Satellite payload cabin moment of inertia measurement method and system based on torque measurement device

Abstract

The application provides a satellite payload cabin moment of inertia measurement method and system based on a moment measurement device, the method comprising placing a satellite in an assembled state on the moment measurement device, rotating the payload cabin and collecting the rotational torque corresponding to the rotation of the payload cabin during the sliding stop phase, obtaining the real-time angular acceleration of the payload cabin, and calculating the moment of inertia in combination with the relationship between the rotational torque and the real-time angular acceleration. The system comprises a moment measurement module, a rotational speed collection module and a data calculation module, which are respectively used for bearing the satellite and measuring the rotational torque, measuring the real-time rotational angular velocity, calculating the angular acceleration and the moment of inertia. The method and system do not need to disassemble the payload cabin, are simple, efficient and high-precision, can avoid the influence of disassembly on the assembly precision of components, and are suitable for the moment of inertia measurement of satellite payload cabins and other single bodies, single machines or systems containing rotating components.

Description

Technical Field

[0001] This invention relates to the field of technology, and more specifically, to a method and system for measuring the moment of inertia of a rotating satellite payload bay based on a torque measuring device. Background Technology

[0002] Moment of inertia is a core characteristic parameter of the payload bay of a rotating satellite, and its accuracy directly affects the satellite's on-orbit attitude control precision and orbit adjustment efficiency. During satellite research and development and assembly, it is necessary to obtain the moment of inertia data of the satellite payload bay through actual measurements to provide a reliable basis for the calibration of satellite control system parameters.

[0003] Currently, the mainstream methods for measuring the rotational inertia of satellite payload bays include the torsion pendulum method, the trilinear pendulum method, and the free-fall method. These traditional methods all share a common limitation: the satellite payload bay must be disassembled from the overall satellite before measurement. This not only increases the complexity of assembly and disassembly, extending the development cycle, but also may affect the assembly accuracy of components due to disassembly operations. Therefore, it is impossible to accurately measure the rotational inertia of the payload bay after the entire satellite structure is assembled, making them unsuitable for measuring the inertia of rotating satellite payload bays. Secondly, existing methods lack practical ease of operation. The suspension operation of the trilinear pendulum method and the weight drop drive of the free-fall method are extremely difficult to implement in the entire satellite configuration. This not only requires the construction of complex test fixtures but is also prone to operational errors due to the size and weight limitations of the entire satellite, resulting in unsatisfactory overall testing convenience and efficiency. Furthermore, most existing methods rely on periodic measurements or free-fall parameter calculations. The measurement logic is indirect and easily affected by environmental factors and the coaxiality of the test equipment, failing to meet the high-precision measurement requirements after the entire satellite is assembled.

[0004] Therefore, there is an urgent need for a satellite payload bay inertia measurement method suitable for the entire satellite assembly state, to solve the problems of existing technologies such as the need to disassemble components for testing, cumbersome operation procedures, measurement accuracy being affected by environmental interference, and limited applicable scenarios, so as to achieve high-precision rotational inertia measurement that does not require disassembly, is easy to operate, and has strong anti-interference capabilities. Summary of the Invention

[0005] Based on existing technology, the objective of this invention is to provide a method and system for measuring the rotational inertia of a satellite payload compartment based on a torque measuring device. This method can solve the problems of existing methods for testing the rotational inertia of a rotating satellite payload compartment after the entire satellite structure is assembled, such as the inability to accurately detect the rotational inertia of the payload compartment, cumbersome operation procedures, measurement accuracy being affected by environmental interference, and limited applicable scenarios. This invention enables convenient and accurate measurement of the rotational inertia of the payload compartment in the context of the entire satellite assembly.

