A micro-propeller binary micro-force sensor based on torque compensation and a measuring method thereof

Abstract

The application discloses a micro-propeller binary micro-force sensor based on torque compensation and a measuring method, and belongs to the field of engine ground test and test technology.The micro-propeller binary micro-force sensor based on torque compensation comprises a binary micro-force sensor, an insulating and heat-insulating support, a holding ring and a micro-propeller, the insulating and heat-insulating support is installed on the micro-propeller through the holding ring, the binary micro-force sensor is installed on the insulating and heat-insulating support, the nozzle of the micro-propeller is located directly below the binary micro-force sensor, and the axial deviation between the nozzle section and the measuring reference surface of the binary micro-force sensor is ensured to be within ±1mm by adjusting the axial position of the micro-propeller in the holding ring.The application discloses a micro-propeller binary micro-force sensor based on torque compensation and a measuring method, meets the force measuring requirements of multi-element, high sensitivity and high skin weight bearing for micro-propeller thrust vector ground test, and significantly improves the sensitivity and precision of the micro-propeller ground test load test.

Description

Technical Field

[0001] This invention relates to a binary micro-force sensor for micro-thrusters based on torque compensation and a measurement method thereof, belonging to the field of engine ground testing and measurement technology. Background Technology

[0002] With the large-scale development of aerospace and the iterative upgrading of propulsion technology, the development and performance research of various types of micro-thrusters, such as electric propulsion and chemical propulsion, have gradually deepened. Ground testing of micro-thruster thrust vector is an important part of micro-thruster performance testing, which directly affects the attitude and orbit control accuracy of small satellites, deep space probes, etc.

[0003] Ground-based testing of micro-thrust vectors typically relies on force sensors for measurement, with maximum thrust ranging from 1N to 300N. Measurements require resolution at the μN to mN level, and current technology generally results in an error of around 5% FS. The main challenges currently facing ground-based micro-thrust vector testing are as follows:

[0004] Low resolution. Firstly, the thrust load of micro-thrusters is very small, and the harsh testing conditions during ground tests of different types of micro-thrusters pose a huge challenge to the accurate measurement of the thrust vector of micro-thrusters.

[0005] The thrust vector measurement sensor for general-purpose micro-thrusters in ground tests can only achieve single-component measurement. Due to structural asymmetry and the nature of the thruster itself, thrust eccentricity and eccentricity angle will occur. Therefore, the thrust direction will change, resulting in lateral additional thrust, which cannot be obtained using a single-component force sensor.

[0006] Tare weight causes significant interference. Micro-thrusters are generally quite heavy, with tare weights reaching hundreds of kilograms. Ground-based thrust vector testing involves precise measurement of minute thrust based on this tare weight. The large tare weight not only interferes with thrust measurement but also sacrifices the sensitivity of thrust measurement.

[0007] In summary, there is an urgent need to find a multi-dimensional, highly sensitive, and high-tare-load force measurement method that meets the requirements of ground-based thrust vector testing of micro-thrusters, so as to improve the sensitivity and accuracy of ground-based load testing of micro-thrusters. Summary of the Invention

[0008] This invention proposes a torque-compensated binary micro-force sensor and measurement method for micro-thrusters to improve the sensitivity and accuracy of ground-based test load measurements of micro-thrusters. A brief overview of the invention is provided below to offer a basic understanding of certain aspects thereof. It should be understood that this overview is not an exhaustive summary of the invention. It is not intended to identify key or essential parts of the invention, nor is it intended to limit the scope of the invention.

[0009] The technical solution of the present invention:

[0010] Option 1: A binary micro-force sensor based on torque compensation for a micro-thruster, comprising a binary micro-force sensor, an insulating and heat-insulating bracket, a clamping ring, and a micro-thruster. The insulating and heat-insulating bracket is mounted on the micro-thruster via the clamping ring. The binary micro-force sensor is mounted on the insulating and heat-insulating bracket. The nozzle of the micro-thruster is located directly below the binary micro-force sensor. By adjusting the axial position of the micro-thruster on the clamping ring, the axial deviation between the nozzle cross-section and the measurement reference plane of the binary micro-force sensor is ensured to be within ±1... mm Within.

