On-orbit mass measuring device based on controllable electromagnetic damper

Abstract

The invention belongs to the technical field of space flight and aviation, and relates to an on-orbit mass measurement device based on a controllable electromagnetic damper, and the device is characterized in that a seat assembly is used for limiting the one-dimensional free vibration of the on-orbit mass measurement device; the base assembly is used for fixing the on-orbit mass measuring device and providing the degree of freedom of one-dimensional movement of a measured object. The electromagnetic damping assembly is used for regulating and controlling the period and amplitude attenuation of vibration; the upper spring and the lower spring are sleeved on the magnetic conductive cylinder and are respectively used for driving the in-orbit mass measuring device to freely vibrate in a direction perpendicular to the seat chassis and a direction perpendicular to the base; the sensor assembly is used for measuring the damping force generated by the electromagnetic damping assembly and measuring the pressure of the upper spring and the lower spring. Measurable working conditions in the movement process of the device are increased, the influence caused by a single working condition can be eliminated by measuring multiple working conditions, meanwhile, parameters such as friction and damping of the system can be measured and calculated, and errors caused by unknown parameters in a calculation model are eliminated.

Description

Technical Field

[0001] The invention belongs to the field of aerospace technology and relates to an on-orbit mass measurement device based on a controllable electromagnetic damper. Background Art

[0002] In my country's science and technology development strategy, space technology occupies a pivotal position, and the construction of the Tiangong space station is not only the key to the development of manned space technology, but also an important milestone in my country's space industry. In the daily operation of the space station, astronauts' health monitoring and cargo package transportation efficiency are two key areas. First of all, astronauts' body mass is an important indicator for assessing their health status. In a weightless environment, astronauts may experience physical changes such as organ displacement, mass loss, and head swelling, and these changes need to be monitored through precise mass measurement. However, there is a lack of sophisticated medical equipment on the space station. Therefore, developing a device that can accurately measure astronauts' body mass in a microgravity environment is crucial to assessing astronauts' health status.

[0003] Secondly, with the increasing frequency of material exchanges between the space station and the ground, ensuring the quality and safety of cargo package transportation has become particularly important. At present, the center of mass of the return capsule is mainly determined by the mass measurement of the downlink cargo package. Due to the incomplete supporting facilities of the Chinese space station and the lack of equipment capable of measuring the mass of cargo packages in a microgravity environment, this limits the transportation efficiency of the return capsule and the accuracy of attitude control. Therefore, designing an on-orbit mass measurement device that can improve measurement accuracy can not only optimize the center of mass configuration of the return capsule, but also increase the maximum single transport mass of the return capsule, thereby improving the material transportation efficiency of the entire space station.

[0004] From an engineering perspective, the application and development of new on-orbit mass measurement technologies can lead to more accurate on-orbit mass measurements of astronauts, enhance the accuracy of astronaut health assessments, and promote advancements in on-orbit medical technology for the space station. Furthermore, the addition of cargo package mass measurement capabilities effectively improves the accuracy of return capsule mass distribution estimates, increases the mass of cargo that can be carried by the return capsule, and enhances the precision of the return capsule's attitude control, thus promoting advancements in space station cargo transportation technology.

[0005] In 2009, Yan Hui and colleagues from Tsinghua University conducted ground-based experiments using the linear acceleration method based on Newton's second law. They designed an on-orbit mass measurement device based on Newton's second law. The device consists of four components: a wire rope, a spring, a cam, and a rotating wheel. The rotating wheel and cam are fixed to the foundation and serve as the core rotating components. A wire rope connected to a spring is wound around the lower cam, extending from either side to the wall. This spring-connected wire rope functions similarly to a torsion spring, providing a relatively stable torque during rotation. Another wire rope pulls a human body through the rotating wheel, providing a constant tension. The device uses a spring-cam mechanism to generate a constant tension, pulling the human body in a uniformly accelerated linear motion. Using an air-floating platform to simulate horizontal microgravity, the device measures the tension and acceleration experienced by the human body during motion, and uses Newton's second law to measure the human body's mass. The experiments measured the masses of rigid weights weighing 45 to 90 kg and 15 people weighing 50 to 60 kg. The results showed that the measurement error for the rigid weights was less than 0.2 kg, and the measurement error for the human body masses was approximately 0.5 kg. The overall structure of the device is relatively complex and difficult to implement; the device cannot be operated by one person.

