CN106251763A - A kind of flywheel demo system and demenstration method thereof - Google Patents
A kind of flywheel demo system and demenstration method thereof Download PDFInfo
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Abstract
A kind of flywheel demo system, the bearing (1) vertically arranged including axial line and the horizontally disposed rotating disk (2) being used for Simulated Spacecraft, rotating disk can be at horizontal rotation in surface, driving motor (3) it is fixed with on rotating disk, drive motor to connect and have the mass (4) for Simulated Spacecraft flywheel, and for detecting the velocity sensor of rotating shaft rotating speed, the outer ring of bearing (1) or inner ring connection have the angular displacement sensor for detecting rotating disk actual rotation angle.The demo system of the present invention fully simulates the spatial environments of spacecraft, the demenstration method of the present invention is by by the frictional resistance moment identification between bearing internal external circle out, and the frictional resistance moment picked out is input in control system model, design for control system provides accurate model, making control system more stable, the angle of rotating disk is the most more stable.
Description
Technical field
The present invention relates to spacecraft demo system, particularly, relate to a kind of flywheel demo system and demenstration method thereof.
Background technology
Fly wheel system is the active control system being used widely in spacecraft (celestial body).Flywheel accelerate continuously or
The moment of reaction caused that slows down acts on the driving motor stator being fixed together with spacecraft, makes spacecraft attitude make certain
After one changes, proceeding to steady statue, the operation principle of fly wheel system is exactly the moment of momentum theorem, i.e. aggregated momentum square (each portion of celestial body
Part angular momentum vector sum) derivative to the time, equal to acting on the moment of face sum on celestial body, especially when moment of face vector it
With during for zero, then celestial body conservation of angular momentum.
How in ground visible, the simulation true to nature process by Wheels-Controlled Spacecraft attitude, spacecraft is ground
Study carefully important role, for universities and colleges the moment of momentum theorem impart knowledge to students, spacecraft control teaching, spacecraft attitude teaching efficiency
Also there is important power of influence.
In prior art, mentioning about the demo system of spacecraft flywheel is less, Chinese patent 201410291394.0 is public
Having opened a kind of method utilizing acceleration flywheel inertia simulation device to realize the simulation of spacecraft rotary inertia, its spacecraft simulation part passes through
Driven by motor rotates, and is not driven by motor in celestial body actual moving process and rotate, and the method for its rotary inertia simulation
The frictional resistance moment in system is not identified, but needs the rotary inertia by frictional damping with booster engine to ignore,
And its calculate rotary inertia is the equivalence value drawn by its flywheel, counted celestial body rotary inertia error can be bigger.
Summary of the invention
Present invention aim at providing a kind of flywheel demo system and demenstration method thereof, to solve proposition in background technology
Problem.
For achieving the above object, the invention provides a kind of flywheel demo system, vertically arrange including axial line
Bearing (1) and for the horizontally disposed rotating disk (2) of Simulated Spacecraft, the inner ring (11) of described bearing (1) or outer ring
(12) being fixed together with demo platform, described rotating disk (2) is provided with centre bore, the outer ring (12) of bearing (1) or inner ring (11) card
Entering the centre bore of rotating disk (2) makes rotating disk (2) can follow the outer ring of bearing (1) or inner ring on horizontal rotation in surface, rotating disk (2)
It is fixed with the driving motor (3) being positioned at bearing radial outer periphery, drives the rotating shaft core line of motor (3) and the axial line of bearing (1)
Parallel, drive the housing of motor (3) to be connected with rotating disk, driving the rotating shaft of motor (3) to connect has for Simulated Spacecraft flywheel
Mass (4), drives the rotating shaft of motor (3) to be also associated with the velocity sensor for detecting rotating shaft rotating speed, the outer ring of bearing (1)
Or inner ring connection has the angular displacement sensor for detecting rotating disk actual rotation angle.
Described flywheel demo system is provided with controller, drives motor (3) and the velocity pick-up driving machine shaft to be connected
Device and angular displacement sensor are controlled by controller electrical connection, and controller is for receiving the rotating shaft that velocity sensor is fed back
Rotating speed and the actual rotation angle of rotating disk (2) fed back of angular displacement sensor, and according to the rotating speed of rotating shaft, rotating disk (2)
Actual rotation angle and the moment of momentum theorem calculate the frictional resistance moment between inner ring and the outer ring of bearing (1), by frictional resistance
It is input to control system model after square identification, thus the design for control system provides accurate model.
