A sub-micro newton thrust vector test method and apparatus

Abstract

The application relates to the technical field of precision measurement, and discloses a sub-micro-newton thrust vector testing method and device, wherein the device comprises a frame support arranged on a base and a double-shaft suspension beam mechanism; a first cross beam is arranged at the top of the frame support; the double-shaft suspension beam mechanism is connected to the center of the first cross beam and forms a double-shaft suspension structure; a micro-propeller mounting frame is used for mounting and fixing a sub-micro-newton micro-propeller and adjusting the position of the micro-propeller during measurement; a double-shaft electromagnetic actuator and a double-shaft displacement sensor are used for measuring the displacement change of the micro-propeller mounting frame and the thrust vector of the sub-micro-newton micro-propeller in two directions perpendicular to each other in a horizontal plane; and a data processing module is used for reading the working current of the double-shaft electromagnetic actuator during measurement, calculating the thrust vector of the sub-micro-newton micro-propeller, and outputting the measurement result of the thrust vector of the sub-micro-newton micro-propeller.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of precision measurement, and more particularly to a sub-micro Newton thrust vector testing method and device. BACKGROUND

[0002] For the exploration of space environment, resources and the origin and development of the universe, very extensive thinking and practice have been carried out, such as the LISA plan proposed by NASA and ESA, the "Tianqin" plan proposed by Academician Lu Jun's team and the "Taiji" plan of the Chinese Academy of Sciences, and other space gravitational wave detection tasks for verifying the gravitational waves predicted by Einstein's theory of relativity, such as GRACE, GRACEFO, and other high-precision scientific experiments in space under the special advantage of space environment. However, the space environment is also disturbed by solar wind, cosmic radiation, plasma and the like, so in order to obtain an ultra-stable and ultra-quiet scientific experiment environment in space gravitational wave detection, GRACE FO and other tasks, it is currently proposed to use a micro-thruster to compensate for external disturbances and achieve satellite drag-free motion.

[0003] High-precision space scientific experiments have very high performance requirements for micro-thrusters, and it is a great challenge to carry out micro-thrust verification on the ground. The test of thrust performance is not limited to thrust noise, thrust size, and thrust vector testing is also essential for high-precision space scientific missions. For example, in the LISA space gravitational wave detection mission, NASA and ESA have proposed very detailed requirements for micro-thruster performance. The micro-thruster thrust range needs to be continuously adjustable in the range of 0.3-100 μN, the thrust resolution is less than 0.1 μN, the maximum error of thrust directionality is less than 5°, the maximum positional assembly error is less than 0.1 mm, the maximum angular assembly error is 2°, the thrust direction repeatability is less than 0.5°, and the thrust noise is less than 0.1 μN / Hz1 / 2@0.1 mHz-1Hz. For conventional attitude and orbit control micro-thrusters, not only can the thrust vector be calibrated on the ground, but also can be calibrated in orbit through a gimbal structure or a micro-thruster vector control mechanism. However, in high-precision space experiment satellites, the gimbal mechanism must introduce additional noise, and the vector control will affect the improvement of the micro-thruster performance, so such scientific satellites often do not have the ability to correct the thrust vector, but use circumferential thrust systems, mass center calibration and other methods to make a compromise for the thrust vector, which requires higher precision thrust vector testing on the ground to ensure the reliability of flight control.

[0004] The pendulum thrust frame is widely considered as the best method for measuring continuous thrust and pulse thrust in the micro-newton level to the millinewton level, mainly adopting the suspension pendulum, inverted pendulum and torsion pendulum balance to realize the resolution test and noise test of the small thrust. However, these thrust test methods only measure the thrust in the main thrust direction in a single axis, and cannot identify the direction and action point of the thrust. Therefore, the direct thrust measurement and the indirect thrust measurement method are combined to obtain rough thrust vector information. However, this method needs to make reasonable modeling assumptions, and cannot give accurate and complete thrust vector parameters such as thrust size, direction and action point. SUMMARY

[0005] The present application provides a sub-micro-newton thrust vector test method and device to overcome the defects of the prior art that the thrust vector test cannot give accurate and complete thrust vector parameters such as thrust size, direction and action point for micro-newton to sub-micro-newton thrust vector measurement.

