CN106066632A - Air supporting simulator barycenter and rotary inertia independence continuous adjustment system and control method - Google Patents
Air supporting simulator barycenter and rotary inertia independence continuous adjustment system and control method Download PDFInfo
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Abstract
Description
技术领域technical field
本发明涉及一种气浮模拟器质心和转动惯量独立连续调节系统及调节方法，属于气浮模拟器质心和转动惯量调节系统及调节方法技术领域。The invention relates to an independent and continuous adjustment system and adjustment method for the center of mass and moment of inertia of an air flotation simulator, and belongs to the technical field of an adjustment system and an adjustment method for the center of mass and moment of inertia of an air flotation simulator.
背景技术Background technique
在工业控制、航空航天控制领域，特别是飞行器、航天器，控制对象的质心和转动惯量参数对控制系统设计有重要意义，是实现精确的快速机动控制重要参数。一类地面的模拟设备可实现对飞行器、航天器的高精度的无摩擦的微重力环境模拟。该类设备通过气浮球轴承实现模拟器绕三个轴向的无摩擦的自由转动，可在地面模拟航天器的动力学、验证控制算法等。而对于航空航天器地面的模拟设备，在对航天器的控制算法进行仿真验证时，通常要求设计的模拟器的转动惯量与真实航天器的转动惯量相同。同时要调节模拟器的质心，使模拟器的质心和模拟器的旋转中心重合，来减少重力力矩的干扰。传统的调节方法是通过增加/减少配重质量块的形式，来改变模拟器的质心和转动惯量。这种方法尽管能改变模拟器的质心和转动惯量，但存在很多缺点，一是在增加/减少质量块的同时，不仅增加/减少了一个方向的转动惯量，同时引起另两个方向的转动惯量增加/减少，而我们在调节航天器模拟器惯性参数时，有时转动惯量只有一个方向存在的偏差，只需要调节一个方向的转动惯量，这时，通过增加/减少质量块的方式是不可取的。二是增加/减少质量块调节方式不是线性调节，每次调整，只能离散增加/减少质量块。并且这种方式也不适用于在线的质心惯量调节。因此传统的方法有很大的局限性。In the fields of industrial control and aerospace control, especially for aircraft and spacecraft, the center of mass and moment of inertia parameters of the control object are of great significance to the design of the control system, and are important parameters to achieve precise and fast maneuvering control. A type of ground simulation equipment can realize high-precision frictionless microgravity environment simulation for aircraft and spacecraft. This type of equipment realizes the frictionless free rotation of the simulator around three axes through the air bearing ball bearing, and can simulate the dynamics of the spacecraft and verify the control algorithm on the ground. For the simulation equipment on the ground of aerospace vehicles, when the control algorithm of the spacecraft is simulated and verified, it is usually required that the moment of inertia of the designed simulator is the same as that of the real spacecraft. At the same time, the center of mass of the simulator should be adjusted so that the center of mass of the simulator coincides with the center of rotation of the simulator to reduce the interference of the gravitational moment. The traditional adjustment method is to change the center of mass and moment of inertia of the simulator by increasing/decreasing the counterweight mass. Although this method can change the center of mass and moment of inertia of the simulator, it has many disadvantages. First, when increasing/decreasing the mass block, it not only increases/decreases the moment of inertia in one direction, but also causes the moment of inertia in the other two directions Increase/decrease, and when we adjust the inertial parameters of the spacecraft simulator, sometimes the moment of inertia only has a deviation in one direction, and only need to adjust the moment of inertia in one direction. At this time, it is not advisable to increase/decrease the mass block . The second is that the adjustment method of increasing/decreasing the mass block is not a linear adjustment, and each adjustment can only increase/decrease the mass block discretely. And this method is not suitable for online mass center inertia adjustment. Therefore, traditional methods have great limitations.
发明内容Contents of the invention
本发明的目的是为了解决上述现有技术存在的问题，进而提供一种气浮模拟器质心和转动惯量独立连续调节系统和调节方法。The object of the present invention is to solve the above-mentioned problems in the prior art, and further provide an independent and continuous adjustment system and adjustment method for the centroid and moment of inertia of the air flotation simulator.