[0006] A first aspect of the present invention provides a method for measuring the rotational inertia of a satellite payload bay based on a torque measuring device, comprising: Place the assembled satellite onto the torque measuring device; The payload bay of the satellite is driven to rotate, and during the sliding stop of the payload bay, the rotational torque corresponding to the rotation of the payload bay is collected; Obtain the real-time angular acceleration of the payload compartment; and Based on the torque and real-time angular acceleration data of the payload compartment, and combined with the relationship between the torque and the real-time angular acceleration, the moment of inertia of the payload compartment is calculated.

[0007] Furthermore, the acquisition of the rotational torque corresponding to the rotation of the payload compartment includes: The torque measuring device captures the reaction torque transmitted to it in real time when the load chamber rotates.

[0008] Furthermore, obtaining the angular acceleration of the payload compartment includes: The real-time rotational angular velocity of the payload compartment and its corresponding time are collected by telemetry, and the real-time angular acceleration of the payload compartment is calculated by the second-order central difference formula.

[0009] Furthermore, the measurement or calculation of the real-time angular acceleration of the payload compartment includes: The real-time angular acceleration of the payload compartment was measured using an angular acceleration measuring instrument.

[0010] Furthermore, the rotational torque and real-time angular acceleration data of the payload compartment with angular velocities in the range of 3-10° / s are extracted to calculate the moment of inertia.

[0011] Furthermore, the moment of inertia of the payload compartment is calculated using the following formula: in, The rotational torque in the direction of the rotation axis of the load chamber, as measured by the torque measuring device; This is the wind resistance torque; Let be the moment of inertia of the load chamber; The real-time angular acceleration of the payload compartment is expressed as: in The real-time rotational angular velocity of the payload compartment.

[0012] Furthermore, it also includes calibrating the torque measuring device before testing, wherein: Calibration methods include the rope method, the standard torque loading method, and / or the multi-component joint calibration method.

[0013] A second aspect of the present invention provides a satellite payload bay rotational inertia measurement system based on a torque measurement device, for performing the method provided in the first aspect of the present invention, the system comprising: A torque measurement module, configured to carry the satellite and measure the rotational torque of the payload bay; A rotational speed acquisition module is configured to measure the real-time rotational angular velocity of the load chamber; The data calculation module is configured to calculate the angular acceleration of the payload compartment based on the real-time rotational angular velocity, and to calculate the moment of inertia of the payload compartment in combination with the relationship between the rotational torque and the angular acceleration.

[0014] Furthermore, the torque measurement module includes a six-component force measuring stage and / or a single-axis torque stage.

[0015] Furthermore, the rotational speed acquisition module includes a satellite telemetry module, which establishes a communication connection with the satellite to acquire real-time rotational angular velocity data of the payload bay and transmit it to the data calculation module.

[0016] This invention proposes a method and system for measuring the inertia of a satellite payload compartment based on a torque measuring device. Building upon existing methods for measuring rotational inertia, this invention proposes a method and system for testing rotational inertia based on a torque table. It employs an indirect testing method, measuring the rotational torque and angular acceleration of the satellite payload compartment and then using mathematical calculations to measure the rotational inertia of the satellite payload compartment.

[0017] The present invention has at least the following beneficial effects: (1) This invention does not require disassembling the satellite payload compartment. It can directly measure the moment of inertia of the payload compartment in the state of the whole satellite assembly, effectively avoiding the problems of complicated procedures and extended cycle caused by disassembly and assembly operations. At the same time, it avoids the impact of disassembly and assembly process on the assembly accuracy of components, and is suitable for scenarios where the payload compartment cannot be disassembled or is difficult to disassemble.

[0018] (2) The present invention relies on a torque measuring device to complete the core data acquisition, without the need to build complex test fixtures. The operation process is simple and efficient, and the installation accuracy requirements of the measuring device and satellite are low, which significantly reduces the difficulty and cost of test implementation and improves test efficiency.

[0019] (3) The rotational inertia data measured by the present invention can directly provide a reliable basis for the configuration of despin parameters and angular momentum compensation of the satellite control system, ensuring the stability of the whole satellite under rotation conditions, and also providing strong technical support for the research and development, testing and performance calibration of related payload bays.

