A support table and a support method for a control moment gyroscope

Abstract

The present application relates to the field of aerospace technology, and particularly relates to a support table and a supporting method for a control moment gyro. The support table comprises a position moving device, a positioning locking device, a damping adjusting device and a mounting disc for mounting the control moment gyro. The position moving device comprises a support flexible beam, one end of the support flexible beam is connected to the mounting disc. When the positioning locking device is in a locking state, the positioning locking device locks and fixes the part of the support flexible beam in contact with the positioning locking device. When the positioning locking device is in a sliding state, the positioning locking device can slide on the support flexible beam, and the positioning locking device in the locking state on the support flexible beam can be changed. The support rigidity of the mounting disc can be changed. The damping adjusting device comprises a compression spring and a damping sheet. The damping sheet is connected to the mounting disc, and the compression spring is connected to the damping sheet. The elastic force of the compression spring is adjusted to adjust the damping of the mounting disc. The present application provides a support table and a supporting method for a control moment gyro, and the support rigidity and the damping can be adjusted.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aerospace technology, in particular to a support table and a support method for a control moment gyro. BACKGROUND

[0002] The space station optical cabin is the largest scientific research and application comprehensive facility of manned space engineering application system. The control moment gyro is the main attitude control execution mechanism of large spacecraft such as the space station optical cabin. The task requires the control moment gyro to realize extremely high control accuracy and ultra-low micro-vibration at the same time. The realization of extremely high control accuracy and ultra-low micro-vibration requires the control moment gyro to be installed on the vibration isolation platform. When the control moment gyro is installed on the vibration isolation platform, the flexibility and damping of the vibration isolation platform will seriously affect the control performance of the control moment. In order to study the influence of the support stiffness and damping of the vibration isolation platform on the control performance of the control moment gyro, a support table with adjustable support stiffness and damping needs to be developed. SUMMARY

[0003] The embodiment of the present application provides a support table and a support method for a control moment gyro, which can provide a support table with adjustable support stiffness and damping.

[0004] In a first aspect, the embodiment of the present application provides a support table for a control moment gyro, comprising a position moving device, a positioning locking device, a damping adjusting device and a mounting disc for mounting the control moment gyro.

[0005] The position moving device comprises a support flexible beam, one end of the support flexible beam is connected to the mounting disc, the positioning locking device is sleeved on the support flexible beam, the positioning locking device comprises a locking state and a sliding state, when the positioning locking device is in the locking state, the positioning locking device locks and fixes the part of the support flexible beam in contact with it, when the positioning locking device is in the sliding state, the positioning locking device can slide on the flexible beam, the support stiffness of the mounting disc is changed by changing the positioning locking device in the locking state on the support flexible beam.

[0006] The damping adjusting device comprises a compression spring and a damping sheet, the damping sheet is connected to the mounting disc, the compression spring is connected to the damping sheet, and the damping of the mounting disc is adjusted by adjusting the elastic force of the compression spring.

[0007] In a possible design, the position moving device further comprises a first servo motor, a bracket, a guide rail, a first lead screw, a first lead screw nut and a guide rail slider.

[0008] The support flexible beam is fixedly connected at one end to the support, the rotating shaft of the first servo motor is connected to the first lead screw, the first lead screw nut is threadedly connected to the first lead screw, the two ends of the first lead screw nut are respectively connected to the guide rail slider and the positioning locking device, and the guide rail slider is slidingly connected to the guide rail.

[0009] In a possible design, the locking device comprises a second servo motor, a pin shaft, a first moving slider provided with a threaded through hole and a linear bearing, a second moving slider, and a locking bolt.

[0010] The first moving slider and the second moving slider are fixed to each other from the two sides of the support flexible beam to be slidingly sleeved on the support flexible beam, the rotating shaft of the second servo motor is connected to the locking bolt, the locking bolt is threadedly connected to the threaded through hole, one end of the pin shaft is fixed to the second servo motor, and the other end of the pin shaft is inserted into the linear bearing, and the second servo motor drives the locking bolt to be selected to press or release the support flexible beam.