本发明的目的是通过以下技术方案实现的：The purpose of the present invention is achieved through the following technical solutions:
一种气浮模拟器质心和转动惯量独立连续调节系统，包括：载荷安装盘上层盘、x轴一号调节机构、x轴二号调节机构、载荷安装盘下层盘、载荷安装盘支柱、模拟器立柱、气浮球轴承、y轴一号调节机构、y轴二号调节机构、z轴一号调节机构和z轴二号调节机构，所述载荷安装盘上层盘和载荷安装盘下层盘上下同心圆设置，载荷安装盘上层盘和载荷安装盘下层盘之间设置有载荷安装盘支柱，载荷安装盘支柱的上端与载荷安装盘上层盘相连接，载荷安装盘支柱的下端与载荷安装盘下层盘相连接，载荷安装盘下层盘的中心设有通透空间，模拟器立柱的上端与载荷安装盘上层盘之间设有气浮球轴承，载荷安装盘上层盘上安装有x轴一号调节机构和y轴一号调节机构，载荷安装盘下层盘上安装有x轴二号调节机构和y轴二号调节机构，z轴一号调节机构和z轴二号调节机构相互平行的安装在载荷安装盘上层盘的曲面上。An independent and continuous adjustment system for the center of mass and moment of inertia of an air flotation simulator, comprising: an upper plate of a load mounting plate, a No. Upright column, air bearing, y-axis No. 1 adjustment mechanism, y-axis No. 2 adjustment mechanism, z-axis No. 1 adjustment mechanism and z-axis No. 2 adjustment mechanism, the upper disc of the load mounting plate and the lower plate of the load mounting plate are concentric up and down Round setting, a load mounting plate support is set between the upper plate of the load mounting plate and the lower plate of the load mounting plate, the upper end of the support of the load mounting plate is connected with the upper plate of the load mounting plate, and the lower end of the pillar of the load mounting plate is connected with the lower plate of the load mounting plate There is a transparent space in the center of the lower plate of the load mounting plate, and an air-floating ball bearing is provided between the upper end of the simulator column and the upper plate of the load mounting plate, and the No. 1 adjustment mechanism of the x-axis is installed on the upper plate of the load mounting plate and the No. 1 adjustment mechanism of the y-axis, the No. 2 adjustment mechanism of the x-axis and the No. 2 adjustment mechanism of the y-axis are installed on the lower plate of the load mounting plate, and the No. on the surface of the upper disc.
一种气浮模拟器质心和转动惯量独立连续调节系统的调节方法，An adjustment method for the independent continuous adjustment system of the center of mass and moment of inertia of the air flotation simulator,
步骤一：已知6个调节机构上每个调节机构质量块的质量mi(i＝1,2,...6)，整个调节对象的质量为m；开始每一次调整质心惯量前，测量得到每个质量块在模拟器上的初始位置量xi、yi、zi(i＝1,2,...6)；Step 1: The mass m i (i=1,2,...6) of each mass block of each regulating mechanism on the 6 regulating mechanisms is known, and the mass of the entire regulating object is m; before each adjustment of the center of mass inertia, measure Obtain the initial position quantities x i , y i , z i (i=1,2,...6) of each mass block on the simulator;
步骤二：x轴的质量块只能沿着x方向移动，分别用Δxi(i＝1,2)表示x轴向质量块的移动量，y轴的质量块只能沿着y方向移动，分别用Δyi(i＝3,4)表示y轴向质量块的移动量，z轴的质量块只能沿着z方向移动，分别用Δzi(i＝5,6)表示z轴向质量块的移动量；Step 2: The mass block on the x-axis can only move along the x direction, respectively use Δxi ( i =1, 2) to represent the movement amount of the mass block on the x-axis, and the mass block on the y-axis can only move along the y direction, Use Δy i (i=3,4) to represent the movement of the mass block in the y-axis, and the mass block in the z-axis can only move along the z-direction, and use Δz i (i=5,6) to represent the mass in the z-axis block movement amount;
质量块移动量和惯量的变化量之间的关系为The relationship between the moving amount of mass block and the changing amount of inertia is
其中，转动惯量调整量ΔIx表示模拟器绕体轴x轴的转动惯量所需要的调整量，Among them, the moment of inertia adjustment ΔI x represents the adjustment amount required for the moment of inertia of the simulator around the body axis x-axis,
