Driving mechanism dynamic torque measuring device for spacecraft battery array start-stop time sequence design

Abstract

The utility model discloses a driving mechanism dynamic torque measuring device for spacecraft battery array start-stop time sequence design, which is characterized in that an electric turntable is arranged on a bracket and is connected with a turntable driver, and a motion controller calculates a variable-frequency pulse sequence for controlling the movement of the electric turntable according to a set start-stop time sequence angular acceleration function; sending the data to a turntable driver connected with the turntable; the solar cell array simulation piece is a stainless steel sheet, the torsional vibration frequency of the solar cell array simulation piece is close to that of an actual cell array, and the solar cell array simulation piece is fixed on the electric turntable through a clamp and driven by the electric turntable to rotate; a Wheatstone bridge circuit composed of resistance strain gauges is pasted on a triangular area of the root of a solar cell array simulation piece, and signal voltage is amplified by a strain transmitter and then is connected to AD collection equipment so as to be used for analyzing the root torque load of a cell array in the start-stop process. Therefore, the effect of auxiliary verification of the optimal start-stop time sequence on inhibition of the torque load of the solar cell array driving mechanism is realized.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of spacecraft solar array dynamics, especially relates to a kind of dynamic torque measuring device of spacecraft battery array start-stop timing design driving mechanism, for the effect of inhibiting solar array driving mechanism torque load of auxiliary verification optimization start-stop timing. BACKGROUND

[0002] Satellite spacecraft obtains maximum sunning area in full orbit period, obtains enough energy, and solar array needs to continuously rotate in illumination area to make array surface keep perpendicular to sunlight direct, so it is usually equipped with driving mechanism to realize sun capture and tracking.Solar array start-stop working state is frequently carried out during spacecraft on-orbit operation, and the change of rotation angle acceleration can make solar array produce torsional vibration, and when interference torque caused by vibration is transmitted to harmonic reducer mechanism, it will increase the alternating load of driving mechanism, and long-term alternating load state will adversely affect the service life of driving mechanism.

[0003] Torque load borne by driving mechanism is not only related to the vibration characteristics of solar array, but also directly depends on the angular acceleration time function of driving mechanism in solar array start-stop process.Therefore, optimization angular acceleration time function minimizes the optimization problem that maximum torque of solar array start-stop process, and when researching this problem, driving mechanism dynamic torque measuring device of spacecraft battery array start-stop timing design is designed to verify the effect of inhibiting driving mechanism torque load of optimization start-stop timing. UTILITY MODEL CONTENTS

[0004] The utility model aims at providing a kind of driving mechanism dynamic torque measuring device of spacecraft battery array start-stop timing design, for the effect of inhibiting solar array driving mechanism torque load of auxiliary verification optimization start-stop timing, to provide more reliable driving control solution for space field.

[0005] To solve the above problem, the technical scheme of the utility model is as follows:

[0006] Driving mechanism dynamic torque measuring device of battery array start-stop timing design, driving mechanism dynamic torque measuring device of spacecraft battery array start-stop timing design, comprising: solar array simulation piece, wheatstone bridge circuit of resistance strain gauge, strain transmitter, AD collection equipment, electric rotary table, rotary table driver and motion controller;

[0007] The electric rotary table is fixed on the support and is electrically connected with the rotary table driver;

[0008] The solar array simulation piece is fixed below the electric rotary table and is driven to rotate by the electric rotary table;

[0009] The Wheatstone bridge circuit composed of the resistance strain gauges is pasted at the root of the solar cell array simulation piece and is electrically connected with the strain transmitter;

[0010] The strain transmitter is electrically connected with the AD collecting device.

[0011] The motion controller is in communication connection with the turntable driver.

[0012] According to an embodiment of the utility model, the motion controller is used for sending the variable frequency pulse sequence obtained by the preset start-stop timing angular acceleration function to the turntable driver, so that the turntable driver drives the electric turntable to rotate according to the variable frequency pulse sequence.

[0013] According to an embodiment of the utility model, the solar cell array simulation piece comprises a triangular area and a long plate area, and the triangular area is fixedly connected with the electric turntable.

[0014] According to an embodiment of the utility model, the front surface and the back surface of the triangular area are pasted with the Wheatstone bridge circuit composed of the resistance strain gauges.

[0015] According to an embodiment of the utility model, the Wheatstone bridge circuit composed of the resistance strain gauges comprises a plurality of first resistance strain gauges arranged longitudinally or a plurality of second resistance strain gauges arranged transversely; the first resistance strain gauges are used for measuring the bending moment, and the second resistance strain gauges are used for measuring the torque.