[0006] In 2019, Lou Renzhi and colleagues at China Jiliang University developed a vibration-based device for measuring human mass in weightless conditions and completed ground testing. This device, modeled after the M08 device on the International Space Station, uses bearings to constrain motion and minimize friction. During ground testing, an air flotation platform was used to eliminate horizontal gravity, and rigid weights weighing 45 to 80 kg and human bodies weighing 45 to 80 kg were tested. The results showed that the mass measurement error for the weights was within ±0.25%, and the measurement error for the human body was within ±0.5%.

[0007] The device connects to the object being measured via a spring, and inversely calculates the mass of the object by calculating the system's free vibration period. It also increases the vibration freedom of the linear bearing and linear slide control system, using a sensor system between the linear slide and flange to measure the vibration period and inversely calculate the human body's mass. The device's limiting mechanism is overly simple, relying solely on a single linear bearing and four simple connecting slides, resulting in poor stability. The device does not consider the impact of nonlinear factors during the compression spring's extension process, and the spring lacks a directional restriction structure, resulting in systematic errors in the mass measurement process. The device's motion conditions are entirely dependent on the spring, making it impossible to adjust the motion conditions. Consequently, the device has limited measurable conditions, and multiple measurements may have unknown factors that continuously affect the results, reducing measurement quality. Summary of the Invention

[0008] The purpose of the present invention is to overcome the deficiencies in the prior art and provide an on-orbit mass measurement device based on a controllable electromagnetic damper.

[0009] In order to achieve the purpose of the present invention, the present invention is implemented by adopting the following technical solutions.

[0010] An on-orbit mass measurement device based on a controllable electromagnetic damper is characterized in that the on-orbit mass measurement device comprises a seat assembly (1), an electromagnetic damping assembly (2), a base assembly (3), a bidirectional spring assembly (4) and a sensor assembly (5), wherein: A seat assembly (1) is used to limit the one-dimensional free vibration of the on-track mass measurement device by slidingly engaging a linear optical axis (12) fixed between the seat (11) and the seat chassis (14) with a linear bearing (32) of the base assembly (3); A base assembly (3) is slidably engaged with a linear bearing (13) of the seat assembly (1) via a linear optical axis (33) fixed between a base tray (31) and a base (35); the base (35) is fixedly connected to the ground; and is used to fix the on-track mass measurement device and provide a one-dimensional degree of freedom of movement of the object being measured; An electromagnetic damping assembly (2) is disposed in a conductive cylinder (36) of a base assembly (3), is slidably engaged with a rib (37) on the inner wall of the conductive cylinder (36) through a rolling bearing (23), and is fixedly connected to the seat (11) through a central guide rod (21), for regulating the period and amplitude attenuation of vibration; A bidirectional spring assembly (4) includes an upper spring (42) and a lower spring (41), wherein the upper spring (42) is sleeved on the magnetic cylinder (34), and its two ends are fixedly connected to the base tray (31) and the seat chassis (14) respectively, and is used to drive the on-track mass measurement device to vibrate freely in a direction perpendicular to the seat chassis (14); the lower spring (41) is sleeved on the magnetic cylinder (34), and its two ends are fixedly connected to the base (35) and the sensor tray (53) respectively, and is used to drive the on-track mass measurement device to vibrate freely in a direction perpendicular to the base (35); The sensor assembly (5) includes an electromagnetic pressure sensor (51), a spring pressure sensor (52) and a sensor tray (53), wherein the electromagnetic pressure sensor (51) is arranged at the connection between the central guide rod (21) and the seat (11) and is used to measure the magnitude of the damping force generated by the electromagnetic damping assembly (2); the spring pressure sensor (52) is arranged between the seat chassis (14) and the sensor tray (53) and is used to measure the magnitude of the pressure of the upper and lower springs (41 and 42); and the sensor tray (53) is fixedly connected to the seat chassis (14) through the spring pressure sensor (52) and is used to fix the lower spring (41).

