Dynamic test device for the restoring torque of a control moment gyro

Abstract

The present invention discloses a dynamic test device for controlling the restoring torque of a control moment gyro, which comprises a test platform. On the top surface of the test platform, a driving motor and a torque sensor are fixedly connected at intervals, and the driving motor is in transmission connection with the torque sensor. On the top surface of the test platform and on the side where the torque sensor faces away from the driving motor, a gyro mounting frame is provided. At both ends of the gyro mounting frame along the center line direction of the motor shaft of the driving motor, rotating shafts arranged on the same center line as the motor shaft are respectively fixed. On both sides of the gyro mounting frame along the center line direction of the motor shaft, support seats fixedly connected to the test platform are respectively provided. The rotating shaft passes through the support seat on its corresponding side and is rotationally matched with the support seat. The rotating shaft on the side facing the torque sensor is in transmission connection with the torque sensor. A gyro fixing device for fixing the gyro to be tested is installed on the gyro mounting frame. A counterweight is hung at a position on the gyro mounting frame on one side of the center line direction of the rotating shaft.

Description

Technical Field

[0001] The present invention relates to the field of control moment gyro performance testing, and particularly to a dynamic testing device for the restoring moment of a control moment gyro. Background Art

[0002] As an active balancing device, the control moment gyro has an amplified and well-controllable moment, and is widely used in space stations, satellites and aerospace vehicles. At present in China, the application of this technology to two-wheeled vehicles is not yet mature. In terms of testing the performance of the control moment gyro, there is only a test bench for testing the dynamic characteristics of the control moment gyro frame and a test bench for testing the gyro moment output by the control moment gyro under steady-state conditions.

[0003] For the scheme of the test bench for testing the dynamic characteristics of the frame, the angular velocity of the low-speed frame is measured by a laser vibrometer, and the gyro moment output by the low-speed frame is measured by a torque sensor. It is tested under multiple sets of angular velocity step responses of the low-speed frame, and the delay characteristic parameters of the control moment gyro when the time changes are identified through the PC side. This scheme can only test the delay effect of the gyro moment output caused by the low-speed frame when the gyro system switches between different steady-state conditions, and cannot test the magnitude of the output moment of the control moment gyro under different conditions.

[0004] For the scheme of the test bench for testing the gyro moment output by the control moment gyro under steady-state conditions, different steady-state conditions are simulated by a moment gyro controller, and the restoring moment of the static torque sensor on the transmission shaft is collected by a data collector, and finally the magnitude of the restoring moment under different steady-state conditions is displayed and recorded on the PC side. This scheme can only test the magnitude of the restoring moment of the control moment gyro under the steady-state tilting condition of the system. The measured restoring moment is a non-continuous value at a certain moment, and this test is not universal. It cannot test the dynamic real-time restoring moment output by the control moment gyro when the two-wheeled vehicle rolls over due to rollover impact, load mass eccentricity or continuously changing conditions. Summary of the Invention

[0005] Aiming at the deficiencies of the above-mentioned prior art, the technical problem to be solved by the present invention is: how to provide a dynamic testing device for the restoring moment of a control moment gyro that can test the numerical value and limit value of the restoring moment of the control moment gyro under real-time conditions.

[0006] To solve the above technical problem, the technical solution adopted by the present invention is:

[0007] A dynamic test device for controlling the restoring torque of a control moment gyro includes a test platform. On the top surface of the test platform, a driving motor and a torque sensor are fixedly connected at intervals. On the side of the driving motor facing the torque sensor, a motor shaft extends out. One end of the main shaft of the torque sensor is arranged on the same center line as the motor shaft and is in transmission connection. On the top surface of the test platform and on the side of the torque sensor facing away from the driving motor, a gyro mounting bracket is provided. At both ends of the gyro mounting bracket along the center line direction of the motor shaft, rotating shafts arranged on the same center line as the motor shaft are respectively fixed. On both sides of the gyro mounting bracket along the center line direction of the motor shaft, support seats fixedly connected to the test platform are respectively provided. The rotating shaft passes through the support seat on its corresponding side and is in rotational cooperation with the support seat. The gyro mounting bracket is spaced from the test platform. One end of the main shaft of the torque sensor facing away from the motor shaft is in transmission connection with the rotating shaft on its corresponding side. A gyro fixing device for fixing the gyro to be tested is installed on the gyro mounting bracket. When the gyro to be tested is installed and fixed on the gyro mounting bracket, the center of gravity formed by the combination of the gyro mounting bracket, the gyro fixing device and the gyro to be tested is located on the extension line of the center line of the rotating shaft. A counterweight is mounted at a position on the gyro mounting bracket on one side of the center line direction of the rotating shaft.