[0011] Preferably, the binary micro-force sensor includes a fixed end, a transition section, an X elastic beam, an Mz elastic beam, an Mx elastic beam, and a measuring end. The Mx elastic beam is installed at the bottom of the fixed end, the transition section is installed at the bottom of the Mx elastic beam, and an X elastic beam and four Mz elastic beams are installed in parallel between the bottom of the transition section and the measuring end. One X elastic beam is located at the center, and the four Mz elastic beams are evenly arranged in a rectangle around the X elastic beam.

[0012] Preferably, the center of the cross-section of the X elastic beam is located in the same plane as the center of the cross-section of the four Mz elastic beams.

[0013] Preferably, the X elastic beam is a single rectangular beam; eight resistance strain gauges are attached to the X elastic beam, which together form a Wheatstone bridge for directly measuring the axial thrust X of the micro-thruster.

[0014] Preferably, each Mz elastic beam is a rectangular cross-section beam;

[0015] Each Mz elastic beam has a necking structure in the middle; four resistance strain gauges are attached to the necking, which together form a Wheatstone bridge to measure the pitching moment Mz of the micro-thruster.

[0016] The entire tare weight of the micro-thruster, the insulating and heat-insulating support, and the measuring end is borne by four Mz elastic beams, while the central X elastic beam is not affected by the tare weight load.

[0017] Preferably, the Mx elastic beam is a structure of three parallel beams arranged in the same plane, with four resistance strain gauges attached to the middle beam structure, which together form a Wheatstone bridge for measuring the rolling torque Mx of the micro-thruster; the length of the Mx elastic beam is much smaller than the length of the Mz elastic beam.

[0018] Preferably, the insulating and heat-insulating bracket is made of aerogel heat-insulating material; the clamping ring is a ring structure with an axial through slot on one side of the ring body, and the micro-propeller is clamped and fixed by screw locking.

[0019] Option 2, a measurement method based on a torque-compensated binary micro-force sensor for micro-thrusters, is implemented using the aforementioned torque-compensated binary micro-force sensor for micro-thrusters, and includes the following steps:

[0020] Step 1: Three-component loading calibration:

[0021] Functional relationships between axial thrust X and corresponding Wheatstone bridge output voltage Ux, pitching moment Mz and corresponding Wheatstone bridge output voltage Umz, and roll moment Mx and corresponding Wheatstone bridge output voltage Umx were established through ground calibration.

[0022]

[0023]

[0024]

[0025] Step 2: Axial adjustment:

[0026] Install and adjust the micro-thruster in the axial position of the clamping ring so that the axial deviation between the nozzle cross-section and the measurement reference surface of the binary micro-force sensor is controlled within ±1mm.

[0027] Step 3: Initial reading acquisition:

[0028] The experimental equipment is started, but the micro-thrusters do not eject plumes. Samples are collected at different angles. Initial readings of a binary microforce sensor in sequence, i.e., at different angles. Axial thrust under sequence Different angles Pitch moment under sequence and different angles Rolling torque under sequence .

[0029] Step 4: Conduct testing and experiments:

[0030] Start the micro-thruster plume and measure the axial thrust. X Pitch moment Mz and rolling torque Mx Collect data from different angles. Readings from a binary microforce sensor in sequence, i.e., at different angles. Axial thrust under sequence Different angles Pitch moment under sequence and different angles Rolling torque under sequence .

