Satellite rotating load dynamic balancing trimming method

Abstract

The application provides a satellite rotating load dynamic balance trimming method, which controls the residual even unbalance and the residual static unbalance, and additionally controls the phase difference between the residual even unbalance and the residual static unbalance. The trimming based on the application can minimize the interference torque of the whole satellite caused by the dynamic unbalance of the rotating load, solves the engineering practical problems of the dynamic balance trimming of the large rotating load of the satellite, and effectively reduces the interference torque caused by the dynamic unbalance.

Description

Technical Field

[0001] This invention pertains to dynamic balancing technology for rotating components, specifically, a method for dynamic balancing of rotating loads on satellites. In particular, it relates to a method for dynamic balancing of large rotating loads on satellites. Background Technology

[0002] Earth observation satellites are playing an increasingly important role in monitoring land, ocean, and atmosphere. As the crown jewel of aerospace high technology, the functionality and performance of their payloads determine the breadth and depth of their applications. Currently, major countries around the world are accelerating research on optical, infrared, radio, and microwave payloads, with applications spanning meteorological and oceanographic observation, surveying and mapping, and land resource exploration. Payloads often involve multiple disciplines, including mechanics, electronics, optics, and thermodynamics, requiring multidisciplinary collaboration to complete their intended tasks and functions.

[0003] Some payloads must scan in order to achieve imaging and ensure a certain swath width. Therefore, the payloads inevitably contain rotating parts. The dynamic imbalance of the rotating parts will cause disturbances to the satellite platform, affecting the satellite's attitude control and payload imaging, and even endangering the safety of the entire satellite.

[0004] The patent document "Self-compensation method for dynamic and static imbalance interference torque of satellite rotating components" (publication number: CN106586034A) provides a method to eliminate dynamic and static imbalance interference torque of rotating components. First, at least two bias momentum wheels are arranged inside or on the surface of the rotating component. The rotation axis of the bias momentum wheels is perpendicular to the rotation axis of the rotating component, and the included angle between them is not equal to 0° or 180°. Then, the dynamic and static imbalance interference torque is obtained through ground testing or on-orbit calibration. Finally, the rotation speed of the bias momentum wheels is set according to the dynamic and static imbalance interference torque to achieve on-orbit self-compensation of the interference torque.

[0005] However, this patent document is only applicable to satellites with only a single rotating component. When the motion law of the rotating component is complex, the speed control of the momentum wheel becomes complex and even difficult to achieve. The use of two momentum wheels (moving components) reduces the reliability of the interference torque compensation system. In contrast, this invention reduces the interference torque on the satellite from the source by dynamically balancing the rotating component, which is significantly different from compensating for the interference torque of the rotating component by controlling the speed of the momentum wheel.

[0006] The patent document "A Dynamic Balancing Control Method for Large Rotating Loads" (Publication No.: CN102680172A) proposes a dynamic balancing control method and process for large rotating loads. For a type of large flexible, deployable rotating load, the control process of first balancing the static components, then balancing the rotating body, and finally balancing the whole machine effectively ensures that the dynamic balance of the rotating load meets the usage requirements.

[0007] This patent document proposes a dynamic balancing control process based on the characteristics of rotating loads, but it does not involve the "controlling the dynamic imbalance by controlling the phase difference between the remaining couple imbalance and the remaining static imbalance during balancing" in this invention.

[0008] The patent document “An On-orbit Dynamically Balanced Satellite with Large Inertia Rotating Component Effective Load” (Publication No.: CN103454041A) discloses an on-orbit dynamic balance autonomous detection and adjustment system. The system includes three sets of lead screw sliders and control devices, a force (dynamic imbalance) measurement system, and a remote communication device. The system can effectively adjust the on-orbit dynamic balance state of the rotating load.

[0009] The patent document employs an on-orbit dynamic balancing autonomous detection and active adjustment method, which involves a complex system design, multiple mechanical moving parts, and requires wireless communication, resulting in low system reliability. In contrast, this invention reduces the interference torque on the satellite through ground dynamic balancing of rotating components, without involving on-orbit adjustment of mass distribution, thus differing significantly from on-orbit dynamic balancing.

[0010] The patent document "High-precision low-speed air-floating dynamic balancing machine for satellite microwave imagers" (publication number: CN203616054U) invented a high-precision low-speed air-floating dynamic balancing machine for satellite microwave imagers, which is used for dynamic balance detection and control of large flexible unfolding rotating load microwave imagers.

