A test apparatus and method for an electric propulsion thrust vector adjustment mechanism

Abstract

The application discloses a kind of test device and method of electric propulsion thrust vector adjusting mechanism, device includes: fixed base, for installing vector adjusting mechanism;Dual-axis tilt sensor, is installed on vector adjusting mechanism, for determining the absolute zero position and actual rotation angle of vector adjusting mechanism;Motion controller is connected with the two motors of vector adjusting mechanism, for controlling motor rotation and detecting the output torque of motor;Encoder analyzer module is connected with the angle sensor on vector adjusting mechanism, for reading the angle measured by angle sensor.This application is tested to vector adjusting mechanism by using the above device, and calibration accuracy is significantly improved;Mechanical limit verification is more comprehensive;Power-off holding evaluation is more in-depth;Test scene is more flexible;Performance evaluation is more stereoscopic.

Description

Technical Field

[0001] This invention relates to the technical field of electric propulsion for spacecraft, and in particular to a test apparatus and method for an electric propulsion thrust vector adjustment mechanism. Background Technology

[0002] The thrust vector adjustment mechanism is responsible for adjusting the one-dimensional or two-dimensional thrust vector of the electric thruster. As a space activity mechanism, its motion accuracy, mechanical limit reliability and stability under fault conditions directly determine the success or failure of the spacecraft's on-orbit mission. Its core performance indicators need to be fully verified through ground testing.

[0003] In existing electric propulsion thrust vector adjustment mechanism testing technologies, vacuum environment testing often relies on complex gravity unloading fixtures to simulate weightlessness in space, while atmospheric environment testing suffers from low reliability due to a lack of precision calibration methods, making it difficult to meet the requirements of "vacuum / atmosphere dual environment compatibility" and "simplified operation of weightless unloading".

[0004] Furthermore, the deviation between the existing angle sensor measurement results and the actual angle cannot be quantified, resulting in low reliability of the test data and an inability to accurately determine whether the mechanism meets the on-orbit accuracy requirements. In addition, the functional coverage is incomplete, making it impossible to fully assess the correlation between the mechanical load and motion accuracy during the mechanism's rotation process. Summary of the Invention

[0005] This invention provides a testing device and method for an electric propulsion thrust vector adjustment mechanism.

[0006] The technical problems to be solved are: existing testing devices are difficult to meet the requirements of "vacuum / atmospheric dual environment compatibility" and "simplified operation of zero-gravity unloading", and the deviation between the measurement results of existing angle sensors and the actual angles cannot be quantified, resulting in low reliability of test data and inability to accurately determine whether the mechanism meets the on-orbit accuracy requirements; in addition, the functional coverage is incomplete, and it is impossible to fully evaluate the correlation between mechanical load and motion accuracy during the rotation process of the mechanism.

[0007] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: The present invention provides a testing device for an electric propulsion thrust vector adjustment mechanism, comprising: A fixed base for mounting the vector adjustment mechanism; A dual-axis tilt sensor, mounted on the vector adjustment mechanism, is used to determine the absolute zero position and actual rotation angle of the vector adjustment mechanism. The motion controller, connected to the two motors of the vector adjustment mechanism, is used to control the rotation of the motors and detect the output torque of the motors; The encoder analyzer module connects to the angle sensor on the vector adjustment mechanism and is used to read the angle measured by the angle sensor.

[0008] By adopting the above scheme and using the above device to test the vector adjustment mechanism, the calibration accuracy is significantly improved; the mechanical limit verification is more comprehensive; the power-off retention evaluation is more in-depth; the test scenarios are more flexible; and the performance evaluation is more three-dimensional.

[0009] The present invention provides a test device for an electric propulsion thrust vector adjustment mechanism, which further includes a vacuum chamber. The fixed base, the vector adjustment mechanism, and the dual-axis tilt sensor are all located inside the vacuum chamber, and the motion controller and the encoder analyzer module are connected to the outside of the vacuum chamber through a through-chamber flange with sealing function.

[0010] By adopting the above scheme, both vacuum and atmospheric testing environments are provided.

[0011] The present invention provides a testing device for an electric propulsion thrust vector adjustment mechanism. Further, the fixed base is provided with bolt holes, and the fixed base is rigidly connected to the vector adjustment mechanism through the bolt holes.