[0031] Step 5: Calculate the pure aerodynamic load:

[0032] Subtracting the corresponding initial reading from the real-time reading yields the pure aerodynamic load generated by the micro-thruster:

[0033]

[0034]

[0035]

[0036] in For the i-th installation angle Below, the pure axial thrust generated by the jet plume of the micro-thruster, For the i-th installation angle Below, the pure pitching moment generated by the thrust eccentricity of the micro-thruster, For the i-th installation angle Below, the pure rolling torque generated by the thrust eccentricity of the micro-thruster;

[0037] Step 6: Torque compensation to obtain lateral force:

[0038] Based on the assumption that the thrust vector's point of application is located at the nozzle cross-section, the lateral force is indirectly solved through the torque balance relationship:

[0039]

[0040]

[0041]

[0042] Where L is the fixed distance between the center of the X elastic beam section and the center of the Mx elastic beam section, L1 is the distance between the axis of the micro-thruster and the center of the Mz elastic beam section, and L2 is the distance between the axis of the micro-thruster and the center of the Mx elastic beam section; by adjusting the axial position of the micro-thruster to change the lengths of the lever arms L1 and L2, the lateral force can be adjusted. Measurement range and sensitivity, For the i-th installation angle Below, the pure lateral thrust generated by the jet plume of the micro-thruster.

[0043] The present invention has the following beneficial effects:

[0044] 1. This invention develops a high-load-bearing composite binary micro-force sensor structure adapted to micro-thickness thrusters. Based on the traditional single-component thrust large aspect ratio flexible sheet measuring element, it integrates two torque measuring sections, thus overcoming the contradiction between the sensitivity and stiffness of the binary sensor.

[0045] 2. This invention proposes a micro-force measurement method based on torque compensation. By changing the lever arm, the range and sensitivity of the micro-force measurement component can be changed, and new unknown components can be indirectly measured using known measurement components, thereby realizing the measurement of binary micro-force components.

[0046] 3. This invention employs a necked-down elastic beam structure with resistance strain gauges attached to the necked-down area, significantly improving the bridge output and thus achieving an increase in measurement sensitivity without reducing stiffness. Attached Figure Description

[0047] Figure 1 This is a three-dimensional diagram of a binary micro-force sensor for a micro-thruster based on torque compensation;

[0048] Figure 2 This is a front view of a binary micro-force sensor for a micro-thruster based on torque compensation;

[0049] Figure 3 This is a right view of a binary micro-force sensor for a micro-thruster based on torque compensation;

[0050] Figure 4 This is a front view of a binary micro-force sensor;

[0051] Figure 5 yes Figure 4 AA section view;

[0052] Figure 6 yes Figure 4 BB cross-sectional view;

[0053] Figure 7 This is a left view of a binary micro-force sensor;

[0054] Figure 8 This is a right view of a binary micro-force sensor;

[0055] Figure 9 It is a binary micro-force sensor X Bridge diagram of elastic beam; Figure 10 It is a binary micro-force sensor Mz Bridge diagram of elastic beam; Figure 11 It is a binary micro-force sensor Mx Bridge diagram of elastic beam.

[0056] In the diagram: 1-Binary micro-force sensor, 2-Insulated and heat-insulating bracket, 3-Clamping ring, 4-Micro-propeller, 41-Nozzle, 1-1-Fixed end, 1-2-Transition section, 1-3-X elastic beam, 1-4-Mz elastic beam, 1-5-Mx elastic beam, 1-6-Measuring end. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of this invention clearer, the invention is described below with reference to specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0058] The connections mentioned in this invention are divided into fixed connections and detachable connections. Fixed connections (i.e., non-detachable connections) include, but are not limited to, conventional fixed connection methods such as folded connections, riveted connections, adhesive connections, and welded connections. Detachable connections include, but are not limited to, conventional disassembly methods such as threaded connections, snap-fit ​​connections, pin connections, and hinged connections. When a specific connection method is not explicitly defined, it is assumed that at least one existing connection method can always be found to achieve the function, and those skilled in the art can choose according to their needs. For example, a welded connection can be chosen for fixed connections, and a hinged connection can be chosen for detachable connections.

