Reaction wheel multi-stage vibration isolation device and micro-vibration suppression method

Abstract

The invention relates to a reaction wheel multi-stage vibration isolation device and a micro-vibration suppression method. The multistage vibration isolation device for the reaction wheel comprises a vibration isolation platform, a constraint damping layer plate and a vibration isolation connecting piece, and the vibration isolation platform is used for primary vibration isolation of micro-vibration of the reaction wheel and comprises a plurality of vibration isolation springs and a frame used for connecting the vibration isolation springs and the reaction wheel; the constraint damping layer plate is used for secondary vibration isolation of micro-vibration of the reaction wheel and comprises a base layer, the vibration isolation platform is horizontally arranged on the base layer, the base layer is arranged on a satellite cabin plate, and the multiple vibration isolation springs are obliquely converged and distributed between the reaction wheel and the constraint damping layer plate; and the vibration isolation connecting piece is used for fixedly installing the constraint damping layer plate on a satellite cabin body plate so as to realize three-stage vibration isolation of micro vibration of the reaction wheel. While multi-directional low-frequency vibration isolation is achieved, resonance amplification of a fundamental frequency harmonic peak can be weakened, the medium-high frequency suppression effect is further improved, and suppression degradation caused by a local mode of the structure is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of micro-vibration suppression, and relates to a reaction wheel multi-stage vibration isolation device and a micro-vibration suppression method. Background Art

[0002] When a satellite operates in orbit, it is prone to generate micro-vibrations due to internal single-unit interference, which will lead to a decline in the working performance of on-board sensitive payloads. There are many disturbance sources on the satellite, and common disturbance sources include reaction wheels, control moment gyroscopes, cryocoolers, SADMs, and swing mechanisms, etc. Among them, reaction wheels / control moment gyroscopes (installed on different satellites according to torque output requirements) are the main contributing factors to satellite micro-vibrations. Formulating reasonable vibration isolation measures and schemes based on the micro-vibration characteristics of reaction wheels is the key to effectively meeting the micro-vibration index requirements.

[0003] The vibration isolation technology for reaction wheels can be divided into internal vibration optimization and external vibration isolation design. The internal vibration optimization of reaction wheels is to improve the internal structure to reduce its own disturbance and transmission effect. For example, improving the manufacturing precision of the rotor to reduce the rotor unbalance disturbance, using magnetic levitation bearings instead of rolling bearings to reduce the structural harmonic disturbance, and using a flexible suspension to improve the rigid support to reduce high-frequency vibrations, etc., can all achieve a certain suppression effect. Most satellite reaction wheels use standardized products. Most internal vibration optimizations require re-designing components to achieve the purpose of improving the structural dynamic characteristics, which is likely to increase the R & D and manufacturing costs and lack good interchangeability. Therefore, the micro-vibration suppression of reaction wheels is mostly carried out by adding vibration isolators (i.e., external vibration isolation design), which has better flexibility and suppression effect compared with internal vibration control and can cope with complex and changeable vibration environments.

[0004] External vibration isolation design includes passive vibration isolation, active vibration isolation, semi-active vibration isolation, hybrid main-passive vibration isolation, and non-linear vibration isolation. Passive vibration isolation mainly attenuates vibrations through low-stiffness structures or damping materials, such as viscous fluid dampers or viscoelastic composite dampers, to isolate broadband vibrations in spacecraft. It has a significant effect on suppressing medium- and high-frequency micro-vibrations. Passive vibration isolation is simple, stable, economical, and practical, without the need for external energy supply. With the optimization of the configuration and stiffness of vibration isolation units, the passive vibration isolator of the reaction wheel can gradually achieve the suppression of medium- and high-frequency micro-vibrations. However, it will generate a large resonance peak in the low-frequency region, and it is prone to resonance amplification with the harmonic interference of the reaction wheel at low frequencies, presenting challenges in suppressing multi-directional low frequencies and resonance peaks. The bellows vibration isolator with liquid damping is designed to have low-stiffness characteristics and increases the system damping by filling with liquid (such as methyl silicone oil). Although it can weaken the resonance peak to a certain extent, it is relatively complex in manufacturing, assembly process, and test. It requires strict leak detection tests to ensure the structural reliability and service life. Affected by the local mode interference of vibration isolation elements, there is a phenomenon of simple harmonic oscillation in the suppression ratio of the local medium- and high-frequency micro-vibrations of the vibration isolation platform, and it is prone to multi-source coupling effects with other disturbance sources (such as the double-frequency interference of the refrigerator), directly affecting the suppression effect of medium- and high-frequency micro-vibrations and resulting in a decline in the overall suppression performance of micro-vibrations.

[0005] Patent CN104373503B discloses a micro-vibration converging vibration isolation device for satellite flywheels. By designing the micro-vibration converging vibration isolation device, it solves the problem of suppressing multi-directional micro-vibrations of satellite flywheels. However, its suppression effect on medium- and high-frequency resonance peaks and resonance peaks in the low-frequency region is not satisfactory, and the micro-vibration suppression effect needs to be improved. Summary of the Invention

[0006] To solve at least some of the above problems in the prior art, the present invention provides a reaction wheel multi-stage vibration isolation device and a micro-vibration suppression method.

