CN105784266A - Docking mechanism test system six-component force on-line calibration method - Google Patents
Docking mechanism test system six-component force on-line calibration method Download PDFInfo
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Abstract
本发明提供了一种对接机构试验系统六分量力在线校准方法，本发明在校准时，标准力传感器与被校对接机构试验系统的六分量力传感器采用背靠背方式安装，手动加载，传动机构将力传递到标准力传感器上并施加到六分量力传感器上，以标准力传感器的输出为标准值与被校对接机构试验系统的六分量力测量值进行比较，获得对接机构试验系统六分量力各分量的测量误差。本发明选用与对接机构试验系统六分量力测量范围相适应的传动机构和标准力传感器，可以实现对六分量力整个测量范围的校准；本发明设计与试验系统相配套的专用计量工装来安装传动机构和标准力传感器，通过选用不同的计量工装和不同的安装位置，实现对对接机构试验系统六分量力各个分量的校准。
The invention provides a six-component force online calibration method for a docking mechanism test system. During calibration, the standard force sensor and the six-component force sensor of the docking mechanism test system to be calibrated are installed back to back, manually loaded, and the transmission mechanism will force Transfer to the standard force sensor and apply it to the six-component force sensor, and compare the output of the standard force sensor with the six-component force measurement value of the docking mechanism test system to obtain the six-component force components of the docking mechanism test system measurement error. The present invention selects a transmission mechanism and a standard force sensor that are compatible with the measurement range of the six-component force of the docking mechanism test system, and can realize the calibration of the entire measurement range of the six-component force; the present invention designs a special measuring tool matching the test system to install the transmission Mechanism and standard force sensor, through the selection of different measuring tools and different installation positions, the calibration of each component of the six-component force of the docking mechanism test system is realized.
Description
技术领域technical field
本发明属于计量校准技术领域，多分量力测量系统在线校准技术，特别涉及一种对接机构试验系统六分量力在线校准方法。The invention belongs to the technical field of measurement and calibration, and relates to an online calibration technology of a multi-component force measurement system, in particular to an online calibration method for a six-component force of a docking mechanism test system.
背景技术Background technique
空间对接机构综合试验系统六分量力传感器用来测量对接机构模拟元件发生接触时的相互作用力和力矩，并将测量结果传送到计算机系统，根据所建立的航天器动力学模型实时解算对接过程中两航天器的相对运动，再由驱动机构控制运动平台来模拟对接过程的运动情况。因此，空间对接机构综合试验系统六分量力测量数据的准确与否，将直接影响到整个试验系统的仿真精度和对接机构试验结果的正确性，并最终关系到航天器空间对接的成败。为确保对接机构综合试验系统测试试验数据的准确可靠，需要定期对试验系统六分量力进行校准。The six-component force sensor of the space docking mechanism comprehensive test system is used to measure the interaction force and moment when the simulated components of the docking mechanism are in contact, and transmit the measurement results to the computer system, and solve the docking process in real time according to the established spacecraft dynamics model The relative motion of the two spacecraft, and then the driving mechanism controls the motion platform to simulate the motion of the docking process. Therefore, the accuracy of the six-component force measurement data of the space docking mechanism comprehensive test system will directly affect the simulation accuracy of the entire test system and the correctness of the docking mechanism test results, and ultimately affect the success or failure of the spacecraft space docking. In order to ensure the accuracy and reliability of the test data of the comprehensive test system of the docking mechanism, it is necessary to calibrate the six-component force of the test system regularly.
由于对接机构综合试验系统结构复杂，六分量力传感器安装定位精度要求非常高，为保证试验系统的系统特性固定不变，传感器在一次安装后不宜轻易地重新进行拆装，因此为了更好地反映出对接机构综合试验系统多分量对接力测量的准确度，必须对试验系统六分量力测量采取在线校准，使得六分量力传感器在校准时和试验时具有相同的受力条件，避免将六分量力传感器的特性指标当作测量系统的指标使用，确保试验系统六分量力测量数据的真实性。Due to the complex structure of the docking mechanism comprehensive test system, the installation and positioning accuracy of the six-component force sensor is very high. In order to ensure that the system characteristics of the test system remain unchanged, the sensor should not be easily disassembled after one installation. Therefore, in order to better reflect the In order to ensure the accuracy of the multi-component docking force measurement of the comprehensive test system of the docking mechanism, online calibration must be adopted for the six-component force measurement of the test system, so that the six-component force sensor has the same force conditions during calibration and test, and avoid the six-component force measurement. The characteristic index of the sensor is used as the index of the measurement system to ensure the authenticity of the six-component force measurement data of the test system.