[0059] Example 1: Combination Figures 1-11 This embodiment describes a torque-compensated binary micro-force sensor for micro-thrusters, used for accurate measurement of binary micro-force in ground tests of micro-thrust vectors. It solves the technical problem that traditional sensors cannot simultaneously achieve high sensitivity and high tare weight capacity. The sensor includes a binary micro-force sensor 1, an insulating and heat-insulating bracket 2, a clamping ring 3, and a micro-thruster 4.

[0060] The insulating and heat-insulating bracket 2 is made of aerogel heat-insulating material, which can effectively isolate the high temperature generated during the operation of the micro-thruster from the influence of the sensor measurement accuracy. The clamping ring 3 is a ring structure with an axial through slot on one side of the ring body. The micro-thruster 4 is clamped and fixed by screws. The insulating and heat-insulating bracket 2 is installed on the outer wall of the micro-thruster 4 through the clamping ring 3. The binary micro-force sensor 1 is fixedly installed on the lower end face of the insulating and heat-insulating bracket 2.

[0061] The nozzle 41 of the micro-thruster 4 is located directly below the binary micro-force sensor 1. By adjusting the axial position of the micro-thruster 4 within the clamping ring 3, the axial deviation between the nozzle 41 cross section and the measurement reference surface of the binary micro-force sensor 1 can be controlled within ±1mm. This accuracy requirement is a key prerequisite for ensuring the accuracy of torque compensation calculation.

[0062] The binary micro-force sensor 1 is an integrated elastic body structure, which includes, from top to bottom, a fixed end 1-1, an Mx elastic beam 1-5, a transition section 1-2, an X elastic beam 1-3, an Mz elastic beam 1-4, and a measuring end 1-6.

[0063] The measuring end 1-6 is fixedly connected to the insulating and heat-insulating bracket 2. The bottom of the fixed end 1-1 is fixedly connected to the upper end of the Mx elastic beam 1-5, and the lower end of the Mx elastic beam 1-5 is fixedly connected to the upper end of the transition section 1-2. One X elastic beam 1-3 and four Mz elastic beams 1-4 are installed in parallel between the lower end of the transition section 1-2 and the upper end of the measuring end 1-6. The X elastic beam 1-3 is located in the center, and the four Mz elastic beams 1-4 are evenly arranged in a rectangle around the X elastic beam 1-3. The center of the cross section of the X elastic beam 1-3 and the center of the cross section of the four Mz elastic beams 1-4 are on the same horizontal plane.

[0064] The X-elastic beam 1-3 is a single rectangular beam with the following dimensions: thickness h1 = 1.5 mm, width b1 = 10 mm, and length l1 = 20 mm. Eight resistance strain gauges are symmetrically attached to the upper and lower surfaces of the X-elastic beam 1-3. These eight strain gauges are designated as strain gauge R1, R2, R3, R4, R5, R6, R7, and R8. These eight strain gauges form two independent Wheatstone bridges for directly measuring the axial thrust X generated by the micro-thruster 4.

[0065] Each Mz elastic beam 1-4 is a rectangular cross-section beam with the following dimensions: thickness h2=1mm, width b2=6mm, and length l2=40mm. The lateral span of the four Mz elastic beams 1-4 is a=30mm, and the longitudinal span is b=50mm. Each Mz elastic beam 1-4 has a necking structure in the middle, with an effective width b2e=6mm and an effective length l2e=6mm. This necking structure can significantly improve the output sensitivity of the strain gauges. One resistance strain gauge is attached to the necking point of each Mz elastic beam 1-4. The four resistance strain gauges are the ninth resistance strain gauge R9, the tenth resistance strain gauge R10, the eleventh resistance strain gauge R11, and the twelfth resistance strain gauge R12, which together form a Wheatstone bridge used to measure the pitching moment Mz generated by the micro-thruster 4.

[0066] The core design advantage of this embodiment is that the entire tare weight of the micro-thruster 4, the insulating and heat-insulating bracket 2, and the measuring ends 1-6 is borne by four Mz elastic beams 1-4, and the central X elastic beam 1-3 is not affected by any tare load, thus completely eliminating the interference of large tare weight on the measurement of small axial thrust and realizing high sensitivity measurement under high tare load.