[0007] The first aspect of the present invention provides a reaction wheel multi-stage vibration isolation device, including:

[0008] A vibration isolation platform for primary vibration isolation of reaction wheel micro-vibrations, including a plurality of vibration isolation springs and a frame for connecting the vibration isolation springs and the reaction wheel;

[0009] A constrained damping layer board for secondary vibration isolation of reaction wheel micro-vibrations, including a base layer. The vibration isolation platform is arranged on the base layer for supporting and fixing the vibration isolation platform. The base layer is horizontally arranged on the satellite cabin board, and a plurality of the vibration isolation springs are inclined and convergently distributed between the reaction wheel and the constrained damping layer board;

[0010] A vibration isolation connector for fixedly installing the constrained damping layer board on the satellite cabin board to achieve tertiary vibration isolation of reaction wheel micro-vibrations.

[0011] Further, the vibration isolation platform is a six-degree-of-freedom vibration isolation platform. The six degrees of freedom of the six-degree-of-freedom vibration isolation platform include translational degrees of freedom in the x, y, and z directions and rotational degrees of freedom in the x, y, and z directions( Figure 1 ).

[0012] Further, the vibration isolation spring includes a cylinder, an inner cavity surrounded by the cylinder, and a plurality of transverse grooves opened on the cylinder; the cylinder is a manganese bronze alloy cylinder, so that the transverse groove type vibration isolation spring is a manganese bronze alloy spring, enabling the vibration isolation spring to have good low stiffness characteristics and high damping characteristics. When subjected to alternating stress, the manganese bronze alloy consumes vibration energy through the movement of phase transformation twin boundaries or the phase boundaries between the parent phase and martensite in thermoelastic martensite by using the transverse groove type manganese bronze alloy spring

[0013] Further, through the integrated design of the configuration and material of the vibration isolation spring, that is, through the stiffness and damping design of the vibration isolation spring, low stiffness and high damping performance are achieved, and further micro-vibration suppression is realized. The stiffness design of the vibration isolation spring is optimized through force-displacement finite element simulation and tensile-compression tests to determine the structural parameters of the vibration isolation spring and achieve low stiffness; the damping design of the vibration isolation spring compares the variation laws of different structural dimensions of the vibration isolation spring through damping tests, and optimizes the structural parameters of the transverse groove according to the measured damping ratio

[0014] Further, the structural parameters of the vibration isolation spring include the mean diameter d, height H, and wall thickness h; the structural parameters of the transverse groove include the layer beam thickness a, longitudinal wedge width b, transverse wedge width c, and the total number of layer beams

[0015] Further, the transverse groove is opened on the cylinder by milling

[0016] Further, the mean diameter d is 30-100 mm; the height H is 50-100 mm; the wall thickness h is 5-15 mm. Preferably, the mean diameter is 70 mm; the height H is 70 mm; the wall thickness h is 7 mm

[0017] Further, the layer beam thickness a of the transverse groove is 1-5 mm; the longitudinal wedge width b is 2-10 mm; the transverse wedge width c is 2-10 mm; the total number of layer beams is 2-11

[0018] More preferably, the layer beam thickness a of the transverse groove is 2 mm; the longitudinal wedge width b is 7 mm; the transverse wedge width c is 8 mm; the total number of layer beams is 9. Through the above structural dimension design, the vibration isolation spring has good low stiffness characteristics

[0019] Further, the frame includes a first connecting frame, a plurality of second connecting frames arranged side by side in the circumferential direction of the first connecting frame, and a first mounting surface provided at the end of the second connecting frame. The first connecting frame is located at the center of the frame, the first mounting surface is connected to the vibration isolation spring, and the first mounting surface is inclined upward from the bottom of the first connecting frame so as to form an inclination angle between the first mounting surface and the constrained damping layer plate.

[0020] Further, the first connecting frame, the second connecting frame and the first mounting surface are integrally formed to form the frame.

[0021] Further, there are a plurality of the first mounting surfaces. Preferably, the number of the first mounting surfaces is four.

[0022] Further, the vibration isolation platform further includes a plurality of supports. The supports are provided on the base layer, the vibration isolation springs are provided on the supports, and the supports are located below the frame and arranged radially outward along the frame. The supports are used to support the vibration isolation springs.

[0023] Further, the support includes a support body and a second mounting surface provided on the support body. The second mounting surface is arranged parallel to the first mounting surface so that the second mounting surface has the same inclination angle as that between the first mounting surface and the constrained damping layer plate. The vibration isolation spring is arranged between the first mounting surface and the second mounting surface, that is, one end of the vibration isolation spring is connected to the first mounting surface and the other end is connected to the second mounting surface, so that a plurality of the vibration isolation springs are inclined upward along the direction of the first connecting frame, realizing the inclined converging distribution of the plurality of the vibration isolation springs. While fixing the vibration isolation springs, the supports also provide a certain installation inclination angle for them, which is convenient for multi-directional suppression of micro-vibrations. The arrangement mode of the vibration isolation springs adopts the converging distribution, which ensures the structural compactness and the consistent horizontal suppression effect, and at the same time avoids the coupling effect in multiple directions, which helps the vibration isolation platform to suppress micro-vibrations in six directions.

[0024] Further, the support is a six-degree-of-freedom support. The six degrees of freedom include translational motions in the x, y, and z directions and rotational motions in the x, y, and z directions. Through the oblique arrangement of the vibration isolation springs and the converging structure of the vibration isolation platform, the vibration isolation system has appropriate suppression stiffness and damping effects in the three translational directions of x, y, and z and the three rotational directions of x, y, and z, so as to achieve vibration isolation in six degrees of freedom.