对六分量力测量系统的校准就是在六分量力传感器各个不同的受力方向施加已知的标准力，根据六分量力传感器的输出得到传感器的技术性能指标。在对六分量力测量系统的校准中一定要使三维施力坐标基准（X、Y、Z）与被校六分量力传感器坐标基准重合，否则造成基准不同一误差，产生分力效应，而此不该有的误差效应与六分量力传感器自身的交叉耦合效应（CrossTalk）混叠且不能分离，就无法对六分量力测量系统的示值误差进行正确判断。The calibration of the six-component force measurement system is to apply a known standard force in each different force direction of the six-component force sensor, and obtain the technical performance index of the sensor according to the output of the six-component force sensor. In the calibration of the six-component force measurement system, it is necessary to make the three-dimensional force coordinate reference (X, Y, Z) coincide with the coordinate reference of the six-component force sensor to be calibrated, otherwise the reference will be different from the same error, and the force component effect will be generated. The error effect that should not exist is aliased with the cross-coupling effect (CrossTalk) of the six-component force sensor itself and cannot be separated, so it is impossible to correctly judge the indication error of the six-component force measurement system.
空间对接机构综合试验系统采用瑞士Kistler公司六分量力传感器，它是由四个三向压电式力传感器构成的，其结构、坐标系及测量原理如下图1、图2所示。在力F作用下，其输出为：The comprehensive test system of space docking mechanism adopts the six-component force sensor from Kistler, Switzerland. It is composed of four three-way piezoelectric force sensors. Its structure, coordinate system and measurement principle are shown in Figure 1 and Figure 2 below. Under the action of force F, its output is:
Fx=Fx1+2+Fx3+4 F x =F x1+2 +F x3+4
Fy=Fy1+4+Fy2+3 F y =F y1+4 +F y2+3
Fz=Fz1+Fz2+Fz3+Fz4 F z =F z1 +F z2 +F z3 +F z4
Mx=b·(Fz1＋Fz2－Fz3－Fz4)M x = b·(F z1 + F z2 - F z3 - F z4 )
My=a·(－Fz1＋Fz2＋Fz3－Fz4)M y =a·(-F z1 +F z2 +F z3 -F z4 )
Mz=b·(－Fx1+2＋Fx3+4)+a·(Fy1+4－Fy2+3)M z =b (-F x1+2 +F x3+4 )+a (F y1+4 -F y2+3 )
目前国内外公开文献中均未查见对空间对接机构综合试验系统多分量力测量系统校准的报道。现有的技术方案主要是通过砝码加载的方式，在试验系统的六分量力传感器上施加标准力，以砝码产生的重力为标准力值，比较试验系统测得的各对应分量力的大小，得到试验系统六分量力的测量误差。现有的整机特性测试台结构示意图（局部）如图3所示，图3中，包括对接机构法兰盘31和六维力传感器32，校准方法示意图如图4所示，图4中，包括对接机构法兰盘41，砝码42，底座43和传感器44，现有的试验系统六分量力测量的扭矩在线校准方法如图5所示，图5中，包括力臂L，对接机构法兰盘51，砝码52，底座53和传感器55。At present, there is no report on the calibration of the multi-component force measurement system of the space docking mechanism comprehensive test system in the open literature at home and abroad. The existing technical solution is mainly to apply a standard force on the six-component force sensor of the test system by means of weight loading, and use the gravity generated by the weight as the standard force value to compare the magnitude of each corresponding component force measured by the test system , to obtain the measurement error of the six-component force of the test system. The structure diagram (partial) of the existing complete machine characteristic test bench is shown in Figure 3. In Figure 3, it includes the flange plate 31 of the docking mechanism and the six-dimensional force sensor 32. The schematic diagram of the calibration method is shown in Figure 4. In Figure 4, Including the flange 41 of the docking mechanism, the weight 42, the base 43 and the sensor 44, the torque on-line calibration method of the existing six-component force measurement of the test system is shown in Figure 5. In Figure 5, including the arm L, the docking mechanism method Blue plate 51, weight 52, base 53 and sensor 55.