The principle of this flywheel demo system is: drive motor (3) energising to drive mass (4) to rotate, when rotating shaft band kinoplaszm
During gauge block (4) acceleration or deceleration, can be to driving motor (3) stationary part and the anti-work of rotating disk (2) generation being connected with stationary part
Firmly, when counteracting force is more than the frictional resistance between bearing internal external circle, turntable rotation is necessarily driven, the momentum that rotating disk produces
The moment of momentum that square obtains equal to spacecraft flywheel plus the moment of momentum overcoming frictional resistance to be consumed.
Further, it is additionally provided with between inner ring and the outer ring of bearing (1) for motor (3) and velocity sensor will be driven
Cable switching is to the slip ring of the desktop control system on demo platform, and wherein slip-ring rotor (51) is connected with bearing outer ring, slip ring
Stator (52) and bearing inner race are connected, and drive the cable of motor (3) and velocity sensor to receive on slip-ring rotor, slip ring stator and
The cable of angular displacement sensor directly connects with the desktop control system being arranged on demo platform, so that pivotable parts
Cable is transferred to demo platform by slip ring, it is to avoid cable wrapping phenomena occurs in rotating disk (2) rotation process.
Further, rotating disk (2) is provided with the spirit bubble (21) being adapted to assist in rotating disk (2) regulation level.
Preferably, described mass (4) is circular tray type structure.
According to described flywheel demo system, present invention also offers a kind of demenstration method, comprise the following steps:
1) calculation bearing (1) frictional resistance moment L between inner ring and outer ringf, ignore the eccentricity effect of system,
Have according to the moment of momentum theorem:
Again by Tp=Ipωp(formula 2) and Td=Idωd(formula 3) substitutes into formula 1 and obtains:
Wherein LfFor the frictional resistance moment between bearing inner race and outer ring, TpFor the moment of momentum of rotating disk, IpRotation for rotating disk
Inertia, ωpFor the rotational angular velocity of rotating disk, wherein TdFor driving the moment of momentum of machine shaft, IdFor driving the rotation of machine shaft
Inertia, ωdFor the rotational angular velocity driving machine shaft sensed by velocity sensor, θ is sensed by angular displacement sensor
The angular position of rotation of rotating disk；
2) frictional resistance moment L calculated according to step 1f, by frictional resistance moment LfIt is input to control system model, for control
The design of system processed provides accurate model, specific as follows:
Rotating speed control law according to DC servo drive motor (3):
The circuit mathematical model of driving motor is: Ud=UL+ RI (formula 6),
The rotational model of motor is: UL=CeΦωdR (formula 7),
Wherein UdFor armature end voltage, ω0For desired speed to be reached after driving motor to accelerate, kpFor proportional gain,
kvFor speed gain, kIFor current gain, I is coil current, ULFor armature induction voltage, R is armature resistance, and Φ is the most total
Magnetic flux, r is armature radius, CeFor motor induction coil induced potential constant,(for driving motor number of pole-pairs, N is electricity to p
Pivot winding total conductor number, 2a is the parallel branch number between brush)；
Formula 6, formula 7 are substituted into formula 5 and obtain:
The electromagnetic torque of driving motor is
Wherein T0For driving the resistive torque of motor itself, TLFor load torque, TjFor motor and the inertia torque of load, andJ is the rotary inertia of load and electric machine rotation part；
Simultaneous formula 4, formula 8, formula 9 obtain the mathematical model of control system:
According to the mathematical model of formula 10, formula 8 is further converted to:
And substitute into formula 4:
Formula 11 can be further converted to:
Regulation ω0So that
Formula 12 substitutes into formula 11 convolution 9, and the governing equation of system can be reduced toMake
System becomes typical two-step element, can adjust parameter kαWith kβSo that system stability, it is achieved thereby that the angle of rotating disk is steady
Fixed.