[0012] By adopting the above solution, the fixed base is rigidly connected to the vector adjustment mechanism bolts through bolt holes, avoiding rotation and shaking, and ensuring measurement accuracy.

[0013] The present invention provides a testing method comprising the following steps: S1: Install the vector adjustment mechanism on the fixed base; install a dual-axis tilt sensor on the vector adjustment mechanism, adjust the attitude of the vector adjustment mechanism so that the horizontality of the mounting surface measured by the dual-axis tilt sensor is ≤0.001°, and complete the zero-point coarse calibration; S2: Establish the coordinate system oxy for the vector adjustment mechanism, with an initial zero point of (0°, 0°); S3: Single-axis / Dual-axis parallel rotation test; S3.1: The motion controller sends pulse commands to the vector adjustment mechanism, causing the mechanism to rotate sequentially to the coordinate system oxy at (5°, 0°), (-5°, 0°), (0°, 0°), (0°, 5°), (0°, -5°), (0°, 0°), (5°, 5°), (-5°, -5°), (0°, 0°), (-5°, 5°), (5°, -5°), (0°, 0°); S3.2: At each position, the rotation angle is recorded by an angle sensor, and at the same time, the motion controller records the motor torque value; S3.3: Repeat steps S4.1-S4.2 to perform multiple sets of tests, and determine whether the average angle error of the corresponding positions in the multiple sets of tests meets the design requirements; determine whether the torque of the motor in all positions is without sudden changes. If both of these requirements are met, the test is passed; otherwise, the rotation is faulty. S4: Mechanical Limit Test: S4.1: Set the mechanical limit angles of the vector adjustment mechanism as xmax and xmin in the X direction, and ymax and ymin in the Y direction; S4.2: X-direction mechanical limit test: Send pulse commands to control the vector adjustment mechanism to rotate to (xmax+3°, y1) and (xmin-3°, y1); record the angle sensor data and motor torque changes. When the vector adjustment mechanism reaches the mechanical limit, the angle stabilizes at xmax or xmin; and the motor torque increases abruptly by ≥5N. m; Repeat multiple sets of mechanical limit tests in the X direction. If each set of data meets the design requirements, the test is passed; otherwise, the limit fails. S4.3: Y-direction mechanical limit test: Send pulse commands to control the vector adjustment mechanism to rotate to (x1, ymax+3°) and (x1, ymin-3°); record the angle sensor data and motor torque changes. When the vector adjustment mechanism reaches the mechanical limit, the angle stabilizes at ymax or ymin, and the motor torque suddenly increases by ≥5N. m; Repeat multiple sets of Y-direction mechanical limit tests. If each set of data meets the design requirements, the test is passed; otherwise, the limit fails. S5: Long-term power failure retention capability test: Send a pulse command to control the vector adjustment mechanism to rotate to (x2, y2), and cut off the power during the rotation to perform the first test. If the vector adjustment mechanism stops rotating immediately, the test is passed; otherwise, it is a fault. The angle drift (Δx, Δy) during the power outage period is obtained using an angle sensor. Reconnect the power and perform a second test. If the vector adjustment mechanism remains in the position (x2+Δx, y2+Δy) when the power was off, the test is passed; otherwise, it is a fault. S6: The vector adjustment mechanism returns to its initial zero point and is calibrated using a dual-axis tilt sensor to complete the test.

[0014] By adopting the above scheme, the test method proposed in this invention can calibrate the mechanism using an inclination sensor in the test device to determine the absolute zero point position of the mechanism, compare the rotation angle measured by the angle sensor with the actual rotation angle, test the measurement accuracy of the angle sensor, and verify the authenticity and reliability of the measurement results; and the device and method combine mechanical load feedback (such as torque) and angle data to comprehensively evaluate the mechanical stability of the mechanism during rotation.

[0015] In the test method of this invention, the origin o of the coordinate system oxy is located at the geometric center where the two axes intersect inside the vector adjustment mechanism. The positive direction of ox is parallel to the X-axis rotation axis of the mechanism and points to the X-axis angle sensor; the positive direction of oy is parallel to the Y-axis rotation axis of the mechanism and points to the Y-axis angle sensor; the unit of the coordinate system is rotation angle °, and the initial zero point is (0°, 0°).

[0016] Furthermore, in the single-axis / dual-axis parallel rotation test, the average angular error of the test method of this invention is ≤ ±0.05°, and the motor torque fluctuation is ≤ 1N. If m is true, then the test is passed.

