CN102590550A - Method for measuring three-dimensional torsion angular rates of linear vibration table - Google Patents
Method for measuring three-dimensional torsion angular rates of linear vibration table Download PDFInfo
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- CN102590550A CN102590550A CN2012100074398A CN201210007439A CN102590550A CN 102590550 A CN102590550 A CN 102590550A CN 2012100074398 A CN2012100074398 A CN 2012100074398A CN 201210007439 A CN201210007439 A CN 201210007439A CN 102590550 A CN102590550 A CN 102590550A
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Abstract
The invention discloses a method for measuring the three-dimensional torsion angular rates of a linear vibration table. According to the conventional measurement method, an angular rate is measured by measuring an angle, the three-dimensional torsion angular rates of the linear vibration table cannot be measured at the same time, and accuracy and reliability cannot be ensured. According to the method, a three-axis integrated fiber-optic gyroscope is used for measuring the additional torsion angular rates of the linear vibration table in three orthogonal directions under different linear vibration frequencies. The three-axis integrated fiber-optic gyroscope is arranged on a tabletop of the linear vibration table, three sensitive axes are kept parallel to a three-dimensional torsion shaft, and the corresponding torsion angular rates in the three orthogonal directions are measured at the same time to evaluate the performance of the linear vibration table. The method has great significance for guidance to a linear vibration table development organization and the development of aerospace; and the gap of simultaneous measurement of the three-dimensional torsion angular rate of the vibration table is filled.
Description
Technical field
The invention belongs to the automatization testing technique field, be specifically related to the measuring method of the three-dimensional torsion angle speed of a kind of line shaking table.
Background technology
Have very big vibration environment in the inertial navigation system real work, inertial navigation system must adapt to the vibration of high-magnitude and the sustained acceleration of high-magnitude.The line shaking table can be simulated the vibration environment condition that is born in the inertia components and parts course of work, is used for the experiment sieving before inertia device gets into equipment.Desirable line shaking table should only wired vibration, and does not have angular oscillation, but actual line shaking table receives product that the restriction of center of gravity variation, stage body rigidity of material, stage body processing technology, line shaking table controller performance is installed, and unavoidably exists three-dimensional to reverse.This three-dimensional is reversed the line vibration performance that has limited the line shaking table.Comprise gyro and Jia Biao in the Inertial Measurement Unit; When Inertial Measurement Unit is positioned over the test of the enterprising column rule vibration performance of the bigger line vibration table surface of torsion angle speed ratio; The responsive size of gyro to torsion angle speed; The gyroscopic drift mutual superposition that causes with line vibration, obscure, be not sure of gyro line vibration performance and whether meet the demands.Therefore, before using the line shaking table environmental experiment and screening are carried out in combination to inertia measurement, must demarcate, make its torsion angle speed except that the line vibration as far as possible little the line shaking table.
The method commonly used of current calibration line shaking table is to adopt two-frequency laser interferometer, and the slotted line shaking table is the torsional displacement of estrade on all directions when vibration, is converted into the angle of reversing according to certain formula again.But this method will guarantee measuring reliability, and light path needs accurately to aim at, and is very high to the installation requirement of catoptron.These factors have restricted this method three-dimensional torsion angle speed of slotted line shaking table accurately and reliably.What the topmost shortcoming of this method was that sensor directly measures is angle, and according to the relation of angle and frequency, the size of calculating torsion angle speed can not directly obtain angular speed again.Also having a shortcoming is to measure three-dimensional torsion angle speed simultaneously.
Optical fibre gyro is the best sensor of measured angular speed, utilizes the Sagnac effect, directly measures the angular speed of carrier with respect to inertial space.Because its bandwidth very high (can reach 1MHz), very high precision (0.001 °/h), and do not need the external reference thing, can realize the autonomous measurement that shaking table is reversed.Usually; The fiber-optic inertial measuring unit comprises three independently gyro and three accelerometers independently; Through optical system multiplex technique and integrated technology with three independently optical fibre gyro be integrated into a three axis optical fibre gyro, be the new direction of the integrated development with miniaturization technology of optical fibre gyro.Zhejiang University has heightened awareness through for many years further investigation aspect three Study on Integrated of optical fibre gyro.Line shaking table research institute has developed a line shaking table according to the requirement of Zhejiang University; Three integrated optical fiber gyros of Zhejiang University's development carry out 6g on this shaking table; When the frequency sweep of 10-3kHz is vibrated; Vibration does not have influence basically to gyro, and the output of three axis optical fibre gyro is the same basically when static when promptly vibrating.When using this three axis optical fibre gyro on another one ordinary lines shaking table, to test, it is very big to measure in the line shaking table vibration processes torsion angle speed, reaches the magnitude of 50 °/s.