Beneficial effect: the demo system of the present invention, by horizontally disposed dishpan simulation spacecraft, has driving electricity with connection
Flywheel on the rotating mass Simulated Spacecraft of machine, arranges the bearing of low resistance, fully between rotating disk and demo platform
Simulating the spatial environments of spacecraft, the demenstration method of the present invention is by picking out the frictional resistance moment between bearing internal external circle
Coming, and the frictional resistance moment picked out be input in control system model, the design for control system provides accurate mould
Type so that control system is more stable, the angle of rotating disk is the most more stable, and controllability is good.
In addition to objects, features and advantages described above, the present invention also has other objects, features and advantages.
Below with reference to figure, the present invention is further detailed explanation.
Accompanying drawing explanation
The accompanying drawing of the part constituting the application is used for providing a further understanding of the present invention, and the present invention's is schematic real
Execute example and illustrate for explaining the present invention, being not intended that inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the flywheel demo system overall structure schematic diagram of the preferred embodiment of the present invention.
In figure: 1-bearing, 11-bearing inner race, 12-bearing outer ring, 2-rotating disk, 21-spirit bubble, 3-drives motor, 4-matter
Gauge block, 51-slip-ring rotor, 52-slip ring stator.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiments of the invention are described in detail, but the present invention can limit according to claim
Multitude of different ways that is fixed and that cover is implemented.
See a kind of flywheel demo system of Fig. 1, the bearing (1) that vertically arranges including axial line and for mould
Intending the horizontally disposed rotating disk (2) of spacecraft, inner ring (11) lower end of bearing (1) is fixed together with demo platform, rotating disk (2)
Being provided with centre bore, outer ring (12) upper end of bearing (1) snaps in the centre bore of rotating disk (2) and makes rotating disk (2) can follow bearing (1)
Outer ring rotates around the inner ring of bearing (1), and rotating disk (2) is fixed with the driving motor (3) being positioned at bearing radial outer periphery, drives motor
(3) rotating shaft core line and the axis parallel of bearing (1), drive the housing of motor (3) to be connected with rotating disk, drive motor (3)
Rotating shaft connect and have a mass (4) for Simulated Spacecraft flywheel, drive the rotating shaft of motor (3) to be also associated with for detection and turn
The velocity sensor of axle rotating speed, the outer ring of bearing (1) connects the angular displacement sensor for detecting outer ring actual rotation angle
(not shown).
Flywheel demo system is provided with controller, drive motor (3) and the velocity sensor driving machine shaft to be connected,
And angular displacement sensor is controlled by controller electrical connection, turning of the rotating shaft that controller is fed back for receiving velocity sensor
The actual rotation angle of rotating disk (2) that speed and angular displacement sensor are fed back, and according to the rotating speed of rotating shaft, the reality of rotating disk (2)
Rotational angle and the moment of momentum theorem calculate the frictional resistance moment between inner ring and the outer ring of bearing (1), frictional resistance moment are distinguished
It is input to control system model after knowledge, thus the design for control system provides accurate model.
It is additionally provided with between inner ring and the outer ring of bearing (1) for motor (3) and the cable switching of velocity sensor will be driven
The slip ring of the desktop control system on demo platform, wherein slip-ring rotor (51) is connected with bearing outer ring, slip ring stator (52)
Being connected with bearing inner race, drive the cable of motor (3) and velocity sensor to receive on slip-ring rotor, slip ring stator and angular displacement pass
The cable of sensor directly connects with the desktop control system being arranged on demo platform, so that the cable of pivotable parts passes through
Slip ring is transferred to demo platform, it is to avoid cable wrapping phenomena occurs in rotating disk (2) rotation process.
Rotating disk (2) is provided with the spirit bubble (21) being adapted to assist in rotating disk (2) regulation level, in the present embodiment, spirit bubble
(21) it is arranged in the centre bore of rotating disk.
In the present embodiment, mass (4) is circular disc type flywheel structure.
In the present embodiment, angular displacement sensor uses absolute value encoder.