[0011] In a possible design, the damping adjusting device comprises a third servo motor, a second lead screw, a damping sheet, a compression spring, a second lead screw nut, and a moving plate.

[0012] The rotating shaft of the third servo motor is connected to the second lead screw, the second lead screw is threadedly connected to the second lead screw nut, the second lead screw nut is connected to the moving plate, one end of the moving plate is connected to the compression spring, and the other end of the compression spring is connected to the damping sheet, and the third servo motor is driven to rotate the second lead screw to adjust the pressure applied by the compression spring to the damping sheet.

[0013] In a possible design, the damping sheet is arranged in a damper seat, two damping plates are arranged on the two sides of the damping sheet, and the compression spring provides elastic force to sequentially press one of the damping plates, the damping sheet and the other damping plate against the damper seat wall.

[0014] In a possible design, one end of the compression spring is connected to a pressing plate, a guide rod is arranged on the pressing plate, the guide rod penetrates through the moving plate, and the guide rod is used to limit the moving plate to move only along the guide rod.

[0015] In a possible design, the cross section of the support flexible beam comprises a trapezoidal shape.

[0016] In a possible design, the support flexible beam comprises two plate bodies with different rigidities, and the two plate bodies are connected in the thickness direction.

[0017] In a possible design, the position moving device is mounted on a base plate, the base plate is provided with a slot, the size of the slot matches the shape of the bottom of the position moving device, and the position moving device and the slot are detachably connected through bolts.

[0018] The length of the slot is greater than the length of the bottom of the position moving device, so that the position moving device is adjusted in position in the slot.

[0019] In a second aspect, the embodiments of the present application also provide a supporting method for a control moment gyro, based on any of the supporting tables in the above embodiments, the supporting method comprises:

[0020] Adjusting the locking position of the positioning locking device to adjust the supporting stiffness of the mounting disc;

[0021] Adjusting the elastic force of the compression spring of the damping adjuster to adjust the damping of the mounting disc.

[0022] Compared with the prior art, the present application has at least the following beneficial effects:

[0023] The technical problem to be solved by the present application is to provide a flexible supporting table with variable stiffness and damping to simulate the influence of an isolation platform on the control performance of a control moment gyro. The flexible supporting table comprises a position moving device, a positioning locking device, a damping adjusting device, and a mounting disc for mounting the control moment gyro. The mounting disc is supported by four flexible beams of the position moving device, the position moving device is fixed on a base plate; the damping adjusting device is fixed on the base plate, the upper connector thereof is fixed on the mounting disc, and the base plate is fixed on a test ground rail to form a stable foundation. The positioning locking device can slide on the flexible beams to support the flexible beams at different positions to change the supporting stiffness of the control moment gyro; during vibration, the upper connector of the damping adjusting device vibrates together with the mounting disc, the damping of the damping sheet is changed by changing the elastic force of the compression spring of the damping adjusting device on the damping sheet, and then the tension and pressure of the damping sheet on the mounting disc through the connector are changed, so that the damping of the flexible supporting table is changed. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the following embodiment or prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0025] Figure 1 is a structural schematic view of a supporting table provided by the embodiments of the present application;

[0026] Figure 2Is a position moving device structure schematic diagram provided by the embodiment of the application;

[0027] Figure 3 Is a positioning locking device structure schematic diagram provided by the embodiment of the application;

[0028] Figure 4 Is another positioning locking device structure schematic diagram provided by the embodiment of the application;

[0029] Figure 5 Is a damping adjusting device structure schematic diagram provided by the embodiment of the application;

[0030] Figure 6 Is a trapezoidal support flexible beam section and moving slider section shape schematic diagram provided by the embodiment of the application;

[0031] Figure 7 Is a support flexible beam structure schematic diagram provided by the embodiment of the application;

[0032] Figure 8 Is another support flexible beam structure schematic diagram provided by the embodiment of the application;

[0033] Figure 9 Is a chassis structure schematic diagram provided by the embodiment of the application.

