CN103528668B - A kind of refrigeration machine micro-vibration physical simulation test processes system and method for testing thereof - Google Patents
A kind of refrigeration machine micro-vibration physical simulation test processes system and method for testing thereof Download PDFInfo
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Abstract
A kind of refrigeration machine micro-vibration physical simulation test processes system and method for testing thereof, compressor, compressor bracket, zigzag card extender, hexagon card extender, six component eight sensors disturb the Force meansurement platform that shakes, the acceleration transducer of distribution, laser displacement measurement system and Data collection and precessing system composition.Refrigerator device is arranged on six component eight sensor test boards by card extender, arranges acceleration transducer according to test request on refrigeration machine simultaneously.Can disturb to six component eight sensors the Force meansurement platform that shakes during refrigeration machine work and produce small sample perturbations.Data acquisition system six component eight sensor is disturbed and is shaken Force meansurement platform eight sensor signals and by a series of calculating to obtain disturbing the power of shaking, also gather the signal of acceleration transducer to obtain acceleration simultaneously.
Description
Technical field
The present invention relates to the micro-method for testing vibration of a kind of refrigeration machine, can be used for carrying out kinetic measurement to the vibration signal of spacecraft refrigerator device tiny perturbation load on six-freedom degree.
Background technology
Refrigeration machine is the main devices on satellite, for regulating inside satellite temperature variation.Due to the reason such as manufacturing defect and noise of motor of the compressor in refrigeration machine, refrigeration machine produces periodically celestial body and broadband is small disturbs the power of shaking, these disturb modulation and amplification that power of shaking passes through their internal dynamics, can produce considerable influence to the light path pointing accuracy of remote sensing satellite (GF-4) and degree of stability.Consider that refrigeration machine is arranged near imaging device, this impact just seems particularly important.
Because the disturbance of spacecraft disturbing source is very little, in space, three directions can only produce the faint disturbance of even a few milli newton of tens milli newton to indivedual useful load such as momenttum wheel, want to measure this type of disturbance in the ground experiment room with relatively strong jamming pattern noise very difficult, and the accuracy requirement of its respective sensor is very high.
At present, there is not yet the reported in literature about this type of microvibration measuring system both at home and abroad.
Summary of the invention
The technical matters that the present invention solves is: overcome the deficiencies in the prior art, there is provided a kind of refrigeration machine micro-method for testing vibration, measure and analyze the dynamic perfromance of spacecraft refrigerator device on the six-freedom degree of space, for the safe design of the attitude control accuracy and reinforcement spacecraft that improve spacecraft provides reliable test data.
Technical scheme of the present invention is: a kind of refrigeration machine micro-vibration physical simulation test processes system, comprises refrigerator system, zigzag card extender, hexagon card extender, six component eight sensors disturb shake Force meansurement platform, Data collection and precessing system; Described refrigerator system comprises compressor, compressor bracket, infrared probe support, infrared probe; Hexagon card extender is fixedly connected on six component eight sensors and disturbs and shake on Force meansurement platform; Zigzag card extender is fixedly connected on hexagon card extender; Compressor is fixedly connected on one end of zigzag card extender by compressor bracket, and infrared probe support is fixedly connected on the other end of zigzag card extender by infrared probe; Data collection and precessing system is disturbed with six component eight sensors the Force meansurement platform that shakes and is connected, disturb by six component eight sensors the Force meansurement platform that shakes to measure and the micro-vibration data obtaining refrigerator system, and transfer data to that Data collection and precessing system carries out that analyzing and processing obtains refrigerator system disturb the power of shaking.
Also comprising acceleration transducer, disturbing acceleration when shaking for measuring refrigerator system.
Also comprise laser non-contact test system; The feedback signal reflected on refrigerator system, and is delivered to Data collection and precessing system and is processed by laser non-contact test system Emission Lasers, and what obtain infrared probe disturbs displacement of shaking; Described laser non-contact test system is produced by German Polytec company, and model is: D-76337.