[0006] To solve the above technical problems, the technical scheme of the present application is as follows:

[0007] A sub-micro-newton thrust vector test device, comprising a frame support erected on a base, and a double-axis suspension beam mechanism for providing a swing degree of freedom in two orthogonal directions; a first cross beam is arranged at the top of the frame support, and the double-axis suspension beam mechanism is connected to the center of the first cross beam to form a double-axis suspension structure;

[0008] A micro-thruster mounting frame is used for mounting and fixing the sub-micro-newton micro-thruster and adjusting the position during the measurement process; the top of the micro-thruster mounting frame is connected to the bottom of the double-axis suspension beam mechanism;

[0009] A double-axis electromagnetic actuator and a double-axis displacement sensor are used to measure the displacement change of the micro-thruster mounting frame and the thrust vector of the sub-micro-newton micro-thruster in two orthogonal directions in the horizontal plane; the top of the double-axis electromagnetic actuator is connected to the bottom of the micro-thruster mounting frame, and the coil part of the double-axis electromagnetic actuator is connected to the frame support; the top of the double-axis displacement sensor is connected to the bottom of the double-axis electromagnetic actuator, and the bottom of the double-axis displacement sensor is arranged above the base;

[0010] A data processing module is used to read the working current of the double-axis electromagnetic actuator during the measurement process, calculate the thrust vector of the sub-micro-newton micro-thruster, and output the thrust vector measurement result of the sub-micro-newton micro-thruster.

[0011] In the technical solution, the micro-propeller mounting rack is connected by a suspension type double-shaft swing frame structure, zero-point balance type feedback measurement is adopted, the movement in two orthogonal directions of the swing arm is measured by a high-precision double-shaft capacitive displacement sensor, the swing frame is controlled at a zero-point balance position by a double-shaft electromagnetic actuator, the feedback current on the double-shaft electromagnetic actuator is read to measure the thrust effect in the main direction and one side direction of the thrust vector, and the technical solution has the advantages of high precision and meets the ground test requirements for the performance of the micro-propeller in the current high-precision space scientific tasks.

[0012] Further, the application further provides a sub-micro-newton thrust vector test method.

[0013] S1, installing a sub-micro-newton order micro-propeller on the micro-propeller mounting rack;

[0014] S2, confirming the initial position of the micro-propeller;

[0015] S3, performing direction measurement: starting the micro-propeller, measuring the thrust direction vector of the micro-propeller in two orthogonal directions by the double-shaft electromagnetic actuator and the double-shaft displacement sensor;

[0016] After the micro-propeller is rotated by 90° for adjustment, the position of the micro-propeller is re-measured, the micro-propeller is started again, and the thrust direction vector of the micro-propeller in two orthogonal directions is measured.

[0017] S4, performing action point measurement: starting the micro-propeller, measuring the thrust action point vector of the micro-propeller in two orthogonal directions by the double-shaft electromagnetic actuator and the double-shaft displacement sensor;

[0018] After the micro-propeller is vertically adjusted and / or rotated by 90° for adjustment, the position of the micro-propeller is re-measured, the micro-propeller is started again, and the thrust action point vector of the micro-propeller in two orthogonal directions is measured.

[0019] Compared with the prior art, the application has the advantages that the micro-propeller mounting rack is connected by a suspension type double-shaft swing frame structure, the movement effect of the micro-propeller thrust can be limited in two orthogonal directions, and the influence of crosstalk from other directions is reduced; zero-point balance type feedback measurement is adopted, the movement in two orthogonal directions of the swing arm is monitored by a high-precision double-shaft displacement sensor, the swing frame is controlled at a zero-point balance position by a double-shaft electromagnetic actuator, the feedback current on the electromagnetic actuator is read to measure the thrust effect in the main direction and one side direction of the thrust vector, and the technical solution has the advantages of high precision and meets the ground test requirements for the performance of the micro-propeller in the current high-precision space scientific tasks. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 Structure diagram of sub-newton thrust vector test device of embodiment 1.

[0021] Figure 2 Structure diagram of double-shaft suspension beam mechanism of embodiment 2.

[0022] Figure 3 Structure diagram of double-shaft electromagnetic actuator of embodiment 2.

[0023] Figure 4 Structure diagram of double-shaft displacement sensor of embodiment 2.

[0024] Figure 5 Flow chart of sub-newton thrust vector test method of embodiment 3.

[0025] Wherein, 1-base, 2-frame support, 201-first crossbeam, 202-second crossbeam, 3-double-shaft suspension beam mechanism, 301-upper connecting piece, 302-cross connecting piece, 303-lower connecting piece, 304-elastic suspension beam piece, 305-first fixing piece, 4-microthruster mounting rack, 401-top plate, 402-bottom plate, 403-long plate, 5-double-shaft electromagnetic actuator, 501-actuator frame, 502-magnetic pole, 503-magnetic pole fixing plate, 504-coil, 505-coil support, 506-adapter plate, 6-double-shaft displacement sensor, 601-moving pole plate, 602-fixed pole plate electrode, 603-fixed pole plate support, 604-base. DETAILED DESCRIPTION

[0026] The drawings are only for illustrative purposes and cannot be understood as limiting the patent;

[0027] In order to better illustrate the embodiment, some components in the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product;

[0028] It is understandable for those skilled in the art that some known structures and their descriptions in the drawings may be omitted.

[0029] The technical solutions of the present application will be further described below in combination with the drawings and embodiments.