[0017] By adopting the above scheme, single-axis / dual-axis parallel rotation tests are conducted within the specified error range, and a vector adjustment mechanism that meets the requirements is selected.

[0018] Furthermore, in the testing method of this invention, the above test is carried out in a vacuum chamber, and the vacuum chamber is evacuated before the test begins.

[0019] By adopting the above scheme and through the above operations, tests can be conducted in both vacuum and atmospheric environments.

[0020] In the test method of this invention, before the test, a multimeter is used to test the continuity of the inner and outer cables passing through the cabin flange of the motor, angle sensor, and dual-axis tilt sensor.

[0021] By adopting the above solution, we can ensure that the cable connection is normal.

[0022] In the test method of the present invention, the power outage duration in step S5 is 0.5h or 1h.

[0023] By adopting the above solution: if long-term retention testing is not required (simplified scenario), the power-off retention time can be shortened to 30 minutes, and the drift requirement can be relaxed to ≤0.02°, while still meeting the basic power-off verification requirements.

[0024] Compared with the prior art, the present invention has the following beneficial effects: 1. The testing method proposed in this invention can calibrate the mechanism using an inclination sensor in the testing device, determine the absolute zero point position of the mechanism, compare the rotation angle measured by the angle sensor with the actual rotation angle, test the measurement accuracy of the angle sensor, and verify the authenticity and reliability of the measurement results. 2. The testing device and method proposed in this invention combine mechanical load feedback (such as torque) and angle data to comprehensively evaluate the mechanical stability of the mechanism during rotation. 3. The testing method proposed in this invention can be tested in a vacuum environment, or in an atmospheric environment when the accuracy requirement is not high or the conditions do not permit it, thus providing flexibility in testing conditions; 4. The testing device proposed in this invention does not require gravity unloading during the testing process. During the test, the mechanism is reliably connected to the fixed base in the testing device to ensure that it does not shake during rotation. The operation is simple and convenient.

[0025] The invention will now be further described with reference to the accompanying drawings. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the test device for the thrust vector adjustment mechanism of the present invention.

[0027] Figure label: 1. Dual-axis tilt sensor; 2. Vacuum chamber; 3. Fixed base; 4. Motion controller; 5. Motion control module; 6. Encoder analyzer module; 7. DC power supply; 8. Vector adjustment mechanism. Detailed Implementation

[0028] like Figure 1 As shown, this invention discloses a testing device and method for an electric propulsion thrust vector adjustment mechanism. The device includes a vacuum chamber, a fixed base, a dual-axis tilt sensor, a motion controller, a motion control module, an encoder analyzer module, and a DC power supply. The vacuum chamber is used to simulate a vacuum environment with a vacuum level of up to 1E-4Pa or less, providing a vacuum testing environment for the vector adjustment mechanism.

[0029] The fixed base is used to install the vector adjustment mechanism. The fixed base is provided with bolt holes, and the fixed base is rigidly connected to the vector adjustment mechanism through the bolt holes to prevent rotation and shaking. The fixed base is installed on the working platform of the vacuum chamber.

[0030] The dual-axis tilt sensor is installed on the frame mounting surface of the vector adjustment mechanism. It reads the measured angle through its built-in information processing module to detect the levelness of the mounting surface of the vector adjustment mechanism and determine the absolute zero point position and actual rotation angle of the vector adjustment mechanism.

[0031] The motion controller is connected to the two motors of the vector adjustment mechanism and is used to control the rotation of the motors and detect the output torque of the motors. The motion controller is installed on the outside of the vacuum chamber and is connected to the motors by a cable through a sealed flange.

[0032] The motion control module is connected to the motion controller via a data cable and is used to issue commands to the motion controller. The motion control module also has a display module that displays the torque-angle linkage curve.

[0033] The encoder analyzer module, connected to the angle sensor on the vector adjustment mechanism, is used to read the angle measured by the angle sensor and calculate the angle drift. The encoder analyzer module is located outside the vacuum chamber and is connected to the angle sensor via a cable through a sealed through-chamber flange.

[0034] A DC power supply, located outside the vacuum chamber, provides power to the entire device.

[0035] The testing method includes the following steps: S1: Environment setup: Install the vector adjustment mechanism on the worktable of the vacuum chamber through the bolt holes of the fixed base.

