that access closed-loop system continuously works.
In conventional control system ground test, the polarity test of momenttum wheel and closed circuit test need to utilize different experiments
Device is realized respectively.During closed circuit test, momenttum wheel is arranged in the mounting bracket (ground frock) specially designed, it is ensured that momenttum wheel
Rotor shaft direction and plane-parallel, momenttum wheel housing is directly anchored on support, momenttum wheel housing can not rotate.Polarity is surveyed
Then it is that momenttum wheel is vertically mounted on the testing stand specially designed, as shown in Figure 1 during examination.During polarity test, many people are needed to match somebody with somebody
Close, a people instructs from host computer hair acceleration and deceleration, the rotation direction of another people's close-ups momentum hub cap.Above-mentioned traditional test
There is the deficiency of 4 aspects in method and apparatus：1) closed circuit test and polarity test need to be realized respectively with different devices, are being
Unified test needs being dismounted for multiple times when trying；2) polarity test process is cumbersome, needs many people to coordinate；And due to the limitation of cable, acceleration and deceleration process
Must be very short, it is ensured that corner very little, it is difficult the rotation direction for observing housing thus to cause, easily erroneous judgement；3) during polarity test, by
Rotated in housing with cable, it is necessary to considered critical angle range, there is very big potential safety hazard；4) installation of closed circuit test
Support only plays ground frock, it is impossible to provide the auxiliary informations such as momenttum wheel rotary state.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of momenttum wheel automatic test device.
The object of the invention is achieved by following technical solution：
A kind of momenttum wheel automatic test device, including support, bearing, rotation platform, pretension stopping means, installation switching
Plate, accelerometer, process circuit；
Support, with horizontal part and vertical portion, the horizontal part is used for gentle support test device；
Rotation platform, the vertical portion of support is connected to by bearing, is rotated with bearing in the range of spacing angle, rotary flat
Platform upper end is provided with rectangular channel；
Pretension stopping means：The vertical portion of support is fixed on, the rectangular teeth with two protrusions, the rectangular teeth of two protrusions
It is arranged on the rotating range of limitation rotation platform in rectangular channel；
Pinboard is installed, the housing of tested momenttum wheel is fixed on rotation platform；
Piezoelectric accelerometer：Be installed on left and right edges in rotation platform rectangular channel, collection pretension stopping means rectangular teeth and
Pressure between rotation platform rectangle groove edge, converts the pressure to voltage signal and exports to process circuit；
Process circuit, receives the voltage signal of accelerometer output, and is sent to host computer by ethernet communication circuit.
The inner ring of the bearing is fixed on support, and outer ring is fixed on rotation platform.
The distance between rectangular teeth of two protrusions is adjusted by the first motor, what two rectangular teeths protruded were moved up and down
Distance passes through the second motor control；The control instruction that process circuit is sent according to host computer controls the first motor and the second motor.
The process circuit includes Acquisition Circuit, circuit for controlling motor, processor and ethernet communication circuit；
Wherein Acquisition Circuit is responsible for gathering the voltage signal of accelerometer, and gives processor processing；
Circuit for controlling motor controls and drives the first and second motors；
The voltage signal that processor gathers Acquisition Circuit is sent to host computer by ethernet communication circuit, and will be upper
The motor control instruction that machine is sent by Ethernet is sent to circuit for controlling motor.
Host computer draws pressure curve according to pressure signal, is contrasted with the driving curve of momenttum wheel wheel body, judges dynamic
Whether the rotation of amount wheel wheel body is correct.