[0020] In summary, the method and system proposed in this invention enable convenient and accurate measurement of the rotational inertia of the payload bay on a rotating satellite after installation. It solves the problems of existing technologies, such as the need to disassemble components for measuring the rotational inertia of the payload bay, cumbersome operation procedures, measurement accuracy being affected by environmental interference, and limited applicability. It is not only applicable to the measurement of the rotational inertia of rotating satellites but can also be extended to other single units, single machines, or systems containing rotating components, demonstrating a wide range of applications. It provides reliable technical support for the research and development testing, performance calibration, and equipment operating parameter configuration of related payload bays. Attached Figure Description

[0021] To further illustrate the advantages and other features of the various 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 is understood that these drawings depict only typical embodiments of the invention and are therefore not intended to limit its scope. In the drawings, identical or corresponding parts will be indicated by the same or similar reference numerals for clarity.

[0022] Figure 1 A flowchart of the method of the present invention is shown.

[0023] Figure 2 This diagram illustrates the measurement of the rotational inertia of a rotating satellite payload bay in one embodiment of the present invention.

[0024] Figure 3 A schematic diagram of the modules of the system of the present invention is shown.

[0025] List of reference numerals 1. Six-component platform cabin force measuring table 2 Platform Cabin 3 payload compartments 100 Rotational Inertia Measurement System 101 Torque Measurement Module 102 Rotational Speed ​​Acquisition Module 103 Data Solving Module Detailed Implementation It should be noted that the components in the various figures may be shown exaggeratedly for illustrative purposes and are not necessarily to scale. In each figure, the same reference numerals are used for components that are identical or have the same function.

[0026] In this invention, the various embodiments are merely intended to illustrate the solutions of the invention and should not be construed as limiting.

[0027] In this invention, unless otherwise specified, the quantifiers “a” and “one” do not exclude scenarios involving multiple elements.

[0028] It should also be noted that, in the embodiments of the present invention, only a portion of the components or parts may be shown for clarity and simplicity. However, those skilled in the art will understand that, under the teachings of the present invention, necessary components or parts can be added as needed for specific scenarios. Furthermore, unless otherwise stated, features in different embodiments of the present invention can be combined with each other. For example, a feature in the second embodiment can replace a corresponding or functionally identical or similar feature in the first embodiment, and the resulting embodiment will also fall within the scope of disclosure or description of this application.

[0029] It should also be noted that within the scope of this invention, the terms "same", "equal", and "equal to" do not mean that the two values ​​are absolutely equal, but allow for a certain reasonable error. In other words, the terms also cover "substantially the same", "substantially equal", and "substantially equal to".

[0030] In this invention, the modules of the system according to the invention can be implemented using software, hardware, firmware, or a combination thereof. When a module is implemented using software, its function can be implemented through computer program flow. For example, the module can be implemented using code segments (such as code segments in languages ​​like C and C++) stored in a storage device (such as a hard disk, memory, etc.), wherein the corresponding function of the module can be implemented when the code segment is executed by a processor. When a module is implemented using hardware, its function can be implemented by setting a corresponding hardware structure. For example, the module's function can be implemented by hardware programming a programmable device such as a field-programmable gate array (FPGA), or by designing an application-specific integrated circuit (ASIC) that includes multiple transistors, resistors, capacitors, and other electronic devices. When a module is implemented using firmware, the module's function can be written into a read-only memory such as an EPROM or EEPROM in the form of program code, and the corresponding function of the module can be implemented when the program code is executed by a processor. In addition, some functions of the module may need to be implemented by separate hardware or by working in cooperation with the hardware. For example, the detection function is implemented by a corresponding sensor (such as a proximity sensor, accelerometer, gyroscope, etc.), the signal transmission function is implemented by a corresponding communication device (such as a Bluetooth device, infrared communication device, baseband communication device, Wi-Fi communication device, etc.), the output function is implemented by a corresponding output device (such as a display, speaker, etc.), and so on.

