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Modeling and testing method for platform body mass unbalanced torque

A technology of mass imbalance and testing method, which is applied in the field of inertial testing, can solve the problems affecting the stability of the inertial space of the platform body, the change of the mass distribution of the trimmed platform body, and the reduction of the accuracy of the platform, so as to achieve convenient and considerate testing. Factor comprehensive high precision, the effect of improving the solution speed

Active Publication Date: 2018-09-11
BEIJING INST OF AEROSPACE CONTROL DEVICES
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  • Abstract
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  • Application Information

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Problems solved by technology

However, this method has the following disadvantages: (1) Theoretically, the trim quality can achieve very high resolution, but in engineering implementation it can only achieve a resolution of 0.1g; (2) the knife edge and platform There is friction at the contact point of the body shaft, which affects the trimming accuracy; (3) multi-angle trimming is required to achieve the coincidence of the center of mass and the rotating shaft, and the trimming process is cumbersome; (4) in the actual assembly process, due to the replacement of components and the rearrangement of circuits and other problems will cause the mass distribution of the trimmed platform to change
This disturbance moment will affect the stability of the platform body relative to the inertial space, thereby reducing the accuracy of the platform.

Method used

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  • Modeling and testing method for platform body mass unbalanced torque
  • Modeling and testing method for platform body mass unbalanced torque
  • Modeling and testing method for platform body mass unbalanced torque

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Embodiment 1

[0062] The test method proposed in this paper is verified experimentally. Input torque M of the moment motor at the shaft end of the platform body m =0.0072N·m, moment of inertia J=0.038kg·m. Due to the mass eccentricity of the platform body, under the action of the motor torque, the rotational angular velocity of the platform body changes periodically, such as figure 2 shown.

[0063] Using the Kalman filter to figure 2 The test data in the parameter identification is carried out, and the state quantity x at each time point is respectively obtained 1 、x 2 with value, such as Figure 3-5 shown. As can be seen from the figure, the state quantity x 1 、x 2 with After the platform motion is stabilized, it basically remains constant. Image 6 It is the angular velocity obtained by the actual measurement and the angular velocity obtained by fitting the identification parameters. It can be seen that the fitting result is in good agreement with the actual measurement θ'...

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Abstract

The invention provides a modeling and testing method for platform body mass unbalanced torque. A kinetic model of the platform body mass unbalanced torque is established and is simplified, and the mass unbalance torque of the platform body is tested through the model. According to the invention, the constant disturbance torque of the platform body is quantitatively given, and the rotating precision of the inertia platform can be higher. The method for testing the platform body mass unbalanced torque is provided, and a dynamic mode is creatively used for measuring the inertia platform body massunbalanced torque, a torque motor is used for driving the platform body to rotate, the rotating angular speed output of the platform is measured, and the parameter identification of the angular velocity is carried out, and the disturbance torque is quantitatively given. The mass eccentricity is determined; the principle is simple, the test is convenient, and the engineering implementation is easy. The interference torque is considered, the comprehensive precision of factors is considered, further simplification is carried out, and the solving speed is increased.

Description

technical field [0001] The invention relates to a modeling and testing method for the mass unbalanced moment of a platform body, and belongs to the technical field of inertial testing. Background technique [0002] In the process of platform assembly, in order to avoid the mass eccentricity interference moment caused by the misalignment of the center of mass of the platform with respect to the rotation axis of the platform, the platform needs to be trimmed. In current engineering, a static method is used to balance the platform body before the platform body is assembled. However, this method has the following disadvantages: (1) Theoretically, the trim quality can achieve very high resolution, but in engineering implementation it can only achieve a resolution of 0.1g; (2) the knife edge and platform There is friction at the contact point of the body shaft, which affects the trimming accuracy; (3) multi-angle trimming is required to achieve the coincidence of the center of ma...

Claims

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Application Information

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IPC IPC(8): G01L5/00G01M1/22G01M1/28
CPCG01L5/0076G01M1/22G01M1/28
Inventor 魏宗康周姣
Owner BEIJING INST OF AEROSPACE CONTROL DEVICES
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