转动惯量调整量ΔIy表示模拟器绕体轴y轴的转动惯量所需要的调整量，The moment of inertia adjustment ΔI y represents the adjustment required for the moment of inertia of the simulator around the body axis y-axis,
转动惯量调整量ΔIz表示模拟器绕体轴z轴的转动惯量所需要的调整量，The moment of inertia adjustment ΔI z represents the adjustment required for the moment of inertia of the simulator around the z-axis of the body axis,
质量块移动量和质心变化量之间的关系为The relationship between the movement of the mass block and the change of the center of mass is
其中，质心调整量ΔRx表示模拟器质心在x方向上所需要的调整量，Among them, the centroid adjustment ΔR x represents the adjustment required by the simulator centroid in the x direction,
质心调整量ΔRy表示模拟器质心在y方向上所需要的调整量，The centroid adjustment ΔR y represents the adjustment required by the simulator centroid in the y direction,
质心调整量ΔRz表示模拟器质心在z方向上所需要的调整量；The centroid adjustment ΔR z represents the adjustment required by the simulator centroid in the z direction;
步骤三：调整转动惯量时，为保证质心不变，令公式四、公式五和公式六等于零，得到调整量Δxi(i＝1,2)、Δyi(i＝3,4)和Δzi(i＝5,6)的关系，即在调整过程中，各方向的质量块沿着相反的方向移动，移动量满足特别地，当质量块的质量相同时，两质量块沿着相反的方向调整相同的距离，这样实现不改变质心调节转动惯量；Step 3: When adjusting the moment of inertia, in order to ensure that the center of mass remains unchanged, set formula 4, formula 5 and formula 6 to be equal to zero, and obtain adjustments Δx i (i=1,2), Δy i (i=3,4) and Δz i (i=5,6) relationship, that is, during the adjustment process, the mass blocks in each direction move in opposite directions, and the moving amount satisfies In particular, when the masses of the mass blocks are the same, the two mass blocks are adjusted to the same distance in opposite directions, so that the moment of inertia can be adjusted without changing the center of mass;
步骤四：若增加或减小x轴转动惯量时，调整y向和z向质量块，移动量为Δyi(i＝3,4)、Δzi(i＝5,6)，当沿着远离中心的方向移动质量块时，增大惯量，当沿着趋近中心线的方向移动质量块时，减小惯量，增大x轴转动惯量，则调整y轴和z轴的质量块移动量，同时要保证z轴和y轴转动惯量不变，即公式三和公式二等于零，相应地调整x轴质量块移动量；调整量ΔIx和质量块移动量满足：Step 4: If the moment of inertia of the x-axis is increased or decreased, adjust the mass blocks in the y-direction and z-direction, the movement amount is Δy i (i=3,4), Δz i (i=5,6), when moving away from When moving the mass block in the direction of the center, increase the inertia, when moving the mass block along the direction approaching the center line, reduce the inertia, increase the moment of inertia of the x-axis, and adjust the moving amount of the mass block on the y-axis and z-axis, At the same time, it is necessary to ensure that the moments of inertia of the z-axis and the y-axis remain unchanged, that is, formula 3 and formula 2 are equal to zero, and the movement amount of the x-axis mass block is adjusted accordingly; the adjustment amount ΔI x and the movement amount of the mass block satisfy:
当减小x轴转动惯量，则调整y轴和z轴的质量块移动量，同时要保证z轴和y轴转动惯量不变，即公式三和公式二等于零，相应地调整x轴质量块移动量；调整量ΔIx(ΔIx为负)和质量块移动量满足：When reducing the moment of inertia of the x-axis, adjust the moving amount of the mass block of the y-axis and z-axis, and at the same time ensure that the moment of inertia of the z-axis and y-axis remains unchanged, that is, formula 3 and formula 2 are equal to zero, and adjust the movement of the mass block of the x-axis accordingly amount; the adjustment amount ΔI x (ΔI x is negative) and the movement amount of the mass block satisfy:
步骤五，按照步骤四的方法，独立调整y轴转动惯量和z轴转动惯量，不改变质心位置和其它轴的转动惯量。Step 5, according to the method of step 4, independently adjust the moment of inertia of the y-axis and the moment of inertia of the z-axis without changing the position of the center of mass and the moment of inertia of other axes.