A kind of refrigeration machine micro-vibration physical simulation test processes system detection method, step is as follows:
1) demarcation dish is arranged on six component eight sensors to disturb and shake on Force meansurement platform, is tightened with bolt; Demarcation dish is a square aluminium dish, and described demarcation is coiled on four sides and is evenly equipped with 3 beating points separately, upper surface is furnished with 4 beating points, and lower surface is disturbed with six component eight sensors the Force meansurement platform that shakes and is connected;
2) firmly hammer 16 beating points knocked successively on demarcation dish into shape, and gather power hammer time-domain signal, the output voltage signal of the Force meansurement platform that shakes disturbed by six component eight sensors when knocking at each, obtains frequency response function;
3) by step 2) frequency response function that obtains obtains calibration matrix;
4) demarcation dish is pulled down;
5) refrigerator system is arranged on six component eight sensors by zigzag card extender and hexagon card extender to disturb and shake on Force meansurement platform, and with bolt tightening;
6) refrigerator system energising is started working;
7) six component eight sensors are disturbed the Force meansurement platform that shakes and are tested refrigerator system, and voltage time-domain signal when gathering refrigeration machine work by Data collection and precessing system;
8) voltage time-domain signal step 7) obtained carries out the frequency-region signal that Fourier transform obtains voltage;
9) voltage frequency-region signal step 8) obtained is multiplied with calibration matrix and obtains the frequency-region signal of refrigeration machine disturbing force;
10) frequency-region signal of refrigeration machine disturbing force step 9) obtained carries out the time-domain signal that inversefouriertransform can obtain disturbing force, namely completes the process to micro-vibration signal.
The present invention compared with prior art has the following advantages:
(1) the present invention is by the reasonable Arrangement of eight Common piezoelectricity sensors, thus make the micro-disturbance signal of six-freedom degree that existing one-way piezoelectric force snesor can be utilized to measure, overcome the problem lacking high precision three-dimensional sensor, measuring accuracy is improved greatly.Meanwhile, the present invention adopts high precision acceleration transducer can improve acceleration test precision.
(2) measurement mechanism of the present invention is separated with measured test specimen, does not need on test specimen, install optional equipment and sensor, does not affect the dynamic perfromance of test specimen, does not damage test specimen structure, and after test, test specimen can also normally use.
(3) the present invention is by the pretightning force of reasonable adjusting bolt, the accurate measurement that the amplification can carrying out achieving signal has under the actual motion condition in larger quality disturbance source, improves the reliability of measurement.
(4) disturbing source of the present invention can be placed in measuring system inside or outside, improves the adaptability of measuring system.
Accompanying drawing explanation
Fig. 1 is test macro schematic diagram;
Fig. 2 is calibration point position view of the present invention;
Fig. 3 is the inventive method process flow diagram.
Embodiment
As shown in Figure 1, native system refrigeration machine micro-vibration physical simulation disposal system, comprises refrigerator system, zigzag card extender 3, hexagon card extender 4, six component eight sensor disturbs the Force meansurement platform 5 that shakes, Data collection and precessing system 9, laser non-contact test system 10; Described refrigerator system comprises compressor 1, compressor bracket 2, infrared probe support 6, infrared probe 7, acceleration transducer 8, Data collection and precessing system 9; Hexagon card extender 4 is fixedly connected on six component eight sensors and disturbs and shake on Force meansurement platform 5; Zigzag card extender 3 is fixedly connected on hexagon card extender 4; Compressor 1 is fixedly connected on one end of zigzag card extender 3 by compressor bracket 2, and infrared probe support 6 is fixedly connected on the other end of zigzag card extender 3 by infrared probe 7; Acceleration transducer 8 is fixedly connected on zigzag card extender 3; Data collection and precessing system 9 is disturbed with six component eight sensors the Force meansurement platform 5 that shakes with acceleration transducer 8 by wire and is connected, six component eight sensors are disturbed the Force meansurement platform 5 that shakes and are measured and obtain the micro-vibration data of refrigeration machine and be transferred to Data collection and precessing system 9 analyzing and processing, and what finally obtain refrigerator system disturbs the power of shaking.
Multiple acceleration transducer 8 can arrange micro-Vibration Condition of test focus as required, and each acceleration transducer 8 is connected with Data collection and precessing system 9 by wire.
In the course of work, the signal of laser non-contact test system 10 control signal generator exports, and control vibration measurement with laser camera test specimen is tested, vibration measurement with laser camera is tested by the vibration signal of laser beam to test specimen, and received simulating signal is passed to laser vibration measurer, laser vibration measurer receives the simulating signal that vibration measurement with laser camera transmits, and convert it into digital signal, digital signal by data line transfer to computing machine, thus realize the non-cpntact measurement of infrared probe, digital signal is gathered by Data collection and precessing system 9 after the digital signal processing recorded, what obtain infrared probe disturbs displacement of shaking.