[0011] As a preferred embodiment of the present invention, the electromagnetic damping assembly (2) includes a central guide rod (21), an axle (22), a roller bearing (23), a bearing bracket (24), an upper coil (25), a lower coil (26), a metal carrier (27) and a bottom tray (28), wherein the top end of the central guide rod (21) is fixedly connected to the bottom surface of the seat (11) through an electromagnetic pressure sensor (51), and the bottom end thereof is set as a disc (29); the bottom surface of the disc (29) is aligned with the top surface of the bottom tray (28). An upper coil (25), a lower coil (26) and a metal carrier (27) are sequentially arranged from top to bottom to form a combination; the bearing brackets (24) are arranged in a ring matrix around the bottom surface of the bottom tray (28); the bearing brackets (24) are arranged in a ring matrix around the central guide rod (21) on the top surface of the disk (29); the bearing brackets (24) are fixedly connected to the rolling bearing (23) through the wheel shaft (22); the rolling bearing (23) is slidably matched with the ribs (37) on the inner wall of the conductive tube (36).

[0012] As a preferred embodiment of the present invention, the seat assembly (1) is composed of a seat (11), a linear optical axis (12), a linear bearing (13) and a seat chassis (14), wherein the two ends of the linear optical axis (12) are fixedly connected to the fixing cylinder on the bottom surface of the seat (11) and the top surface of the seat chassis (14), respectively; the linear bearing (13) is arranged on the seat chassis (14) and is slidably matched with the linear optical axis (33) of the base assembly (3).

[0013] As a preferred embodiment of the present invention, the base assembly (3) is composed of a base tray (31), a linear bearing (32), a linear optical axis (33), a magnetic tube (34), a base (35) and a conductive tube (36), wherein the two ends of the magnetic tube (34) are fixedly connected to the central through hole (38) of the base tray (31) and the central axis hole (39) of the base (35), and the inner wall of the magnetic tube (34) is frictionally engaged with the outer wall of the conductive tube (36); the two ends of the linear optical axis (33) are fixedly connected to the bottom surface of the base tray (31) and the top surface of the base (35), respectively; the linear bearing (32) is arranged on the base tray (31) and is slidingly engaged with the linear optical axis (12); and the base (35) is fixedly connected to the ground.

[0014] As a preferred embodiment of the present invention, both ends of the upper spring (42) are fixedly connected to the annular groove (310) on the bottom surface of the base tray (31) and the annular groove (15) on the top surface of the seat chassis (14), respectively.

[0015] As a preferred embodiment of the present invention, both ends of the lower spring (41) are fixedly connected to the annular groove (311) on the top surface of the base (35) and the annular groove (54) on the bottom surface of the sensor tray (53), respectively.

[0016] As a preferred embodiment of the present invention, the base tray (31) and the seat chassis (14) have the same structure.

[0017] A method for measuring the mass of an on-orbit object, characterized in that the measurement method is performed using the on-orbit mass measurement device according to claim 1.