A kind of method of the test based on the momenttum wheel automatic test device is provided simultaneously, is comprised the following steps：
(1) housing of tested momenttum wheel is arranged on and installed on pinboard；
(2) host computer send control instruction control the first motor, adjust two protrusion rectangle interdental space L1, make this away from
It is 3cm from L1；Control the second motor, regulation rectangular teeth distance from bottom bottom portion of groove apart from L2, it is 1cm apart from L2 to make this；
(3) momenttum wheel polarity test is carried out, torque is applied to momenttum wheel wheel body；Observe the rotation side of momenttum wheel wheel body rotation
To, judge momenttum wheel wheel body rotation direction whether with applying power match by moment, judge whether the rotation of momenttum wheel wheel body correct；
(4) host computer sends control instruction and controls the first motor and the second motor so that L1 becomes big, and L2 diminishes, apart from L1
For 4.4cm；It is 0.4cm apart from L2；Rectangular teeth is substantially at fit-state with groove, there is a small amount of free gaps；
(5) the closed circuit test of momenttum wheel is carried out, the momenttum wheel condition curve gathered by host computer judges the state of momenttum wheel
Conversion, is contrasted with the condition curve of momenttum wheel wheel body itself speed measuring system output, judges itself rotating speed survey of momenttum wheel wheel body
Whether the state for measuring systematic survey measurement is correct
The state of momenttum wheel wheel body described in step (5) includes：Starting state, sliding state, halted state, forward direction add
Speed, reversely Forward to slow down, acceleration, reversely deceleration.
When wherein momenttum wheel wheel body rotates, due to the moment of reaction, the momenttum wheel housing direction opposite with momenttum wheel wheel body
Rotation.
The present invention has the following advantages that compared with prior art：
(1) present invention realizes the polarity test of momenttum wheel and closed circuit test by set of device, reduces dismounting number of times, gram
Testing process can not be simplified while be used for the deficiency of polarity test and closed circuit measuring technology by having taken existing momentum wheel apparatus.
(2) apparatus of the present invention can provide momenttum wheel polarity test result automatically, and polarity test is realized automatically, is directly given
As a result, without manual observation and analysis；Overcoming needs manual observation, artificial spacing defect during existing polarity test, makes
Spacing regulation in test process is more accurate reliable.
(3) angle range, by software and stopping means double shield, greatly improves examination during apparatus of the present invention polarity test
The security tested；During closed circuit test, it is possible to provide momenttum wheel rotary state, such as acceleration, deceleration, Stop message improve test
Convenience.
Brief description of the drawings
Fig. 1 is existing momenttum wheel polarity test device；
Fig. 2 is momenttum wheel test device structural side view of the present invention；
Fig. 3 is momenttum wheel test device structural front view of the present invention；
Fig. 4 is process circuit schematic diagram of the present invention；
Fig. 5 is polarity test schematic diagram of the present invention；
Fig. 6 is closed circuit test schematic diagram of the invention；
Embodiment
The main purpose of polarity test is whether the direction for the positive and negative and wheeling thereof for judging torque voltage corresponds to.To dynamic
Amount wheel wheel body applies after positive or negative torque voltage, it is necessary to measure the actual rotation direction of momenttum wheel wheel body, with judge voltage with
Whether rotary speed direction corresponds to.Momenttum wheel wheel body is installed on enclosure interior by closed, it is impossible to be immediately seen the rotation direction of wheel body,
Need to obtain by other approach.
Closed circuit test main purpose is that the speed measuring system measurement data that momenttum wheel itself has qualitatively is tested
Card.In actual use, momenttum wheel wheel body is set to rotating speed of target, angular momentum is provided to satellite, to momenttum wheel plus certain power
Square voltage, rotating speed of target is adjusted to by momentum wheel speed, and dynamic system gathers the rotating speed, so that the angular momentum of satellite is calculated,
Control is introduced to calculate, and existing test mode does not verify whether speed measuring system measurement result is accurate, exists certain
Hidden danger.
As shown in Figure 2,3, apparatus of the present invention by support 1, bearing 2, rotate freely platform 3, pretension stopping means 6, install
Pinboard 4, piezoelectric accelerometer 5, process circuit 8, host computer 9 are constituted, and details are as follows with parameter for functions.