现有校准方法存在的不足主要有：The shortcomings of existing calibration methods mainly include:
1、测量范围不能覆盖：因受到砝码体积以及加载方式的限制，砝码质量不可能做到很大，现有的采用砝码加载的校准方法的校准范围一般不超过一千牛，而试验系统的六分量力测量范围在FX方向（垂直于传感器的正面）为几万牛，在FY和Fz方向也有几千牛，因此现有校准方法的校准范围无法满足试验系统六分量力测量的校准需求。1. The measurement range cannot be covered: Due to the limitation of the weight volume and loading method, the mass of the weight cannot be made very large. The calibration range of the existing calibration method using weight loading generally does not exceed 1,000 N, and the test The six-component force measurement range of the system is tens of thousands of Newtons in the F X direction (perpendicular to the front of the sensor), and several thousand Newtons in the F Y and F Z directions. Therefore, the calibration range of the existing calibration method cannot meet the six-component force of the test system. Measurement calibration needs.
2、测量参数不能覆盖：受六分量力传感器安装位置和安装方式的影响，采用砝码加载的现有校准方法无法实现对测量系统所有六个分量的校准，例如，缓冲试验台的六分量力传感器是垂直于地面安装的，现有校准方法无法实现FX、FZ校准，也不能实现MZ、MY的校准。2. The measurement parameters cannot be covered: affected by the installation position and installation method of the six-component force sensor, the existing calibration method using weight loading cannot achieve the calibration of all six components of the measurement system, for example, the six-component force of the buffer test bench The sensor is installed vertically to the ground, and the existing calibration method cannot realize the calibration of F X , F Z , nor the calibration of M Z , M Y .
发明内容Contents of the invention
本发明的目的在于提供一种对接机构试验系统六分量力在线校准方法，能够精确获得试验系统六分量力各分量的测量误差。The purpose of the present invention is to provide an on-line calibration method for six-component force of a docking mechanism test system, which can accurately obtain the measurement error of each component of the six-component force of the test system.
为解决上述问题，本发明提供一种对接机构试验系统六分量力在线校准方法，包括：In order to solve the above problems, the present invention provides a six-component force online calibration method for a docking mechanism test system, including:
将标准力传感器与被校试验系统的六分量力传感器采用背靠背方式安装，通过专用计量工装来安装传动机构和标准力传感器；Install the standard force sensor and the six-component force sensor of the tested test system in a back-to-back manner, and install the transmission mechanism and the standard force sensor through a special measuring tool;
传动机构将标准力传递到标准力传感器上并施加到被校试验系统的六分量力传感器上；The transmission mechanism transmits the standard force to the standard force sensor and applies it to the six-component force sensor of the tested test system;
以标准力传感器的输出为标准力值与六分量力传感器的输出值进行比较，获得被校试验系统六分量力各分量的测量误差。Taking the output of the standard force sensor as the standard force value and comparing it with the output value of the six-component force sensor, the measurement error of each component of the six-component force of the tested test system is obtained.
进一步的，在上述方法中，传动机构将标准力传递到标准力传感器上并施加到被校试验系统的六分量力传感器上，包括：Further, in the above method, the transmission mechanism transmits the standard force to the standard force sensor and applies it to the six-component force sensor of the tested test system, including:
采用单力源先沿着六分量力传感器的一个坐标轴线以一定方式逐点加载标准力值，记录试验系统六分量力测量各个通道的输出量值，直到设定的所有校准点全部校完后，再换另外一个坐标轴线进行加载，一直到所有方向力或力矩都校准完毕。Use a single force source to load the standard force value point by point in a certain way along a coordinate axis of the six-component force sensor, and record the output value of each channel of the six-component force measurement of the test system until all the set calibration points are calibrated. , and then change to another coordinate axis for loading until all directional forces or moments are calibrated.