[0030] Embodiment 1

[0031] The present embodiment proposes a sub-newton thrust vector test device, as shown in Figure 1 Structure diagram of sub-newton thrust vector test device of embodiment 1.

[0032] The sub-newton thrust vector test device proposed in the present embodiment comprises:

[0033] Frame support 2 arranged on base 1;

[0034] Double-axis suspension beam mechanism 3 for providing swing freedom in two orthogonal directions;

[0035] The top of frame support 2 is provided with a first cross beam 201, and the double-axis suspension beam mechanism 3 is connected to the center of the first cross beam 201, forming a double-axis suspension structure.

[0036] Micro-propeller mounting rack 4 for mounting and fixing the sub-micro-newton-level micro-propeller and adjusting the position during measurement.

[0037] The top of the micro-propeller mounting rack 4 is connected to the bottom of the double-axis suspension beam mechanism 3.

[0038] Double-axis electromagnetic actuator 5 and double-axis displacement sensor 6 for measuring the displacement change of the micro-propeller mounting rack 4 and the thrust vector of the sub-micro-newton-level micro-propeller in two orthogonal directions in the horizontal plane.

[0039] The top of the double-axis electromagnetic actuator 5 is connected to the bottom of the micro-propeller mounting rack 4, and the coil part of the double-axis electromagnetic actuator 5 is connected to the frame support 2. The top of the double-axis displacement sensor 6 is connected to the bottom of the double-axis electromagnetic actuator 5, and the bottom of the double-axis displacement sensor 6 is arranged above the base 1.

[0040] Data processing module for reading the working current of the double-axis electromagnetic actuator 5 during measurement, calculating the thrust vector of the sub-micro-newton-level micro-propeller, and outputting the measurement result of the thrust vector of the sub-micro-newton-level micro-propeller.

[0041] Wherein, Figure 1 The data processing module is not shown, and its installation position can be set according to the operation needs of the technical personnel, which is not limited in the embodiment.

[0042] In the specific implementation process, first, the resolution and direction of the double-axis electromagnetic actuator 5 and the double-axis displacement sensor 6 are calibrated, then the sub-micro-newton-level micro-propeller is installed on the micro-propeller mounting rack 4, and the current position of the micro-propeller is measured by the double-axis electromagnetic actuator 5 and the double-axis displacement sensor 6 in cooperation with the data processing module. Among them, the control torque of the electromagnetic actuator is equivalent to the torque of the micro-propeller, and after the torque balance, the thrust size of the micro-propeller is calculated according to the current size of the electromagnetic actuator.

[0043] Further, in the direction measurement process, the sub-micro-newton micro-propeller is started, the double-axis suspension beam mechanism 3 limits the motion effect generated by the micro-propeller thrust to two orthogonal directions, and the double-axis electromagnetic actuator 5 and the double-axis displacement sensor 6 cooperate with the data processing module to measure the thrust vector generated by the current micro-propeller in the two orthogonal directions.

[0044] After the sub-micro-newton micro-propeller is adjusted by 90° and installed on the micro-propeller mounting frame 4, the current position of the micro-propeller is measured again through the double-axis electromagnetic actuator 5 and the double-axis displacement sensor 6 cooperating with the data processing module; the sub-micro-newton micro-propeller is started again, and the thrust vector generated by the current micro-propeller in the two orthogonal directions is measured through the double-axis electromagnetic actuator 5 and the double-axis displacement sensor 6 cooperating with the data processing module.

[0045] The thrust vector obtained by combining the two measurements is used to measure the thrust effect in the main direction and a side direction of the thrust vector, which has the advantage of high precision and meets the ground test requirements of micro-propeller performance in current high-precision space scientific tasks.

[0046] In the action point measurement process, the sub-micro-newton micro-propeller is started, the double-axis suspension beam mechanism 3 limits the motion effect generated by the micro-propeller thrust to two orthogonal directions, and the double-axis electromagnetic actuator 5 and the double-axis displacement sensor 6 cooperate with the data processing module to measure the thrust action point of the current micro-propeller in the two orthogonal directions.

[0047] According to the implementation, the sub-micro-newton micro-propeller can be vertically adjusted and installed on the micro-propeller mounting frame 4, and the current position of the micro-propeller is measured; the sub-micro-newton micro-propeller is started again, and the thrust action point of the current micro-propeller in the two orthogonal directions is measured through the double-axis electromagnetic actuator 5 and the double-axis displacement sensor 6 cooperating with the data processing module.

[0048] Further, the sub-micro-newton micro-propeller is adjusted by 90° and installed on the micro-propeller mounting frame 4, the current position of the micro-propeller is measured, and the sub-micro-newton micro-propeller is started again. The thrust action point of the current micro-propeller in the two orthogonal directions is measured through the double-axis electromagnetic actuator 5 and the double-axis displacement sensor 6 cooperating with the data processing module.