本发明的技术效果：Technical effect of the present invention:
本发明的调节系统可连续调整惯量和质心，并且配合电机实现在线调节。调节系统位置安装灵活，只需要保证每个轴向有两个调节机构即可。通过本发明的调节方法，使得惯量质心可以独立调节。它有效解决了气浮模拟器调整质心和转动惯量的需求，使得模拟器实现高精度的仿真和控制算法验证。本发明不仅适用于航空航天器模拟器的质心惯量调节，而且适用于实际的航空航天器调节。The adjustment system of the invention can continuously adjust the inertia and the center of mass, and cooperate with the motor to realize online adjustment. The position of the adjustment system can be installed flexibly, and it is only necessary to ensure that there are two adjustment mechanisms for each axis. Through the adjustment method of the present invention, the center of inertia can be adjusted independently. It effectively solves the need to adjust the center of mass and moment of inertia of the air flotation simulator, enabling the simulator to achieve high-precision simulation and control algorithm verification. The invention is not only suitable for the adjustment of the center of mass inertia of the aerospace vehicle simulator, but also suitable for the actual adjustment of the aerospace vehicle.
附图说明Description of drawings
图1为气浮模拟器质心和转动惯量独立连续调节系统的结构示意图。Figure 1 is a schematic structural diagram of an independent continuous adjustment system for the center of mass and moment of inertia of the air flotation simulator.
图2为调整转动惯量不改变质心位置的方法中增加惯量的示意图。Fig. 2 is a schematic diagram of increasing the inertia in the method of adjusting the moment of inertia without changing the position of the center of mass.
图3为调整转动惯量不改变质心位置的方法中减少惯量的示意图。Fig. 3 is a schematic diagram of reducing inertia in the method of adjusting the moment of inertia without changing the position of the center of mass.
图4为调整质心不改变转动惯量的方法中质量块移动方向的示意图。Fig. 4 is a schematic diagram of the moving direction of the mass block in the method of adjusting the center of mass without changing the moment of inertia.
图中的附图标记，1为载荷安装盘上层盘，2为调节机构电机，3为调节机构质量块，4为x轴一号调节机构，5为x轴二号调节机构，6为载荷安装盘下层盘，7为载荷安装盘支柱，8为模拟器立柱，9为气浮球轴承，10为y轴一号调节机构，11为y轴二号调节机构，12为z轴一号调节机构，13为z轴二号调节机构。Reference signs in the figure, 1 is the upper plate of the load mounting plate, 2 is the motor of the adjustment mechanism, 3 is the mass block of the adjustment mechanism, 4 is the first adjustment mechanism of the x-axis, 5 is the second adjustment mechanism of the x-axis, and 6 is the load installation The lower layer of the disk, 7 is the load mounting plate pillar, 8 is the simulator column, 9 is the air-floating ball bearing, 10 is the 1st adjustment mechanism of the y-axis, 11 is the 2nd adjustment mechanism of the y-axis, and 12 is the 1st adjustment mechanism of the z-axis , 13 is the No. 2 adjustment mechanism of the z axis.
具体实施方式detailed description
下面将结合附图对本发明做进一步的详细说明：本实施例在以本发明技术方案为前提下进行实施，给出了详细的实施方式，但本发明的保护范围不限于下述实施例。The present invention will be described in further detail below in conjunction with the accompanying drawings: the present embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation is provided, but the protection scope of the present invention is not limited to the following embodiments.