进一步的，在上述方法中，传动机构将标准力传递到标准力传感器上并施加到被校试验系统的六分量力传感器上，包括：Further, in the above method, the transmission mechanism transmits the standard force to the standard force sensor and applies it to the six-component force sensor of the tested test system, including:
采用蜗轮蜗杆配合螺旋丝杆作传动、丝杆前端安装标准力传感器，转动蜗杆，带动蜗轮使丝杆平动伸出，将标准力通过标准力传感器压头施加到被校试验系统的六分量力传感器上，标准力的大小由高精度测量仪显示的量值为准。The worm gear and worm screw are used for transmission, and the front end of the screw is equipped with a standard force sensor. When the worm is rotated, the worm wheel is driven to extend the screw in translation, and the standard force is applied to the six-component force of the tested system through the pressure head of the standard force sensor. On the sensor, the size of the standard force is subject to the value displayed by the high-precision measuring instrument.
进一步的，在上述方法中，将标准力传感器与被校试验系统的六分量力传感器采用背靠背方式安装，通过专用计量工装来安装传动机构和标准力传感器，包括：Further, in the above method, the standard force sensor and the six-component force sensor of the tested test system are installed back-to-back, and the transmission mechanism and the standard force sensor are installed through a special measuring tool, including:
根据被校试验系统的六分量力测量范围选择蜗轮蜗杆传动机构和标准力传感器。According to the six-component force measurement range of the tested test system, select the worm gear transmission mechanism and the standard force sensor.
进一步的，在上述方法中，所述专用计量工装，用于固定和支撑标准力传感器、蜗轮蜗杆传动机构，确保标准力沿着被校试验系统的六分量力传感器各个坐标轴正确加载，同时克服反作用力。Further, in the above method, the special measuring tool is used to fix and support the standard force sensor and the worm gear transmission mechanism to ensure that the standard force is correctly loaded along each coordinate axis of the six-component force sensor of the tested test system, and at the same time overcome reaction force.
进一步的，在上述方法中，所述专用计量工装的施力轴线与被校试验系统的六分量力传感器受力线一致，所述专用计量工装采用微调机构保证所述施力轴线与受力面的垂直。Further, in the above method, the force axis of the special measuring tool is consistent with the force line of the six-component force sensor of the tested test system, and the special measure tool uses a fine-tuning mechanism to ensure that the force axis is consistent with the force surface vertical.
进一步的，在上述方法中，传动机构将标准力传递到标准力传感器上并施加到被校试验系统的六分量力传感器上，包括：Further, in the above method, the transmission mechanism transmits the standard force to the standard force sensor and applies it to the six-component force sensor of the tested test system, including:
对力值进行校准时，标准力沿着六分量力传感器的坐标轴线施加，对扭矩进行校准时，标准力作用轴线平行于六分量力传感器的坐标轴线并间距L，即校准力值时蜗轮蜗杆传动机构的安装位置与校准扭矩时的安装位置间距为L。When calibrating the force value, the standard force is applied along the coordinate axis of the six-component force sensor. When calibrating the torque, the standard force axis is parallel to the coordinate axis of the six-component force sensor with a distance L, that is, when calibrating the force value, the worm gear The distance between the installation position of the transmission mechanism and the installation position when the torque is calibrated is L.
进一步的，在上述方法中，传动机构将标准力传递到标准力传感器上并施加到被校试验系统的六分量力传感器上，包括：Further, in the above method, the transmission mechanism transmits the standard force to the standard force sensor and applies it to the six-component force sensor of the tested test system, including:
在被校试验系统的六分量力某分量测量范围内选取6个校准点，包括零点和最大点，以回转手柄转动蜗杆，带动蜗轮使丝杆平动伸出，将力通过标准力传感器压头施加到被校试验系统的六分量力传感器上，标准力的大小由高精度测量仪显示，并读取试验系统六分量力测量值，然后进行下一个校准点加载和记录数据，直到所有校准点校准完毕。Select 6 calibration points within the measurement range of a certain component of the six-component force of the tested test system, including the zero point and the maximum point, turn the worm with the rotary handle, drive the worm wheel to make the screw extend out in translation, and pass the force through the pressure head of the standard force sensor Applied to the six-component force sensor of the tested test system, the size of the standard force is displayed by a high-precision measuring instrument, and the measured value of the six-component force of the test system is read, and then the next calibration point is loaded and recorded until all calibration points Calibration is complete.