[0025] Further, a first mounting hole is formed in the first connecting frame, and the reaction wheel is mounted at the first mounting hole through a first bolt; a second mounting hole is formed in the first mounting surface, and a third mounting hole is formed in the second mounting surface. The vibration isolation spring is mounted at the second mounting hole and the third mounting hole through a second bolt and a third bolt respectively. That is, one end of the vibration isolation spring is connected to the first mounting surface through the second bolt, and the other end is connected to the second mounting surface through the third bolt. The first mounting hole serves as a mounting hole for the reaction wheel to connect the reaction wheel to the frame.

[0026] Further, the base layer includes a base layer body and a first embedded part and a second embedded part embedded in the base layer body. The first embedded part is arranged at the installation position of the support to mount the support on the base layer; the second embedded part is arranged at the corner of the base layer. The second embedded part fixedly mounts the constrained damping layer plate on the satellite cabin plate through the vibration isolation connecting piece, so that the multi-stage vibration isolation device is mounted on the satellite cabin plate. The first embedded part is used to mount the support on the base layer; the second embedded part is used to fixedly mount the constrained damping layer plate on the satellite cabin plate

[0027] Further, the first embedded part and the second embedded part are of a cylindrical structure, and the first embedded part and the second embedded part are metal embedded parts.

[0028] Further, the vibration isolation connecting piece includes a vibration isolation pad, a fourth bolt passing through the vibration isolation pad, and a steel sleeve sleeved on the fourth bolt. The vibration isolation pad is sleeved on the steel sleeve; the vibration isolation pad includes a first vibration isolation pad and a second vibration isolation pad, and the first vibration isolation pad and the second vibration isolation pad are respectively arranged at the top end and the bottom end of the second embedded part; the vibration isolation connecting piece further includes a plurality of gaskets, and the plurality of gaskets are arranged at the bottom of the second vibration isolation pad. The plurality of gaskets lift the base layer when the constrained damping layer plate is fixedly mounted on the satellite cabin plate, avoiding contact between the base layer and the satellite cabin plate. While retaining the low-frequency suppression performance of the vibration isolation platform, the use of the vibration isolation connecting piece for the constrained damping layer plate can further improve the high-frequency and medium-frequency suppression ability of the vibration isolation device.

[0029] Further, the vibration isolation pad is a rubber vibration isolation pad. The vibration isolation connecting piece fixedly mounts the constrained damping layer plate on the satellite cabin plate. Combining the constrained damping layer plate and the vibration isolation connecting piece further weakens the low-frequency resonance peak, controls the local medium-high frequency oscillation generated by the modal interference of the vibration isolation structure, increases the suppression effect on the micro-vibration of the reaction wheel, and realizes the three-stage vibration isolation of the micro-vibration of the reaction wheel by using the high-damping characteristic of the rubber vibration isolation pad.

[0030] Further, the gasket is a metal gasket.

[0031] Further, the metal gasket includes titanium alloy gaskets for aerospace applications, nickel-based superalloys, and the like.

[0032] Further, the constrained damping laminate further includes a damping layer and a constraining layer, thereby providing better vibration damping effect than a free damping layer. The base layer, the damping layer, and the constraining layer are adhesively bonded in sequence; and / or

[0033] The base layer is a honeycomb panel base layer, the damping layer is a viscoelastic damping layer, and the constraining layer is a metal constraining layer; and / or

[0034] The honeycomb panel base layer is an aluminum-skin honeycomb panel base layer. The aluminum-skin sandwich honeycomb panel base layer includes a honeycomb core and aluminum-skin plates disposed above and below the honeycomb core; the viscoelastic damping layer includes any one of butyl rubber or epoxy resin; the metal constraining layer includes any one of an aluminum alloy constraining layer or a magnesium alloy constraining layer. The viscoelastic damping layer has viscoelastic damping material, and the loss factor is increased through the shear strain generated by the viscoelastic damping material to dissipate the micro-vibration energy, thereby realizing the secondary vibration isolation of the reaction wheel micro-vibration.

[0035] Further, the viscoelastic damping layer includes a composite material body having a high loss factor.

[0036] Further, the metal constraining layer includes lightweight alloy constraining layers such as an aluminum alloy constraining layer and a magnesium alloy constraining layer.

[0037] The second aspect of the present invention provides a micro-vibration suppression method, which uses the reaction wheel multi-stage vibration isolation device as described in the first aspect to perform multi-stage suppression on the reaction wheel micro-vibration. The micro-vibration attenuation of the disturbance source is achieved through the reaction wheel multi-stage vibration isolation device, including the following steps:

[0038] Using vibration isolation springs as vibration isolation elements, a plurality of the vibration isolation springs are inclined and convergently distributed between the reaction wheel and the constrained damping laminate to obtain a vibration isolation platform, forming a first-stage vibration isolation structure of the reaction wheel;

[0039] Using an aluminum-skin honeycomb panel as the base layer, combining a viscoelastic damping layer and a metal constraining layer to form a constrained damping laminate, forming a second-stage vibration isolation structure of the reaction wheel;

[0040] Integrating the fourth bolt with a steel sleeve, a vibration isolation pad, and a gasket to obtain a vibration isolation connector, forming a third-stage vibration isolation structure of the reaction wheel;

[0041] Connecting and integrating the vibration isolation platform, the constrained damping laminate, and the vibration isolation connector to form the reaction wheel multi-stage vibration isolation device;