[0016] According to an embodiment of the utility model, the plurality of first resistance strain gauges or the plurality of second resistance strain gauges are arranged on the front surface and the back surface of the triangular area, and the resistance strain gauges constituting the same Wheatstone bridge circuit are opposite in position on the front surface and the back surface of the triangular area.

[0017] According to an embodiment of the utility model, the Wheatstone bridge circuit composed of the resistance strain gauges comprises a plurality of first Wheatstone bridge circuits arranged longitudinally for measuring the bending moment and a plurality of second Wheatstone bridge circuits arranged transversely for measuring the torque.

[0018] According to an embodiment of the utility model, the first Wheatstone bridge circuit comprises four resistance strain gauges arranged longitudinally and used for measuring the bending moment; and the second Wheatstone bridge circuit comprises four resistance strain gauges arranged transversely and used for measuring the torque.

[0019] Compared with the prior art, the utility model has the following advantages and positive effects:

[0020] The driving mechanism dynamic torque measuring device of the space vehicle battery array start-stop time sequence design in the embodiment of the utility model, through install electric rotary table on support, link with rotary table driver, motion controller according to the set start-stop time sequence angular acceleration function solves the variable frequency pulse sequence for controlling the motion of electric rotary table, sends to the rotary table driver connected with it;Solar cell array simulation piece is a stainless steel sheet, its torsional vibration frequency is close to the actual battery array torsional vibration frequency, is fixed on electric rotary table by clamp, is driven to produce rotation by electric rotary table;The Wheatstone bridge circuit of resistance strain gauge is pasted in the root triangle area of solar cell array simulation piece, signal voltage is connected after amplification by strain transmitter AD collection equipment, in order to be used for analyzing the root torque load of battery array in the start-stop process, to realize the effect of auxiliary verification optimization start-stop time sequence for inhibiting solar cell array driving mechanism torque load. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is the schematic diagram of the driving mechanism dynamic torque measuring device of the space vehicle battery array start-stop time sequence design in the embodiment of the utility model;

[0022] Figure 2 It is the resistance strain gauge pasting position schematic diagram in the embodiment of the utility model;

[0023] Figure 3 It is the torque measurement principle diagram in the embodiment of the utility model.

[0024] EXPLANATION OF REFERENCE NUMERALS:

[0025] 1: solar cell array simulation piece;11: triangle area;2: Wheatstone bridge;3: strain transmitter;4: AD collection equipment;5: electric rotary table;6: rotary table driver;7: motion controller;8: support. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings and specific embodiments to make further detailed description to the driving mechanism dynamic torque measuring device of the space vehicle battery array start-stop time sequence design in the utility model, for auxiliary verification optimization start-stop time sequence for inhibiting solar cell array driving mechanism torque load effect makes further detailed description.According to the following description and claims, the advantages and characteristics of the utility model will be more clear.

[0027] Please see Figure 1The embodiment provides a spacecraft battery array start-stop timing design driving mechanism dynamic torque measuring device, which is used for assisting verification of an optimal start-stop timing on an effect of inhibiting a solar cell array driving mechanism torque load. The spacecraft battery array start-stop timing design driving mechanism dynamic torque measuring device comprises a solar cell array simulation piece 1, a Wheatstone bridge circuit 2 composed of resistance strain gauges, a strain transmitter 3, an AD collection device 4, a motorized turntable 5, a turntable driver 6 and a motion controller 7. The motorized turntable 5 is fixed on a support 8 and is electrically connected with the turntable driver 6. The motion controller 7 is in communication connection with the turntable driver 6, and is used for sending a variable-frequency pulse sequence obtained by a preset start-stop timing angular acceleration function to the turntable driver 6, so that the turntable driver 6 drives the motorized turntable 5 to rotate according to the variable-frequency pulse sequence.

[0028] The solar cell array simulation piece 1 is fixed below the motorized turntable 5 and is driven to rotate by the motorized turntable 5. The Wheatstone bridge circuit 2 composed of resistance strain gauges is pasted at the root of the solar cell array simulation piece 1 and is electrically connected with the strain transmitter 3. The strain transmitter 3 is electrically connected with the AD collection device 4. The AD collection device 4 collects relevant data for analyzing the root torque load of the battery array in the start-stop process.

[0029] Further, the solar cell array simulation piece 1 comprises a triangular area 11 and a long plate area, and the triangular area 11 is fixedly connected with the motorized turntable 5. The Wheatstone bridge circuit 2 composed of resistance strain gauges is pasted on the front surface and the back surface of the triangular area 11.