进一步的，在上述方法中，以标准力传感器的输出为标准力值与被校试验系统的六分量力传感器的输出值进行比较，获得试验系统的六分量力各分量的测量误差，包括：Further, in the above method, the output of the standard force sensor is used as the standard force value to compare with the output value of the six-component force sensor of the tested test system to obtain the measurement error of each component of the six-component force of the test system, including:
比较标准力传感器和被校试验系统的六分量传感器的输出值，其中，扭矩校准时，标准扭矩为标准力乘标准力臂L，得到该分量的示值误差，通过同样的方法对下一个分量进行校准，最后可以得到试验系统六分量力测量沿X轴、Y轴、Z轴三个方向的力值和绕X、Y、Z轴三个方向的扭矩测量的示值误差。Compare the output values of the standard force sensor and the six-component sensor of the tested test system. When the torque is calibrated, the standard torque is the standard force multiplied by the standard arm L to obtain the indication error of this component, and use the same method for the next component After calibration, the force value of the six-component force measurement of the test system along the X-axis, Y-axis, and Z-axis and the indication error of the torque measurement around the X-axis, Y-axis, and Z-axis can be obtained.
与现有技术相比，针对现有校准方案的不足，本发明设计了一种现场校准力源，其由标准力传感器、测量仪表、传动机构以及特殊的计量工装组成，在校准时，标准力传感器与被校试验系统的六分量力传感器采用背靠背方式安装，手动加载，传动机构将力传递到标准力传感器上并施加到六分量力传感器上，以标准力传感器的输出为标准值与被校试验系统的六分量力测量值进行比较，获得各分量的测量误差。本发明选用与被校试验系统六分量力测量范围相适应的传动机构和标准力传感器，可以实现对试验系统六分量力整个测量范围的校准；本发明设计与试验系统相配套的专用计量工装来安装传动机构和标准力传感器，通过选用不同的计量工装和不同的安装位置，实现对试验系统六分量力各个分量的校准。Compared with the prior art, aiming at the deficiencies of the existing calibration scheme, the present invention designs an on-site calibration force source, which is composed of a standard force sensor, a measuring instrument, a transmission mechanism and a special measuring tool. During calibration, the standard force The sensor and the six-component force sensor of the calibrated test system are installed back-to-back, manually loaded, the transmission mechanism transmits the force to the standard force sensor and applied to the six-component force sensor, and the output of the standard force sensor is used as the standard value. The six-component force measurement values of the test system are compared to obtain the measurement error of each component. The present invention selects a transmission mechanism and a standard force sensor that are compatible with the six-component force measurement range of the tested test system, and can realize the calibration of the entire measurement range of the six-component force of the test system; The transmission mechanism and standard force sensor are installed, and the calibration of each component of the six-component force of the test system is realized by selecting different measurement tools and different installation positions.
本发明内容的有益效果：The beneficial effects of the content of the present invention:
1.设计了由标准力传感器、测量仪表、传动机构组成的空间对接机构综合试验系统六分量力现场校准用标准力源，其标准力传感器测量范围、蜗轮蜗杆传动机构负载根据综合试验系统六分量力传感器的测量范围进行配置，解决了现有以砝码加载的校准方案因为测量范围小不能满足试验系统六分量力实际校准需求的问题。1. Design a standard force source for on-site calibration of the six-component force of the space docking mechanism comprehensive test system composed of standard force sensors, measuring instruments, and transmission mechanisms. The measurement range of the force sensor is configured to solve the problem that the existing calibration scheme loaded with weights cannot meet the actual calibration requirements of the six-component force of the test system because of the small measurement range.
2.设计了与综合试验系统不同试验台相匹配的计量工装，计量工装上分别设计了力值校准时和扭矩校准时标准力源的安装位置，能够方便地实现对综合试验系统六分量测量全部分量的校准，解决了现有以砝码加载的校准方案因为加载方式受限而不能对全部分量进行校准因而无法满足试验系统六分量力实际校准需求的问题。2. Measuring tooling matched with different test benches of the comprehensive test system is designed. The installation positions of the standard force source during force value calibration and torque calibration are respectively designed on the measuring tooling, which can conveniently realize the six-component measurement of the comprehensive test system. The calibration of the components solves the problem that the existing calibration scheme loaded with weights cannot calibrate all the components due to the limited loading method, so it cannot meet the actual calibration requirements of the six-component force of the test system.