[0034] In the figure:

[0035] 1- bottom plate;

[0036] 11- groove;

[0037] 12- threaded hole;

[0038] 2- position moving device;

[0039] 201- first servo motor;

[0040] 202- first coupling;

[0041] 203- support;

[0042] 204- guide rail seat;

[0043] 205- guide rail;

[0044] 206- first lead screw;

[0045] 207- first lead screw nut;

[0046] 208- guide rail slider;

[0047] 209- locking device connecting piece;

[0048] 210- flexible beam;

[0049] 211 - support cross connector

[0050] 3 - positioning locking device

[0051] 31 - second servo motor

[0052] 32 - pin shaft

[0053] 33 - linear bearing

[0054] 34 - first moving slider

[0055] 35 - second moving slider

[0056] 36 - locking bolt

[0057] 37 - pressing plate

[0058] 4 - damping adjustment device

[0059] 401 - third servo motor

[0060] 402 - speed reducer

[0061] 403 - motor mounting seat

[0062] 404 - second coupling

[0063] 405 - damper seat

[0064] 406 - moving plate

[0065] 407 - second lead screw

[0066] 408 - pressing plate

[0067] 409 - damping plate

[0068] 410 - damping sheet

[0069] 411 - damping sheet interface

[0070] 412 - lead screw mounting seat

[0071] 413 - guide rod

[0072] 414 - compression spring

[0073] 415 - second lead screw nut

[0074] 5 - mounting disc DETAILED DESCRIPTION

[0075] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0076] In the description of the embodiments of the present application, unless explicitly defined and limited, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance; unless otherwise specified or stated, the term "multiple" means two or more; the terms "connection", "fixation" and the like should be understood in a broad sense, for example, "connection" can be fixed connection, or detachable connection, or integral connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium. For a person of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0077] In the description of the present specification, it should be understood that the "upper", "lower" and the like described in the embodiments of the present application are described from the angle shown in the drawings, and should not be understood as a limitation of the embodiments of the present application. In addition, in the context, it should also be understood that when referring to one element connected to another element "on" or "under", it can not only be directly connected to another element "on" or "under", but also indirectly connected to another element "on" or "under" through an intermediate element.

[0078] As shown in Figure 1 The present application provides a support platform for controlling a control moment gyro, which comprises a position moving device 2, a positioning locking device 3, a damping adjusting device 4 and a mounting disc 5 for mounting the control moment gyro;

[0079] The position moving device 2 comprises a supporting flexible beam 210, one end of the supporting flexible beam 210 is connected to the mounting disc 5, the positioning locking device 3 is sleeved on the supporting flexible beam 210, the positioning locking device 3 comprises a locking state and a sliding state, when the positioning locking device 3 is in the locking state, the positioning locking device 3 locks and fixes the part of the supporting flexible beam 210 in contact with it, when the positioning locking device 3 is in the sliding state, the positioning locking device 3 can slide on the flexible beam 210, by changing the positioning locking device in the locking state on the supporting flexible beam 210, the supporting stiffness of the mounting disc 5 is changed;

[0080] The damping adjusting device 4 comprises a compression spring 414 and a damping sheet 410, the damping sheet 410 is connected to the mounting disc 5, the compression spring 414 is connected to the damping sheet 410, and the damping of the mounting disc 5 is adjusted by adjusting the elastic force of the compression spring 414.

[0081] The technical problem to be solved by the present application is to provide a flexible support platform with variable rigidity and damping to simulate the influence of the vibration isolation platform on the control performance of the control moment gyro. The mounting disc 5 is supported by four flexible beams 210 of the position moving device 2, the position moving device 2 is fixed on the bottom plate 1; the damping adjusting device 4 is fixed on the bottom plate 1, the upper connecting part of the damping adjusting device 4 is fixed on the mounting disc 5, and the bottom plate 1 is fixed on the test ground rail to form a stable foundation. The positioning locking device 3 can slide on the flexible beam 210, so as to support the flexible beam 210 at different positions to change the support rigidity of the control moment gyro; during vibration, the upper connecting part of the damping adjusting device 4 vibrates with the mounting disc 5, the damping of the damping sheet 410 is changed by changing the elastic force of the compression spring 414 of the damping adjusting device 4 on the damping sheet 410, and then the tension and pressure of the damping sheet 410 on the mounting disc 5 through the connecting part are changed, so as to change the damping of the flexible support platform.