[0042] The reaction wheel multi-stage vibration isolation device is installed on a force measuring platform, the reaction wheel is gravity unloaded by a lifting device and an elastic rope, the reaction wheel is controlled to run by a controller, and after the reaction wheel runs stably, a disturbance output time domain signal under the stable operation of the reaction wheel group is collected;

[0043] Performing a fast Fourier transform on the disturbance output time domain signal to obtain an amplitude-frequency response curve of the disturbance signal to evaluate the micro-vibration suppression performance of the multi-stage vibration isolation device; and / or

[0044] The vibration isolation platform, the constrained damping layer plate and the vibration isolation connector are connected and integrated, a first embedded part and a second embedded part are embedded in the constrained damping layer plate, the vibration isolation spring is connected to the first embedded part through a third bolt, and the second embedded part mounts the constrained damping layer plate on the satellite cabin plate through the vibration isolation connector.

[0045] The reaction wheel multi-stage vibration isolation device and micro-vibration suppression method provided by the present invention avoid complicated processing and assembly processes and liquid filling processes, improve the micro-vibration suppression performance of the vibration isolator, and ensure the reliability of on-orbit application.

[0046] The advantage of the present invention lies in that it integrates multiple types of passive vibration isolation and suppression methods, designs a reaction wheel multi-stage vibration isolation device with integrated structure and material, integrates a manganese-copper alloy spring six-degree-of-freedom vibration isolation platform, a constrained damping layer plate and a vibration isolation connector, proposes a corresponding micro-vibration suppression method, and utilizes the low stiffness and high damping characteristics of the manganese-copper alloy spring to achieve primary suppression of micro-vibrations in six directions; at the same time, without increasing the volume and weight too much, a constrained damping layer plate and a vibration isolation connector are used to further attenuate the micro-vibration of the reaction wheel, avoid medium and high frequency amplification, weaken the low-frequency resonance peak, and retain the stability and reliability of the original vibration isolation structure.

[0047] The present invention has at least the following beneficial effects: 1) The multi-stage vibration isolation device of the present invention, which integrates a six-degree-of-freedom vibration isolation platform, a constrained damping layer plate and a vibration isolation connector, can weaken the resonance amplification of the fundamental frequency resonance peak while realizing multi-directional low-frequency vibration isolation, further improve the suppression effect of medium and high frequencies, and avoid the suppression degradation caused by local modes of the structure; 2) The six-degree-of-freedom vibration isolation platform of the present invention adopts a transverse groove manganese-copper alloy spring as a vibration isolation element, realizing the integration of structure, material and function, and can realize low stiffness and high damping characteristics through structural design. At the same time, the convergent vibration isolation platform can effectively reduce the structural size, avoid complex assembly of parts, and reduce the medium and high frequency interference of local modes; 3) The multi-stage vibration isolation device of the present invention has simple processing and assembly processes, and a compact and reliable structure; 4) The vibration isolation structures of each stage of the present invention are connected by bolts, which has designability and flexible modular functions. The micro-vibration suppression method proposed based on the multi-stage vibration isolation device has universal applicability for single machines or vibration sources of the same type on satellites. Brief Description of the Drawings

[0048] To further clarify the above and other advantages and features of the embodiments of the present invention, a more specific description of the embodiments of the present invention will be presented with reference to the accompanying drawings. It can be understood that these drawings only depict typical embodiments of the present invention and thus will not be considered as limiting its scope. In the drawings, for clarity, the same or corresponding components will be denoted by the same or similar reference numerals.

[0049] Figure 1 Fig. shows a schematic structural diagram of a reaction wheel multi-stage vibration isolation device in some embodiments of the present invention;

[0050] Figure 2 Fig. shows a schematic structural diagram of a vibration isolation platform in some embodiments of the present invention;

[0051] Figure 3 Fig. shows a schematic structural diagram of a constrained damping layer plate in some embodiments of the present invention;

[0052] Figure 4 Fig. shows Figure 3 a partial enlarged schematic view at position A in

[0053] Figure 5 Fig. shows a schematic structural diagram of a first embedded part in some embodiments of the present invention;

[0054] Figure 6 Fig. shows a schematic structural diagram of a second embedded part in some embodiments of the present invention;

[0055] Figure 7 Fig. shows a schematic structural diagram of a vibration isolation connector in some embodiments of the present invention;

[0056] Figure 8 Fig. shows a cross-sectional view of a vibration isolation connector in some embodiments of the present invention;

[0057] Figure 9 Fig. shows a schematic structural diagram of a vibration isolation spring in some embodiments of the present invention;

[0058] Figure 10 Fig. shows a comparison of the time-domain signals of the three-direction disturbing forces and disturbing torques before and after vibration isolation of a reaction wheel multi-stage vibration isolation device in some embodiments of the present invention;

[0059] Figure 11 Fig. shows the amplitude-frequency response curves of the disturbance signals before and after vibration isolation of a reaction wheel multi-stage vibration isolation device in some embodiments of the present invention;

[0060] Reference Numerals:

[0061] 1 - Vibration isolation spring, 101 - Cylinder, 102 - Horizontal groove, 103 - Layer beam, 2 - Constrained damping layer plate, 201 - Base layer, 2011 - First embedded part, 2012 - Second embedded part, 202 - Damping layer, 203 - Constraint layer, 3 - Vibration isolation connector, 301 - Fourth bolt, 302 - Steel sleeve, 303 - Vibration isolation pad, 304 - Gasket, 4 - Reaction wheel, 5 - Satellite cabin plate, 6 - Frame, 601 - First connecting frame, 6011 - First mounting hole, 602 - Second connecting frame, 603 - First mounting surface, 6031 - Second mounting hole, 7 - Support, 701 - Support body, 702 - Second mounting surface, 7021 - Third mounting hole. Detailed implementation mode

[0062] It should be noted that the components in each drawing may be exaggerated for illustration purposes and are not necessarily drawn to scale.