3.采用逐点校准的加载方式避免了因试验系统压电式六分量传感器输出电荷随着时间推移逐渐下降造成测量误差与累积的输出漂移叠加而难以真实评定试验系统六分量测量的技术性能的问题，提高了校准结果的准确性。3. The point-by-point calibration loading method is adopted to avoid the problem that it is difficult to truly evaluate the technical performance of the six-component measurement of the test system due to the gradual decline of the output charge of the piezoelectric six-component sensor of the test system over time, resulting in the superposition of measurement error and accumulated output drift. problem, improving the accuracy of calibration results.
附图说明Description of drawings
图1是现有的奇石乐公司六分量力传感器测量原理示意图Figure 1 is a schematic diagram of the measurement principle of the existing six-component force sensor of Kistler
图2是现有的六分量力传感器测量坐标系定义示意图；Fig. 2 is a schematic diagram of the definition of the existing six-component force sensor measurement coordinate system;
图3是现有的整机特性测试台结构示意图；Fig. 3 is a schematic structural diagram of an existing complete machine characteristic test bench;
图4是现有的试验系统六分量力测量的力值在线校准方法示意图；Fig. 4 is the schematic diagram of the force value on-line calibration method of existing test system six-component force measurement;
图5是现有的试验系统六分量力测量的扭矩在线校准方法示意图；Fig. 5 is the schematic diagram of the torque on-line calibration method of the existing test system six-component force measurement;
图6是本发明一实施例的标准力源框图；Fig. 6 is a standard power source block diagram of an embodiment of the present invention;
图7是本发明一实施例的整机台多分量力校准工装示意图；Fig. 7 is a schematic diagram of the whole machine multi-component force calibration tooling according to an embodiment of the present invention;
图8是本发明一实施例的缓冲台六分量力校准示意图；Fig. 8 is a schematic diagram of six-component force calibration of a buffer table according to an embodiment of the present invention;
图9是本发明一实施例的逐点校准加载方式示意图；9 is a schematic diagram of a point-by-point calibration loading method according to an embodiment of the present invention;
图10是本发明一实施例的对接机构试验系统的试验台结构原理图；Fig. 10 is a schematic diagram of the test bench structure of the docking mechanism test system according to an embodiment of the present invention;
图11是本发明一实施例的在线校准原理框图；Fig. 11 is a functional block diagram of online calibration according to an embodiment of the present invention;
图12是本发明一实施例的力值校准时标准力作用点；Fig. 12 is a standard force action point during force value calibration according to an embodiment of the present invention;
图13是本发明一实施例的扭矩校准时标准力作用点；Fig. 13 is a standard force application point during torque calibration according to an embodiment of the present invention;
图14是本发明一实施例的标准力源示意图；Fig. 14 is a schematic diagram of a standard force source according to an embodiment of the present invention;
图15是本发明一实施例的校准流程图。Fig. 15 is a calibration flowchart of an embodiment of the present invention.
具体实施方式detailed description
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图和具体实施方式对本发明作进一步详细的说明。In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
如图6所示，本发明提供一种对接机构试验系统六分量力在线校准方法，包括：As shown in Figure 6, the present invention provides a six-component force online calibration method for a docking mechanism test system, including:
步骤S1，将标准力传感器与被校试验系统的六分量力传感器采用背靠背方式安装，通过专用计量工装来安装传动机构和标准力传感器；Step S1, install the standard force sensor and the six-component force sensor of the tested test system in a back-to-back manner, and install the transmission mechanism and the standard force sensor through a special measuring tool;
步骤S2，传动机构将标准力传递到标准力传感器上并施加到被校试验系统的六分量力传感器上；Step S2, the transmission mechanism transmits the standard force to the standard force sensor and applies it to the six-component force sensor of the tested system;
步骤S3，以标准力传感器的输出为标准力值与被校试验系统的六分量力测量值进行比较，获得各分量的测量误差。在此，空间对接机构综合试验系统六分量力在线校准就是在不改变压电式六分量力传感器安装状态的前提下，通过特殊的标准力源以一定的加载方式在压电式六分量力传感器上加载线性无关的力或力矩，根据被校试验系统的六分量力测量值与标准力或力矩之间的函数关系，解算出被校试验系统六分量力测量的技术性能指标。如图10所示为对接机构试验系统的试验台结构原理图，图10中包括六维力传感器101，主动航天器对接机构102，被动航天器对接机构103，六自由度运动平台104，力和力矩105，动力学解算单元106，缓冲阻尼机构107和伺服控制单元108，如图11所示是在线校准原理框图。Step S3, using the output of the standard force sensor as the standard force value to compare with the six-component force measurement value of the tested test system to obtain the measurement error of each component. Here, the online calibration of the six-component force of the space docking mechanism comprehensive test system is to apply a special standard force source to the piezoelectric six-component force sensor with a certain loading method on the premise of not changing the installation state of the piezoelectric six-component force sensor. Load the linearly independent force or moment, and calculate the technical performance index of the six-component force measurement of the calibrated test system according to the functional relationship between the six-component force measurement value of the calibrated test system and the standard force or moment. As shown in Figure 10, it is a schematic diagram of the test bench structure of the docking mechanism test system, including a six-dimensional force sensor 101, an active spacecraft docking mechanism 102, a passive spacecraft docking mechanism 103, a six-degree-of-freedom motion platform 104, and The moment 105, the dynamic calculation unit 106, the buffer damping mechanism 107 and the servo control unit 108, as shown in FIG. 11 is a functional block diagram of online calibration.