Invent a kind of fast directly reliably measuring method the three-dimensional twisting property of shaking table is carried out real-time assessment, the product development of guide line shaking table research institute is had extremely important meaning.A three axis optical fibre gyro is installed on the line vibration table surface; Keep three sensitive axes parallel with three-dimensional torsion shaft respectively; Can measure the torsion angle speed on three corresponding orthogonal directionss simultaneously; Thereby the performance of rapid evaluation line shaking table has been filled up simultaneously the blank of the three-dimensional torsion angle speed of measuring vibrations platform fast, and is significant for aerospace development.
Summary of the invention
The objective of the invention is deficiency, the measuring method of the three-dimensional torsion angle speed of a kind of line shaking table is provided to prior art.
This method is the torsion angle speed on three orthogonal directionss in the slotted line shaking table vibration processes directly; This measuring method is passed through a three axis optical fibre gyro; Be installed on the line vibration table surface; Realization is to measuring torsion angle speed the time on three orthogonal directionss of line vibration table surface, and measuring method implementation step of the present invention is following:
Step (1). on the fixing online vibration table surface of a three axis optical fibre gyro; Wherein first sensitive axes of three axis optical fibre gyro is parallel with line vibration table surface direction of vibration; Second sensitive axes is vertical with the line vibration table, and the direction of vibration of the 3rd sensitive axes and line shaking table is vertical and be parallel to the table top of line shaking table;
Step (2). start line shaking table vibration source; The control line vibration table surface begins vibration with the mode of vibration that requires, and measures the output of three axis optical fibre gyro, and T is after the time; The line vibration table surface stops vibration, obtains torsion angle speed ω 1, ω 2, ω 3 on three orthogonal directionss of line shaking table;
Step (3). if three sensitive directions of three axis optical fibre gyro do not overlap with three orthogonal directionss of slotted line shaking table, obtain parallel, vertical with line vibration table surface direction of vibration, vertical and be parallel to the torsion angle speed of three orthogonal directionss of line vibration table surface with the direction of vibration of line shaking table with the line vibration table through coordinate transformation;
Described time T is greater than 1 second;
In the mode of vibration and time of vibration of described line shaking table, mode of vibration involving vibrations frequency and vibration level can be selected according to the measurement requirement of line shaking table;
In the described step (2), three sensitive directions of three axis optical fibre gyro are mutually orthogonal.
The inventive method beneficial effect:
The present invention provides the method that can measure the three-dimensional torsion angle speed of line shaking table simultaneously, and than traditional line shaking table torsion angle speed measurement method, precision is higher, bandwidth is bigger, operation is quicker, and measurement result is more reliable.Use the inventive method to carry out the assessment of shaking table twisting property, research institute has extremely important meaning to the guide line shaking table.The inventive method has been filled up the blank of the three-dimensional torsion angle speed of measuring vibrations platform simultaneously, and is significant for aerospace development.
Description of drawings
Fig. 1 is the torsion angle speed measurement method synoptic diagram of slotted line shaking table on three orthogonal directionss among the present invention;
Among the figure: 1. three axis optical fibre gyro; 2. line shaking table pedestal; 3. line vibration table surface; 4. vibrating isolation foundation; 5. line shaking table vibration source.
Embodiment
Below in conjunction with shown in the accompanying drawing content of the present invention being described further.
As shown in Figure 1; Be the method synoptic diagram of the torsion angle speed of slotted line shaking table on three orthogonal directionss, a three axis optical fibre gyro 1 be installed on the line vibration table surface 3 through frock that three axis optical fibre gyro 1 is the three-dimensional torsion angle speed of slotted line shaking table simultaneously; Wherein three axis optical fibre gyro 1 sensitive axes Y ' is parallel with the direction of vibration Y of line vibration table surface 3; Another sensitive axes X ' is vertical with line vibration table 3, and is promptly parallel with directions X, and the 3rd sensitive axes Z ' is perpendicular to the direction of vibration Y of line shaking table and be parallel to line vibration table surface 3; Promptly parallel with the Z direction; Shaking table pedestal 2 be positioned at line vibration table surface 3 under, shaking table pedestal 2 is positioned on the vibrating isolation foundation 4, vibrating isolation foundation 4 plays the effect of isolating exterior ambient vibration.