1) support 1：Using all steel plate material, L-type structure, high 30cm, wide 30cm are designed as, bottom surface size is 30cm*
20cm。
2) bearing 2：Inner ring is fixed on support, bearing circle center distance bottom surface 20cm.Outer ring, which is fixed on, rotates freely platform,
Bearing outmost turns radius r=10cm.
3) platform 3 is rotated freely：Inside it is connected in the outer ring of bearing 2, can rotates, freely be revolved in the range of spacing angle with bearing 2
Turn platform upper end and drive rectangular channel, groove depth 1.5cm, groove width L=5cm, groove connection pretension stopping means 6, due to the spacing dress of pretension
Put 6 a width of L1=3cm~4.48cm of rectangle adjustable tooth, free gap between rectangular teeth 13 and rectangular channel is d=L-L1=
2cm~0.52cm, so the angle that is freely rotatable for rotating freely platform is：β=2*arcsin (d/2/r)=3deg~
11deg。
4) pretension stopping means 6：It is fixed on the panel of support 1, below two rectangular teeths 13 of protrusion, between two rectangular teeths
Distance controlled by motor 11, total facewidth scope is：3cm~4.48cm, realizes that pine stings with rotating freely the rectangular channel of platform 3
Close.Motor 12 controls the upper and lower displacement of pretension stopping means, and the lock for rotating freely platform is realized by the upper and lower displacement of the device
Dead or activity.
5) pinboard 4 is installed：For the momenttum wheel that is connected with rotating freely platform, circular configuration, diameter 5cm.With momenttum wheel
Corresponding position is installed and opens screwed hole, is connected by 4 screws with momenttum wheel 7, then by other 4 screws with rotating freely
Platform 3 is connected.
6) piezoelectric accelerometer 5：It is installed on and rotates freely platform groove inward flange, left and right edges respectively installs one, and collection is pre-
Tight stopping means double wedge 13 and the pressure between platform groove inward flange is rotated freely, be converted into electric signal output to process circuit.
Acceptable pressure input range：Pin=0~1kN, output signal is analog quantity voltage, output area：Vout=0~10V.It is defeated
The corresponding relation enter, exported is：Vout=K × Pin.K=0.01.
7) process circuit 8：As shown in figure 4, mainly include Acquisition Circuit, circuit for controlling motor, with host computer telecommunication circuit,
Processor.Acquisition Circuit is responsible for gathering the voltage signal of piezoelectric accelerometer, is 0~3V voltages by 0~10V voltages, send
Give processor processing.Circuit for controlling motor controls two-way stepper motor, using the phase control mode of 5 line 4.Processor is from meaning method half
The STM32 chips of conductor, work in 72MHz frequencies, and the voltage signal that AD is gathered is sent to upper computer software by Ethernet,
And the motor control instruction for sending upper computer software by Ethernet is converted into motor control signal and is sent to motor control electricity
Road..
8) host computer 9：Programmed, run in the systems such as Windows XP or Windows 7 using C Plus Plus.Software circle
Momenttum wheel can be set in face and be in polarity test or closed circuit test pattern, it is settable rotate freely platform be freely rotatable angle
Degree.Meanwhile, software interface can show the result of momenttum wheel polarity test.
Polarity test needs to measure the direction of rotation of momenttum wheel wheel body.As shown in figure 5, it is necessary to so that certainly during polarity test
By rotation platform 3 have it is larger rotate freely angle, so, controlled motor 11, motor 12 first so that L1 diminishes, and L2 becomes big.
Generally set：L1=3cm, L2=1cm.
As shown in figure 5, when applying positive torque voltage to momenttum wheel wheel body 10, wheel, which is known from experience, to be accelerated to rotate clockwise, due to
The moment of reaction, housing 7, which can drive, to be rotated freely platform and makees rotate counterclockwise, and the piezoelectric accelerometer and pretension for causing the right are limited
The adjustable tooth touching of position device, the piezoelectric accelerometer provides electric signal, reflects the rotary speed direction of wheel body.Conversely, when to momentum
Wheel 10 applies negative torque voltage, and wheel, which is known from experience, to be accelerated to rotate counterclockwise, and due to the moment of reaction, housing 7 can drive and rotate freely
Platform 3 turns clockwise, and causes the piezoelectric accelerometer 5 on the left side to be touched with the adjustable tooth 13 of pretension stopping means, the piezoelectricity
Accelerometer provides electric signal, reflects the rotary speed direction of wheel body 10.