如图1所示，本实施例所涉及的一种气浮模拟器质心和转动惯量独立连续调节系统，包括：载荷安装盘上层盘1、x轴一号调节机构4、x轴二号调节机构5、载荷安装盘下层盘6、载荷安装盘支柱7、模拟器立柱8、气浮球轴承9、y轴一号调节机构10、y轴二号调节机构11、z轴一号调节机构12和z轴二号调节机构13，所述载荷安装盘上层盘1和载荷安装盘下层盘6上下同心圆设置，载荷安装盘上层盘1和载荷安装盘下层盘6之间设置有载荷安装盘支柱7，载荷安装盘支柱7的上端与载荷安装盘上层盘1相连接，载荷安装盘支柱7的下端与载荷安装盘下层盘6相连接，载荷安装盘下层盘6的中心设有通透空间，模拟器立柱8的上端与载荷安装盘上层盘1之间设有气浮球轴承9，载荷安装盘上层盘1上安装有x轴一号调节机构4和y轴一号调节机构10，载荷安装盘下层盘6上安装有x轴二号调节机构5和y轴二号调节机构11，z轴一号调节机构12和z轴二号调节机构13相互平行的安装在载荷安装盘上层盘1的曲面上。As shown in Figure 1, an independent and continuous adjustment system for the center of mass and moment of inertia of the air flotation simulator involved in this embodiment includes: the upper plate 1 of the load mounting plate, the first x-axis adjustment mechanism 4, and the second x-axis adjustment mechanism 5. The lower plate of the load mounting plate 6, the pillar of the load mounting plate 7, the simulator pillar 8, the air bearing 9, the y-axis No. 1 adjustment mechanism 10, the y-axis No. 2 adjustment mechanism 11, the z-axis No. 1 adjustment mechanism 12 Z-axis No. 2 adjustment mechanism 13, the upper disk 1 of the load installation disk and the lower disk 6 of the load installation disk are arranged in concentric circles up and down, and the load installation disk pillar 7 is arranged between the upper disk 1 of the load installation disk and the lower disk 6 of the load installation disk , the upper end of the load mounting plate pillar 7 is connected to the upper plate 1 of the load mounting plate, the lower end of the load mounting plate pillar 7 is connected to the lower plate 6 of the load mounting plate, and the center of the lower plate 6 of the load mounting plate is provided with a transparent space. An air-floating ball bearing 9 is arranged between the upper end of the device column 8 and the upper disc 1 of the load mounting plate, and the No. The lower plate 6 is installed with the No. 2 x-axis adjustment mechanism 5 and the No. 2 y-axis adjustment mechanism 11, and the No. 1 z-axis adjustment mechanism 12 and the No. 2 z-axis adjustment mechanism 13 are installed on the curved surface of the upper plate 1 of the load mounting plate in parallel with each other. superior.
所述x轴一号调节机构4和y轴一号调节机构10均安装在载荷安装盘上层盘1的上端。Both the No. 1 x-axis adjustment mechanism 4 and the No. 1 y-axis adjustment mechanism 10 are installed on the upper end of the upper disc 1 of the load mounting disc.
所述x轴一号调节机构4和y轴一号调节机构10均安装在载荷安装盘上层盘1的下端。Both the x-axis No. 1 adjustment mechanism 4 and the y-axis No. 1 adjustment mechanism 10 are installed at the lower end of the upper disc 1 of the load mounting disc.
所述x轴二号调节机构5和y轴二号调节机构11均安装在载荷安装盘下层盘6的上端。Both the No. 2 x-axis adjustment mechanism 5 and the No. 2 y-axis adjustment mechanism 11 are installed on the upper end of the lower disc 6 of the load mounting disc.
所述x轴二号调节机构5和y轴二号调节机构11均安装在载荷安装盘下层盘6的下端。Both the No. 2 x-axis adjustment mechanism 5 and the No. 2 y-axis adjustment mechanism 11 are installed at the lower end of the lower disc 6 of the load mounting disc.
调节机构的安装位置可灵活改变，安装在载荷安装盘的上端或下端都可以，只要保证每个轴向方向都安装两个调节机构即可。The installation position of the adjustment mechanism can be changed flexibly, and it can be installed on the upper end or the lower end of the load mounting plate, as long as two adjustment mechanisms are installed in each axial direction.
所述x轴一号调节机构4、x轴二号调节机构5、y轴一号调节机构10、y轴二号调节机构11、z轴一号调节机构12和z轴二号调节机构13均包括调节机构电机2和调节机构质量块3，x轴一号调节机构4和x轴二号调节机构5上的调节机构质量块3均沿x轴方向移动，y轴一号调节机构10和y轴二号调节机构11上的调节机构质量块3均沿y轴方向移动，z轴一号调节机构12和z轴二号调节机构13上的调节机构质量块3均沿z轴方向移动。The first adjustment mechanism 4 of the x-axis, the second adjustment mechanism 5 of the x-axis, the first adjustment mechanism 10 of the y-axis, the second adjustment mechanism 11 of the y-axis, the first adjustment mechanism 12 of the z-axis and the second adjustment mechanism 13 of the z-axis are all Including the adjustment mechanism motor 2 and the adjustment mechanism quality block 3, the adjustment mechanism quality block 3 on the x-axis No. 1 adjustment mechanism 4 and the x-axis No. 2 adjustment mechanism 5 all move along the x-axis direction, and the y-axis No. The adjustment mechanism mass blocks 3 on the second axis adjustment mechanism 11 all move along the y-axis direction, and the adjustment mechanism mass blocks 3 on the z-axis first adjustment mechanism 12 and the z-axis second adjustment mechanism 13 both move along the z-axis direction.