[0018] As a preferred embodiment of the present invention, the method comprises the following steps: S1. Installing the on-orbit mass measurement device in a space station so that it is in a microgravity state; S2. Calibrate the on-orbit mass measurement device: S21, installing an object of known mass on the seat (11) and fixing it, pulling the on-track mass measurement device to a certain degree of displacement without power, releasing it after it comes to rest so that the on-track mass measurement device vibrates freely, and measuring the vibration period at this time; S22, passing current through the upper and lower coils (25, 26), pulling the on-orbit mass measurement device to move to a certain extent, releasing it after it comes to rest so that the on-orbit mass measurement device can vibrate freely, and measuring the vibration period at this time; S23, passing the maximum allowable current into the upper and lower coils (25, 26), pulling the on-orbit mass measurement device to move to a certain extent, releasing it after it comes to rest so that the on-orbit mass measurement device vibrates freely, and measuring the vibration period at this time; S3. After the calibration is completed, the measurement process begins. The process includes the following steps: S31, the object to be measured is mounted on the seat (11) and fixed, and when no power is supplied, the on-track mass measurement device is pulled to a certain extent of displacement, and after it comes to a standstill, the device is released to allow the on-track mass measurement device to vibrate freely, and the vibration period at this time is measured; S32, passing current through the upper and lower coils (25, 26), pulling the on-orbit mass measurement device to move to a certain extent, releasing it after it comes to rest so that the on-orbit mass measurement device vibrates freely, and measuring the vibration period at this time; S33, passing the maximum allowable current into the upper and lower coils (25, 26), pulling the on-orbit mass measurement device to move to a certain extent, releasing it after it comes to rest so that the on-orbit mass measurement device vibrates freely, and measuring the vibration period at this time; S4. After the mass of the object being measured is inversely solved through three cycles and system parameters, the mass of the object being measured can be obtained by taking the average value.

[0019] Compared with the prior art, the present invention has the following advantages: The linear optical axis (12) fixed between the seat (11) and the seat chassis (14) is slidably matched with the linear bearing (32) of the base assembly (3), and the linear optical axis (33) fixed between the base tray (31) and the base (35) is slidably matched with the linear bearing (13) of the seat assembly (1); these two linear bearing groups are transitioned through the seat chassis (14) and the base tray (31), which greatly increases the stability of the linear motion of the device without adding large additional friction, improves the parallelism between the base and the seat, and reduces the mass measurement error; To address the influence of spring non-centering and nonlinear factors in existing quality measurement schemes, a spring mounting groove and spring fixing cylinder are designed to limit the eccentricity of the spring and reduce the influence of spring non-centering factors on the results. A bidirectional compression spring device is designed to ensure that the compression spring is always within the working range, preventing the nonlinear factors of stiffness of the compression spring in the tensile condition from affecting the quality measurement results. To address the limited number of measurable operating conditions in existing mass measurement schemes, an adjustable electromagnetic damper was designed. Its principle is similar to that of a generator: it generates a stable electromagnetic force by forcing a strong magnetic material to reciprocate within a closed-loop coil. Adjusting the electromagnetic damper's external load allows for adjustment of the electromagnetic damping. This increases the number of measurable operating conditions during the device's motion, allowing the influence of a single operating condition to be eliminated by measuring multiple conditions. Furthermore, system parameters such as friction and damping can be measured and calculated, eliminating errors caused by unknown parameters in the calculation model. The specific effect is affected by parameters such as spring stiffness and system damping. For a 100kg mass, with a spring equivalent stiffness of 500N / m and a system equivalent damping of 50N·s / m, the damped system error is reduced by 4.24kg compared to the undamped system error, and this figure increases with increasing system equivalent damping. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the device of the present invention; Figure 2 for Figure 1 AA section view; Figure 3 A schematic structural diagram of the seat assembly (1) of the present invention; Figure 4 A schematic structural diagram of the electromagnetic damping assembly (2) of the present invention; Figure 5 This is a schematic structural diagram of the base assembly (3) of the present invention; Figure 6 This is a schematic structural diagram of the bidirectional spring assembly (4) of the present invention; Figure 7 for Figure 6 Schematic diagram of CC structure. DETAILED DESCRIPTION