[0067] The Mx elastic beams 1-5 are three parallel beams arranged in the same plane. The thickness of the two side beams is h4=2mm, the width is b4=3mm, and the span is c=50mm; the thickness of the middle beam is h3=5mm, the width is b3=3mm, and the length is l3=5mm. Four resistance strain gauges are symmetrically attached to the upper and lower surfaces of the middle beam, namely the thirteenth resistance strain gauge R13, the fourteenth resistance strain gauge R14, the fifteenth resistance strain gauge R15, and the sixteenth resistance strain gauge R16, forming a Wheatstone bridge for measuring the rolling torque Mx generated by the micro-thruster 4.

[0068] The length of the Mx elastic beam 1-5 is much smaller than the length of the Mz elastic beam 1-4. This design can effectively reduce the impact of the Mx elastic beam on the overall structural stiffness, while ensuring the measurement sensitivity of the rolling moment.

[0069] In this embodiment, the fixed distance L = 35mm between the plane containing the X elastic beam 1-3 and the Mz elastic beam 1-4 and the center of the cross section of the Mx elastic beam 1-5; the distance L1 = 100mm between the axis of the micro-thruster 4 and the center of the cross section of the Mz elastic beam 1-4; and the distance L2 = 135mm between the axis of the micro-thruster 4 and the center of the cross section of the Mx elastic beam 1-5.

[0070] By adjusting the axial position of the micro-propeller 4 within the clamping ring 3, L1 can be adjusted within the range of 100mm to 400mm, and L2 can be adjusted within the range of 135mm to 500mm, thereby flexibly changing the measurement range and sensitivity of the lateral force Z.

[0071] Example 2: Combination Figures 1-11 This embodiment describes a measurement method using a torque-compensated binary micro-force sensor for micro-thrusters. This method is based on the torque-compensated binary micro-force sensor for micro-thrusters described in Example 1 and includes the following steps:

[0072] Step 1: Three-component loading calibration:

[0073] Functional relationships between axial thrust X and corresponding Wheatstone bridge output voltage Ux, pitching moment Mz and corresponding Wheatstone bridge output voltage Umz, and roll moment Mx and corresponding Wheatstone bridge output voltage Umx were established through ground calibration.

[0074]

[0075]

[0076]

[0077] After calibration, the above functional relationship is written into the test data acquisition system for real-time load calculation in subsequent tests.

[0078] Step 2: Axial adjustment:

[0079] Install and adjust the micro-thruster 4 to the axial position of the clamping ring 3 so that the axial deviation between the nozzle 41 cross section and the measuring reference surface of the binary micro-force sensor 1 is controlled within ±1mm.

[0080] Specifically, the micro-thruster 4 is passed through the clamping ring 3, and the clamping screw is initially tightened; a high-precision laser displacement sensor is used to measure the axial distance between the nozzle 41 cross section and the measurement reference surface of the binary micro-force sensor 1, and the axial position of the micro-thruster 4 in the clamping ring 3 is slowly adjusted until the axial deviation between the two is controlled within ±1mm; the clamping screw is fully tightened to complete the installation and fixation of the micro-thruster.

[0081] Step 3: Initial reading acquisition:

[0082] The test equipment is started, but the micro-thruster 4 does not eject a plume. At this point, samples are collected from different angles. Initial readings of a binary microforce sensor in sequence, i.e., at different angles. Axial thrust under sequence Different angles Pitch moment under sequence and different angles Rolling torque under sequence .

[0083] Step 4: Conduct testing and experiments:

[0084] Activate the micro-thruster with 4 plumes and measure the axial thrust. X Pitch moment Mz and rolling torque Mx Collect data from different angles. Binary microforce sensor readings in sequence, i.e., at different angles Axial thrust under sequence Different angles Pitch moment under sequence and different angles Rolling torque under sequence .