[0049] The working current obtained by combining the two measurements is combined with the displacement data obtained by the double-axis displacement sensor 6 to calculate the thrust action point of the micro-propeller.

[0050] As an example, it is specified that the main thrust of the micro-propeller is F z , and the side thrusts are F x and F y, the electromagnetic forces of the biaxial electromagnetic actuator 5 are F Bx , F By , and F x1 , respectively.

[0051]

[0052] After rotating the thruster 90°, the torque balance is:

[0053]

[0054] where F y1 represents the lateral thrust in the y direction after rotation; F z1 , F z2 represents the main thrust in the x direction; L z1 , L z2 represents the main thrust arm before and after rotation; L x , L y represents the lateral thrust arm in the x and y directions; F Bz1 , F Bz2 represents the feedback electromagnetic force in the direction of the main thrust before and after rotation; L Bx , L By , L Bz represents the feedback electromagnetic force arm.

[0055] Since the feedback control force is also orthogonally distributed, it can intuitively reflect the information of the thrust direction, that is, the angle between the electromagnetic feedback force in the yz plane and the thrust vector is the angle of the thruster thrust in the plane. Similarly, the thrust direction angle in the xz plane can be obtained, and the direction angles of the two planes can be obtained by the following formula:

[0056]

[0057] where θ xz represents the thrust direction angle in the xz plane, and θ yz represents the thrust direction angle in the yz plane.

[0058] For the measurement of the thrust point of the lateral thrust F x , if the installation position of the micro thruster on the swing arm is adjusted to shorten the thrust arm by δ, the torque balance is:

[0059]

[0060] Then, by combining (1) and (4), the arm of the thrust component F x , that is, the action point position, can be obtained:

[0061]

[0062] wherein F z3 represents the main thrust after changing the position of the micro thruster; F Bz2 represents the feedback electromagnetic force in the direction of the main thrust; F Bx1 , F Bx2 represents the feedback electromagnetic force in the x-direction lateral thrust direction before and after changing the position of the micro thruster.

[0063] For the thrust point measurement of the lateral thrust F y , if the installation position of the thruster on the swing arm is adjusted to shorten the thrust arm by δ, at this time the moment balance is:

[0064]

[0065] Similarly, by solving (2) and (6) together, the position of the thrust point of the thrust component F y is obtained:

[0066]

[0067] wherein F z4 represents the main thrust after the second rotation adjustment; F Bz4 represents the feedback electromagnetic force in the direction of the main thrust after the second rotation adjustment; F By1 , F By2 represents the feedback electromagnetic force in the y-direction lateral thrust direction before and after changing the position of the micro thruster.

[0068] The embodiment adopts a suspension swing double-shaft swing frame structure to connect the micro thruster mounting frame 4, which can limit the motion effect of the micro thruster thrust to two orthogonal directions, and reduce the crosstalk effect from other directions. In addition, the embodiment adopts a zero balance type feedback measurement, monitors the motion in the two orthogonal directions of the swing arm through a high-precision double-shaft displacement sensor 6, controls the swing frame at the position of zero balance using a double-shaft electromagnetic actuator 5, and measures the thrust effect in the main direction and one side direction of the thrust vector by reading the feedback current on the electromagnetic actuator, which has the advantages of high precision and meets the ground test requirements of the performance of the micro thruster in the current high-precision space scientific tasks.

[0069] The embodiment further optionally changes the position and angle of the micro thruster to be measured on the swing arm to realize multi-dimensional measurement of the thrust vector information, and calculates the thrust vector through the measurement results to obtain more complete thrust vector information.

[0070] Embodiment 2

[0071] The embodiment is improved on the basis of the sub-micro-newton thrust vector test device proposed in embodiment 1.

[0072] The sub-micro-newton thrust vector testing device comprises:

[0073] The frame support 2 is arranged on the base 1.

[0074] The double-axis suspension beam mechanism 3 is arranged on the frame support 2.

[0075] The top of the frame support 2 is provided with a first cross beam 201, and the double-axis suspension beam mechanism 3 is connected to the center of the first cross beam 201, thereby forming a suspension double-axis structure.

[0076] The micro-propeller mounting rack 4 is arranged on the double-axis suspension beam mechanism 3.

[0077] The top of the micro-propeller mounting rack 4 is connected to the bottom of the double-axis suspension beam mechanism 3.

[0078] The double-axis electromagnetic actuator 5 and the double-axis displacement sensor 6 are arranged on the micro-propeller mounting rack 4.

[0079] The top of the double-axis electromagnetic actuator 5 is connected to the bottom of the micro-propeller mounting rack 4, and the coil part of the double-axis electromagnetic actuator 5 is connected to the frame support 2. The top of the double-axis displacement sensor 6 is connected to the bottom of the double-axis electromagnetic actuator 5, and the bottom of the double-axis displacement sensor 6 is arranged above the base 1.