[0008] In the present invention, the control moment gyro is fixedly installed on the gyro mounting bracket through the gyro fixing device, and the gyro mounting bracket is used to simulate the frame of a two-wheeled vehicle; then a counterweight is mounted on one side of the gyro mounting bracket to simulate the eccentric load of the two-wheeled vehicle. The driving motor is started, and the motor shaft transmits the torque to the torque sensor and then to the gyro mounting bracket, and the gyro mounting bracket is rotated to a certain angle to simulate the body tilt angle. When the gyro mounting bracket tilts to the preset angle for experimental testing, the control moment gyro is started to work, and then the driving motor is powered off to stop working. The gyro mounting bracket will rotate. At this time, the value of the torque sensor is collected in real time, and the magnitude of the torque output by the control moment gyro during the restoring process of the gyro mounting bracket can be obtained, and the delay characteristic of the gyro torque output can be analyzed.

[0009] As an optimization, on the top surface of the test platform and at positions corresponding to the driving motor and the torque sensor, a motor base and a sensor base are respectively fixedly connected. The driving motor is fixed on the top of the motor base, and the torque sensor is fixed on the top of the sensor base. On the top surface of the test platform and at a position below the gyro mounting bracket, an avoidance groove is recessed. The projection of the gyro mounting bracket in the direction perpendicular to the plane of the test platform is located within the projection of the avoidance groove in the direction perpendicular to the plane of the test platform. In order to prevent the gyro mounting bracket from colliding with the test platform during rotation, the avoidance groove is provided, which can reduce the installation height of the entire driving motor and torque sensor.

[0010] As an optimization, a plurality of weight reduction grooves are evenly spaced along the direction parallel to the center line of the rotation axis on the upper edge of the bottom of the avoidance groove. The extending direction of the weight reduction groove is parallel to the plane where the test platform is located, and the extending direction of the weight reduction groove is perpendicular to the center line direction of the rotation axis. This can increase the structural strength at the avoidance groove and also achieve the purpose of weight reduction.

[0011] As an optimization, the support base includes a bearing seat bracket fixedly connected to the top surface of the test platform. A bearing seat is fixedly connected to the top of the bearing seat bracket. The rotation axis passes through its corresponding bearing seat and is rotationally matched with the bearing seat through a bearing. It rotates flexibly and reduces the test error.

[0012] As an optimization, the gyroscope mounting frame includes a box body with an overall rectangular shape. A box cover detachably connected to the box body is provided at the box opening of the box body. The box body is composed of a bottom plate and side plates. The inner cavity of the box body is an installation space for installing the gyroscope to be tested. The two rotation axes are respectively fixedly connected to one set of opposite side plates. The gyroscope fixing device includes two gyroscope mounting sleeves arranged coaxially in the installation space. The two gyroscope mounting sleeves are respectively fixedly connected to the other set of opposite side plates through fixing flanges. The center line direction of the gyroscope mounting sleeve is perpendicular to the center line direction of the rotation axis. It is more convenient to install the gyroscope and also avoids interference from the outside to the gyroscope test.

[0013] As an optimization, the number of the gyroscope fixing devices is multiple and they are arranged at intervals along the direction parallel to the center line of the rotation axis. Multiple gyroscopes can be tested simultaneously, improving efficiency.

[0014] As an optimization, baffles are respectively fixedly connected to the top surface of the test platform at positions on both sides of the gyroscope mounting frame along the center line direction of the rotation axis. The baffles are spaced apart from the gyroscope mounting frame. In the case where the gyroscope mounting frame flips excessively, the counterweight is likely to fall out of the gyroscope mounting frame, and the baffle can block the counterweight to avoid hurting people and objects.