[0031] Furthermore, the numbering of the steps in the methods of the present invention does not limit the execution order of the method steps. Unless otherwise specified, the method steps may be executed in different orders.

[0032] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0033] Figure 1 A flowchart of the method of the present invention is shown.

[0034] like Figure 1 As shown, in one embodiment of the present invention, a method for measuring the inertia of a satellite payload bay based on a torque measuring device includes: Step S100, Satellite Assembly and Placement: Place the assembled satellite on the torque measuring device; Step S200, Torque Acquisition: After the satellite is powered on, the payload bay of the satellite is driven to rotate. The driving method includes manual driving or motor driving. During the process of the payload bay sliding to a stop after the driving is completed, the torque corresponding to the rotation of the payload bay is acquired. Step S300: Real-time angular acceleration acquisition: Measure or calculate the real-time angular acceleration of the payload chamber; Step S400: Calculation of moment of inertia: Extract the torque and real-time angular acceleration data of the payload compartment, and calculate the moment of inertia of the payload compartment by combining the relationship between the torque and the real-time angular acceleration.

[0035] The method of the present invention will be further described below with reference to a specific embodiment of the present invention.

[0036] Figure 2 This diagram illustrates the measurement of the rotational inertia of a rotating satellite payload bay in one embodiment of the present invention.

[0037] like Figure 2 As shown, in a specific embodiment of the present invention, the rotational inertia of the rotating satellite payload bay is measured based on a six-component platform module force gauge 1. The six-component platform module force gauge 1 can realize triaxial force (F... x F y F z ) output, and triaxial torque (M x M y M z Output.

[0038] In this embodiment, the measurement process includes the following steps: (1) Calibration of the six-component platform chamber force measuring table 1. In this embodiment, the rope method is used to calibrate the six-component platform chamber force measuring table 1. The core of the rope method is to generate a calculable standard torque by using a standard weight of known mass and a fixed lever arm, and then compare and calibrate it with the measured torque of the six-component platform chamber force measuring table 1. In other embodiments of the present invention, other equivalent calibration methods such as the standard torque loading method and the multi-component joint calibration method can also be used to calibrate the six-component platform chamber force measuring table 1.

[0039] (2) After the rotating satellite is installed, the entire satellite is placed stably on the calibrated six-component platform cabin force table 1 using hoisting equipment. The satellite is fixed in place using positioning pins and bolts to ensure no displacement during the test. The satellite power supply is turned on, and the power-on self-test program is started. The status of key components such as the satellite telemetry module, payload cabin rotation mechanism, and angular velocity acquisition function is checked through the ground telemetry and control system. After confirming that all telemetry transmissions are normal and there are no fault alarms, the test state is entered.

[0040] (3) Manually drive the payload compartment 3 to rotate smoothly around the Z-axis, and control the initial angular velocity to bring the payload compartment 3 into a free-sliding state. Simultaneously start the satellite telemetry front end and collect the rotational angular velocity of the payload compartment 3 in real time at a preset frequency. ω Data, including timestamps and corresponding angular velocities. ω During the data acquisition process, the rotation status of the payload chamber 3 is monitored to ensure there are no abnormalities such as jamming or offset.

[0041] (4) Extract the rotational angular velocity from the collected angular velocity data. ω Data within the low-speed range of 3-10° / s was analyzed, and data points with abnormal fluctuations were removed to obtain effective angular velocity data. Based on the effective angular velocity data and corresponding timestamps, real-time angular acceleration was calculated using a second-order difference algorithm. The target rotational torque is obtained by calling the Z-axis torque data collected by the six-component force measuring table and correcting it using the calibration equation. For example... Figure 2 As shown, M' zt M is the torque exerted by platform compartment 2 on load compartment 3. zt M' is the torque exerted by the load compartment 3 on the platform compartment 2. zt =M zt . Specifically: When the payload compartment 3 rotates around the target axis (Z-axis), the platform compartment 2 will apply a driving / constraining torque M' to the payload compartment 3. zt This is used to maintain the rotation of the load compartment; simultaneously, the load compartment 3 will generate a reaction torque M of equal magnitude and opposite direction on the platform compartment 2. zt This reaction torque is transmitted to the torque table via platform compartment 2. Therefore, the torque M in the Z-axis direction measured by the six-component platform compartment torque table 1... z The torque M' acting on the payload compartment 3 zt They are the same size.