[0036] Install a dual-axis tilt sensor and adjust the attitude of the vector adjustment mechanism so that the horizontality of the mounting surface measured by the dual-axis tilt sensor is ≤0.001°, thus completing the zero-point coarse calibration.

[0037] The two motors of the vector adjustment mechanism are connected to the motion controller through a sealed through-cabin flange, and the two angle sensors are connected to the encoder analyzer module through the through-cabin flange.

[0038] Pre-test preparation: In a vacuum environment, the vacuum chamber door must be closed and the vacuum system must be started to evacuate until the vacuum level reaches below 1E-4Pa; in an atmospheric environment, the above operations are not required.

[0039] Use a multimeter to test the continuity of the inner and outer cables passing through the flange of the motor, angle sensor, and dual-axis tilt sensor. The continuity resistance should be ≤0.5Ω to ensure that the cable connection is normal.

[0040] S2: Establish the coordinate system oxy for the vector adjustment mechanism, with the origin o located at the geometric center where the two axes intersect inside the vector adjustment mechanism; the positive direction of ox is parallel to the X-axis rotation axis of the vector adjustment mechanism and points towards the X-axis angle sensor; the positive direction of oy is parallel to the Y-axis rotation axis of the vector adjustment mechanism and points towards the Y-axis angle sensor; the coordinate system unit is rotation angle °, with the initial zero point (0°, 0°), based on the calibration results of the dual-axis tilt sensor.

[0041] Start the motion control module and encoder analyzer module, and initialize parameters such as motor torque threshold and angle drift calculation time.

[0042] S3: Single-axis / Dual-axis parallel rotation test (including accuracy verification): S3.1: The motion controller sends pulse commands to the vector adjustment mechanism through the motion control module, causing the vector adjustment mechanism to rotate sequentially to (5°, 0°), (-5°, 0°), (0°, 0°), (0°, 5°), (0°, -5°), (0°, 0°), (5°, 5°), (-5°, -5°), (0°, 0°), (-5°, 5°), (5°, -5°), (0°, 0°) in the coordinate system oxy, where 5°≤xmax≤15° and 5°≤ymax≤15°, which can be adjusted according to the parameters of the vector adjustment mechanism.

[0043] S3.2: Dwell at each position for 10 seconds, record the rotation angle through the angle sensor, and at the same time, the motion controller records the motor torque value to ensure that the torque is stable within ±10% of the rated value.

[0044] S3.3: Repeat steps S3.1-S3.2 15 times. Verification criteria: 1. The average angle error of the corresponding positions in the 15 sets is ≤ ±0.05°; 2. There are no sudden changes in motor torque at all positions, i.e., the fluctuation is ≤ 1N. If both conditions are met, the test passes; otherwise, it is considered a rotational fault.

[0045] S4: Mechanical limit test (including torque feedback verification): S4.1: Set the mechanical limit angles of the vector adjustment mechanism: xmax (10°~15°) and xmin (-10°~-15°) in the X direction, and ymax (10°~15°) and ymin (-10°~-15°) in the Y direction. The specific values ​​are determined by the mechanical design parameters of the vector adjustment mechanism.

[0046] S4.2: X-direction mechanical limit test: Send a pulse command to rotate the vector adjustment mechanism to (xmax+3°, y1) and (xmin-3°, y1), where y1 is 5° and 10°, and test twice.

[0047] Record angle sensor data and motor torque changes: When the vector adjustment mechanism reaches the mechanical limit, the angle should stabilize at xmax or xmin with an error ≤ ±0.05°, and the motor torque should not suddenly increase by ≥5N. m triggers mechanical resistance feedback.

[0048] Repeat 10 times. If all 10 sets of data meet the above conditions, the test is passed; otherwise, it is judged as a limit switch failure.

[0049] S4.3: Y-direction mechanical limit test: Send a pulse command to rotate the vector adjustment mechanism to (x1, ymax + 3°) and (x1, ymin - 3°), where x1 is 5° and 10°, and perform the test twice. Verification standards are the same as for the X direction: the angle is stable at ymax or ymin, with an error ≤ ±0.05°, and a sudden torque change ≥ 5N. m; repeat 10 times, if all conditions are met, the pass is passed; otherwise, it is judged as a limit switch failure.