[0080] The data processing module is arranged on the base 1.

[0081] Further, in an optional embodiment, the double-axis suspension beam mechanism 3 comprises an upper connecting piece 301, a cross connecting piece 302 and a lower connecting piece 303.

[0082] The top of the upper connecting piece 301 is connected to the center of the first cross beam 201, and the left and right sides below the upper connecting piece 301 are respectively connected to a first fixing piece 305 of the cross connecting piece 302 through elastic suspension beams 304.

[0083] The bottom of the lower connecting piece 303 is connected to the top of the micro-propeller mounting rack 4, and the left and right sides above the lower connecting piece 303 are respectively connected to another first fixing piece 305 of the cross connecting piece 302 through elastic suspension beams 304.

[0084] The two groups of elastic suspension beams 304 connected above and below the cross connecting piece 302 are arranged in a spatial orthogonal distribution.

[0085] As shown in Figure 2 is a structure schematic diagram of the biaxial suspension beam mechanism 3 of the embodiment.

[0086] Further optionally, the first fixing member 305 adopts a fixing plate, screw holes are opened on the fixing plate, matching screw holes are opened on the position where the cross connecting member 302 is connected with the fixing plate, and the fixing plate and the cross connecting member 302 are fixed by screwing and screw hole thread connection.

[0087] Further optionally, the upper connecting member 301 and the lower connecting member 303 are fixedly connected with one end of the elastic suspension beam 304 by the first fixing member 305.

[0088] The biaxial suspension beam mechanism 3 in the embodiment forms an elastic mechanism of a suspension type biaxial swing frame, and the connection of the cross connecting member 302 with the upper and lower two groups of elastic suspension beams 304 makes them orthogonally distributed in space, providing swing freedom in two orthogonal directions.

[0089] Further, in an optional embodiment, the micro thruster mounting rack 4 includes a top plate 401 and a bottom plate 402, two parallel long plates 403 are connected between the top plate 401 and the bottom plate 402; the top plate 401 is connected with the bottom of the biaxial suspension beam mechanism 3, the bottom plate 402 is connected with the top of the biaxial electromagnetic actuator 5; a plurality of screw holes are opened on the long plate 403 for mounting sub-micro Newton level micro thrusters and counterweights.

[0090] As an exemplary illustration, in a specific embodiment, the micro thruster mounting rack 4 is a simple rectangular structure composed of the top plate 401 and the bottom plate 402 which are two short plates, and the front and rear long plates 403 which connect the top plate 401 and the bottom plate 402, and the top plate 401, the bottom plate 402 and the long plate 403 are connected by bolts, and the front and rear long plates 403 each have 7 pairs of screw holes to facilitate the installation and position adjustment of sub-micro Newton level micro thrusters and counterweights.

[0091] Optionally, the material of the elastic suspension beam 304 is beryllium bronze.

[0092] In an optional embodiment, the biaxial electromagnetic actuator 5 includes an actuator frame 501, magnetic poles 502, a magnetic pole fixing plate 503, a coil 504 and a coil support 505.

[0093] The actuator frame 501 is provided with a plurality of connecting holes in orthogonal directions for matching the magnetic pole fixing plate 503 to install the magnetic poles 502 of the electromagnetic actuator; the top of the actuator frame 501 is connected with the bottom of the micro thruster mounting rack 4.

[0094] The coil 504 is arranged around the magnetic pole 502, one end of the coil 504 is installed on one side of the coil support 505 through the adapter plate 506, and the other side of the coil support 505 is connected with the second cross beam 202 arranged on the frame support 2.

[0095] As shown in the structure schematic diagram of the biaxial electromagnetic actuator 5 of the embodiment. Figure 3

[0096] The magnetic pole 502 part of the biaxial electromagnetic actuator 5 in the embodiment is connected below the micro-propeller mounting frame 4 through bolts, and the coil part of the biaxial electromagnetic actuator 5 is connected to the outer frame through a mechanical structure.

[0097] Further optionally, the actuator frame 501 is integrally processed, two through holes and two screw holes in the orthogonal direction are opened on the actuator frame 501, and the magnetic pole fixing plate 503 is used for installing the magnetic pole 502 of the electromagnetic actuator.

[0098] Further optionally, the coil support 505 is provided with a mounting groove on one side close to the adapter plate 506, and the adapter plate 506 is clamped with the mounting groove. The mounting groove opened on the coil support 505 is used for placing the coil adapter plate 506 and the bolt head of the fixed coil 504.