[0082] Please refer to Figure 2 In some embodiments of the present application, the position moving device 2 further comprises a first servo motor 201, a support 203, a guide rail 205, a first lead screw 206, a first lead screw nut 206, and a guide rail slider 208.

[0083] One end of the support flexible beam 210 is fixedly connected to the support 203, the rotating shaft of the first servo motor 201 is connected to the first lead screw 206, the first lead screw nut 206 is threadedly connected to the first lead screw 206, and the two ends of the first lead screw nut 206 are respectively connected to the guide rail slider 208 and the positioning locking device 3.

[0084] Specifically, the position moving device comprises a first servo motor 201, a first coupling 202, a support 203, a guide rail seat 204, a guide rail 205, a first screw rod 206, a first screw rod nut 207, a guide rail slider 208, a locking device connecting piece 209, a flexible beam 210, and a support cross connecting piece 211. The support cross connecting piece 211 fixes one end of the flexible beam 210 to the support 203, and the other end of the flexible beam 210 is fixedly connected to the mounting disc through a mounting disc cross connecting piece. The first coupling 202 fixedly connects the first servo motor 201 and the first screw rod 206. When the first servo motor 201 rotates, the first screw rod 206 is driven to rotate. When the first screw rod rotates, the first screw rod nut 207 on the first screw rod moves on the first screw rod. The bottom of the first screw rod nut 207 is fixedly connected to the guide rail slider 208, and the top of the first screw rod nut 207 is fixedly connected to the locking device connecting piece 209. The locking device connecting piece 209 connects the first screw rod nut 207 and the locking device 3, so that the locking device 3 moves together with the first screw rod nut 207 when the first screw rod nut 207 moves. When moving, the guide rail slider 208, the first screw rod nut, the locking device connecting piece 209, and the locking device move together. When the locking device does not slide, it is in a locked state, supporting the flexible beam at the position. When sliding is needed, the locking device will be released first. The closer the locking device is to the mounting disc 5, the greater the support stiffness is.

[0085] Please refer to Figure 3 and Figure 4 In some embodiments of the present application, the locking device comprises a second servo motor 31, a pin shaft 32, a first moving slider 34 provided with a threaded through hole and a linear bearing 33, a second moving slider 35, and a locking bolt 36.

[0086] The first moving slider 34 and the second moving slider 35 are fixed to each other from both sides of the support flexible beam 210, and are slidably arranged on the support flexible beam 210. The rotating shaft of the second servo motor 31 is connected to the locking bolt 36, the locking bolt 36 is threadedly connected in the threaded through hole, one end of the pin shaft 32 is fixed to the second servo motor 31, and the other end is inserted into the linear bearing 33. The second servo motor 31 drives the locking bolt 36 to select to press or release the support flexible beam 210.

[0087] In the embodiment, the locking device comprises a second servo motor 31, a pin shaft 32, a linear bearing 33, a first moving slider 34, a second moving slider 35, a locking bolt 36, and a pressing plate 37. The first moving slider 34 and the second moving slider 35 are bolted together to form a moving slider, and the first moving slider has a threaded hole in the middle for cooperating with the locking bolt 36. The second servo motor 31 and the locking bolt 36 are fixed, and the pin shaft 32 is fixed at one end of the second servo motor 31 and inserted into the linear bearing 33 of the first moving slider 34. When the second servo motor 31 rotates, the pin shaft 32 moves up and down with the locking bolt 36. When the pin shaft 32 moves downward, it presses the pressing plate 37 to compress the support flexible beam 210 in the moving slider slot, thereby locking the support flexible beam 210. When the pin shaft 32 moves upward, it releases the pressing plate 37, thereby releasing the support flexible beam 210, so that the moving slider can freely slide on the support flexible beam 210.