[0015] Compared with the prior art, the present invention has the following advantages: The present invention can carry different eccentric masses on the gyroscope mounting frame to simulate the load on a two-wheeled vehicle, control the tilt angle of the vehicle frame and various transient working conditions through a driving motor, collect the restoring moment of the torque sensor under different working conditions, and simultaneously analyze the delay characteristics of the gyroscopic moment output. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional structural schematic diagram of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0017] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Components of the embodiments of the present invention usually described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0018] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the inventive product is customarily placed during use. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation of the present invention. In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance. In addition, terms such as "horizontal" and "vertical" do not mean that the components are required to be absolutely horizontal or hanging vertically, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined. In the description of the present invention, it should also be noted that unless otherwise clearly specified and defined, the terms "set", "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0019] Such as Figure 1As shown in the figure, the dynamic test device for the restoring moment of the control moment gyro in this specific embodiment includes a test platform 1. On the top surface of the test platform 1, a driving motor 2 and a torque sensor 3 are fixedly connected at intervals. On the side of the driving motor 2 facing the torque sensor 3, a motor shaft extends out. One end of the main shaft of the torque sensor 3 is arranged on the same center line as the motor shaft and is in transmission connection. On the top surface of the test platform 1 and on the side of the torque sensor 3 facing away from the driving motor 2, a gyro mounting bracket 4 is provided. At both ends of the gyro mounting bracket 4 along the center line direction of the motor shaft, rotating shafts arranged on the same center line as the motor shaft are respectively fixed. On both sides of the gyro mounting bracket 4 along the center line direction of the motor shaft, support seats 5 fixedly connected to the test platform are respectively provided. The rotating shaft passes through the corresponding support seat 5 on its side and is rotationally matched with the support seat. The gyro mounting bracket 4 is spaced from the test platform 1. One end of the main shaft of the torque sensor 3 facing away from the motor shaft is in transmission connection with the rotating shaft on its side. A gyro fixing device 6 for fixing the gyro to be tested is installed on the gyro mounting bracket 4. When the gyro to be tested is installed and fixed on the gyro mounting bracket 4, the center of gravity formed by the combination of the gyro mounting bracket 4, the gyro fixing device 6 and the gyro to be tested is located on the extension line of the center line of the rotating shaft. A counterweight is mounted on the gyro mounting bracket 4 at a position on one side of the center line direction of the rotating shaft.

[0020] In this specific embodiment, on the top surface of the test platform 1 and at positions corresponding to the driving motor 2 and the torque sensor 3, a motor base and a sensor base are respectively fixedly connected. The driving motor 3 is fixed on the top of the motor base, and the torque sensor 4 is fixed on the top of the sensor base. On the top surface of the test platform 1 and at a position below the gyro mounting bracket 4, an avoidance groove is recessed. The projection of the gyro mounting bracket 4 in the direction perpendicular to the plane of the test platform 1 is located within the projection of the avoidance groove in the direction perpendicular to the plane of the test platform 1.

[0021] In this specific embodiment, on the bottom of the avoidance groove, a plurality of weight reduction grooves are evenly spaced and opened along the direction parallel to the center line of the rotating shaft. The extending direction of the weight reduction groove is parallel to the plane of the test platform 1, and the extending direction of the weight reduction groove is perpendicular to the center line direction of the rotating shaft.

[0022] In this specific embodiment, the support seat 5 includes a bearing seat bracket fixedly connected to the top surface of the test platform 1. The top of the bearing seat bracket is fixedly connected with a bearing seat. The rotating shaft passes through the corresponding bearing seat and is rotationally matched with the bearing seat through a bearing.

[0023] In this specific embodiment, the gyroscope mounting bracket 4 includes a box body with an overall rectangular shape. A box cover detachably connected to the box body is provided at the opening of the box body. The box body is composed of a bottom plate and side plates. The inner cavity of the box body is an installation space for installing the gyroscope to be tested. The two rotating shafts are respectively fixedly connected to one set of opposite side plates. The gyroscope fixing device 6 includes two gyroscope mounting sleeves located in the installation space and arranged on the same center line. The two gyroscope mounting sleeves are respectively fixedly connected to the other set of opposite side plates through fixing flanges. The center line direction of the gyroscope mounting sleeves is perpendicular to the center line direction of the rotating shafts.

[0024] In this specific embodiment, the number of the gyroscope fixing devices 6 is multiple and they are arranged at intervals along the center line direction parallel to the rotating shafts.