[0099] Further optionally, the second cross beam 202 is provided with a connecting groove on both sides, the frame support 2 is provided with a connecting hole, and the second cross beam 202 is fixed with the frame support 2 through bolts. The connecting groove opened on the second cross beam 202 is used for roughly adjusting the position of the coil 504 in the electromagnetic actuator, and further, the second cross beam 202 and one end of the coil support 505 can be finely adjusted in angle and position through three supporting bolts and four clamping bolts.

[0100] Further, in an optional embodiment, the biaxial displacement sensor 6 includes a movable electrode plate 601, a fixed electrode plate electrode 602, a fixed electrode plate support 603, and a base 604.

[0101] The movable electrode plate 601 is arranged above the base 604, and the movable electrode plate 601 is a cubic structure, and the upper surface of the movable electrode plate 601 is connected with the bottom of the biaxial electromagnetic actuator 5.

[0102] The side surface of the movable electrode plate 601 is provided with a capacitive displacement sensor movable electrode plate electrode.

[0103] The fixed electrode plate support 603 is vertically fixed on the upper side of the base 604 and at a certain distance from the outside of the movable electrode plate 601 electrode.

[0104] ​The fixed electrode plate electrode 602 is connected with the fixed electrode plate support 603 through the second fixing member, and the fixed electrode plate electrode 602 and the movable electrode plate 601 form two sets of differential capacitive displacement sensors in quadrature.

[0105] As shown in Figure 4 , it is a structure schematic diagram of the biaxial displacement sensor 6 of the embodiment.

[0106] The movable electrode plate 601 electrodes arranged on four sides in the embodiment and the four fixed electrode plate electrodes 602 surrounding the outside form two sets of differential capacitive displacement sensors in quadrature.

[0107] Optionally, the movable electrode plate 601 of the biaxial displacement sensor 6 is connected below the biaxial electromagnetic actuator 5 through a bolt, and the four sets of fixed electrode plates are fixed on the base 604 through the fixed electrode plate support 603. The frame support 2 and the biaxial displacement sensor 6 are jointly installed on the base 604.

[0108] Further optionally, the fixed electrode plate support 603 is an L-shaped support, and a slot hole is formed on one side of the fixed electrode plate support 603 connected with the base 604, which is used for connecting and fixing the base 604 through a bolt and adjusting the installation position of the fixed electrode plate electrode 602.

[0109] Further optionally, the fixed electrode plate support 603 is provided with three sets of threaded pairs and four locking bolts on the side surface, which are used for installing the second fixing member and finely adjusting the angle and the plate spacing of the fixed electrode plate.

[0110] Further optionally, the bottom surface of the movable electrode plate 601 is a cylindrical groove structure, so as to reduce the mass of the movable electrode plate 601.

[0111] Further optionally, the coil 504, the magnetic pole 502 and the base 1 are made of high-permeability stainless steel. The frame support 2, the micro-thruster mounting bracket 4, the biaxial displacement sensor 6, the upper connecting member 301, the cross connecting member 302 and the lower connecting member 303 are made of 1060 aluminum alloy.

[0112] Embodiment 3

[0113] The embodiment proposes a sub-micro-newton thrust vector test method, which applies the sub-micro-newton thrust vector test device proposed in the embodiment 1 or the embodiment 2. As shown in Figure 5 , it is a flowchart of the sub-micro-newton thrust vector test method of the embodiment.

[0114] The sub-micro-newton thrust vector test method proposed in the embodiment includes the following steps:

[0115] S1, install the sub-micro-newton micro-thruster on the micro-thruster mounting bracket 4.

[0116] S2, measure the current position of the micro thruster by the biaxial electromagnetic actuator 5 and the biaxial displacement sensor 6.

[0117] S3, perform direction measurement: start the micro thruster, measure the current micro thruster thrust direction vector in two orthogonal directions by the biaxial electromagnetic actuator 5 and the biaxial displacement sensor 6.

[0118] After rotating the micro thruster by 90°, re-measure the current position of the micro thruster; start the micro thruster again, and measure the current micro thruster thrust direction vector in two orthogonal directions.

[0119] S4, perform action point measurement: start the micro thruster, measure the current micro thruster thrust action point vector in two orthogonal directions by the biaxial electromagnetic actuator 5 and the biaxial displacement sensor 6.

[0120] After vertical adjustment and / or 90° adjustment of the micro thruster, re-measure the current position of the micro thruster; start the micro thruster again, and measure the current micro thruster thrust action point vector in two orthogonal directions.

[0121] In the specific implementation process, first, the resolution and direction of the biaxial electromagnetic actuator 5 and the biaxial displacement sensor 6 are calibrated, then the sub-micro Newton level micro thruster is installed on the micro thruster mounting frame 4, and the current position of the micro thruster is measured by the biaxial electromagnetic actuator 5 and the biaxial displacement sensor 6 in cooperation with the data processing module.