[0050] S5: Long-term power failure retention capability test: A pulse command is sent to control the vector adjustment mechanism to rotate to (x2, y2). In this embodiment, x2=8°, y2=8°, and x2≠xmax, y2≠ymax. After the mechanism stabilizes, i.e., the angle fluctuation is ≤0.01° / min, the power is cut off during the rotation process for the first test.

[0051] Inspection standard: If the vector adjustment mechanism stops rotating immediately and the angle change is ≤0.005° within 0.5s after power failure, it passes; if it continues to rotate, it is considered a fault.

[0052] After a power outage, maintain the circuit for 1 hour and record the angle drift (Δx, Δy) using the encoder analyzer module. Δx ≤ 0.01° and Δy ≤ 0.01° are required. If long-term maintenance testing is not required (simplifying the scenario), the power outage maintenance time can be shortened to 30 minutes, and the drift requirement can be relaxed to ≤ 0.02°, still meeting the basic power outage verification requirements.

[0053] Re-energize and perform a second test: If the vector adjustment mechanism remains at the position of (x2+Δx, y2+Δy) when the power was off, and the angle change is ≤0.005° within 10 seconds after power-on, it passes; if it continues to rotate, it is considered a fault.

[0054] Repeat 10 times; if all conditions are met, the test is passed; otherwise, it is determined to be a power failure retention fault.

[0055] S6: Return to initial zero point: Send a command to adjust the vector adjustment mechanism to the initial angle (0°, 0°), calibrate through the dual-axis tilt sensor, and the error of (0°, 0°) measured by the tilt sensor is ≤ ±0.02° to complete the test.

[0056] S7: Test Completion: Turn off the motion controller, encoder analyzer module and DC power supply. The vacuum environment needs to be filled with air before opening the chamber door. Remove the test components and record all test data, such as angle, torque, drift, etc.

[0057] The method described in this application has the following advantages: 1. Significantly improved calibration accuracy: The calibration of the dual-axis tilt sensor achieves a zero-point error of ≤0.001°, which is 10 times better than the existing single sensor (error level of 0.01°), ensuring the reliability of angle measurement accuracy verification; 2. More comprehensive mechanical limit verification: The addition of torque mutation detection can directly verify the physical blocking performance of the mechanical limit structure, avoiding the risk that the existing limit test cannot cover mechanical structure failures, and making the reliability assessment of the mechanism under extreme working conditions more accurate; 3. More in-depth power outage retention assessment: The long-term retention capability is quantified by the angular drift amount (≤0.01°) over 1 hour, which is more in line with the actual scenario of space power outage failure than the existing verification of only "instant stop", and provides a more rigorous performance basis for institutional space applications; 4. More flexible testing scenarios: It can be compatible with atmospheric / vacuum environments without the need for gravity unloading fixtures, simplifying the operation process by more than 50% and reducing testing costs by 30% (saving the cost of purchasing and debugging unloading fixtures). 5. More comprehensive performance evaluation: Torque-angle linkage analysis can discover hidden mechanical problems during the rotation process of the mechanism (such as torque fluctuations caused by uneven load), avoiding the one-sidedness of existing methods that only focus on angle and ignore mechanical load.

[0058] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A testing device for an electric propulsion thrust vector adjustment mechanism, characterized in that, include: A fixed base for mounting the vector adjustment mechanism; A dual-axis tilt sensor, mounted on the vector adjustment mechanism, is used to determine the absolute zero position and actual rotation angle of the vector adjustment mechanism. The motion controller, connected to the two motors of the vector adjustment mechanism, is used to control the rotation of the motors and detect the output torque of the motors; The encoder analyzer module connects to the angle sensor on the vector adjustment mechanism and is used to read the angle measured by the angle sensor.

2. The testing device for an electric propulsion thrust vector adjustment mechanism according to claim 1, characterized in that, It also includes a vacuum chamber, in which the fixed base, vector adjustment mechanism and dual-axis tilt sensor are all located. The motion controller and encoder analyzer module are connected to the outside of the vacuum chamber through a through-chamber flange with sealing function.

3. The testing device for an electric propulsion thrust vector adjustment mechanism according to claim 1, characterized in that, The fixed base is provided with bolt holes, and the fixed base is rigidly connected to the vector adjustment mechanism bolts through the bolt holes.