[0063] In the present invention, each embodiment is only intended to illustrate the solution of the present invention and should not be construed as restrictive.

[0064] In the present invention, unless otherwise specified, the quantifiers "a" and "one" do not exclude the scenario of multiple elements.

[0065] It should also be noted here that in the embodiments of the present invention, for the sake of clarity and simplicity, only a part of the components or assemblies may be shown. However, those of ordinary skill in the art can understand that, under the teaching of the present invention, the required components or assemblies can be added according to the specific scenario requirements.

[0066] It should also be noted here that within the scope of the present invention, the terms "same", "equal", "equivalent", etc. do not mean that the two values are absolutely equal, but allow a certain reasonable error. That is to say, the said terms also cover "substantially the same", "substantially equal", "substantially equivalent".

[0067] It should also be noted here that in the description of the present invention, the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than explicitly or implicitly indicating that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as explicitly or implicitly indicating relative importance.

[0068] In addition, the embodiments of the present invention describe the process steps in a specific order. However, this is only for the convenience of distinguishing each step, rather than limiting the sequence of each step. In different embodiments of the present invention, the sequence of each step can be adjusted according to the adjustment of the process.

[0069] In the following embodiments, the vibration isolation platform is a six-degree-of-freedom vibration isolation platform, and the support 7 is a six-degree-of-freedom support 7. The six degrees of freedom include translational motion in the three directions of x, y, and z and rotational motion in the three directions of x, y, and z ( Figure 1 ), through the inclined arrangement of the vibration isolation springs 1 and the converging structure of the vibration isolation platform, the vibration isolation system has appropriate suppression stiffness and damping effects in the three translational directions of x, y, and z and the three rotational directions of x, y, and z, so as to achieve six-degree-of-freedom vibration isolation; the base layer 201 is an aluminum skin honeycomb board base layer, and the aluminum skin sandwich honeycomb board base layer 201 includes a honeycomb core and aluminum skin plates arranged above and below the honeycomb core; the damping layer 202 is a viscoelastic damping layer, and the viscoelastic damping layer includes butyl rubber, epoxy resin or a composite material body with a high loss factor; the constraint layer 203 is a metal constraint layer, and the metal constraint layer includes an aluminum alloy constraint layer or a magnesium alloy constraint layer; the first embedded part 2011 and the second embedded part 2012 are metal embedded parts; the vibration isolation pad 303 is a rubber vibration isolation pad; the gasket 304 is a metal gasket, and the metal gasket includes titanium alloy gaskets for aerospace and nickel-based superalloys, etc.

[0070] Embodiment 1

[0071] This embodiment provides a multi-stage vibration isolation device for a reaction wheel 4. Figure 1 shows a schematic structural diagram of the multi-stage vibration isolation device for the reaction wheel 4. The device includes: a vibration isolation platform, a constrained damping layer plate 2, and a vibration isolation connecting piece 3. The vibration isolation platform is used for primary vibration isolation of the micro-vibration of the reaction wheel 4. Figure 2 shows a schematic structural diagram of the vibration isolation platform. It can be seen that the vibration isolation platform includes a plurality of vibration isolation springs 1, a plurality of supports 7 arranged below the vibration isolation springs 1, and a frame 6 for connecting the vibration isolation springs 1 and the reaction wheel 4. The supports 7 are used to support the vibration isolation springs 1 and are arranged on the base layer 201 below the frame 6 and radially outward along the frame 6; the constrained damping layer plate 2 is used for secondary vibration isolation of the micro-vibration of the reaction wheel 4. Figure 3 、 Figure 4The structural schematic diagram of the constrained damping laminate 2 is shown. It can be seen that the constrained damping laminate 2 includes a base layer 201, a damping layer 202, and a constraint layer 203 that are adhesively bonded in sequence, thereby providing a better vibration damping effect than the free damping layer 202. The vibration isolation platform is disposed on the base layer 201 for supporting and fixing the vibration isolation platform. The base layer 201 is horizontally disposed on the satellite cabin plate 5. A plurality of vibration isolation springs 1 are inclined and convergently distributed between the reaction wheel 4 and the constrained damping laminate 2. The viscoelastic damping layer 202 is provided with a viscoelastic damping material. The shear strain generated by the viscoelastic damping material increases the loss factor and dissipates the micro-vibration energy, realizing the secondary vibration isolation of the micro-vibration of the reaction wheel 4. The vibration isolation connecting member 3 is used to fixedly install the constrained damping laminate 2 on the satellite cabin plate 5 to realize the tertiary vibration isolation of the micro-vibration of the reaction wheel 4.