[0042] According to the law of rotation, the torque M acting on the load chamber 3 can be established. z Wind resistance I f Moment of inertia and angular acceleration The relationship is represented as follows: in, To account for wind resistance during rotation, at rotational angular velocity ω In the low-speed range of <10° / s, wind resistance is negligible. Therefore, in the embodiments of the present invention, the preferred angular velocity data acquisition range is rotational angular velocity. ω Data in the low-speed range of 3-10° / s reduces the impact of wind resistance while avoiding errors caused by excessively low angular velocities; angular acceleration for: In one embodiment of the invention, angular acceleration Obtained by the second-order central difference method. In other embodiments of the invention, angular acceleration... It can also be calculated by other angle measuring instruments, or measured directly by angular acceleration measuring instruments.

[0043] Furthermore, the moment of inertia of the payload compartment 3 was calculated. .

[0044] Repeat the above test steps 3 times, and take the average value of the measurement results as the final moment of inertia value.

[0045] In one embodiment of the present invention, after testing and verification, the relative deviation between the measured moment of inertia obtained by data acquisition and calculation in the low rotational speed range of 3-10° / s using the method provided in the foregoing embodiments of the present invention on the ground and the measured moment of inertia in orbit is less than 3%, which is within the acceptable deviation range in practical applications. This further verifies that the method provided by the present invention can accurately measure and calculate the moment of inertia of the satellite payload bay and has practical application value.

[0046] In one embodiment of the present invention, a satellite payload bay rotational inertia measurement system (hereinafter referred to as the "rotational inertia measurement system") 100 based on a torque measurement device is also proposed to implement the method in the foregoing embodiments of the present invention. The system includes: The torque measurement module 101 is configured to support the satellite and measure the rotational torque of the payload bay. The torque measurement module 101 needs to be calibrated before testing to eliminate its own systematic errors and ensure the accuracy of the torque measurement data. After the satellite is placed and fixed, the torque measurement module 101 can capture the reaction torque transmitted through the platform bay during the payload bay's rotation in real time. Simultaneously, it can filter out interfering torques caused by the satellite's gravity and environmental vibrations, ultimately outputting pure torque data only related to the payload bay's rotation, providing core mechanical parameters for subsequent moment of inertia calculation. In a specific embodiment of the invention, the torque measurement module 101 includes a six-component force table and / or a single-axis torque table.

[0047] A rotational speed acquisition module 102 is configured to measure the real-time rotational angular velocity of the payload bay. In an embodiment of the invention, the rotational speed acquisition module 102 can establish a communication connection with a satellite telemetry system to synchronously acquire angular velocity data during the free-glide phase of the payload bay, forming a continuous angular velocity-time series to provide reliable basic data for angular acceleration calculation. In a specific embodiment of the invention, the rotational speed acquisition module 102 includes a satellite telemetry module, which establishes a communication connection with the satellite to acquire real-time rotational angular velocity data of the payload bay and transmit it to the data calculation module 103.

[0048] The data calculation module 103 is configured to calculate the angular acceleration of the payload bay based on the real-time rotational angular velocity, and to calculate the moment of inertia of the payload bay by combining the relationship between the rotational torque and the angular acceleration. The data calculation module 103 has two functions: first, it processes the angular velocity-time series output by the rotational speed acquisition module 102 and calculates the real-time angular acceleration of the payload bay using a second-order difference algorithm; second, it retrieves the rotational torque data output by the torque measurement module 101 and calculates the moment of inertia by combining relevant formulas of the rotational law. During the calculation process, the data calculation module 103 can ignore the wind resistance torque in the low-speed range, further improving the accuracy of the moment of inertia calculation results, and finally outputs a moment of inertia value that meets the parameter configuration requirements of the satellite control system. In a specific embodiment of the present invention, the data calculation module can be an embedded data processing module or a host computer equipped with dedicated calculation software.