[0085] Step 5: Calculate the pure aerodynamic load:

[0086] Subtracting the corresponding initial reading from the real-time reading yields the pure aerodynamic load generated by micro-thruster 4:

[0087]

[0088]

[0089]

[0090] in For the i-th installation angle Below, the pure axial thrust generated by the jet plume of the micro-thruster 4, For the i-th installation angle Below, the pure pitching moment generated by the thrust eccentricity of the micro-thruster 4, For the i-th installation angle Below, the pure rolling torque generated by the thrust eccentricity of the micro-thruster 4;

[0091] Step 6: Torque compensation to obtain lateral force:

[0092] Based on the assumption that the thrust vector's point of application is located at section 41 of the nozzle, the lateral force is indirectly solved through the torque balance relationship:

[0093]

[0094]

[0095]

[0096] in, For the i-th installation angle Below, the pure lateral thrust generated by the jet plume of the micro-thruster 4, L is the fixed distance between the center of the X elastic beam 1-3 section and the center of the Mx elastic beam 1-5 section, L1 is the distance between the axis of the micro-thruster 4 and the center of the Mz elastic beam 1-4 section, and L2 is the distance between the axis of the micro-thruster 4 and the center of the Mx elastic beam 1-5 section;

[0097] This method adjusts the lengths of lever arms L1 and L2 by changing the axial position of the micro-thruster, thus flexibly adjusting the measurement range and sensitivity of the lateral force Z; when the thrust eccentricity angle of micro-thruster 4 is... When the values ​​are small, the theoretically designed lever arms L1 and L2 should be large enough to reduce the impact of the plume's point of action offset on measurement accuracy.

[0098] It should be noted that in the above embodiments, as long as the technical solutions are not contradictory, they can be permuted and combined. Those skilled in the art can exhaust all possibilities based on the mathematical knowledge of permutation and combination. Therefore, the present invention will not describe the technical solutions after permutation and combination one by one, but it should be understood that the technical solutions after permutation and combination have been disclosed by the present invention.

[0099] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A measurement method for a torque-compensated binary micro-force sensor for a micro-thruster is based on a torque-compensated binary micro-force sensor for a micro-thruster. The torque-compensated binary micro-force sensor for a micro-thruster includes a binary micro-force sensor (1), an insulating and heat-insulating bracket (2), a clamping ring (3), and a micro-thruster (4). The insulating and heat-insulating bracket (2) is mounted on the micro-thruster (4) via the clamping ring (3). The binary micro-force sensor (1) is mounted on the insulating and heat-insulating bracket (2). The nozzle (41) of the micro-thruster (4) is located directly below the binary micro-force sensor (1). By adjusting the axial position of the micro-thruster (4) on the clamping ring (3), the axial deviation between the nozzle (41) cross-section and the measurement reference surface of the binary micro-force sensor (1) is within ±1mm. The binary micro-force sensor comprises a fixed end (1-1), a transition section (1-2), an X-elastic beam (1-3), an Mz-elastic beam (1-4), an Mx-elastic beam (1-5), and a measuring end (1-6). An Mx-elastic beam (1-5) is mounted at the bottom of the fixed end (1-1). A transition section (1-2) is mounted at the bottom of the Mx-elastic beam (1-5). An X-elastic beam (1-3) and four Mz-elastic beams (1-4) are connected in parallel between the bottom of the transition section (1-2) and the measuring end (1-6). One X-elastic beam (1-3) is located at the center, and the four Mz-elastic beams (1-4) are arranged in a rectangular shape around the X-elastic beam (1-3). Its characteristic is that: It also includes the following steps: Step 1: Three-component loading calibration: Functional relationships between axial thrust X and corresponding Wheatstone bridge output voltage Ux, pitching moment Mz and corresponding Wheatstone bridge output voltage Umz, and roll moment Mx and corresponding Wheatstone bridge output voltage Umx were established through ground calibration. Step 2: Axial adjustment: Install and adjust the micro-thruster (4) in the axial position of the clamping ring (3) so that the axial deviation between the nozzle (41) section and the measurement reference surface of the binary micro-force sensor (1) is controlled within ±1mm; Step 3: Initial reading acquisition: Start the test equipment, but the micro-thruster (4) does not eject a plume. At this time, collect the initial readings of the binary micro-force sensor under different angle i sequences, that is, different angles. Axial thrust under i-sequence Different angles Pitch moment under i-sequence and different angles Rolling torque under i-sequence ; Step 4: Conduct testing and experiments: Start the micro-thruster (4) plume, measure the axial thrust X, pitching moment Mz and rolling moment Mx, and collect data at different angles. Readings from a binary micro-force sensor under the i-sequence, i.e., at different angles Axial thrust under i-sequence Different angles Pitch moment under i-sequence and different angles Rolling torque under i-sequence ; Step 5: Calculate the pure aerodynamic load: Subtracting the corresponding initial reading from the real-time reading yields the pure aerodynamic load generated by the micro-thruster (4): in For the i-th installation angle Under i, the pure axial thrust generated by the jet plume of the micro-thruster (4) For the i-th installation angle Under i, the pure pitching moment generated by the thrust eccentricity of the micro-thruster (4) For the i-th installation angle Under i, the pure rolling torque generated by the thrust eccentricity of the micro-thruster (4); Step 6: Torque compensation to obtain lateral force: Based on the assumption that the thrust vector's point of application is located at the nozzle (41) section, the lateral force is indirectly solved through the torque balance relationship: Where L is the fixed distance between the center of the X elastic beam (1-3) section and the center of the Mx elastic beam (1-5) section, L1 is the distance between the axis of the micro-thruster (4) and the center of the Mz elastic beam (1-4) section, and L2 is the distance between the axis of the micro-thruster (4) and the center of the Mx elastic beam (1-5) section; by adjusting the axial position of the micro-thruster (4) to change the length of the lever arms L1 and L2, the lateral force can be adjusted. Measurement range and sensitivity, For the i-th installation angle Under i, the pure lateral thrust generated by the jet plume of the micro-thruster (4).