[0011] This patent document mainly relates to the design of dynamic balancing machines. When using a dynamic balancing machine for balancing, it is only necessary to consider that the dynamic balancing machine's indicators meet the requirements for controlling residual dynamic and static imbalance. The residual dynamic and static imbalance of the balanced product can be within the range of the dynamic balancing machine's indicators. This does not involve the objective of this invention, namely, minimizing the interference torque generated by the residual dynamic and static imbalance on the satellite.

[0012] Patent document "High-Precision Dynamic Balancing Measurement Device for Large Rotating Loads of Spacecraft" (Publication No.: CN102650560A) discloses a high-precision dynamic balancing measurement device for large rotating loads of spacecraft, used for high-precision low-speed dynamic balancing detection and control of large rotating loads. The main feature of this measurement device is that it has two measurement modes: one where the measured object is driven by the device's own drive system, and the other where the measured object itself is driven by its own drive mechanism. The support system uses an air bearing system, and the measurement system employs two high-precision pressure sensors.

[0013] This patent document mainly relates to the design of a dynamic balancing machine. When using this dynamic balancing machine for balancing, it is only necessary to consider that the dynamic balancing machine's indicators meet the control requirements for residual dynamic and static imbalance. The residual dynamic and static imbalance of the product after balancing can be within the range of the dynamic balancing machine's indicators. This does not involve the objective of this invention, namely, minimizing the interference torque generated by the residual dynamic and static imbalance on the satellite.

[0014] Currently, dynamic balancing of satellite rotating components mainly controls the amplitude of residual static and dynamic imbalance. This invention, however, primarily controls the disturbance torque of the residual static and dynamic imbalance on the entire satellite, requiring control of the phase difference between the two while ensuring the amplitude of the residual static and dynamic imbalance meets requirements. No descriptions or reports of similar technologies have been found, and no similar domestic or international materials have been collected. Summary of the Invention

[0015] To address the shortcomings of existing technologies, the purpose of this invention is to provide a method for dynamic balancing of satellite rotating loads.

[0016] A method for dynamic balancing of satellite rotating loads according to the present invention includes:

[0017] Step S1: Select a dynamic balancing machine based on the rotational speed, weight, and dynamic balance parameters of the rotating load;

[0018] Step S2: Determine the interface for the rotating load counterweight;

[0019] Step S3: Perform a rotating load dynamic balancing test at a rotational speed of ω, output the weight and phase of the two balancing planes, and perform balancing.

[0020] Step S4: Confirm that the amplitudes of the remaining static unbalance and even unbalance meet the requirements, and calculate the phase difference between the remaining static unbalance and even unbalance.

[0021] Step S5: Adjust the counterweight and its phase. Set counterweight installation interfaces at equal angles on each balancing plane to maximize the phase difference requirement between the residual couple imbalance and the residual static imbalance. Conduct the dynamic balancing test again. Calculate the amplitude and phase difference of the residual static imbalance based on the output of the dynamic balancing machine, ensuring that the phase difference Φ between the residual couple imbalance and the residual static imbalance is between 270°±45°, and that the residual static imbalance remains within the accuracy range of the dynamic balancing machine.

[0022] Preferably, in step S1, for satellite rotating loads with low rotational speed and high inertia, a low-speed, high-precision dynamic balancing machine is selected for balancing.

[0023] Preferably, in step S2, according to the structural mechanism of the load, two matching planes are selected on the rotating body, the height difference between the two matching planes is b, the radius of the counterweight on the two matching planes is r, and the counterweight installation interface is set at equal angular distances between the two matching planes.

[0024] Preferably, in step S3, the remaining static couple imbalance is controlled within the dynamic balancing machine's parameters through multiple balancing operations. The weight m1 and phase α of the balancing plane P1, and the weight m2 and phase β of the balancing plane P2 are recorded, with m1 < m2.

[0025] Preferably, in step S4, the phase difference between the remaining static unbalance and the even unbalance is controlled to be 270°, so that the total satellite interference torque generated by the remaining static unbalance and the remaining even unbalance is minimized.

[0026] Preferably, based on the test results after dynamic balancing, i.e., the counterweight and phase, the phases of the remaining couple unbalance and the remaining static unbalance are calculated, and it is confirmed whether the phase difference between the two meets the requirements. Specifically, based on the output of the dynamic balancing machine, the remaining static unbalance and the remaining couple unbalance are calculated using the force vector decomposition method. The zero-degree starting position of the phases of the remaining couple unbalance and the remaining static unbalance is the same as the zero-degree starting position of the phase of the counterweight, as detailed below:

[0027] Residual even unbalance amplitude = m1rb

[0028]

[0029]

[0030]

[0031] The phase difference Φ between the residual even unbalance and the residual static unbalance is

[0032]

[0033] Preferably, the angular spacing of the equidistant mounting interfaces is 5 to 15°.

