Research On Disturbance Testing System For Two-Axis Rotating Mechanisms

Two-axis rotating mechanisms are widely used in the satellite antenna pointing systems, spacemanipulators and other fields. Obtaining of the disturbing forces of this kind of two-axis rotatingmechanism to its base body is very important for the design and improvement of such systems. In thisthesis, a testing system for the measurement of the disturbing forces of a two-axis rotating mechanismis developed. The main works are as following.First, a design plan for the system to measure the disturbing forces of the two-axis rotatingmechanism is set forth and the key components of the system are constructed. Particularly, thesix-component dynamometer which is the key sensor used in the system is introduced and analyzed indetail and its accuracy characteristics are discussed.Secondly, software for multi-channel signals sampling with real-time filtering is developed. Theidea to achieve multi-channel real-time filtering by LabVIEW programming language is proposed.The functions of the software are completed to meet the needs of the two-axis rotating mechanismtesting system and the critical points are discussed. A compound design pattern based onproducer-consumer model is used to develop the software, so that the interface is user-friendly and itis also convenient for expansion and further development.Thirdly, the application of the measuring system to an actual satellite antenna positioningsystems is researched and the simulation of the microgravity on the ground is considered. A dynamiccalibration test is conducted to verify the accuracy of the measuring system. A centrifugal force withhigh precision is generated as the calibration reference forces. The results show the measuringsystem is reliable and accurate..Finally, the measured signals are analyzed and the problems of filtering parameters selection,peak average method are discussed. Results of different methods to eliminate the trends in the signalsare compared.