所述x轴一号调节机构4和x轴二号调节机构5上的两个调节机构质量块3一个定位在x轴一号调节机构4长度方向的1/4处，另一个定位在x轴二号调节机构5长度方向的3/4处；所述y轴一号调节机构10和y轴二号调节机构11上的两个调节机构质量块3一个定位在y轴一号调节机构10长度方向的1/4处，另一个定位在y轴二号调节机构11长度方向的3/4处；z轴一号调节机构12和z轴二号调节机构13上的两个调节机构质量块3一个定位在z轴一号调节机构12长度方向的1/4处，另一个定位在z轴二号调节机构13长度方向的3/4处。One of the two adjustment mechanism mass blocks 3 on the first x-axis adjustment mechanism 4 and the second x-axis adjustment mechanism 5 is positioned at 1/4 of the length direction of the first x-axis adjustment mechanism 4, and the other is positioned at the x-axis 3/4 of the length direction of the No. 2 adjustment mechanism 5; the two adjustment mechanism masses 3 on the No. 1 adjustment mechanism 10 of the y-axis and the No. 2 adjustment mechanism 11 of the y-axis are positioned at the length of the No. 1 adjustment mechanism 10 of the y-axis direction, the other is positioned at 3/4 of the length direction of the No. 2 adjustment mechanism 11 of the y-axis; the two adjustment mechanism mass blocks 3 on the No. 1 adjustment mechanism 12 of the Z-axis and the No. 2 adjustment mechanism 13 of the Z-axis One is located at 1/4 of the length direction of the No. 1 adjusting mechanism 12 on the z-axis, and the other is located at 3/4 of the length direction of the No. 2 adjusting mechanism 13 on the Z-axis.
如图2～图4所示，本实施例所涉及的一种气浮模拟器质心和转动惯量独立连续调节系统的调节方法，包括以下步骤：As shown in Figures 2 to 4, an adjustment method for an independent continuous adjustment system for the center of mass and moment of inertia of the air flotation simulator involved in this embodiment includes the following steps:
步骤一：已知(安装前测得)6个调节机构上每个调节机构质量块的质量mi(i＝1,2,...6)，整个调节对象的质量为m。开始每一次调整质心惯量前，测量得到每个质量块在模拟器上的初始位置量xi、yi、zi(i＝1,2,...6)。Step 1: The mass m i (i=1, 2, . . . 6) of each mass block of each of the 6 regulating mechanisms is known (measured before installation), and the mass of the entire regulating object is m. Before starting each adjustment of the center of mass inertia, the initial position quantities x i , y i , z i (i=1, 2, . . . 6) of each mass block on the simulator are measured.
步骤二：x轴的质量块只能沿着x方向移动，分别用Δxi(i＝1,2)表示x轴向质量块的移动量，y轴的质量块只能沿着y方向移动，分别用Δyi(i＝3,4)表示y轴向质量块的移动量，z轴的质量块只能沿着z方向移动，分别用Δzi(i＝5,6)表示z轴向质量块的移动量。Step 2: The mass block on the x-axis can only move along the x direction, respectively use Δxi ( i =1, 2) to represent the movement amount of the mass block on the x-axis, and the mass block on the y-axis can only move along the y direction, Use Δy i (i=3,4) to represent the movement of the mass block in the y-axis, and the mass block in the z-axis can only move along the z-direction, and use Δz i (i=5,6) to represent the mass in the z-axis The amount to move the block.
质量块移动量和惯量的变化量之间的关系为The relationship between the moving amount of mass block and the changing amount of inertia is
其中，转动惯量调整量ΔIx表示模拟器绕体轴x轴的转动惯量所需要的调整量，Among them, the moment of inertia adjustment ΔI x represents the adjustment amount required for the moment of inertia of the simulator around the body axis x-axis,
转动惯量调整量ΔIy表示模拟器绕体轴y轴的转动惯量所需要的调整量，The moment of inertia adjustment ΔI y represents the adjustment required for the moment of inertia of the simulator around the body axis y-axis,
转动惯量调整量ΔIz表示模拟器绕体轴z轴的转动惯量所需要的调整量，The moment of inertia adjustment ΔI z represents the adjustment required for the moment of inertia of the simulator around the z-axis of the body axis,
质量块移动量和质心变化量之间的关系为The relationship between the movement of the mass block and the change of the center of mass is
其中，质心调整量ΔRx表示模拟器质心在x方向上所需要的调整量，Among them, the centroid adjustment ΔR x represents the adjustment required by the simulator centroid in the x direction,
质心调整量ΔRy表示模拟器质心在y方向上所需要的调整量，The centroid adjustment ΔR y represents the adjustment required by the simulator centroid in the y direction,
质心调整量ΔRz表示模拟器质心在z方向上所需要的调整量。The centroid adjustment ΔR z represents the required adjustment of the simulator's centroid in the z direction.