[0025] In this specific embodiment, baffles 7 are respectively fixedly connected to the top surface of the test platform 1 at positions on both sides of the gyroscope mounting bracket 4 along the center line direction of the rotating shafts. The baffles 7 are arranged at intervals from the gyroscope mounting bracket 4.

[0026] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described by referring to the preferred embodiments of the present invention, those of ordinary skill in the art should understand that various changes can be made in form and details without departing from the spirit and scope of the present invention defined by the appended claims.

Claims

1. A dynamic test device for controlling the restoring torque of a control moment gyro, characterized in that: It includes a test platform. On the top surface of the test platform, a driving motor and a torque sensor are fixedly connected at intervals. On the side of the driving motor facing the torque sensor, a motor shaft extends out. One end of the main shaft of the torque sensor is arranged on the same center line as the motor shaft and is in transmission connection therewith. On the top surface of the test platform and on the side of the torque sensor facing away from the driving motor, a gyro mounting bracket is provided. At both ends of the gyro mounting bracket along the center line direction of the motor shaft, rotating shafts arranged on the same center line as the motor shaft are respectively fixed. On both sides of the gyro mounting bracket along the center line direction of the motor shaft, support seats fixedly connected to the test platform are respectively arranged. The rotating shaft passes through the support seat on its corresponding side and is rotationally matched with the support seat. The gyro mounting bracket is spaced from the test platform. One end of the main shaft of the torque sensor facing away from the motor shaft is in transmission connection with the rotating shaft on its corresponding side. A gyro fixing device for fixing the gyro to be tested is installed on the gyro mounting bracket. When the gyro to be tested is installed and fixed on the gyro mounting bracket, the center of gravity formed by the combination of the gyro mounting bracket, the gyro fixing device and the gyro to be tested is located on the extension line of the center line of the rotating shaft. A counterweight is mounted at a position on the gyro mounting bracket on one side of the center line direction of the rotating shaft; On the top surface of the test platform and at positions corresponding to the driving motor and the torque sensor respectively, a motor base and a sensor base are fixedly connected. The driving motor is fixed on the top of the motor base, and the torque sensor is fixed on the top of the sensor base. On the top surface of the test platform and at a position below the gyro mounting bracket, an avoidance groove is recessed. The projection of the gyro mounting bracket along the direction perpendicular to the plane where the test platform is located is located within the projection of the avoidance groove along the direction perpendicular to the plane where the test platform is located; The gyro mounting bracket includes a box body with an overall rectangular shape. At the box opening of the box body, a box cover detachably connected to the box body is covered. The box body is composed of a bottom plate and side plates. The inner cavity of the box body is an installation space for installing the gyro to be tested. The two rotating shafts are respectively fixedly connected to one group of opposite side plates. The gyro fixing device includes two gyro mounting sleeves arranged on the same center line in the installation space. The two gyro mounting sleeves are respectively fixedly connected to the other group of opposite side plates through fixing flanges. The center line direction of the gyro mounting sleeve is perpendicular to the center line direction of the rotating shaft.

2. The dynamic test device for the restoring torque of the control moment gyro according to claim 1, characterized in that: On the bottom of the avoidance groove, a plurality of weight reduction grooves are evenly spaced and opened along the direction parallel to the center line of the rotating shaft. The extending direction of the weight reduction groove is parallel to the plane where the test platform is located, and the extending direction of the weight reduction groove is perpendicular to the center line direction of the rotating shaft.

3. The dynamic test device for the return torque of the control moment gyro according to claim 1, characterized in that: The support seat includes a bearing seat bracket fixedly connected to the top surface of the test platform. A bearing seat is fixedly connected to the top of the bearing seat bracket. The rotating shaft passes through the corresponding bearing seat and is rotationally matched with the bearing seat through a bearing.

4. The dynamic test device for the restoring torque of the control moment gyro according to claim 1, characterized in that: The number of the gyro fixing devices is multiple and they are arranged at intervals along the direction parallel to the center line of the rotating shaft.

5. The dynamic test device for the restoring torque of the control moment gyro according to claim 1, characterized in that: On the top surface of the test platform and at positions on both sides of the gyro mounting bracket along the center line direction of the rotating shaft, baffles are respectively fixedly connected. The baffles are spaced from the gyro mounting bracket.

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