控制力矩陀螺高速轴承滚动体空间运动分析与测量  

Analysis and measurements of spatial motion characteristics of high-speed bearing balls in a control moment gyroscope

作　　者：苗江海 卢文博 薛俊鹏 田兴[3] 周刚[3] 蒲伟[1,2] MIAO Jianghai;LU Wenbo;XUE Junpeng;TIAN Xing;ZHOU Gang;PU Wei(School of Aeronautics and Astronautics,Sichuan University,Chengdu 610065,China;Key Laboratory of Advanced Spatial Mechanism and Intelligent Spacecraft(Ministry of Education),Sichuan University,Chengdu 610065,China;Beijing Institute of Control Engineering,Beijing 100094,China)

机构地区：[1]四川大学空天科学与工程学院,成都610065 [2]四川大学空间先进机构与智能飞行器教育部重点实验室,成都610065 [3]北京控制工程研究所,北京100094

出　　处：《清华大学学报(自然科学版)》2025年第2期338-349,共12页Journal of Tsinghua University(Science and Technology)

基　　金：国家自然科学基金面上项目(52275206)。

摘　　要：控制力矩陀螺(CMG)是重要的空间执行机构,受柔性转子和外框架耦合运动影响,高速轴承容易因滚动体异常滑动发生润滑失效和磨损,引起CMG微振动。为揭示CMG高速滚动体空间运动特性,该文考虑轴承接触与润滑状态、柔性转子、框架-轴承-转子耦合效应等因素,基于有限单元法建立了CMG非线性动力学模型,分析了转子柔性特征对CMG高速滚动体接触与空间运动特性的影响,进一步搭建了CMG高速滚动体运动原位测量实验台,基于双目视觉技术实现了滚动体空间运动测量,验证了CMG动力学模型的正确性。研究表明,转子柔性会改变径向力和力矩的分布,影响滚动体的接触行为,减小滚动体俯仰角,增大滚动体与内滚道的旋滚比。[Objective]The control moment gyroscope(CMG)is a crucial actuator for spacecraft,such as space stations and high-resolution satellites,enabling attitude regulation and pointing control.The CMG offers high efficiency and generates significant output torque.It mainly consists of a high-speed rotor,a low-speed gimbal,and bearings.Microturbulence within the CMG,which limits the precision of spacecraft attitude control,arises from the flexible characteristics of the high-speed rotor and bearing wear failure.High-speed bearings,commonly used in spaceflight,operate under challenging conditions of time-varying load and speed,making them prone to wear and lubrication failure due to anomalous ball sliding.This is a major contributing factor to CMG failure and micro-vibration.Therefore,this study develops a CMG dynamics model that accounts for rotor flexibility,the coupling effect between the gimbal,bearing,and rotor,and bearing contact behavior.The model can be used to analyze the motion state of the balls and investigate the ball sliding mechanism.[Methods]The flexible shaft in the CMG is modeled as a Timoshenko beam unit,and a finite element dynamics model of the rotor is constructed,considering the rotor's flexible deformation,gyroscopic effect,and unbalanced forces and moments.According to the cylindrical coordinate system of the bearing,a set of dynamic equations is developed for the balls,raceways,and cage.The mass and gyro matrices are derived through the calculation of the kinetic energy of the CMG system using the Lagrange method.The nonlinear dynamics equations of the system are then obtained by coupling the bearing dynamics equations with the flexible rotor dynamics equations.In this model,the time-varying high-speed bearing support stiffness allows for real-time coupling between bearing analysis and system dynamics.An experimental platform is established for in-situ measurement of high-speed ball motion in the CMG,and binocular vision technology is employed to track the spatial motion of the balls.The model's a

关 键 词：控制力矩陀螺 滚动体运动 滚动体测量 转子动力学 

分 类 号：TH133.331[机械工程—机械制造及自动化]