[0088] Please refer to Figure 5 In some embodiments of the present application, the damping adjusting device 4 comprises a third servo motor 401, a second lead screw 407, a damping plate 410, a compression spring 414, a second lead screw nut 415, and a moving plate 406.

[0089] The rotating shaft of the third servo motor 401 is connected with the second lead screw 407, the second lead screw 407 is threadedly connected with the second lead screw nut 415, the second lead screw nut 415 is connected with the moving plate 406, one end of the moving plate 406 is connected with the compression spring 414, and the other end of the compression spring 414 is connected with the damping plate 410. The third servo motor 401 drives the second lead screw 407 to rotate, so as to adjust the pressure applied by the compression spring 414 to the damping plate 410.

[0090] In the embodiment, the third servo motor 401 drives the second lead screw 407 to rotate, and then drives the moving plate 406 to move to compress or release the compression spring 414. The elastic force applied to the damping plate 410 pressed by the compression spring 414 changes, thereby changing the damping of the mounting disc 5 connected with the damping plate 410.

[0091] In some embodiments of the present application, the damping plate 410 is arranged in the damper seat 405, and two damping plates 409 are arranged on both sides of the damping plate 410. The compression spring 414 provides an elastic force to sequentially press one damping plate 409, the damping plate 410, and the other damping plate 409 against the wall of the damper seat 405.

[0092] In some embodiments of the present application, the compression spring 414 is connected with a pressing plate 408 at one end, the pressing plate 408 is provided with a guide rod 413, the guide rod 413 penetrates through the moving plate 406, and the guide rod 413 is used to limit the moving plate 406 to move only along the guide rod 413.

[0093] Specifically, the damping adjusting device comprises a third servo motor 401, a speed reducer 402, a motor mounting seat 403, a second coupling 404, a damper seat 405, a moving plate 406, a second lead screw 407, a pressing plate 408, a damping plate 409, a damping piece 410, a damping piece interface 411, a lead screw mounting seat 412, a guide rod 413, a compression spring 414 and a second lead screw nut 415. The device is fixedly connected with the mounting disc 5 through the damping piece interface 411, the damping piece interface 411 is fixed on the damping piece 410, the damping piece 410 is provided with the damping plates 409 (the damping plates are wear-resistant self-lubricating brass pieces) on the left and right sides, the pressing plate 408 presses the damping plate 409 on the left side of the damping piece 410, and the compression spring 414, the second lead screw 407, the second lead screw nut 415, the lead screw mounting seat 412 and the guide rod 413 are arranged between the pressing plate 408 and the moving plate 406; the damping is adjusted by controlling the clamping force of the damping plates 409 on the left and right sides, the clamping force is controlled by controlling the spring pressure between the moving plate 406 and the pressing plate 408, the second lead screw nut 415 is fixed on the moving plate 406, the lead screw mounting seat 412 is fixed on the pressing plate 408, and the second lead screw 407 rotates to compress or loosen the compression spring 414, so that the spring pressure is changed; the movement of the second lead screw 407 is guided by the four guide rods 413. The third servo motor 401 is fixed on the bottom plate through the motor mounting seat 403.

[0094] Please refer to Figure 6 In some embodiments of the present application, the cross section of the flexible beam 210 comprises a trapezoidal shape.