[0122] Further, in the direction measurement process, the sub-micro Newton level micro thruster is started, the biaxial suspension beam mechanism 3 limits the movement effect of the micro thruster thrust to two orthogonal directions, and the current micro thruster thrust vector in two orthogonal directions is measured by the biaxial electromagnetic actuator 5 and the biaxial displacement sensor 6 in cooperation with the data processing module.

[0123] After the sub-micro Newton level micro thruster is adjusted by 90°, it is installed on the micro thruster mounting frame 4, and the current position of the micro thruster is measured again by the biaxial electromagnetic actuator 5 and the biaxial displacement sensor 6 in cooperation with the data processing module; the sub-micro Newton level micro thruster is started again, and the current micro thruster thrust vector in two orthogonal directions is measured by the biaxial electromagnetic actuator 5 and the biaxial displacement sensor 6 in cooperation with the data processing module.

[0124] Combining the thrust vectors obtained by the two measurements, the thrust action effect in the main direction and one side direction of the thrust vector is measured, which has the advantage of high precision and meets the current high-precision space scientific task requirements for ground testing of micro thruster performance.

[0125] In the measuring process of the action point, the sub-micro-newton micro-propeller is started, the double-shaft suspension beam mechanism 3 limits the motion effect generated by the micro-propeller thrust in two orthogonal directions, and the double-shaft electromagnetic actuator 5 and the double-shaft displacement sensor 6 cooperate with the data processing module to measure the action point of the current micro-propeller thrust in the two orthogonal directions.

[0126] According to the implementation, the sub-micro-newton micro-propeller is vertically adjusted and installed on the micro-propeller mounting frame 4 to measure the position of the current micro-propeller, and the sub-micro-newton micro-propeller is started again to measure the action point of the current micro-propeller thrust in the two orthogonal directions through the double-shaft electromagnetic actuator 5 and the double-shaft displacement sensor 6 cooperating with the data processing module.

[0127] Further, the sub-micro-newton micro-propeller is adjusted by 90° and installed on the micro-propeller mounting frame 4 to measure the position of the current micro-propeller, and the sub-micro-newton micro-propeller is started again to measure the action point of the current micro-propeller thrust in the two orthogonal directions through the double-shaft electromagnetic actuator 5 and the double-shaft displacement sensor 6 cooperating with the data processing module.

[0128] The working current obtained by combining the two measurements is combined with the displacement data obtained by the double-shaft displacement sensor 6 to calculate the micro-propeller thrust action point.

[0129] The same or similar reference signs correspond to the same or similar components;

[0130] The terms used to describe the positional relationship in the drawings are only used for illustrative description, and cannot be understood as a limitation on the patent;

[0131] Obviously, the above embodiments of the application are only examples for clearly illustrating the application, and are not intended to limit the implementation manner of the application. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. Here, all the implementation manners do not need to be exhausted. Any modification, equivalent replacement and improvement made within the spirit and principle of the application should be included in the protection scope of the claims of the application.

Claims

1. A sub-micro Newton thrust vector testing device, characterized by, The device comprises a frame support (2) erected on a base (1), and a double-axis suspension beam mechanism (3) for providing swinging freedom in two orthogonal directions; the top of the frame support (2) is provided with a first cross beam (201), and the double-axis suspension beam mechanism (3) is connected to the center of the first cross beam (201) to form a double-axis suspension beam structure; a micro-propeller mounting rack (4) for mounting and fixing the sub-micro-newton micro-propeller and adjusting the position during measurement; the top of the micro-propeller mounting rack (4) is connected to the bottom of the double-axis suspension beam mechanism (3); a double-axis electromagnetic actuator (5) and a double-axis displacement sensor (6) for measuring the displacement change of the micro-propeller mounting rack (4) and the thrust vector of the sub-micro-newton micro-propeller in two orthogonal directions in the horizontal plane; the top of the double-axis electromagnetic actuator (5) is connected to the bottom of the micro-propeller mounting rack (4), and the coil part of the double-axis electromagnetic actuator (5) is connected to the frame support (2); the top of the double-axis displacement sensor (6) is connected to the bottom of the double-axis electromagnetic actuator (5), and the bottom of the double-axis displacement sensor (6) is arranged above the base (1); a data processing module for reading the working current of the double-axis electromagnetic actuator (5) during measurement, calculating the thrust vector of the sub-micro-newton micro-propeller, and outputting the measurement result of the thrust vector of the sub-micro-newton micro-propeller.

2. The sub-micro-cow thrust vector test device according to claim 1, characterized in that, The double-axis suspension beam mechanism (3) comprises an upper connecting piece (301), a cross connecting piece (302), and a lower connecting piece (303); wherein: the top of the upper connecting piece (301) is connected to the center of the first cross beam (201), and the left and right sides below the upper connecting piece (301) are respectively connected to a first fixing piece (305) oppositely arranged in the cross connecting piece (302) through elastic cantilever beams (304); the bottom of the lower connecting piece (303) is connected to the top of the micro-propeller mounting rack (4), and the left and right sides above the lower connecting piece (303) are respectively connected to another first fixing piece (305) oppositely arranged in the cross connecting piece (302) through elastic cantilever beams (304); the two groups of elastic cantilever beams (304) connected above and below the cross connecting piece (302) are arranged in orthogonal distribution in space.