2. The measurement method of a binary micro-force sensor for a micro-thruster based on torque compensation according to claim 1, characterized in that: The center of the cross section of the X elastic beam (1-3) and the center of the cross section of the four Mz elastic beams (1-4) are located in the same plane.

3. The measurement method of a binary micro-force sensor for a micro-thruster based on torque compensation according to claim 2, characterized in that: The X elastic beam (1-3) is a single rectangular beam; eight resistance strain gauges are attached to the X elastic beam (1-3), which together form a Wheatstone bridge for directly measuring the axial thrust X of the micro-thruster (4).

4. The measurement method of a binary micro-force sensor for a micro-thruster based on torque compensation according to claim 3, characterized in that: Each Mz elastic beam (1-4) is a rectangular cross-section beam; Each Mz elastic beam (1-4) has a necking structure in the middle; four resistance strain gauges are attached to the necking, which together form a Wheatstone bridge to measure the pitching moment Mz of the micro-thruster (4). The entire tare weight of the micro-thruster (4), the insulating and heat-insulating bracket (2) and the measuring end (1-6) is borne by four Mz elastic beams (1-4), while the central X elastic beam (1-3) is not affected by the tare weight load.

5. The measurement method of a binary micro-force sensor for a micro-thruster based on torque compensation according to claim 4, characterized in that: The Mx elastic beam (1-5) is a three-parallel beam structure arranged in the same plane. Four resistance strain gauges are attached to the middle beam structure, which together form a Wheatstone bridge for measuring the rolling torque Mx of the micro-thruster. The length of the Mx elastic beam (1-5) is much smaller than the length of the Mz elastic beam (1-4).

6. The measurement method of a binary micro-force sensor for a micro-thruster based on torque compensation according to claim 1, characterized in that: The insulating and heat-insulating bracket (2) is made of aerogel heat-insulating material; the clamping ring (3) is a ring structure with an axial through slot on one side of the ring body, and the micro-propeller (4) is clamped and fixed by screw locking.

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