[0021] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0022] As an embodiment of the present invention, Figures 1 to 7 As shown, an on-orbit mass measurement device based on a controllable electromagnetic damper comprises a seat assembly (1), an electromagnetic damping assembly (2), a base assembly (3), a bidirectional spring assembly (4) and a sensor assembly (5), wherein: A seat assembly (1) is used to limit the one-dimensional free vibration of the on-track mass measurement device by slidingly engaging a linear optical axis (12) fixed between the seat (11) and the seat chassis (14) with a linear bearing (32) of the base assembly (3); A base assembly (3) is slidably engaged with a linear bearing (13) of the seat assembly (1) via a linear optical axis (33) fixed between a base tray (31) and a base (35); the base (35) is fixedly connected to the ground; and is used to fix the on-track mass measurement device and provide a one-dimensional degree of freedom of movement of the object being measured; An electromagnetic damping assembly (2) is disposed in a conductive cylinder (36) of a base assembly (3), is slidably engaged with a rib (37) on the inner wall of the conductive cylinder (36) through a rolling bearing (23), and is fixedly connected to the seat (11) through a central guide rod (21), for regulating the period and amplitude attenuation of vibration; A bidirectional spring assembly (4) includes an upper spring (42) and a lower spring (41), wherein the upper spring (42) is sleeved on the magnetic cylinder (34), and its two ends are fixedly connected to the base tray (31) and the seat chassis (14) respectively, and is used to drive the on-track mass measurement device to vibrate freely in a direction perpendicular to the seat chassis (14); the lower spring (41) is sleeved on the magnetic cylinder (34), and its two ends are fixedly connected to the base (35) and the sensor tray (53) respectively, and is used to drive the on-track mass measurement device to vibrate freely in a direction perpendicular to the base (35); The sensor assembly (5) includes an electromagnetic pressure sensor (51), a spring pressure sensor (52) and a sensor tray (53), wherein the electromagnetic pressure sensor (51) is arranged at the connection between the central guide rod (21) and the seat (11) and is used to measure the magnitude of the damping force generated by the electromagnetic damping assembly (2); the spring pressure sensor (52) is arranged between the seat chassis (14) and the sensor tray (53) and is used to measure the magnitude of the pressure of the upper and lower springs (41 and 42); and the sensor tray (53) is fixedly connected to the seat chassis (14) through the spring pressure sensor (52) and is used to fix the lower spring (41).

[0023] As an embodiment of the present invention, Figure 1 、 Figure 2 and Figure 4 As shown, the electromagnetic damping assembly (2) includes a central guide rod (21), a wheel axle (22), a roller bearing (23), a bearing bracket (24), an upper coil (25), a lower coil (26), a metal carrier (27) and a bottom tray (28), wherein the top end of the central guide rod (21) is fixedly connected to the bottom surface of the seat (11) through an electromagnetic pressure sensor (51), and the bottom end thereof is set as a disc (29); between the bottom surface of the disc (29) and the top surface of the bottom tray (28), An upper coil (25), a lower coil (26) and a metal carrier (27) are sequentially arranged from top to bottom to form a combination; a bearing bracket (24) is arranged in a circular matrix around the bottom surface of the bottom tray (28); a bearing bracket (24) is arranged in a circular matrix around the central guide rod (21) on the top surface of the disc (29); the bearing bracket (24) is fixedly connected to the rolling bearing (23) through the wheel shaft (22); the rolling bearing (23) is slidably matched with the rib (37) on the inner wall of the conductive cylinder (36); As an embodiment of the present invention, Figure 1 、 Figure 2 and Figure 4 As shown, the electromagnetic damping assembly (2) cooperates with the rolling bearing (23) so that the electromagnetic damping assembly (2) can reciprocate along the inner wall of the conductive cylinder (36); the electromagnetic damping assembly (2) generates a moving magnetic field during operation, and the conductive cylinder (36) and the magnetic field generate eddy currents due to electromagnetic induction. The eddy currents form a reverse magnetic field, which induction mutually generates a damping force with the original moving magnetic field, hindering the movement of the assembly. Since the electromagnetic damping force in this process is related to the movement speed of the electromagnetic damping assembly (2) and the current size, the electromagnetic damping size can be controlled by controlling the current size.

[0024] At the same time, the magnetic tube (34) is functionally used to gather the magnetic field, making the distribution of the magnetic field more concentrated and increasing the controllable range of the electromagnetic damping.