[0034] Preferably, the structural characteristics of the satellite rotating payload are as follows: it has an unfolding and retracting mechanism, which retracts and presses during the active phase of the launch, and unlocks and unfolds after entering orbit; there are gaps between the mechanisms, and the entire payload has a certain degree of flexibility.

[0035] Preferably, the rotational characteristics of the satellite rotating load are: uniform circular rotation, low rotational speed, and a rotational speed of less than 212° / s.

[0036] Preferably, the mass characteristics of the satellite rotating load are: large moment of inertia, with a principal moment of inertia about the axis of rotation greater than 10 kgm. 2 .

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] 1. Unlike traditional dynamic balancing which only controls the residual static imbalance and residual couple imbalance of rotating components, this invention, in addition to controlling the residual couple imbalance and residual static imbalance, also controls the phase difference between the residual couple imbalance and residual static imbalance. Based on this invention, the balancing can minimize the overall satellite interference torque generated by the dynamic imbalance of the rotating load.

[0039] 2. This invention solves the practical engineering problem of dynamic balancing of large rotating loads on satellites, effectively reducing the interference torque caused by dynamic imbalance. Compared with existing dynamic balancing methods, it reduces the interference torque of dynamic and static imbalance of rotating loads on the satellite. Compared with on-orbit automatic dynamic balancing, no additional detection and adjustment devices are required. Attached Figure Description

[0040] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0041] Figure 1 This is a schematic diagram of the dynamic balancing process for the large rotating load on the satellite of this invention. Detailed Implementation

[0042] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0043] like Figure 1 The diagram shown is a flowchart of the dynamic balancing method for a large rotating satellite payload according to the present invention. The rotating satellite payload has the following structure: to control the payload envelope size, a deployment and retraction mechanism is designed. During the active launch phase, the mechanism retracts and clamps, and after orbit insertion, it unlocks and deploys. To ensure reliable deployment, gaps exist between the mechanisms, giving the entire payload a certain degree of flexibility. The rotational characteristics of the rotating satellite payload are: uniform circular rotation, low rotational speed, and a rotational speed less than 212° / s (rotation period not greater than 2s). The mass characteristics of the rotating satellite payload are: large moment of inertia, with a principal moment of inertia about the axis of rotation greater than 10 kgm. 2 .

[0044] like Figure 1 As shown in the embodiment, the process includes:

[0045] Step S1: Select a dynamic balancing machine. The dynamic balancing machine is selected based on the rotational speed, weight, and dynamic balance parameters of the rotating load. Satellite rotating loads have relatively low rotational speeds and large inertia, requiring high control over their residual static and residual couple imbalances. Therefore, a low-speed, high-precision dynamic balancing machine is selected for balancing. For example, a satellite's microwave rotating load has a rotation period of 2.0s, an integrated drive device, and requires residual static and couple imbalances of 3 kg / mm² and 3000 kg / mm², respectively. 2 A high-precision double-sided low-speed vertical dynamic balancing machine is selected, which has a test mode driven by the test object itself.

[0046] Step S2: Determine the counterweight interface for the rotating load. Using the dual-plane method, based on the structural characteristics of the load, two counterweight planes are selected on the rotating body. The height difference between the two planes is b, the radius of the counterweight on both planes is r, and the counterweight installation interfaces are set at equal angular intervals (5°) between the two planes. For example, if the height difference between the two planes is 0.8m, the radius of the counterweight on both planes is 0.35m, and the counterweight installation interfaces are set every 5°.

[0047] Step S3: Perform a rotating load dynamic balancing test at a rotational speed of ω, output the weight and phase of the two balancing planes, and perform balancing; for example, the rotational speed is 180° / s;

[0048] By balancing multiple times, the remaining static couple imbalance is controlled within the dynamic balancing machine's specifications. The output weight m1 and phase α of balancing plane 1, and weight m2 and phase β of balancing plane 2 are recorded. Let m1 < m2.

[0049] Step S4: Confirm that the amplitudes of the remaining static unbalance and even unbalance meet the requirements, and calculate the phase difference of the remaining static and even unbalance. Specifically, when the phase difference between the two is controlled at 270°, the total satellite interference torque generated by the remaining static and even unbalance is minimized. That is, based on the test results after dynamic balancing, i.e., the weight and phase of the counterweight, calculate the phases of the remaining even and static unbalances, and confirm whether the phase difference between the two meets the requirements. Among them, based on the output results of the dynamic balancing machine, the remaining static unbalance and remaining even unbalance are calculated using the force vector decomposition method. The zero-degree starting position of the phases of the remaining even and static unbalances is the same as the zero-degree starting position of the phase of the counterweight, as detailed below:

[0050] Residual even unbalance amplitude = m1rb

[0051]

[0052]

[0053]

[0054] The phase difference Φ between the residual even unbalance and the residual static unbalance is

[0055]

[0056] Step S5: Make minor adjustments to the counterweight and its phase; to maximize the phase difference between the remaining even imbalance and the remaining static imbalance, set counterweight installation interfaces at equal angular intervals on each counterweight plane. For example, design installation interfaces at equal angular intervals of 5–15°.