In closed circuit test, it is not necessary to rotate freely platform have it is larger rotate freely angle, so, as shown in fig. 6, first
Controlled motor 11, motor 12 so that L1 becomes big, and L2 diminishes.Generally set：L1=4.4cm, L2=0.4cm.So that adjustable tooth with
Groove is substantially at fit-state, but is not exclusively adjacent to, and has a small amount of free gaps., can be with measurement wheel using the free gap
The acceleration of body, deceleration direction, tester is supplied to as auxiliary information.
Apply torque to momenttum wheel wheel body according to M curve, when wheel body 10 accelerates to rotate clockwise, due to reaction
Torque, housing 7, which can drive, to be rotated freely platform and makees rotate counterclockwise, causes the piezoelectric accelerometer and pretension stopping means on the right
Adjustable tooth touching, the piezoelectric accelerometer provides electric signal, reflects the acceleration direction of wheel body.When wheel body 10 accelerates to turn counterclockwise
When dynamic, due to the moment of reaction, housing, which can drive, to be rotated freely platform and turns clockwise, and causes the piezoelectric accelerometer on the left side
Touched with the adjustable tooth of pretension stopping means, the piezoelectric accelerometer provides electric signal, reflect the acceleration direction of wheel body.By upper
The momenttum wheel condition curve of position machine collection judges the state transformation of momenttum wheel, and itself speed measuring system is exported with momenttum wheel wheel body
Condition curve contrast, judge whether the state that the measurement of momenttum wheel wheel body itself speed measuring system is measured correct, works as momenttum wheel
The measurement of state transformation and speed measuring system state consistency when, judge that the measurement of itself speed measuring system is correct, it is no
Then mistake.
It is described above, it is only the optimal embodiment of the present invention, but protection scope of the present invention is not limited thereto,
Any one skilled in the art the invention discloses technical scope in, the change or replacement that can be readily occurred in,
It should all be included within the scope of the present invention.
The content not being described in detail in description of the invention belongs to the known technology of professional and technical personnel in the field.
Claims (10)
1. a kind of momenttum wheel automatic test device, it is characterised in that：Including support (1), bearing (2), rotation platform (3), pre-
Tight stopping means (6), installation pinboard (4), piezoelectric accelerometer (5) and process circuit (8)；
Support (1), with horizontal part and vertical portion, the horizontal part is used for gentle support test device；
Rotation platform (3), the vertical portion of support (1) is connected to by bearing (2), is revolved with bearing (2) in the range of spacing angle
Turn, rotation platform (3) upper end is provided with rectangular channel；
Pretension stopping means (6)：Be fixed on the vertical portion of support (1), with two protrusion rectangular teeths (13), two protrusion
Rectangular teeth (13) is arranged on the rotating range of limitation rotation platform (3) in rectangular channel；
Pinboard (4) is installed, the housing (7) of tested momenttum wheel is fixed on rotation platform (3)；
Piezoelectric accelerometer (5)：Left and right edges in rotation platform (3) rectangular channel are installed on, pretension stopping means (6) rectangle is gathered
Pressure between tooth (13) and rotation platform rectangle groove edge, converts the pressure to voltage signal and exports give process circuit (8)；
Process circuit (8), receives the voltage signal of piezoelectric accelerometer (5) output, and is sent to by ethernet communication circuit
Host computer (9).
2. device according to claim 1, it is characterised in that the inner ring of the bearing (2) is fixed on support (1), and outer ring is solid
It is connected in rotation platform (3).