[0095] The cross section of the flexible beam 210 in the embodiment is trapezoidal, and the cross section of the groove matched with the flexible beam 210 is also trapezoidal. With this structure, the flexible beam 210 only needs a small locking force to be locked, thereby reducing the size of the servo motor of the locking device. If there is no gap when the flexible beam 210 with a rectangular cross section is matched with the groove, the sliding block is difficult to slide. If there is a gap, a large locking force is needed to lock the flexible beam 210 when it vibrates, otherwise the flexible beam 210 is easy to slide, thereby causing the sudden change of the support state and unstable support stiffness. In the embodiment, the trapezoidal flexible beam 210 is matched with the trapezoidal flexible beam 210 groove, and the locking bolt 36 presses against the large bottom edge of the trapezoidal flexible beam 210 when it is locked, so that the flexible beam 210 can be locked only with a small locking force. When the locking bolt 36 is released, the trapezoidal flexible beam 210 is easy to slide in the trapezoidal flexible groove.

[0096] Please refer to Figure 7 In some embodiments of the present application, the flexible beam 210 comprises two plate bodies with different stiffnesses, and the two plate bodies are connected along the thickness direction.

[0097] In the embodiment, the support flexible beam 210 is made of two different stiffness materials with the same length and width. Compared with the support flexible beam 210 made of a single material, the support flexible beam 210 with different stiffness can be designed by setting the different thicknesses of the two plates, thereby providing a wider range of support stiffness.

[0098] Please refer to Figure 8 In some preferred embodiments, the support flexible beam 210 can be directly fixed on the mounting disc 5 by bolts. In order to avoid the gap between the support flexible beam 210 and the cross connecting piece 211 of the support bracket and the cross connecting piece of the mounting disc 5 from causing the support flexible beam 210 to slide when vibrating, thereby causing the support stiffness to be unstable, the connection is interference fit. This brings inconvenience to disassemble the cross connecting piece 211 of the support bracket and the cross connecting piece of the mounting disc 5 when replacing the support flexible beam 210. Disassembly is not only troublesome, but also may damage the support flexible beam 210.

[0099] Please refer to Figure 9 In some embodiments of the present application, the position moving device 2 is mounted on the base plate 1, and the base plate 1 is provided with a slot, the size and position of the slot are matched with the shape of the bottom of the position moving device 2, and the position moving device 2 and the slot are detachably connected by bolts.

[0100] The length of the slot is greater than the length of the bottom of the position moving device 2, so that the position moving device 2 can slide in the slot to adjust the position.

[0101] Specifically, the base plate 1 has a slot 11, and each slot has two rows of mounting threaded holes 12, which are matched with the through holes of the guide rail seat 204 of the position moving device 2. The slot and the guide rail seat 204 are matched, so that the position moving device 2 can slide in the slot as a whole to adapt to different sizes of the mounting disc 5. When replacing the mounting disc 5, the position of the position moving device 2 can be accurately positioned, and the installation is convenient.

[0102] In the second aspect, the embodiments of the present application also provide a support method for a control moment gyro, which is based on any of the support tables in the above embodiments. The support method comprises the following steps:

[0103] Adjusting the locking position of the positioning locking device 3 to adjust the support stiffness of the mounting disc 5;

[0104] Adjusting the elastic force of the compression spring 414 of the damping adjuster to adjust the damping of the mounting disc 5.

[0105] It should be noted that the various method embodiments of the present application are based on the same inventive concept as the various system embodiments of the present application, and therefore can achieve the same technical effects. For specific effects, please refer to the above system embodiments, which will not be described here.

[0106] It should be pointed out finally that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit the same; and although the present application has been described in detail with reference to the foregoing embodiments, it should be appreciated by those skilled in the art that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features thereof can be replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A support platform for controlling a torque gyroscope, characterized in that, The position moving device (2), the positioning locking device (3), the damping adjusting device (4) and the mounting disc (5) for mounting the control moment gyro are included. The position moving device (2) includes a supporting flexible beam (210), one end of the supporting flexible beam (210) is connected to the mounting disc (5), the positioning locking device (3) is sleeved on the supporting flexible beam (210), the positioning locking device (3) includes a locking state and a sliding state, when the positioning locking device (3) is in the locking state, the positioning locking device (3) locks and fixes the part of the supporting flexible beam (210) in contact with it, when the positioning locking device (3) is in the sliding state, the positioning locking device (3) can slide on the supporting flexible beam (210), the supporting stiffness of the mounting disc (5) is changed by changing the positioning locking device (3) in the locking state on the supporting flexible beam (210). The damping adjusting device (4) includes a compression spring (414) and a damping sheet (410), the damping sheet (410) is connected to the mounting disc (5), the compression spring (414) is connected to the damping sheet (410), the damping of the mounting disc (5) is adjusted by adjusting the elastic force of the compression spring (414). The position moving device (2) is mounted on the bottom plate (1), the bottom plate (1) is provided with a groove, the size of the groove and the shape of the bottom of the position moving device (2) are matched, and the position moving device (2) and the groove are detachably connected through bolts. The length of the groove is greater than the length of the bottom of the position moving device (2), so that the position moving device (2) is adjusted in position by sliding in the groove.