步骤三：调整转动惯量时，为保证质心不变，令公式四、公式五和公式六等于零，得到调整量Δxi(i＝1,2)、Δyi(i＝3,4)和Δzi(i＝5,6)的关系，即在调整过程中，各方向的质量块沿着相反的方向移动，移动量满足特别地，当质量块的质量相同时，两质量块沿着相反的方向调整相同的距离。这样实现不改变质心调节转动惯量。Step 3: When adjusting the moment of inertia, in order to ensure that the center of mass remains unchanged, set formula 4, formula 5 and formula 6 to be equal to zero, and obtain adjustments Δx i (i=1,2), Δy i (i=3,4) and Δz i (i=5,6) relationship, that is, during the adjustment process, the mass blocks in each direction move in opposite directions, and the moving amount satisfies In particular, when the masses of the masses are the same, the two masses are adjusted in opposite directions by the same distance. In this way, the moment of inertia can be adjusted without changing the center of mass.
步骤四：若增加或减小x轴转动惯量时，调整y向和z向质量块，移动量为Δyi(i＝3,4)、Δzi(i＝5,6)，当沿着远离中心的方向移动质量块时，增大惯量，如图2；当沿着趋近中心线的方向移动质量块时，减小惯量，如图3。增大x轴转动惯量，则按图2的方式调整y轴和z轴的质量块移动量，同时要保证z轴和y轴转动惯量不变，即公式三和公式二等于零，相应地按照图3的方式调整x轴质量块移动量。调整量ΔIx和质量块移动量满足：Step 4: If the moment of inertia of the x-axis is increased or decreased, adjust the mass blocks in the y-direction and z-direction, the movement amount is Δy i (i=3,4), Δz i (i=5,6), when moving away from When moving the mass block in the direction of the center, increase the inertia, as shown in Figure 2; when moving the mass block along the direction approaching the center line, reduce the inertia, as shown in Figure 3. To increase the moment of inertia of the x-axis, adjust the mass movement of the y-axis and z-axis according to the method shown in Figure 2, and at the same time ensure that the moment of inertia of the z-axis and y-axis remains unchanged, that is, formula 3 and formula 2 are equal to zero, correspondingly according to the figure 3 ways to adjust the amount of movement of the x-axis mass block. The adjustment amount ΔI x and the movement amount of the mass block satisfy:
当减小x轴转动惯量，则按图3的方式调整y轴和z轴的质量块移动量，同时要保证z轴和y轴转动惯量不变，即公式三和公式二等于零，相应地按照图2的方式调整x轴质量块移动量。调整量ΔIx(ΔIx为负)和质量块移动量满足：When reducing the moment of inertia of the x-axis, adjust the movement of the mass blocks of the y-axis and z-axis according to the method shown in Figure 3, and at the same time ensure that the moment of inertia of the z-axis and y-axis remains unchanged, that is, formula 3 and formula 2 are equal to zero, and correspondingly according to The way shown in Figure 2 adjusts the moving amount of the x-axis mass block. The adjustment amount ΔI x (ΔI x is negative) and the moving amount of the mass satisfy:
步骤五，按照步骤四的方法，可独立调整y轴转动惯量和z轴转动惯量，不改变质心位置和其它轴的转动惯量。Step 5, according to the method of step 4, the moment of inertia of the y-axis and the moment of inertia of the z-axis can be adjusted independently without changing the position of the center of mass and the moment of inertia of other axes.