[0030] The Wheatstone bridge circuit 2 composed of resistance strain gauges comprises a plurality of first resistance strain gauges arranged in the longitudinal direction or a plurality of second resistance strain gauges arranged in the transverse direction. The first resistance strain gauges are used for measuring bending moments, and the second resistance strain gauges are used for measuring torques. The plurality of first resistance strain gauges are symmetrically arranged about the longitudinal middle axis of the triangular area 11, and the plurality of second resistance strain gauges are symmetrically arranged about the longitudinal middle axis of the triangular area. That is, the plurality of first resistance strain gauges or the plurality of second resistance strain gauges are arranged on the front surface and the back surface of the triangular area, and the resistance strain gauges of the same Wheatstone bridge circuit are opposite to each other on the front surface and the back surface of the triangular area.

[0031] Specifically, referring to Figure 2 , there are two Wheatstone bridge circuits in the figure. The torque measuring bridge circuit is composed of resistance strain gauges (#1, #2, #3, #4). The resistance strain gauges (#1, #2) are arranged in the transverse direction and are symmetric about the longitudinal middle axis of the triangular area. The resistance strain gauges (#3, #4) are respectively arranged on the back surface thereof. The bending moment measuring bridge circuit is composed of resistance strain gauges (#5, #6, #7, #8). The resistance strain gauges (#5, #6) are arranged in the longitudinal direction and are symmetric about the longitudinal middle axis of the triangular area. The resistance strain gauges (#7, #8) are respectively arranged on the back surface thereof.

[0032] The solar cell array simulation piece 1 in the embodiment is a stainless steel sheet, which has a torsional vibration frequency close to that of an actual solar cell array, and is fixed on the electric rotary table 5 through a clamp. Four resistance strain gauges are pasted on the front surface of the triangular area of the solar cell array simulation piece 1, two on each side of the longitudinal central axis, one on each side in the longitudinal direction and one on each side in the transverse direction, and the two sides are symmetrical, and four resistance strain gauges are pasted on the back surface of the triangular area, which are located at the same positions as the strain gauges pasted on the front surface. The eight resistance strain gauges together form two sets of Wheatstone bridges, the transverse resistance strain gauges are used for measuring the torque, and the longitudinal resistance strain gauges are used for measuring the bending moment. Through the calibration of the coupling signals of the two sets of strain bridge circuits for torque and bending moment, the torque result can be calculated even if the positions of the pasted resistance strain gauges are not strictly symmetrical.

[0033] The above Wheatstone bridge circuit is composed of four longitudinally arranged or transversely arranged resistance strain gauges, and the basic configuration is as shown in Figure 3 There are two Wheatstone bridge circuits in total, one for measuring the bending moment and one for measuring the torque. In actual application, the number of Wheatstone bridge circuits can be adjusted, for example, two Wheatstone bridge circuits are used to measure the bending moment and two Wheatstone bridge circuits are used to measure the torque; or three or four Wheatstone bridge circuits can be used, depending on the actual situation.

[0034] The driving mechanism dynamic torque measuring device for the spacecraft battery array start-stop timing design is used to assist in verifying the effect of the optimized start-stop timing on suppressing the torque load of the solar cell array driving mechanism, and the corresponding torque measurement method comprises the following steps:

[0035] (a) Calibration of the Wheatstone bridge under the combined action of torsion and bending

[0036] Please refer to Figure 3 When measuring the torque, if the resistance value change of the strain gauge #1 is then the resistance value changes of the remaining strain gauges #2, #3 and #4 are If the bridge excitation voltage is then the differential component of the signal voltage is Through pre-calibration, the torque can be measured according to the signal voltage .

[0037] In the experiment, the pasted strain gauges cannot be absolutely symmetrical, and the bending moment will also have an effect on the signal voltage of the torque bridge circuit in actual measurement. Therefore, the strain gauges #5 to #8 form a bridge circuit for measuring the bending moment. Through the calibration of the coupling signals of the two sets of strain bridge circuits for torque and bending moment, the torque result can be calculated even if the positions of the pasted resistance strain gauges are not strictly symmetrical. Let the torque and bending moment at the root of the battery array experimental piece be , and the signal voltages of the two Wheatstone bridge circuits are , the influence of the torque and the bending moment on the bridge signal voltage is linearly superimposed under the condition of small deformation and linear elasticity, and there is a relationship

[0038]

[0039] wherein is a coefficient that needs to be calibrated. The calibration process is completed by three groups of experimental measurements: in the first group of measurements, there is no torque load and bending moment load, i.e. ; in the second group of measurements, only a given torque is applied, and the bending moment load is ; in the third group of measurements, only a given bending moment is applied, and the torque load is . According to the three groups of experimental measurements, the Wheatstone bridge signal voltages are and , which are listed in the table.