[0025] As an embodiment of the present invention, Figure 1 、 Figure 3 and Figure 6 As shown, the seat assembly (1) is composed of a seat (11), a linear optical axis (12), a linear bearing (13) and a seat chassis (14), wherein the two ends of the linear optical axis (12) are fixedly connected to the fixed cylinder on the bottom surface of the seat (11) and the top surface of the seat chassis (14), respectively; the linear bearing (13) is arranged on the seat chassis (14) and is slidably matched with the linear optical axis (33) of the base assembly (3).

[0026] As an embodiment of the present invention, Figure 1 、 Figure 6 As shown, the base assembly (3) is composed of a base tray (31), a linear bearing (32), a linear optical axis (33), a magnetic tube (34), a base (35) and a conductive tube (36), wherein the two ends of the magnetic tube (34) are fixedly connected to the central through hole (38) of the base tray (31) and the central axis hole (39) of the base (35), and the inner wall of the magnetic tube (34) is frictionally matched with the outer wall of the conductive tube (36); the two ends of the linear optical axis (33) are fixedly connected to the bottom surface of the base tray (31) and the top surface of the base (35); the linear bearing (32) is arranged on the base tray (31) and is slidably matched with the linear optical axis (12); and the base (35) is fixedly connected to the ground.

[0027] As an embodiment of the present invention, Figure 2 As shown, the two ends of the upper spring (42) are fixedly connected to the annular groove (310) on the bottom surface of the base tray (31) and the annular groove (15) on the top surface of the seat chassis (14), respectively.

[0028] As an embodiment of the present invention, Figure 2 As shown, the two ends of the lower spring (41) are fixedly connected to the annular groove (311) on the top surface of the base (35) and the annular groove (54) on the bottom surface of the sensor tray (53), respectively.

[0029] As an embodiment of the present invention, Figure 3 and Figure 6 As shown, the base tray (31) and the seat chassis (14) have the same structure.

[0030] A method for measuring the mass of an on-orbit object is to use the on-orbit mass measurement device for measurement.

[0031] As an embodiment of the present invention, Figures 1 to 7 As shown, the measuring method includes the following steps: S1. Installing the on-orbit mass measurement device in a space station so that it is in a microgravity state; S2. Calibrate the on-orbit mass measurement device: S21, installing an object of known mass on the seat (11) and fixing it, pulling the on-track mass measurement device to a certain degree of displacement without power, releasing it after it comes to rest so that the on-track mass measurement device vibrates freely, and measuring the vibration period at this time; S22, passing current through the upper and lower coils (25, 26), pulling the on-orbit mass measurement device to move to a certain extent, releasing it after it comes to rest so that the on-orbit mass measurement device can vibrate freely, and measuring the vibration period at this time; S23, passing the maximum allowable current into the upper and lower coils (25, 26), pulling the on-orbit mass measurement device to move to a certain extent, releasing it after it comes to rest so that the on-orbit mass measurement device vibrates freely, and measuring the vibration period at this time; S3. After the calibration is completed, the measurement process begins. The process includes the following steps: S31, the object to be measured is mounted on the seat (11) and fixed, and when no power is supplied, the on-track mass measurement device is pulled to a certain extent of displacement, and after it comes to a standstill, the device is released to allow the on-track mass measurement device to vibrate freely, and the vibration period at this time is measured; S32, passing current through the upper and lower coils (25, 26), pulling the on-orbit mass measurement device to move to a certain extent, releasing it after it comes to rest so that the on-orbit mass measurement device vibrates freely, and measuring the vibration period at this time; S33, passing the maximum allowable current into the upper and lower coils (25, 26), pulling the on-orbit mass measurement device to move to a certain extent, releasing it after it comes to rest so that the on-orbit mass measurement device vibrates freely, and measuring the vibration period at this time; S4. After the mass of the object being measured is inversely solved through three cycles and system parameters, the mass of the object being measured can be obtained by taking the average value.