优选的，步骤S2，传动机构将标准力传递到标准力传感器上并施加到被校试验系统的六分量力传感器上，包括：Preferably, in step S2, the transmission mechanism transmits the standard force to the standard force sensor and applies it to the six-component force sensor of the tested test system, including:
采用比较法测量原理，以单力源单分量独立校准的方式对空间对接机构综合试验系统六分量力进行在线校准，即采用单力源先沿着六分量力传感器的一个坐标轴线以一定方式逐点加载标准力值，记录被校试验系统六分量力传感器各个通道的输出量值，直到设定的所有校准点全部校完后，再换另外一个坐标轴线进行加载，一直到所有方向力或力矩都校准完毕，进行步骤S3的数据处理，给出试验系统六分量力校准结果。本发明一实施例的标准力源如图14所示，图14中不含测量仪表。Using the measurement principle of the comparison method, the six-component force of the space docking mechanism comprehensive test system is calibrated online by means of independent calibration of a single force source and single component, that is, a single force source is first used along a coordinate axis of the six-component force sensor in a certain way. Load the standard force value at one point, record the output value of each channel of the six-component force sensor of the test system to be calibrated, until all the set calibration points are calibrated, and then change another coordinate axis to load until all directional forces or moments After all the calibrations are completed, the data processing in step S3 is performed, and the six-component force calibration results of the test system are given. The standard force source of an embodiment of the present invention is shown in Figure 14, which does not include measuring instruments.
优选的，步骤S2，传动机构将标准力传递到标准力传感器上并施加到被校试验系统六分量力传感器上，包括：Preferably, in step S2, the transmission mechanism transmits the standard force to the standard force sensor and applies it to the six-component force sensor of the tested test system, including:
采用蜗轮蜗杆配合螺旋丝杆作传动、丝杆前端安装标准力传感器，以回转手柄转动蜗杆，带动蜗轮使丝杆平动伸出，将标准力通过标准力传感器压头施加到六分量力传感器上，标准力的大小由高精度测量仪显示的量值为准。另外，还可以采用伺服电机系统驱动蜗杆转动。详细的，如图6所示，可根据被校准的试验系统六分量力传感器测量范围和示值误差，选用标准力传感器和测量仪表以及蜗轮蜗杆传动机构组件。标准力传感器和测量仪表组成的标准测力仪的测量范围能够覆盖被校试验系统六分量力测量范围，准确度应该高于被校试验系统六分量力测量准确度的4～5倍；蜗轮蜗杆传动机构的负载能力应高于试验系统六分量力测量范围，螺旋丝杆前端加工螺纹以便安装标准力传感器。该标准力源采用手动加载，对所加载的力的准确性能进行实时控制及微调；传动平稳，且采用应变式单向高精度力传感器，力值准确度高；结构紧凑，刚度好，变形小；传动比大，能够轻松进行力的加载；最重要的一点是能进行自锁，即能停留在量程内的任何一个力值点。The worm gear and the screw screw are used for transmission, and the front end of the screw is equipped with a standard force sensor. The rotary handle is used to turn the worm, and the worm wheel is driven to make the screw stretch out in translation, and the standard force is applied to the six-component force sensor through the pressure head of the standard force sensor. , the size of the standard force is subject to the value displayed by the high-precision measuring instrument. In addition, a servo motor system can also be used to drive the worm to rotate. In detail, as shown in Figure 6, standard force sensors, measuring instruments, and worm gear transmission components can be selected according to the measurement range and indication error of the six-component force sensor of the calibrated test system. The measurement range of the standard dynamometer composed of standard force sensors and measuring instruments can cover the six-component force measurement range of the tested test system, and the accuracy should be 4 to 5 times higher than the six-component force measurement accuracy of the tested test system; The load capacity of the transmission mechanism should be higher than the six-component force measurement range of the test system, and the front end of the screw rod is threaded to install a standard force sensor. The standard force source adopts manual loading, which can control and fine-tune the accuracy of the loaded force in real time; the transmission is stable, and the strain type unidirectional high-precision force sensor is used, with high force value accuracy; compact structure, good rigidity, and small deformation ; The transmission ratio is large, and the force can be easily loaded; the most important point is that it can be self-locking, that is, it can stay at any force value point within the range.