[0040]

[0041] The coefficient

[0042] (b) Measurement of the torque load

[0043] The battery array simulation piece measures and records the two groups of signal voltages of the Wheatstone bridge by using the AD acquisition device (4) during the start-stop process. If the voltage signals collected are and , then the torque load of the battery array simulation piece is

[0044]

[0045] In summary, the spacecraft battery array start-stop timing design driving mechanism dynamic torque measuring device in the embodiment measures the torque load of the battery array simulation piece by installing the motorized turntable on the support and connecting it with the turntable driver, calculating the variable frequency pulse sequence used for controlling the motion of the motorized turntable according to the set start-stop timing angular acceleration function, and sending it to the turntable driver connected thereto; the solar cell array simulation piece is a stainless steel sheet, and its torsional vibration frequency is close to the actual battery array torsional vibration frequency. The solar cell array simulation piece is fixed on the motorized turntable by a clamp and is driven to rotate by the motorized turntable; the Wheatstone bridge composed of the resistance strain gauges is pasted in the triangular area at the root of the solar cell array simulation piece, and the signal voltage is amplified by the strain transmitter and connected to the AD acquisition device, so as to analyze the root torque load of the battery array during the start-stop process, thereby realizing the auxiliary verification of the effect of the optimized start-stop timing on the suppression of the torque load of the solar cell array driving mechanism.

[0046] The embodiments of the present application are described in detail above with reference to the drawings, but the present application is not limited to the above embodiments. Even if various changes are made to the present application, provided that the changes fall within the scope of the present application claims and equivalent technologies thereof, they still fall within the scope of the present application.

Claims

1. A device for measuring dynamic torque of a drive mechanism of a spacecraft battery array start-stop timing design, for assisting verification of the effect of an optimized start-stop timing on suppressing solar array drive mechanism torque loads, characterized in that, The application relates to a solar cell array simulation device, a Wheatstone bridge circuit composed of resistance strain gauges, a strain transmitter, an AD acquisition device, a motorized turntable, a turntable driver and a motion controller. The motorized turntable is fixed on a support and electrically connected with the turntable driver; The solar cell array simulation device is fixed below the motorized turntable and driven to rotate by the motorized turntable; The Wheatstone bridge circuit composed of resistance strain gauges is pasted at the root of the solar cell array simulation device and electrically connected with the strain transmitter; The strain transmitter is electrically connected with the AD acquisition device; The motion controller is in communication connection with the turntable driver. The motion controller is used for sending a variable-frequency pulse sequence obtained by a preset start-stop timing angular acceleration function to the turntable driver, so that the turntable driver drives the motorized turntable to rotate according to the variable-frequency pulse sequence.

2. The apparatus of claim 1, wherein, The solar cell array simulation device comprises a triangular region and a long plate region, and the triangular region is fixed with the motorized turntable.

3. The apparatus of claim 1, wherein, The front surface and the back surface of the triangular region are pasted with the Wheatstone bridge circuit composed of resistance strain gauges.

4. The apparatus of claim 3, wherein the apparatus is configured to determine the dynamic torque of the drive mechanism of the spacecraft battery array start-stop timing design based on the measured current and the measured voltage. The Wheatstone bridge circuit composed of resistance strain gauges comprises a plurality of longitudinally arranged first resistance strain gauges or a plurality of transversely arranged second resistance strain gauges; the first resistance strain gauges are used for measuring bending moment, and the second resistance strain gauges are used for measuring torque.

5. The apparatus of claim 4, wherein the apparatus is configured to determine the dynamic torque of the drive mechanism of the spacecraft battery array start-stop timing design based on the measured current and the measured voltage. The plurality of first resistance strain gauges or the plurality of second resistance strain gauges are arranged on the front surface and the back surface of the triangular region, and the resistance strain gauges of the same Wheatstone bridge circuit are arranged oppositely on the front surface and the back surface of the triangular region.

6. The apparatus of claim 5, wherein the apparatus is configured to determine the dynamic torque of the drive mechanism of the spacecraft battery array start-stop timing design based on the measured current and the measured voltage. The Wheatstone bridge circuit composed of resistance strain gauges comprises a plurality of longitudinally arranged first Wheatstone bridge circuits for measuring bending moment and a plurality of transversely arranged second Wheatstone bridge circuits for measuring torque.

7. The apparatus of claim 4, wherein the apparatus is configured to determine the dynamic torque of the drive mechanism of the spacecraft battery array start-stop timing design based on the measured current and the measured voltage. The first Wheatstone bridge circuit comprises four longitudinally arranged resistance strain gauges for measuring bending moment; and the second Wheatstone bridge circuit comprises four transversely arranged resistance strain gauges for measuring torque.

8. The apparatus of claim 7, wherein the apparatus is configured to determine the dynamic torque of the drive mechanism of the spacecraft battery array start-stop timing design based on the measured current and the measured voltage. ​

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