[0032] The technical solution of the present invention is described in detail above in conjunction with the embodiments / drawings, but the present invention is not limited to the above technical solution. For ordinary technicians in this technical field, after knowing the contents recorded in the present invention, they can make several equivalent transformations and substitutions without departing from the principles of the present invention. These equivalent transformations and substitutions should also be regarded as falling within the scope of protection of the present invention.

Claims

1. An on-orbit mass measurement device based on a controllable electromagnetic damper, characterized in that: The on-orbit mass measurement device comprises a seat assembly (1), an electromagnetic damping assembly (2), a base assembly (3), a bidirectional spring assembly (4) and a sensor assembly (5), wherein: A seat assembly (1) is used to limit the one-dimensional free vibration of the on-track mass measurement device by slidingly engaging a linear optical axis (12) fixed between the seat (11) and the seat chassis (14) with a linear bearing (32) of the base assembly (3); A base assembly (3) is slidably engaged with a linear bearing (13) of the seat assembly (1) via a linear optical axis (33) fixed between a base tray (31) and a base (35); the base (35) is fixedly connected to the ground; and is used to fix the on-track mass measurement device and provide a one-dimensional degree of freedom of movement of the object being measured; An electromagnetic damping assembly (2) is disposed in a conductive cylinder (36) of a base assembly (3), is slidably engaged with a rib (37) on the inner wall of the conductive cylinder (36) through a rolling bearing (23), and is fixedly connected to the seat (11) through a central guide rod (21), for regulating the period and amplitude attenuation of vibration; A bidirectional spring assembly (4) includes an upper spring (42) and a lower spring (41), wherein the upper spring (42) is sleeved on the magnetic cylinder (34), and its two ends are fixedly connected to the base tray (31) and the seat chassis (14) respectively, and is used to drive the on-track mass measurement device to vibrate freely in a direction perpendicular to the seat chassis (14); the lower spring (41) is sleeved on the magnetic cylinder (34), and its two ends are fixedly connected to the base (35) and the sensor tray (53) respectively, and is used to drive the on-track mass measurement device to vibrate freely in a direction perpendicular to the base (35); The sensor assembly (5) includes an electromagnetic pressure sensor (51), a spring pressure sensor (52) and a sensor tray (53), wherein the electromagnetic pressure sensor (51) is arranged at the connection between the central guide rod (21) and the seat (11) and is used to measure the magnitude of the damping force generated by the electromagnetic damping assembly (2); the spring pressure sensor (52) is arranged between the seat chassis (14) and the sensor tray (53) and is used to measure the magnitude of the pressure of the upper and lower springs (41 and 42); and the sensor tray (53) is fixedly connected to the seat chassis (14) through the spring pressure sensor (52) and is used to fix the lower spring (41).

2. The on-orbit mass measurement device based on a controllable electromagnetic damper according to claim 1, characterized in that: The electromagnetic damping assembly (2) comprises a central guide rod (21), an axle (22), a roller bearing (23), a bearing bracket (24), an upper coil (25), a lower coil (26), a metal carrier (27) and a bottom tray (28), wherein the top end of the central guide rod (21) is fixedly connected to the bottom surface of the seat (11) via an electromagnetic pressure sensor (51), and the bottom end thereof is provided with a disc (29); between the bottom surface of the disc (29) and the top surface of the bottom tray (28), from top to bottom, An upper coil (25), a lower coil (26) and a metal carrier (27) are sequentially arranged at the bottom to form a combination; bearing brackets (24) are arranged in a circular matrix around the bottom surface of the bottom tray (28); bearing brackets (24) are arranged in a circular matrix around the central guide rod (21) on the top surface of the disk (29); the bearing bracket (24) is fixedly connected to the rolling bearing (23) through the wheel shaft (22); the rolling bearing (23) is slidably matched with the rib (37) on the inner wall of the conductive tube (36).