As shown in Figure 3, the invention provides refrigeration machine micro-vibration signal disposal route, step is as follows:
1) demarcation dish is arranged on six component eight sensors to disturb and shake on Force meansurement platform 5, is tightened with bolt; Demarcation dish is a square aluminium dish, and as shown in Figure 2, demarcation is coiled on four sides and is evenly equipped with 3 beating points separately, upper surface is furnished with 4 beating points, and lower surface is disturbed with six component eight sensors the Force meansurement platform 5 that shakes and is connected; Six component eight sensors are disturbed the Force meansurement platform 5 that shakes and are made up of eight direction piezoelectric transducer, and wherein four piezoelectric sensors are arranged in the horizontal direction, guarantee to test two disturbing forces in the horizontal direction and the disturbing moment around vertical direction; Other four piezoelectric sensors are vertically arranged, guarantee to test disturbing force vertically and two disturbing moments around horizontal direction.
2) firmly hammer 16 beating points knocked successively on demarcation dish into shape, and gather power hammer time-domain signal, the output voltage signal of the Force meansurement platform 5 that shakes disturbed by six component eight sensors when knocking at each, obtains frequency response function;
3) by step 2) frequency response function that obtains calculates calibration matrix;
4) demarcation dish is pulled down;
5) refrigerator system is arranged on six component eight sensors to disturb and shake on Force meansurement platform 5, with bolt tightening;
6) refrigerator system energising is started working;
7) six component eight sensors are disturbed the Force meansurement platform 5 pairs of refrigerator systems that shake and are tested, and voltage time-domain signal when gathering refrigeration machine work by Data collection and precessing system 9;
8) voltage time-domain signal step 7) obtained carries out the frequency-region signal that Fourier transform obtains voltage;
9) voltage frequency-region signal step 8) obtained is multiplied with calibration matrix and obtains the frequency-region signal of refrigeration machine disturbing force;
10) frequency-region signal of refrigeration machine disturbing force step 9) obtained carries out the time-domain signal that inversefouriertransform can obtain disturbing force, namely completes the process to micro-vibration signal.
First should try to achieve corresponding calibration matrix W (ω), integral calibrating matrix is actually the frequency response function matrix between the response signal of eight piezoelectric force transducers and the load acting on equivalent center point.In the method, equivalent center is the central point of the loading disk upper surface of eight component sensor devices, heart point directly applies three translation power and three moments are had any problem hereinto, supposing that loading disk is on the basis of rigid body herein, the calibrating table that a rigidity is very high is installed, and selects 16 load(ing) points as shown in the figure.According to space force system level theory, 16 load(ing) points selected are utilized can equivalent to go out to act on three translation power and three moments of loading disk geometric center; In Fig. 2, O point is the central point of loading disk upper surface, and table 1 lists the value of each parameter in figure.
Table 1 calibration point location parameter
| Lx/m | Ly/m | Lz/m |
| 0.042 | 0.042 | 0.04 |
Power F is demarcated by 16 in test
1~ F
16obtain the calibration matrix W (ω) of system, the expression formula of the Matrix C in the transition matrix between the loading matrix of the expression actual loaded in test and equivalent load matrix and formula (5) is:
C
1=[0 1 0 -Lz 0 -Lx]
T
C
2=[0 1 0 -Lz 0 0]
T
C
3=[0 1 0 -Lz 0 Lx]
T
C
4=[-1 0 0 0 -Lz -Ly]
T
C
5=[-1 0 0 0 -Lz 0]
T
C
6=[-1 0 0 0 -Lz Ly]
T
C
7=[0 -1 0 Lz 0 -Lx]
T
C
8=[0 -1 0 Lz 0 0]
T
C
9=[0 -1 0 Lz 0 Lx]
T
C
10=[1 0 0 0 Lz -Ly]
T
C
11=[1 0 0 0 Lz 0]
T
C
12=[1 0 0 0 Lz Ly]
T
C
13=[0 0 -1 Ly -Lx 0]
T
C
14=[0 0 -1 Ly Lx 0]
T
C
15=[0 0 -1 -Ly Lx 0]
T
C
16=[0 0 -1 -Ly -Lx 0]
T
C in above formula
irepresent the transition matrix between load and center equivalent load loaded for i-th time.