[0072] Figure 9 The structural schematic diagram of the vibration isolation spring is shown. The vibration isolation spring 1 includes a cylinder 101 and a plurality of transverse grooves 102 formed in the manganese copper alloy cylinder 101. The transverse grooves 102 are formed on the cylinder 101 by milling. The cylinder 101 is a manganese copper alloy cylinder 101, so that the vibration isolation spring 1 with transverse grooves 102 is a manganese copper alloy spring, endowing the vibration isolation spring 1 with good low stiffness characteristics and high damping characteristics. By using the manganese copper alloy spring with transverse grooves 102, when subjected to alternating stress, the manganese copper alloy consumes vibration energy through the movement of phase transformation twin boundaries or the phase boundaries between the parent phase and martensite in the thermoelastic martensite. Through the integrated design of the configuration and material of the vibration isolation spring 1, that is, through the design of the stiffness and damping of the vibration isolation spring 1, the low stiffness and high damping performance are realized, and further the micro-vibration suppression is realized. The stiffness design of the vibration isolation spring 1 is optimized through force-displacement finite element simulation and tensile-compression tests to determine the structural parameters of the vibration isolation spring 1 (including the mean diameter d, height H, and wall thickness h) to achieve low stiffness. The damping design of the vibration isolation spring 1 compares the variation laws of different structural sizes of the vibration isolation spring 1 through damping tests, and optimizes the structural parameters of the transverse grooves 102 (including the layer beam thickness a, longitudinal wedge width b, transverse wedge width c, and the total number of layer beams) according to the measured damping ratio. Among them, the mean diameter d is 70 mm; the height H is 70 mm; the wall thickness h is 7 mm; the layer beam 103 thickness a of the transverse grooves 102 is 2 mm; the longitudinal wedge width b is 7 mm; the transverse wedge width c is 8 mm; the total number of layer beams 103 is 9. Through the above structural size design, the vibration isolation spring 1 has good low stiffness characteristics.

[0073] The frame 6 includes a first connecting frame 601, four second connecting frames 602 arranged side by side along the circumference of the first connecting frame 601, and a first mounting surface 603 provided at the end of the second connecting frame 602. The first connecting frame 601, the second connecting frame 602, and the first mounting surface 603 are integrally formed into the frame 6. The first connecting frame 601 is located at the center of the frame 6. The first mounting surface 603 is connected to the vibration isolation spring 1. The first mounting surface 603 slopes upward along the bottom of the first connecting frame 601, so as to form an inclination angle between the first mounting surface 603 and the constrained damping layer board 2.

[0074] The support 7 includes a support body 701 and a second mounting surface 702 provided on the support body 701. The second mounting surface 702 is arranged in parallel with the first mounting surface 603, so that the second mounting surface 702 has the same inclination angle as that between the first mounting surface 603 and the constrained damping layer board 2. The vibration isolation spring 1 is arranged between the first mounting surface 603 and the second mounting surface 702, that is, one end of the vibration isolation spring 1 is connected to the first mounting surface 603, and the other end is connected to the second mounting surface 702, so that a plurality of vibration isolation springs 1 slope upward along the direction of the first connecting frame 601, realizing the inclined convergent distribution of the plurality of vibration isolation springs 1. While fixing the vibration isolation spring 1, the support 7 also provides a certain installation inclination angle for it, facilitating the multi-directional suppression of micro-vibrations. The arrangement mode of the vibration isolation spring 1 adopts the convergent distribution. While ensuring the structural compactness and the same horizontal suppression effect, the coupling effect in multiple directions is avoided, which helps the vibration isolation platform to suppress micro-vibrations in six directions.

[0075] A first mounting hole 6011 is formed on the first connecting frame 601. The reaction wheel 4 is installed at the first mounting hole 6011 through a first bolt (not shown); a second mounting hole 6031 is formed on the first mounting surface 603, and a third mounting hole 7021 is formed on the second mounting surface 702. The vibration isolation spring 1 is installed at the second mounting hole 6031 and the third mounting hole 7021 through a second bolt and a third bolt (not shown) respectively. That is, one end of the vibration isolation spring 1 is connected to the first mounting surface 603 through the second bolt, and the other end is connected to the second mounting surface 702 through the third bolt. The first mounting hole 6011 serves as the mounting hole for the reaction wheel 4 and is used to connect the reaction wheel 4 to the frame 6.

[0076] The base layer 201 includes a base layer 201 body and a first embedded part 2011 and a second embedded part 2012 embedded in the base layer 201 body. Figure 5 The structural schematic diagram of the first embedded part 2011 is shown. Figure 6The structural schematic diagram of the second embedded part 2012 is shown. It can be seen that the first embedded part 2011 and the second embedded part 2012 are cylindrical structures. The first embedded part 2011 is arranged at the installation position of the support 7 to install the support 7 on the base layer 201; the second embedded part 2012 is arranged at the corner of the base layer 201. The second embedded part 2012 fixedly installs the constrained damping layer plate 2 on the satellite cabin plate 5 through the vibration isolation connecting piece 3, so that the multi-stage vibration isolation device is installed on the satellite cabin plate 5. The first embedded part 2011 is used to install the support 7 on the base layer 201; the second embedded part 2012 is used to fixedly install the constrained damping layer plate 2 on the satellite cabin plate 5