[0049] In embodiments of the present invention, the method and system can be applied to, but are not limited to, testing the rotational inertia of a rotating satellite payload bay. They are also applicable to testing the rotational inertia of other single units, single machines, or systems that include rotating components, such as aero-engine turbine blades, gyroscope rotors, and / or UAV gimbal systems.

[0050] Although various embodiments of the invention have been described above, it should be understood that they are presented by way of example only and not as limitations. It will be apparent to those skilled in the art that various combinations, modifications, and alterations can be made without departing from the spirit and scope of the invention. Therefore, the breadth and scope of the invention disclosed herein should not be limited by the exemplary embodiments disclosed above, but should be defined solely by the appended claims and their equivalents.

Claims

1. A method for measuring the rotational inertia of a satellite payload bay based on a torque measuring device, characterized in that, include: Place the assembled satellite onto the torque measuring device; The payload bay of the satellite is driven to rotate, and during the sliding stop of the payload bay, the rotational torque corresponding to the rotation of the payload bay is collected; Obtain the real-time angular acceleration of the payload compartment; and Based on the torque and real-time angular acceleration data of the payload compartment, and combined with the relationship between the torque and the real-time angular acceleration, the moment of inertia of the payload compartment is calculated.

2. The method according to claim 1, characterized in that, The collected rotational torque corresponding to the rotation of the payload compartment includes: The torque measuring device captures the reaction torque transmitted to it in real time when the load chamber rotates.

3. The method according to claim 1, characterized in that, The acquisition of the angular acceleration of the payload compartment includes: The real-time rotational angular velocity of the payload compartment and its corresponding time are collected by telemetry, and the real-time angular acceleration of the payload compartment is calculated by the second-order central difference formula.

4. The method according to claim 1, characterized in that, The measurement or calculation of the real-time angular acceleration of the payload compartment includes: The real-time angular acceleration of the payload compartment was measured using an angular acceleration measuring instrument.

5. The method according to claim 1, characterized in that, The rotational torque and real-time angular acceleration data of the payload compartment within the angular velocity range of 3-10° / s are used to calculate the moment of inertia.

6. The method according to claim 5, characterized in that, The moment of inertia of the payload compartment is calculated using the following formula: in, The rotational torque in the direction of the rotation axis of the load chamber, as measured by the torque measuring device; This is the wind resistance torque; Let be the moment of inertia of the load chamber; The real-time angular acceleration of the payload compartment is expressed as: in The real-time rotational angular velocity of the payload compartment.

7. The method according to claim 1, characterized in that, This also includes calibrating the torque measuring device before testing, wherein: Calibration methods include the rope method, the standard torque loading method, and / or the multi-component joint calibration method.

8. A satellite payload bay rotational inertia measurement system based on a torque measurement device, characterized in that, The system for performing the method of any one of claims 1-7, the system comprising: A torque measurement module, configured to carry the satellite and measure the rotational torque of the payload bay; A rotational speed acquisition module is configured to measure the real-time rotational angular velocity of the load chamber; The data calculation module is configured to calculate the angular acceleration of the payload compartment based on the real-time rotational angular velocity, and to calculate the moment of inertia of the payload compartment in combination with the relationship between the rotational torque and the angular acceleration.

9. The system according to claim 8, characterized in that, The torque measurement module includes a six-component force measuring platform and / or a single-axis torque platform.

10. The system according to claim 8, characterized in that, The rotational speed acquisition module includes a satellite telemetry module, which establishes a communication connection with the satellite to acquire real-time rotational angular velocity data of the payload bay and transmit it to the data calculation module.

Images