Secondly, according to Modal Analysis Theory, N degree of freedom linear system is had:
X(ω)=H(ω)F(ω) (1)
In above formula, X (ω) for response spectra vector (voltage signal), dimension be N × 1; H (ω) is frequency response function matrix, and dimension is N × N; F (ω) is loading spectrum vector, and dimension is N × 1.
Generally, real system is continuous structure particularly, and its number of degrees of freedom, N is very large, can not record the load that the response in all degree of freedom is subject to solve structure.Under normal circumstances, because charge number P to be determined can not be very large, so wish to determine load to be identified by few response data of trying one's best, namely identify load by the partial response of structure.Suppose that charge number undetermined is P, the measuring point number of response is L, and both are all less than total number of degrees of freedom, N of system, therefore:
X(ω)
L×1=H(ω)
L×PF(ω)
P×1(2)
As long as by the known frequency spectrum determining frequency response function matrix and response vector of above formula, just can solve and carry spectrum, and then obtain the time-domain signal of load with inverse fourier transform, the load identification inverse matrix of frequency response namely in Modal Analysis Theory.If charge number P undetermined in formula (2) is i.e. L=P equal to the measuring point number L of response, then frequency response function matrix H (ω) is square formation, and now loading spectrum vector F (ω) can be tried to achieve by following formula:
F(ω)=H
-1(ω)X(ω) (3)
If the measuring point number L of charge number P undetermined and response is unequal, normally L >=P, then frequency response function matrix H (ω) is no longer just square formation, and must ask generalized inverse to frequency response function, like this, the formula of load identification is:
F(ω)=[H
H(ω)H(ω)]
-1H
H(ω)X(ω) (4)
In formula, the conjugate transpose of subscript H representing matrix.Usual dynamic response X (ω) becomes more readily available, and frequency response function matrix H (ω) really rule be not easy, because the reflection of each element is relation between the point of excitation of various discrete and response point in H (ω) matrix, response point is mutually different for each different point of excitation and point of excitation for the frequency response function between each different response point, that is, H (ω) in above formula and F (ω) is closely connected together, if do not know each component F in load vectors F (ω)
j(ω) active position, also just cannot determine each element in H (ω).Therefore, inverse matrix of frequency response can only be used for the dynamic load identifying known action position, then can not identify in this way for active position the unknown or time dependent situation.
For refrigeration machine, its disturbing force application point can not accurately be determined.Two problems can be run into: 1) how to define disturbing force application point during inverse matrix of frequency response at this moment before application described in face; 2) because the disturbing force application point for definition often cannot direct imposed load, how transfer matrix demarcation is carried out to this application point.
For above-mentioned two problems, solution of the present invention is:
1) the disturbing source mounting disc that processing one is relatively firm, mounting disc inherently frequency is greater than detection frequency more than 3 times, at this moment can think that mounting disc relative system other parts are rigid body;
2) all disturbing forces are equivalent to six the external force load of application point in mounting disc, i.e. three translation power, two moments of flexure and moments of torsion;
3) setting as being rigidly connected between demarcation power point of excitation in mounting disc and its central point O, directly demarcation power being applied to the different application point of this dish and different directions and demarcating.
According to foregoing description, load transfer first will be demarcated to the mounting disc centre of form, that is:
In above formula, the n in matrix subscript represents the number of times loaded in test; F represents the load of equivalence to the centre of form, and dimension is 6 × n; The load of F ' expression actual loaded is a diagonal matrix, in matrix
equal the load value loaded for i-th i time; C represents the transition matrix between the loading matrix of actual loaded and equivalent load matrix, and dimension is 6 × n.
Pass between equivalent load and force sensor signals is:
W
6×8(ω)T
8×n(ω)=F
6×n(ω) (6)
N wherein in matrix subscript represents the number of times loaded in test; W is the inverse of system frequency response function matrix; T is the response signal of eight force snesor, and dimension is 8 × n; F is the equivalent load obtained in formula (3.2.5).From in formula (6), when response matrix T exists the inverse time, have:
W
6×8(ω)=F
6×n(ω)T
-1 n×8(ω) (7)
Consider that the passage of response signal only has 8, in order to improve measuring accuracy, the number of load(ing) point should be greater than response channel number, i.e. n>8, at this moment response matrix T is no longer a square formation, but the matrix of a row full rank, application Generalized Inverses Theory, has:
W
6×8(ω)=F
6×n(ω)T
H(ω)[T(ω)T
H(ω)]
-1(8)
(5) formula is substituted into (8), has:
The generalized inverse of the frequency response function matrix H (ω) in the T (ω) difference expression (4) that the matrix W (ω) of formula (9) being tried to achieve in test and test record and response X (ω), just can the equivalent external applied load of certainty annuity, realize center equivalence and demarcate the force signal that the voltage signal obtained by sensor is converted to actual needs, namely
F
6×1(ω)=W
6×8(ω)T
8×1(ω) (10)
Measuring error is checked, and adopts the power hammer transient state method of inspection.