The demenstration method of a kind of flywheel demo system, comprises the following steps:
1) calculation bearing (1) frictional resistance moment L between inner ring and outer ringf, ignore the eccentricity effect of system,
Have according to the moment of momentum theorem:
Again by Tp=Ipωp(formula 2) and Td=Idωd(formula 3) substitutes into formula 1 and obtains:
Wherein LfFor the frictional resistance moment between bearing inner race and outer ring, TpFor the moment of momentum of rotating disk, IpRotation for rotating disk
Inertia, ωpFor the rotational angular velocity of rotating disk, wherein TdFor driving the moment of momentum of machine shaft, IdFor driving the rotation of machine shaft
Inertia, ωdFor the rotational angular velocity driving machine shaft sensed by velocity sensor, θ is sensed by angular displacement sensor
The angular position of rotation of rotating disk；
2) frictional resistance moment L calculated according to step 1f, by frictional resistance moment LfIt is input to control system model, for control
The design of system processed provides accurate model, specific as follows:
According to driving motor (driving motor to select DC servo motor in the present embodiment) rotating speed control law:
The circuit mathematical model of driving motor is: Ud=UL+ RI (formula 6),
The rotational model of motor is: UL=CeΦωdR (formula 7),
It is wherein armature end UdVoltage, ω0For desired speed to be reached after driving motor to accelerate, kpFor proportional gain,
kvFor speed gain, kIFor current gain, I is coil current, ULFor armature induction voltage, R is armature resistance, and Φ is the most total
Magnetic flux, r is armature radius, CeFor motor induction coil induced potential constant,(for driving motor number of pole-pairs, N is electricity to p
Pivot winding total conductor number, 2a is the parallel branch number between brush)；
Formula 6, formula 7 are substituted into formula 5 and obtain:
The electromagnetic torque of driving motor is
Wherein T0For driving the resistive torque of motor itself, TLFor load (i.e. mass) torque, TjUsed for motor and load
Property torque, andJ is the rotary inertia of load and electric machine rotation part；
Simultaneous formula 4, formula 8, formula 9 obtain the mathematical model of control system:
Control problem can be described as: how to regulate kp、kv、kIAnd ω0So thatWherein θ0For to control
Position.
According to the mathematical model of formula 10, formula 8 is further converted to:
Substitution formula 4:
Formula 11 can be further converted to:
Regulation ω0So that
The governing equation of system can be reduced toSystem is made to become typical two-step element,
Parameter k can be adjustedαWith kβSo that system stability, it is achieved thereby that the angle stabilization of rotating disk.
For simplifying problem, Control System Design, first, the rotating speed control of design DC servo drive motor can be undertaken in two steps
System processed so that servosystem is stable, and there is certain response speed and less overshoot；Then, redesign rotating disk
Position control system so that it is predetermined position can be turned to.It is to say, first regulation controls parameter kp、kv、kIWith
ω0So that motor meets requirement, then regulates ω0So that
These are only the preferred embodiments of the present invention, be not limited to the present invention, for those skilled in the art
For Yuan, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, any amendment of being made,
Equivalent, improvement etc., should be included within the scope of the present invention.
Claims (6)
1. a flywheel demo system, it is characterised in that include bearing (1) that axial line vertically arranges and for mould
Intending the horizontally disposed rotating disk (2) of spacecraft, inner ring or outer ring (12) of described bearing (1) are fixed together with demo platform,
Described rotating disk (2) is provided with centre bore, and the outer ring of bearing (1) or inner ring (11) snap in the centre bore of rotating disk (2) and make the rotating disk (2) can
Outer ring or the inner ring of following bearing (1) are fixed with the driving electricity being positioned at bearing radial outer periphery on horizontal rotation in surface, rotating disk (2)
Machine (3), drives the rotating shaft core line of motor (3) and the axis parallel of bearing (1), and the housing driving motor (3) is solid with rotating disk
Even, driving the rotating shaft of motor (3) to connect has the mass (4) for Simulated Spacecraft flywheel, drives the rotating shaft of motor (3) also to connect
Being connected to the velocity sensor for detecting rotating shaft rotating speed, the outer ring of bearing (1) or inner ring connect for detecting that rotating disk is actual to be turned
The angular displacement sensor of dynamic angle.
A kind of flywheel demo system the most according to claim 1, it is characterised in that described flywheel demo system is provided with control
Device, drives motor (3) and the velocity sensor driving machine shaft to be connected and angular displacement sensor by controller electricity
Connect and control, the rotating disk that controller is fed back for the rotating speed and angular displacement sensor receiving the rotating shaft that velocity sensor is fed back
(2) actual rotation angle, and calculate shaft according to rotating speed, the actual rotation angle of rotating disk (2) and the moment of momentum theorem of rotating shaft
Hold the frictional resistance moment between inner ring and the outer ring of (1), control system model will be input to after frictional resistance moment identification, thus be
The design of control system provides accurate model.