3. The submicronewton thrust vector testing device according to claim 2, characterized in that, The first fixing piece (305) comprises a fixing plate, screw holes are formed in the fixing plate, matching screw holes are formed in the position where the cross connecting piece (302) is connected to the fixing plate, and the fixing plate and the cross connecting piece (302) are fixed by screwing the screw holes.

4. The sub-micro-cow thrust vector test device according to claim 1, wherein, The micro-propeller mounting rack (4) comprises a top plate (401) and a bottom plate (402), and two parallel long plates (403) are connected between the top plate (401) and the bottom plate (402); the top plate (401) is connected to the bottom of the double-axis suspension beam mechanism (3), and the bottom plate (402) is connected to the top of the double-axis electromagnetic actuator (5); a plurality of screw holes are formed in the long plates (403) for mounting the sub-micro-newton micro-propeller and counterweights.

5. The sub-micro-cow thrust vector testing device of claim 1, wherein, The biaxial displacement sensor (6) comprises a moving electrode plate (601), a fixed electrode plate electrode (602), a fixed electrode plate support (603) and a base (604), wherein: The moving electrode plate (601) is arranged above the base (604), and the moving electrode plate (601) is a cubic structure, and the upper surface of the moving electrode plate (601) is connected with the bottom of the biaxial electromagnetic actuator (5); The side surface of the moving electrode plate (601) is provided with a capacitive displacement sensor moving electrode plate electrode; The fixed electrode plate support (603) is vertically fixed to the upper surface of the base (604) and is at a certain distance from the outer side of the moving electrode plate (601); The fixed electrode plate electrode (602) is connected with the fixed electrode plate support (603) through a second fixing member, and the fixed electrode plate electrode (602) and the moving electrode plate (601) electrode form two groups of differential capacitive displacement sensors in orthogonal directions.

6. The sub-micro-cow thrust vector testing device according to claim 5, wherein, The fixed electrode plate support (603) is an L-shaped support, and a groove is formed in one side surface of the fixed electrode plate support (603) connected with the base (604), which is used for connecting and fixing the base (604) through a bolt and adjusting the installation position of the fixed electrode plate electrode (602).

7. The sub-micro-cow thrust vector testing device according to any one of claims 1 to 6, characterized in that, The biaxial electromagnetic actuator (5) comprises an actuator frame (501), a magnetic pole (502), a magnetic pole fixing plate (503), a coil (504) and a coil support (505), wherein: A plurality of connecting holes in orthogonal directions are formed in the actuator frame (501), which are used for cooperating with the magnetic pole fixing plate (503) to install the magnetic pole (502) of the electromagnetic actuator; and the top of the actuator frame (501) is connected with the bottom of the microthruster mounting rack (4); The coil (504) is arranged around the magnetic pole (502), one end of the coil (504) is installed on one side of the coil support (505) through an adapter plate (506), and the other side of the coil support (505) is connected with the second cross beam (202) arranged on the frame support (2).

8. The sub-micro-cow thrust vector testing device according to claim 7, wherein, An installation groove is formed in the side of the coil support (505) close to the adapter plate (506), and the adapter plate (506) is clamped with the installation groove.

9. The sub-micro-cow thrust vector testing device of claim 7, wherein, Connecting grooves are formed in the two sides of the second cross beam (202), and connecting holes are arranged on the frame support (2), and the second cross beam (202) and the frame support (2) are fixed through bolts.

10. A sub-newton thrust vector test method using the sub-newton thrust vector test apparatus according to any one of claims 1 to 9, characterized by, The method comprises the following steps: S1, installing a sub-micro-cow-level microthruster on the microthruster mounting rack (4); S2, determining the initial position of the microthruster; S3, performing direction measurement: starting the microthruster, measuring the thrust direction vector of the microthruster in two orthogonal directions through the biaxial electromagnetic actuator (5) and the biaxial displacement sensor (6); After rotating the microthruster by 90°, the position of the microthruster is measured again; the microthruster is started again, and the thrust direction vector of the microthruster in two orthogonal directions is measured. S4, execute the action point measurement: start the micro-propeller, measure the current micro-propeller thrust action point vector in the orthogonal two directions through the double-shaft electromagnetic actuator (5) and double-shaft displacement sensor (6); After the micro-propeller is vertically adjusted and / or rotated by 90°, the current position of the micro-propeller is re-measured; the micro-propeller is started again, and the thrust action point vector of the current micro-propeller in the orthogonal two directions is measured.

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