2. The support table according to claim 1, characterized in that The position moving device (2) further includes a first servo motor (201), a bracket (203), a guide rail (205), a first lead screw (206), a first lead screw (206) nut, and a guide rail slider (208). One end of the supporting flexible beam (210) is fixedly connected to the bracket (203), the rotating shaft of the first servo motor (201) is connected to the first lead screw (206), the first lead screw (206) nut is threadedly connected to the first lead screw (206), and the two ends of the first lead screw (206) nut are respectively connected to the guide rail slider (208) and the positioning locking device (3), and the guide rail slider (208) is slidably connected to the guide rail (205).

3. The support table according to claim 1, characterized in that The locking device includes a second servo motor (31), a pin shaft (32), a first moving slider (34) provided with a threaded through hole and a linear bearing (33), a second moving slider (35), and a locking bolt (36). The first moving slider (34) and the second moving slider (35) are fixed from both sides of the supporting flexible beam (210) and are sleeved on the supporting flexible beam (210), the rotating shaft of the second servo motor (31) is connected with the locking bolt (36), the locking bolt (36) is screwed in the threaded through hole, one end of the pin shaft (32) is fixed on the second servo motor (31), the other end of the pin shaft (32) is inserted into the linear bearing (33), the second servo motor (31) drives the locking bolt (36) to select to press or release the supporting flexible beam (210).

4. The support table of claim 1, wherein The damping adjusting device (4) comprises a third servo motor (401), a second lead screw (407), a damping sheet (410), a compression spring (414), a second lead screw nut (415) and a moving plate (406). The rotating shaft of the third servo motor (401) is connected with the second lead screw (407), the second lead screw (407) is screwed with the second lead screw nut (415), the second lead screw nut (415) is connected with the moving plate (406), one end of the moving plate (406) is connected with the compression spring (414), the other end of the compression spring (414) is connected with the damping sheet (410), and the third servo motor (401) is driven to rotate the second lead screw (407) to adjust the pressure of the compression spring (414) on the damping sheet (410).

5. The support table according to claim 4, characterized in that The damping sheet (410) is arranged in the damper seat (405), two damping plates (409) are arranged on both sides of the damping sheet (410), and the compression spring (414) provides elastic force to press one of the damping plates (409), the damping sheet (410) and the other damping plate (409) on the wall of the damper seat (405) in sequence.

6. The support table of claim 5, wherein, One end of the compression spring (414) is connected with a pressing plate (408), a guide rod (413) is arranged on the pressing plate (408), the guide rod (413) penetrates through the moving plate (406), and the guide rod (413) is used to limit the moving plate (406) to move along the guide rod (413) only.

7. The support table of claim 1, wherein The cross section of the supporting flexible beam (210) comprises a trapezoidal shape.

8. The support table of claim 1, wherein, The supporting flexible beam (210) comprises two plate bodies with different rigidities, and the two plate bodies are connected in the thickness direction.

9. A support method for a control moment gyroscope, characterized by, The supporting method based on any one of claims 1-8 comprises: Adjusting the locking position of the positioning locking device (3) to adjust the supporting rigidity of the mounting disc (5); Adjusting the elastic force of the compression spring (414) of the damping adjusting device to adjust the damping of the mounting disc (5).

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