[0057] A dynamic balancing test was conducted again. The amplitude and phase difference of the remaining static couple imbalance were calculated based on the output of the dynamic balancing machine. The phase difference Φ between the remaining couple imbalance and the remaining static imbalance was kept within 270°±45°, and the residual static couple imbalance was still within the accuracy range of the dynamic balancing machine.

[0058] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A method for dynamic balancing of satellite rotating loads, characterized in that, include: Step S1: Select a dynamic balancing machine based on the rotational speed, weight, and dynamic balance parameters of the rotating load; Step S2: Determine the interface for the rotating load counterweight; Step S3: Perform a rotating load dynamic balancing test at a rotational speed of ω, output the weight and phase of the two balancing planes, and perform balancing. Step S4: Confirm that the amplitudes of the remaining static unbalance and even unbalance meet the requirements, and calculate the phase difference between the remaining static unbalance and even unbalance. Step S5: Adjust the counterweight and its phase. Set counterweight installation interfaces at equal angles on each balancing plane to maximize the phase difference requirement between the remaining couple imbalance and the remaining static imbalance. Conduct the dynamic balancing test again. Calculate the amplitude and phase difference of the remaining static imbalance based on the output of the dynamic balancing machine, ensuring that the phase difference Φ between the remaining couple imbalance and the remaining static imbalance is between 270°±45°, and that the remaining static imbalance remains within the accuracy range of the dynamic balancing machine.

2. The satellite rotating load dynamic balancing method according to claim 1, characterized in that, In step S1, for satellite rotating loads with low rotational speed and high inertia, a low-speed, high-precision dynamic balancing machine is selected for balancing.

3. The satellite rotating load dynamic balancing method according to claim 1, characterized in that, In step S2, based on the structural mechanism of the load, two matching planes are selected on the rotating body. The height difference between the two matching planes is b, the radius of the counterweight on the two matching planes is r, and the counterweight installation interface is set at equal angular distances between the two matching planes.

4. The satellite rotating load dynamic balancing method according to claim 3, characterized in that, In step S3, the remaining static couple imbalance is controlled within the dynamic balancing machine's parameters through multiple balancing operations. The output weight m1 and phase α of balancing plane P1, and the weight m2 and phase β of balancing plane P2 are recorded, assuming m1 < m2.

5. The satellite rotating load dynamic balancing method according to claim 4, characterized in that, In step S4, the phase difference between the remaining static imbalance and the even imbalance is controlled to be 270°, so that the total interference torque generated by the remaining static imbalance and the remaining even imbalance is minimized.

6. The satellite rotating load dynamic balancing method according to claim 4, characterized in that, Based on the test results after dynamic balancing, namely the counterweight and phase, the phases of the remaining couple unbalance and the remaining static unbalance are calculated to confirm whether the phase difference between the two meets the requirements. Specifically, based on the output of the dynamic balancing machine, the remaining static unbalance and the remaining couple unbalance are calculated using the force vector decomposition method. The zero-degree starting position of the phases of the remaining couple unbalance and the remaining static unbalance is the same as the zero-degree starting position of the counterweight phase, as detailed below: Residual even imbalance amplitude = Residual even imbalance phase = Residual static imbalance amplitude = Residual static imbalance phase = The phase difference Φ between the residual even unbalance and the residual static unbalance 。 7. The satellite rotating load dynamic balancing method according to claim 1, characterized in that, The angular spacing of the equidistant mounting interface is 5 to 15°.

8. The satellite rotating load dynamic balancing method according to claim 1, characterized in that, The structural characteristics of the satellite rotating payload are as follows: it has an unfolding and retracting mechanism, which retracts and presses during the active phase of launch, and unlocks and unfolds after entering orbit. There are gaps between the mechanisms, and the entire payload has a certain degree of flexibility.

9. The satellite rotating load dynamic balancing method according to claim 1, characterized in that, The rotational characteristics of the satellite's rotating payload are: uniform circular rotation, low rotational speed, and a rotational speed of less than 212° / s.

10. The satellite rotating load dynamic balancing method according to claim 1, characterized in that, The mass characteristics of the satellite's rotating payload are: large moment of inertia, with the principal moment of inertia about the axis of rotation greater than 10 kgm. 2 .

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