A kind of flywheel demo system the most according to claim 1 and 2, it is characterised in that the inner ring of bearing (1) and outer ring it
Between be additionally provided with the cunning for the cable switching to the desktop control system on demo platform that will drive motor (3) and velocity sensor
Ring (5), wherein the rotor of slip ring (5) is connected with bearing outer ring, and the stator of slip ring (5) is connected with bearing inner race, drives motor (3)
And the cable of velocity sensor receives on slip-ring rotor, the cable of slip ring stator and angular displacement sensor directly and is arranged on demonstration
Desktop control system on platform connects, so that the cable of pivotable parts is transferred to demo platform by slip ring, it is to avoid turn
Dish (2) rotation process occurs cable winds phenomenon.
A kind of flywheel demo system the most according to claim 1 and 2, it is characterised in that rotating disk (2) is provided with and is adapted to assist in
The spirit bubble (21) of rotating disk (2) regulation level.
A kind of flywheel demo system the most according to claim 1 and 2, it is characterised in that described mass (4) is circular discs
Formula structure.
6. a kind of demenstration method arranged according to the flywheel demo system described in any one in Claims 1 to 5, its feature exists
In, comprise the following steps:
1) calculation bearing (1) frictional resistance moment L between inner ring and outer ringf, ignore the eccentricity effect of system,
Have according to the moment of momentum theorem:
Again by Tp=Ipωp(formula 2) and Td=Idωd(formula 3) substitutes into formula 1 and obtains:
Wherein LfFor the frictional resistance moment between bearing inner race and outer ring, TpFor the moment of momentum of rotating disk, IpRotation for rotating disk is used to
Amount, ωpFor the rotational angular velocity of rotating disk, wherein TdFor driving the moment of momentum of machine shaft, IdFor driving the rotation of machine shaft to be used to
Amount, ωdFor the rotational angular velocity driving machine shaft sensed by velocity sensor, θ is by turning that angular displacement sensor senses
The angular position of rotation of dish；
2) frictional resistance moment L calculated according to step 1f, by frictional resistance moment LfIt is input to control system model, for controlling system
The design of system provides accurate model, specific as follows:
Rotating speed control law according to DC servo drive motor (3):
The circuit mathematical model of driving motor is: Ud=UL+ RI (formula 6),
The rotational model of motor is: UL=CeΦωdR (formula 7),
Wherein UdFor armature end voltage, ω0For desired speed to be reached after driving motor to accelerate, kpFor proportional gain, kvFor
Speed gain, kIFor current gain, I is coil current, ULFor armature induction voltage, R is armature resistance, and Φ is every pole total magnetic flux,
R is armature radius, CeFor motor induction coil induced potential constant,(p for driving motor number of pole-pairs, N be armature around
Organizing total conductor number, 2a is the parallel branch number between brush)；
Formula 6, formula 7 are substituted into formula 5 and obtain:
The electromagnetic torque of driving motor is
Wherein T0For driving the resistive torque of motor itself, TLFor load torque, TjFor motor and the inertia torque of load, andJ is the rotary inertia of load and electric machine rotation part；
Simultaneous formula 4, formula 8, formula 9 obtain the mathematical model of control system:
According to the mathematical model of formula 10, formula 8 is further converted to:
And substitute into formula 4:
Formula 11 is further converted to:
Regulation ω0So that
Formula 12 substitutes into formula 11 convolution 9, and the governing equation of system is reduced toSystem is made to become
Typical two-step element, adjusts parameter kαWith kβSo that system stability, it is achieved thereby that the angle stabilization of rotating disk.
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| CN108731861A (en) * | 2017-04-17 | 2018-11-02 | 青岛鼎通新能源科技有限公司 | A kind of centrifugal force permanent torque output device |
| CN109632068A (en) * | 2018-12-20 | 2019-04-16 | 拉扎斯网络科技（上海）有限公司 | Detection device and method for weighing sensor |
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| Publication number | Publication date |
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| CN106251763B (en) | 2018-10-12 |
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