3. device according to claim 1, it is characterised in that：Pretension stopping means (6) also includes the first motor (11) and the
Two motors (12), the distance between the rectangular teeth of two protrusions is adjusted by the first motor (11), on the rectangular teeth of two protrusions
The distance of lower movement is controlled by the second motor (12)；The control instruction that process circuit is sent according to host computer controls the first motor
And the second motor (12) (11).
4. device according to claim 1, it is characterised in that pretension stopping means (6) also includes the first motor (11) and second
Motor (12)；The process circuit (8) includes Acquisition Circuit, circuit for controlling motor, processor and ethernet communication circuit；
Wherein Acquisition Circuit is responsible for gathering the voltage signal of accelerometer, and gives processor；
Circuit for controlling motor controls and drives the first and second motors；
The voltage signal that processor gathers Acquisition Circuit is sent to host computer by ethernet communication circuit, and by host computer
(9) motor control instruction sent by ethernet communication circuit is sent to circuit for controlling motor.
5. device according to claim 1, it is characterised in that host computer draws pressure curve according to pressure signal, with momenttum wheel
The driving curve of wheel body (10) is contrasted, and judges whether the rotation of momenttum wheel wheel body (10) is correct.
6. a kind of method based on the test of momenttum wheel automatic test device described in claim 1, it is characterised in that including such as
Lower step：
(1) housing (7) of tested momenttum wheel is arranged on and installed on pinboard (4)；
(2) host computer sends control instruction and controls the first motor (11), adjusts the rectangle interdental space L1 of two protrusions；Control the
Two motors (12), regulation rectangular teeth (13) distance from bottom bottom portion of groove apart from L2；
(3) momenttum wheel polarity test is carried out, torque is applied to momenttum wheel wheel body (10)；Observe the rotation of momenttum wheel housing (7) rotation
Turn direction, judge momenttum wheel wheel body (10) rotation direction whether with applying power match by moment, judge momenttum wheel wheel body (10) turn
It is dynamic whether correct；
(4) host computer sends control instruction and controls the first motor (11) and the second motor (12) so that L1 becomes big, and L2 diminishes；Square
Shape tooth (13) is substantially at fit-state, only free gap with groove；
(5) the closed circuit test of momenttum wheel is carried out, the momenttum wheel condition curve gathered by host computer judges the state transformation of momenttum wheel,
Contrasted with the condition curve of momenttum wheel wheel body itself speed measuring system output, judge itself speed measuring system of momenttum wheel wheel body
Whether the state of measurement is correct.
7. method according to claim 6, it is characterised in that adjustable range L1 is 3cm in step (2), is 1cm apart from L2.
8. method according to claim 6, it is characterised in that adjustable range L1 is 4.4cm in step (4), is apart from L2
0.4cm。
9. method according to claim 6, it is characterised in that the state bag of the momenttum wheel wheel body (10) described in step (5)
Include：Starting state, sliding state, halted state, positive acceleration, reversely Forward to slow down, acceleration and reversely deceleration.
10. method according to claim 6, it is characterised in that when momenttum wheel wheel body (10) rotates, due to the moment of reaction, is moved
Amount wheel housing (7) direction opposite with momenttum wheel wheel body (10) rotates.
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| CN201510424121.3A CN105021926B (en) | 2015-07-17 | 2015-07-17 | A kind of momenttum wheel automatic test device and method of testing |
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| CN201510424121.3A CN105021926B (en) | 2015-07-17 | 2015-07-17 | A kind of momenttum wheel automatic test device and method of testing |
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Families Citing this family (2)
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| CN106859594A (en) * | 2015-12-14 | 2017-06-20 | 北京谊安医疗***股份有限公司 | A kind of fixing device of plug-in type monitor |
| CN106767912A (en) * | 2016-11-30 | 2017-05-31 | 上海卫星工程研究所 | Based on the three axis accelerometer polarity test method that whole luck is moved |
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