[0077] Figure 7 The structural schematic diagram of the vibration isolation connecting piece 3 is shown Figure 8 The cross-sectional view of the vibration isolation connecting piece 3 is shown. It can be seen that the vibration isolation connecting piece 3 includes a vibration isolation pad 303, a fourth bolt 301 passing through the vibration isolation pad 303, and a steel sleeve 302 sleeved on the fourth bolt 301 (not shown). The vibration isolation pad 303 is sleeved on the steel sleeve 302; the vibration isolation pad 303 includes a first vibration isolation pad 303 and a second vibration isolation pad 303. The first vibration isolation pad 303 and the second vibration isolation pad 303 are respectively arranged at the top and bottom of the second embedded part 2012; the vibration isolation connecting piece 3 further includes a plurality of gaskets 304, and the plurality of gaskets 304 are arranged at the bottom of the second vibration isolation pad 303. The plurality of gaskets 304 lift the base layer 201 when the constrained damping layer plate 2 is fixedly installed on the satellite cabin plate 5, avoiding the contact between the base layer 201 and the satellite cabin plate 5. While retaining the low-frequency suppression performance of the vibration isolation platform, the use of the vibration isolation connecting piece 3 for the constrained damping layer plate 2 can further improve the high-frequency suppression ability of the vibration isolation device. The vibration isolation connecting piece 3 fixedly installs the constrained damping layer plate 2 on the satellite cabin plate 5, and combining the constrained damping layer plate 2 and the vibration isolation connecting piece 3 further weakens the low-frequency resonance peak, controls the local medium-high frequency oscillation generated by the vibration isolation structure modal interference, increases the suppression effect on the micro-vibration of the reaction wheel 4, and uses the high damping characteristic of the rubber vibration isolation pad 303 to achieve the three-stage vibration isolation of the micro-vibration of the reaction wheel 4

[0078] Embodiment 2

[0079] This embodiment provides a micro-vibration suppression method. The reaction wheel 4 on a certain satellite runs at a rotational speed of 1000 rpm in orbit. The force measuring platform is used to simulate the satellite installation interface interface. The micro-vibration signals of the reaction wheel 4 before and after the action of the multi-stage vibration isolation device are collected by using the force measuring platform and the data acquisition device. The multi-stage vibration isolation device of the reaction wheel 4 in the above Embodiment 2 is used to suppress the multi-stage micro-vibration of the reaction wheel 4 (vibration isolation object). The micro-vibration attenuation of the disturbance source is realized through the multi-stage vibration isolation device of the reaction wheel 4, including the following steps

[0080] Step 1): Fix the reaction wheel 4 on the force measuring platform. Use a lifting device and an elastic rope to unload the gravity of the reaction wheel 4. Control the reaction wheel 4 to accelerate to 1000 rpm. After stable operation, measure the disturbance output time-domain signal output by the data acquisition instrument. The disturbance output time-domain signal is the three-axis disturbing forces and disturbing torques (Fx, Fy, Fz, Mx, My, Mz).

[0081] Step 2): Integrate the vibration isolation platform, the constrained damping layer plate 2 and the vibration isolation connecting piece 3 by bolt connection, and install and fix them on the force measuring platform together with the reaction wheel 4, that is, install the multi-stage vibration isolation device of the reaction wheel 4 on the force measuring platform. Control the reaction wheel 4 to accelerate to 1000 rpm. After stable operation, measure the three-axis disturbing forces and disturbing torques output by the data acquisition instrument interface.

[0082] Step 3): Analyze the disturbance changes at the installation interface of the force measuring platform before and after adding the multi-stage vibration isolation device of the reaction wheel 4, and compare the time-domain signals of the three-axis disturbing forces and disturbing torques before and after, as Figure 5 shown.

[0083] Step 4): Perform a fast Fourier transform on the disturbance time-domain signal to obtain the amplitude-frequency response curve of the disturbance signal before and after the multi-stage vibration isolation of the reaction wheel 4, and evaluate the micro-vibration suppression performance of the multi-stage vibration isolation device, as Figure 6 shown.

[0084] According to Figure 10 and Figure 11 analysis, it can be seen that the multi-stage vibration isolation in Embodiment 1 can achieve the disturbance suppression of the reaction wheel 4 in six directions along x, y, z and around x, y, z. After the multi-stage vibration isolation, the time-domain amplitude of the micro-vibration of the reaction wheel 4 has a magnitude attenuation, the resonance amplification at low frequencies is small, and there is a certain improvement in the simple harmonic oscillation at medium and high frequencies, which helps to achieve a better suppression effect.

[0085] Although some embodiments of the present invention have been described in this application document, those skilled in the art can understand that these embodiments are only shown as examples. Those skilled in the art can think of numerous variant solutions, alternative solutions and improvement solutions under the teaching of the present invention without exceeding the scope of the present invention. The appended claims are intended to define the scope of the present invention and thereby cover the methods and structures within the scope of these claims themselves and their equivalent transformations.

Claims

1. A reaction wheel multi-stage vibration isolation device, characterized in that: include: A vibration isolation platform, which is used for primary vibration isolation of micro-vibration of a reaction wheel, comprises a plurality of vibration isolation springs and a frame for connecting the vibration isolation springs and the reaction wheel; A constrained damping layer plate, which is used for secondary vibration isolation of reaction wheel micro-vibration, comprises a base layer, the vibration isolation platform is horizontally arranged on the base layer, the base layer is arranged on the satellite cabin body plate, and a plurality of vibration isolation springs are obliquely converged and distributed between the reaction wheel and the constrained damping layer plate; The vibration isolation connector is used to fix the constrained damping layer plate on the satellite cabin body plate to achieve three-level vibration isolation of the reaction wheel micro-vibration.