3. The on-orbit mass measurement device based on a controllable electromagnetic damper according to claim 1, characterized in that: The seat assembly (1) is composed of a seat (11), a linear optical axis (12), a linear bearing (13) and a seat chassis (14), wherein the two ends of the linear optical axis (12) are fixedly connected to the bottom surface of the seat (11) and the top surface of the seat chassis (14) respectively; the linear bearing (13) is arranged on the seat chassis (14) and is slidably matched with the linear optical axis (33) of the base assembly (3).

4. The on-orbit mass measurement device based on a controllable electromagnetic damper according to claim 1, characterized in that: The base assembly (3) is composed of a base tray (31), a linear bearing (32), a linear optical axis (33), a magnetic tube (34), a base (35) and a conductive tube (36), wherein the two ends of the magnetic tube (34) are fixedly connected to the central through hole (38) of the base tray (31) and the central axis hole (39) of the base (35), and the inner wall of the magnetic tube (34) is frictionally matched with the outer wall of the conductive tube (36); the two ends of the linear optical axis (33) are fixedly connected to the bottom surface of the base tray (31) and the top surface of the base (35); the linear bearing (32) is arranged on the base tray (31) and is slidingly matched with the linear optical axis (12); and the base (35) is fixedly connected to the ground.

5. The on-orbit mass measurement device based on a controllable electromagnetic damper according to claim 1, characterized in that: The two ends of the upper spring (42) are respectively fixedly connected to the annular groove (310) on the bottom surface of the base tray (31) and the annular groove (15) on the top surface of the seat chassis (14).

6. The on-orbit mass measurement device based on a controllable electromagnetic damper according to claim 1, characterized in that: The two ends of the lower spring (41) are respectively fixedly connected to the annular groove (311) on the top surface of the base (35) and the annular groove (54) on the bottom surface of the sensor tray (53).

7. The on-orbit mass measurement device based on a controllable electromagnetic damper according to claim 1, characterized in that: The base tray (31) and the seat chassis (14) have the same structure.

8. A method for measuring the mass of an on-orbit object, characterized in that: The measurement method is performed using the on-orbit mass measurement device described in claim 1.

9. The method for measuring the mass of an on-orbit object according to claim 8, wherein: The method comprises the following steps: S1. Installing the on-orbit mass measurement device in a space station so that it is in a microgravity state; S2. Calibrate the on-orbit mass measurement device: S21, installing an object of known mass on the seat (11) and fixing it, pulling the on-track mass measurement device to a certain degree of displacement without power, releasing it after it comes to rest so that the on-track mass measurement device vibrates freely, and measuring the vibration period at this time; S22, passing current through the upper and lower coils (25, 26), pulling the on-orbit mass measurement device to move to a certain extent, releasing it after it comes to rest so that the on-orbit mass measurement device can vibrate freely, and measuring the vibration period at this time; S23, passing the maximum allowable current into the upper and lower coils (25, 26), pulling the on-orbit mass measurement device to move to a certain extent, releasing it after it comes to rest so that the on-orbit mass measurement device vibrates freely, and measuring the vibration period at this time; S3. After the calibration is completed, the measurement process begins. The process includes the following steps: S31, the object to be measured is mounted on the seat (11) and fixed, and when no power is supplied, the on-track mass measurement device is pulled to a certain extent of displacement, and after it comes to a standstill, the device is released to allow the on-track mass measurement device to vibrate freely, and the vibration period at this time is measured; S32, passing current through the upper and lower coils (25, 26), pulling the on-orbit mass measurement device to move to a certain extent, releasing it after it comes to rest so that the on-orbit mass measurement device vibrates freely, and measuring the vibration period at this time; S33, passing the maximum allowable current into the upper and lower coils (25, 26), pulling the on-orbit mass measurement device to move to a certain extent, releasing it after it comes to rest so that the on-orbit mass measurement device vibrates freely, and measuring the vibration period at this time; S4. After the mass of the object being measured is inversely solved through three cycles and system parameters, the mass of the object being measured can be obtained by taking the average value.

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