Concrete measuring process is following:
Step (1). as shown in Figure 1; Three axis optical fibre gyro 1 is fixed on the online vibration table surface 3 through frock; A sensitive axes Y ' of three axis optical fibre gyro 1 is parallel with line vibration table surface 3 direction of vibration Y; Also have a sensitive axes X ' vertical with line vibration table 3, the 3rd sensitive axes Z ' is perpendicular to the direction of vibration Y of line shaking table and be parallel to the table top 3 of line shaking table;
Step (2). start line shaking table vibration source 5; Control line vibration table surface 3 begins vibration with the mode of vibration that requires; Measure the output of three axis optical fibre gyro 1; T is after the time, and line vibration table surface 3 stops vibration, obtains the line shaking table respectively along torsion angle speed ω 1, ω 2, ω 3 on X, Y, the Z three-dimensional orthogonal direction;
Step (3). if three sensitive directions of three axis optical fibre gyro do not overlap with three orthogonal directionss of slotted line shaking table, obtain parallel, vertical with line vibration table surface direction of vibration, vertical and be parallel to the torsion angle speed of three orthogonal directionss of line vibration table surface with the direction of vibration of line shaking table with the line vibration table through coordinate transformation;
Described time T is greater than 1 second;
In the mode of vibration and time of vibration of described line shaking table, mode of vibration involving vibrations frequency and vibration level can be selected according to the measurement requirement of line shaking table.
In the described step (1), three sensitive direction X ' of three axis optical fibre gyro 1, Y ', Z ' are mutually orthogonal.
Claims (2)
1. the measuring method of the three-dimensional torsion angle speed of a line shaking table is characterized in that following steps:
Step (1). on the fixing online vibration table surface of a three axis optical fibre gyro; Wherein first sensitive axes of three axis optical fibre gyro is parallel with line vibration table surface direction of vibration; Second sensitive axes is vertical with the line vibration table, and the direction of vibration of the 3rd sensitive axes and line shaking table is vertical and be parallel to the table top of line shaking table;
Step (2). start line shaking table vibration source; The control line vibration table surface begins vibration with the mode of vibration that requires, and measures the output of three axis optical fibre gyro, and T is after the time; The line vibration table surface stops vibration, obtains torsion angle speed ω 1, ω 2, ω 3 on three orthogonal directionss of line shaking table;
Described time T is greater than 1 second;
In the mode of vibration and time of vibration of described line shaking table, mode of vibration involving vibrations frequency and vibration level can be selected according to the measurement requirement of line shaking table;
In the described step (2), three sensitive directions of three axis optical fibre gyro are mutually orthogonal.
2. the measuring method of the three-dimensional torsion angle speed of a kind of line shaking table according to claim 1; It is characterized in that:, obtain parallel, vertical with line vibration table surface direction of vibration, vertical and be parallel to the torsion angle speed of three orthogonal directionss of line vibration table surface with the direction of vibration of line shaking table with the line vibration table through coordinate transformation if three sensitive directions of three axis optical fibre gyro do not overlap with three orthogonal directionss of slotted line shaking table.
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| CN2012100074398A CN102590550A (en) | 2012-01-12 | 2012-01-12 | Method for measuring three-dimensional torsion angular rates of linear vibration table |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103727935A (en) * | 2013-12-31 | 2014-04-16 | 天津大学 | Triaxial magnetofluid gyroscope |
| CN104237562A (en) * | 2013-06-24 | 2014-12-24 | 飞思卡尔半导体公司 | Angular rate sensor with quadrature error compensation |
| CN106568463A (en) * | 2016-11-07 | 2017-04-19 | 中国航空工业集团公司洛阳电光设备研究所 | Angular vibration generating device used for gyro frequency characteristics, and gyro frequency measuring method |
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Cited By (5)
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| CN104237562A (en) * | 2013-06-24 | 2014-12-24 | 飞思卡尔半导体公司 | Angular rate sensor with quadrature error compensation |
| CN104237562B (en) * | 2013-06-24 | 2019-09-13 | 恩智浦美国有限公司 | Angular rate sensor with quadrature error compensation |
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| CN106568463A (en) * | 2016-11-07 | 2017-04-19 | 中国航空工业集团公司洛阳电光设备研究所 | Angular vibration generating device used for gyro frequency characteristics, and gyro frequency measuring method |
| CN106568463B (en) * | 2016-11-07 | 2019-08-16 | 中国航空工业集团公司洛阳电光设备研究所 | Angular oscillation generating device and gyro frequency measurement method for gyro frequency characteristic |
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Application publication date: 20120718 |