2. The reaction wheel multi-stage vibration isolation device according to claim 1, characterized in that: The vibration isolation spring comprises a column, an inner cavity surrounded by the column and a plurality of transverse grooves arranged on the column; the column is a manganese-copper alloy column.

3. The reaction wheel multi-stage vibration isolation device according to claim 1, characterized in that: The frame includes a first connecting frame, a plurality of second connecting frames arranged in parallel along the circumference of the first connecting frame, and a first mounting surface arranged at the end of the second connecting frame, the first connecting frame is located at the center of the frame, the first mounting surface is connected to the vibration isolation spring, and the first mounting surface is inclined upward along the bottom of the first connecting frame to form an inclination angle between the first mounting surface and the constrained damping layer plate.

4. The reaction wheel multi-stage vibration isolation device according to claim 3, characterized in that: The vibration isolation platform further comprises a plurality of supports, wherein the supports are arranged on the base layer, the vibration isolation springs are arranged on the supports, and the supports are located below the frame and are arranged radially outwardly along the frame.

5. The reaction wheel multi-stage vibration isolation device according to claim 4, characterized in that: The support includes a support body and a second mounting surface arranged on the support body, the second mounting surface is arranged parallel to the first mounting surface, and the vibration isolation spring is arranged between the first mounting surface and the second mounting surface so that the plurality of vibration isolation springs are inclined upward along the direction of the first connecting frame.

6. The reaction wheel multi-stage vibration isolation device according to claim 4, characterized in that: A first mounting hole is provided on the first connecting frame, and the reaction wheel is installed at the first mounting hole through a first bolt; a second mounting hole is provided on the first mounting surface, and a third mounting hole is provided on the second mounting surface, and the vibration isolation spring is installed at the second mounting hole and the third mounting hole respectively through a second bolt and a third bolt.

7. The reaction wheel multi-stage vibration isolation device according to claim 4, characterized in that: The base layer includes a base body and a first embedded part and a second embedded part embedded in the base body. The first embedded part is arranged at the installation position of the support to install the support on the base layer; the second embedded part is arranged at the corners of the base layer, and the second embedded part fixes the constrained damping layer plate on the satellite cabin body plate through the vibration isolation connector.

8. The reaction wheel multi-stage vibration isolation device according to claim 6, characterized in that: The vibration isolation connector includes a vibration isolation pad, a fourth bolt passing through the vibration isolation pad, and a steel sleeve sleeved on the fourth bolt, and the vibration isolation pad is sleeved on the steel sleeve; the vibration isolation pad includes a first vibration isolation pad and a second vibration isolation pad, and the first vibration isolation pad and the second vibration isolation pad are respectively arranged at the top and bottom ends of the second embedded part; the vibration isolation connector also includes a plurality of gaskets, and the plurality of gaskets are arranged at the bottom of the second vibration isolation pad.

9. The reaction wheel multi-stage vibration isolation device according to claim 1, characterized in that: The constrained damping layer plate further comprises a damping layer and a constraining layer, and the base layer, the damping layer and the constraining layer are bonded in sequence; and / or The base layer is a honeycomb panel base layer, the damping layer is a viscoelastic damping layer, and the constraining layer is a metal constraining layer; and / or The honeycomb panel base layer is an aluminum skin honeycomb panel base layer, and the aluminum skin sandwich honeycomb panel base layer includes a honeycomb core and aluminum skin panels arranged above and below the honeycomb core; the viscoelastic damping layer includes any one of butyl rubber or epoxy resin.

10. A method for suppressing micro-vibration, characterized in that: Using the reaction wheel multi-stage vibration isolation device as described in any one of claims 1 to 9 to suppress the micro-vibration of the reaction wheel in multiple stages comprises the following steps: Using a vibration isolation spring as a vibration isolation element, a plurality of the vibration isolation springs are tilted and converged and distributed between the reaction wheel and the constrained damping layer plate to obtain a vibration isolation platform, thereby forming a first-level vibration isolation structure of the reaction wheel; The aluminum skin honeycomb panel is used as the base layer, and the viscoelastic damping layer and the metal constrained layer are combined to form a constrained damping layer plate, forming a secondary vibration isolation structure of the reaction wheel; The fourth bolt is integrated with the steel sleeve, the vibration isolation pad and the gasket to obtain a vibration isolation connector, thereby forming a three-level vibration isolation structure of the reaction wheel; The vibration isolation platform, the constrained damping layer plate and the vibration isolation connector are connected and integrated to form the reaction wheel multi-stage vibration isolation device; The reaction wheel multi-stage vibration isolation device is installed on a force measuring platform, the reaction wheel is gravity unloaded by a lifting device and an elastic rope, the reaction wheel is controlled to run by a controller, and after the reaction wheel runs stably, a disturbance output time domain signal under the stable operation of the reaction wheel group is collected; Performing a fast Fourier transform on the disturbance output time domain signal to obtain an amplitude-frequency response curve of the disturbance signal to evaluate the micro-vibration suppression performance of the multi-stage vibration isolation device; and / or The vibration isolation platform, the constrained damping layer plate and the vibration isolation connector are connected and integrated, a first embedded part and a second embedded part are embedded in the constrained damping layer plate, the vibration isolation spring is connected to the first embedded part through a third bolt, and the second embedded part mounts the constrained damping layer plate on the satellite cabin plate through the vibration isolation connector.

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