4. A testing method, employing the testing apparatus of the electric propulsion thrust vector adjustment mechanism as described in any one of claims 1-3, characterized in that, Includes the following steps: S1: Install the vector adjustment mechanism on the fixed base; install a dual-axis tilt sensor on the vector adjustment mechanism, adjust the attitude of the vector adjustment mechanism so that the horizontality of the mounting surface measured by the dual-axis tilt sensor is ≤0.001°, and complete the zero-point coarse calibration; S2: Establish the coordinate system oxy for the vector adjustment mechanism, with an initial zero point of (0°, 0°); S3: Single-axis / Dual-axis parallel rotation test; S3.1: The motion controller sends pulse commands to the vector adjustment mechanism, causing the mechanism to rotate sequentially to the coordinate system oxy at (5°, 0°), (-5°, 0°), (0°, 0°), (0°, 5°), (0°, -5°), (0°, 0°), (5°, 5°), (-5°, -5°), (0°, 0°), (-5°, 5°), (5°, -5°), (0°, 0°); S3.2: At each position, the rotation angle is recorded by an angle sensor, and at the same time, the motion controller records the motor torque value; S3.3: Repeat steps S3.1-S3.2 to perform multiple sets of tests, and determine whether the average angle error of the corresponding positions in the multiple sets of tests meets the design requirements; determine whether the torque of the motor in all positions is without sudden changes. If both of these requirements are met, the test is passed; otherwise, the rotation is faulty. S4: Mechanical Limit Test: S4.1: Set the mechanical limit angles of the vector adjustment mechanism as xmax and xmin in the X direction, and ymax and ymin in the Y direction; S4.2: X-direction mechanical limit test: Send pulse commands to control the vector adjustment mechanism to rotate to (xmax+3°, y1) and (xmin-3°, y1); record the angle sensor data and motor torque changes. When the vector adjustment mechanism reaches the mechanical limit, the angle stabilizes at xmax or xmin; and the motor torque increases abruptly by ≥5N. m; Repeat multiple sets of mechanical limit tests in the X direction. If the data in each set meets the design requirements, the test is passed; otherwise, the limit fails. S4.3: Y-direction mechanical limit test: Send pulse commands to control the vector adjustment mechanism to rotate to (x1, ymax+3°) and (x1, ymin-3°); record the angle sensor data and motor torque changes. When the vector adjustment mechanism reaches the mechanical limit, the angle stabilizes at ymax or ymin, and the motor torque suddenly increases by ≥5N. m; Repeat multiple sets of Y-direction mechanical limit tests. If each set of data meets the design requirements, the test is passed; otherwise, the limit fails. S5: Long-term power failure retention capability test: Send a pulse command to control the vector adjustment mechanism to rotate to (x2, y2), and cut off the power during the rotation to perform the first test. If the vector adjustment mechanism stops rotating immediately, the test is passed; otherwise, it is a fault. The angle drift (Δx, Δy) during the power outage period is obtained using an angle sensor. Reconnect the power and perform a second test. If the vector adjustment mechanism remains in the position (x2+Δx, y2+Δy) when the power was off, the test is passed; otherwise, it is a fault. S6: The vector adjustment mechanism returns to its initial zero point and is calibrated using a dual-axis tilt sensor to complete the test.

5. The test method according to claim 4, characterized in that, The origin o of the coordinate system oxy is located at the geometric center where the two axes intersect inside the vector adjustment mechanism. The positive direction of ox is parallel to the X-axis rotation axis of the mechanism and points to the X-axis angle sensor; the positive direction of oy is parallel to the Y-axis rotation axis of the mechanism and points to the Y-axis angle sensor; the unit of the coordinate system is rotation angle °, and the initial zero point is (0°, 0°).

6. The test method according to claim 4, characterized in that, In single-axis / dual-axis parallel rotation tests, the average angular error is ≤ ±0.05°, and the motor torque fluctuation is ≤ 1N. If m is true, then the test is passed.

7. The test method according to claim 4, characterized in that, The above tests were conducted inside a vacuum chamber. Before the tests began, the vacuum chamber was evacuated.

8. The test method according to claim 4, characterized in that, Before testing, use a multimeter to test the continuity of the inner and outer cables passing through the flanges of the motor, angle sensor, and dual-axis tilt sensor.

9. The test method according to claim 4, characterized in that, The power outage duration in step S5 is 0.5h or 1h.

Images