以下是调整质心不改变转动惯量的方法，包括，步骤1：开始每一次调整质心惯量前，测量得到每个质量块在模拟器上的初始位置量xi、yi、zi(i＝1,2,...6)。调整x向质心位置，调整量为ΔRx。调整量满足公式四，并且根据不改变惯量要求可以得到The following is the method of adjusting the center of mass without changing the moment of inertia, including, step 1: before each adjustment of the center of mass inertia, measure the initial position of each mass on the simulator x i , y i , z i (i=1 ,2,...6). Adjust the position of the center of mass in the x direction, and the adjustment amount is ΔR x . The adjustment amount satisfies formula 4, and according to the requirement of not changing the inertia, it can be obtained
通过公式十三可以解得移动量，对求得的两组解按照移动量变化较小原则选取移动量移动质量块。移动的过程为：两个质量块都沿着质心调整方向移动，一个远离中心线，引起惯量增大，另一个接近中心线，使惯量减小，总和保持惯量不变，移动过程如图4所示。The amount of movement can be obtained by solving the formula 13, and the moving mass of the moving amount is selected according to the principle that the change of the amount of movement is small for the obtained two sets of solutions. The moving process is: both mass blocks move along the center of mass adjustment direction, one is far away from the center line, causing the inertia to increase, and the other is close to the center line, causing the inertia to decrease, and the total inertia remains unchanged. The moving process is shown in Figure 4 Show.
步骤2：调整y向质心，调整量为ΔRy。调整量满足公式五，并且根据不改变惯量要求可以得到Step 2: Adjust the centroid in the y direction, and the adjustment amount is ΔR y . The adjustment amount satisfies formula 5, and according to the requirement of not changing the inertia, it can be obtained
通过公式十四可以解得移动量，对求得的两组解按照移动量变化较小原则选取移动量移动质量块。移动的过程为：两个质量块都沿着质心调整方向移动，一个远离中心线，引起惯量增大，另一个接近中心线，使惯量减小，总和保持惯量不变，移动过程如图4所示。The amount of movement can be obtained by solving the formula 14, and the moving mass block of the moving amount is selected according to the principle that the change of the amount of movement is small for the obtained two sets of solutions. The moving process is: both mass blocks move along the center of mass adjustment direction, one is far away from the center line, causing the inertia to increase, and the other is close to the center line, causing the inertia to decrease, and the total inertia remains unchanged. The moving process is shown in Figure 4 Show.
步骤3：调整z向质心，调整量为ΔRz。调整量满足公式六，并且根据不改变惯量要求可以得到Step 3: Adjust the z-direction centroid, the adjustment amount is ΔR z . The adjustment amount satisfies formula 6, and according to the requirement of not changing the inertia, it can be obtained
通过公式十五可以解得移动量，对求得的两组解按照移动量变化较小原则选取移动量移动质量块。移动的过程为：两个质量块都沿着质心调整方向移动，一个远离中心线，引起惯量增大，另一个接近中心线，使惯量减小，总和保持惯量不变，移动过程如图4所示。The amount of movement can be obtained by solving formula 15, and the moving mass block of the amount of movement is selected according to the principle that the variation of the amount of movement is small for the obtained two sets of solutions. The moving process is: both mass blocks move along the center of mass adjustment direction, one is far away from the center line, causing the inertia to increase, and the other is close to the center line, causing the inertia to decrease, and the total inertia remains unchanged. The moving process is shown in Figure 4 Show.
以上所述，仅为本发明较佳的具体实施方式，这些具体实施方式都是基于本发明整体构思下的不同实现方式，而且本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应该以权利要求书的保护范围为准。The above are only preferred specific implementations of the present invention. These specific implementations are all based on different implementations under the overall concept of the present invention, and the scope of protection of the present invention is not limited thereto. Anyone familiar with the technical field Within the technical scope disclosed in the present invention, any changes or substitutions that can be easily conceived by a skilled person shall fall within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.
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| CN116579184B (en) * | 2023-07-05 | 2023-09-22 | 北京未来宇航空间科技研究院有限公司 | Construction method, device and equipment of micro-nano satellite quality characteristic simulation piece |
| CN119437625A (en) * | 2024-10-15 | 2025-02-14 | 中国直升机设计研究所 | Nacelle wind tunnel test model and simulation verification method for rotation flutter analysis |
| CN120761072A (en) * | 2025-09-02 | 2025-10-10 | 中国科学院沈阳自动化研究所 | A derotation test device for a final stage inertia simulator |
| CN120761072B (en) * | 2025-09-02 | 2025-11-11 | 中国科学院沈阳自动化研究所 | Racemization test device of final-stage inertia simulator |
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