The method of inspection of measuring error is impulse load inspection, utilizes F1, the actual measurement load of F5, F13 with compare by the load responded and calibration matrix reverse goes out, verify the accuracy of calibration matrix.(using during standby measurement momenttum wheel)
The actual measurement equivalent load component of each hammer point to center calibration point comprises 0 and non-zero item, uses respectively
represent, corresponding inverse value is used
represent, i=1 ~ 6, respectively corresponding Fx, Fy, Fz, Mx, My, Mz.The error of hammer force 0 component and non-zero component is used respectively
represent, error calculation formula is:
The content be not described in detail in instructions of the present invention belongs to the known technology of those skilled in the art.
Claims (1)
1. refrigeration machine micro-vibration physical simulation test processes system detection method, system comprises refrigerator system, zigzag card extender (3), hexagon card extender (4), six component eight sensors disturb the Force meansurement platform (5) that shakes, Data collection and precessing system (9); Described refrigerator system comprises compressor (1), compressor bracket (2), infrared probe support (6), infrared probe (7); Hexagon card extender (4) is fixedly connected on six component eight sensors and disturbs and shake on Force meansurement platform (5); Zigzag card extender (3) is fixedly connected on hexagon card extender (4); Compressor (1) is fixedly connected on one end of zigzag card extender (3) by compressor bracket (2), and infrared probe (7) is fixedly connected on the other end of zigzag card extender (3) by infrared probe support (6); Described Data collection and precessing system (9) comprises data acquisition module and computing machine; Six component eight sensors are disturbed the Force meansurement platform (5) that shakes and are measured and obtain micro-vibration data of refrigerator system, and transfer data to Data collection and precessing system (9) and carry out analyzing and processing, and what obtain refrigerator system disturbs the power of shaking; Also comprising acceleration transducer (8), disturbing acceleration when shaking for measuring refrigerator system; Also comprise laser non-contact test system (10); The feedback signal reflected on refrigerator system, and is delivered to Data collection and precessing system (9) and is processed by laser non-contact test system (10) Emission Lasers, and what obtain infrared probe (7) disturbs displacement of shaking; Described laser non-contact test system (10) is produced by German Polytec company, and model is: D-76337; It is characterized in that testing procedure is as follows:
1) demarcation dish is arranged on six component eight sensors to disturb and shake on Force meansurement platform (5), is tightened with bolt; Demarcation dish is a square aluminium dish, and described demarcation is coiled on four sides and is evenly equipped with 3 beating points separately, upper surface is furnished with 4 beating points, and lower surface and six component eight sensors are disturbed the Force meansurement platform (5) that shakes and are connected;
2) firmly hammer 16 beating points knocked successively on demarcation dish into shape, and gather power hammer time-domain signal, the output voltage signal of Force meansurement platform (5) that shake disturbed by six component eight sensors when knocking at each, obtains frequency response function;
3) by step 2) frequency response function that obtains obtains calibration matrix;
4) demarcation dish is pulled down;
5) refrigerator system is arranged on six component eight sensors by zigzag card extender (3) and hexagon card extender (4) to disturb and shake on Force meansurement platform (5), and with bolt tightening;
6) refrigerator system energising is started working;
7) six component eight sensors are disturbed the Force meansurement platform (5) that shakes and are tested refrigerator system, and voltage time-domain signal when gathering refrigeration machine work by Data collection and precessing system (9);
8) by step 7) the voltage time-domain signal that obtains carries out the frequency-region signal that Fourier transform obtains voltage;
9) by step 8) the voltage frequency-region signal that obtains is multiplied with calibration matrix and obtains the frequency-region signal of refrigeration machine disturbing force;
10) by step 9) frequency-region signal of refrigeration machine disturbing force that obtains carries out the time-domain signal that inversefouriertransform can obtain disturbing force, namely completes the process to micro-vibration signal.
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