优选的，步骤S1，将标准力传感器与被校试验系统的六分量力传感器采用背靠背方式安装，通过专用计量工装来安装传动机构和标准力传感器，包括：Preferably, in step S1, the standard force sensor and the six-component force sensor of the tested test system are installed back-to-back, and the transmission mechanism and the standard force sensor are installed through a special measuring tool, including:
根据被校试验系统的六分量力测量范围选择蜗轮蜗杆传动机构和标准力传感器。According to the six-component force measurement range of the tested test system, select the worm gear transmission mechanism and the standard force sensor.
优选的，所述专用计量工装，用于固定和支撑标准力传感器、蜗轮蜗杆传动机构，确保标准力沿着被校试验系统的六分量力传感器各个坐标轴正确加载，同时克服反作用力。具体的，根据不同试验台本身的结构特点以及各个六分量力传感器的实际安装状态，研制与之配套的带有微调机构的标定工装，工装所起的作用一是固定和支撑标准力传感器、蜗轮蜗杆传动机构，二是要确保标准力能够沿着六分量力传感器各个坐标轴正确加载，从而实现在线校准。工装同时还要克服反作用力，因此要有足够的强度、刚度和重量。参见图7和图8，计量工装上分别设计了力值校准时和扭矩校准时标准力源的安装位置，能够方便地实现对综合试验系统六分量测量全部分量的校准。其中，图7中包括纵向加载装置71，纵向安装装置72，横向加载装置73，横向安装装置74，受力球75和目标传感器76，图8中包括校准施力球81，纵向校准加载装置82，加载装置安装工装83，多维力传感器84和横向校准加载装置85。Preferably, the special measuring tool is used to fix and support the standard force sensor and the worm gear transmission mechanism, so as to ensure that the standard force is correctly loaded along each coordinate axis of the six-component force sensor of the tested test system, and at the same time overcome the reaction force. Specifically, according to the structural characteristics of different test benches and the actual installation status of each six-component force sensor, a matching calibration tool with a fine-tuning mechanism is developed. The role of the tool is to fix and support the standard force sensor and worm gear. The second is to ensure that the standard force can be correctly loaded along each coordinate axis of the six-component force sensor, so as to realize online calibration. The tooling must also overcome the reaction force at the same time, so it must have sufficient strength, rigidity and weight. Referring to Fig. 7 and Fig. 8, the installation positions of the standard force source during force value calibration and torque calibration are respectively designed on the measuring tool, which can easily realize the calibration of all components of the six-component measurement of the comprehensive test system. Wherein, Fig. 7 includes longitudinal loading device 71, longitudinal mounting device 72, lateral loading device 73, lateral mounting device 74, force ball 75 and target sensor 76, calibration force application ball 81 is included in Fig. 8, longitudinal calibration loading device 82, loading Device installation tooling 83, multi-dimensional force sensor 84 and lateral calibration loading device 85.
优选的，所述专用计量工装的施力轴线与被校试验系统的六分量力传感器受力线一致，所述专用计量工装采用微调机构保证所述施力轴线与受力面的垂直。Preferably, the force axis of the special measuring tool is consistent with the force line of the six-component force sensor of the tested system, and the special measure tool uses a fine-tuning mechanism to ensure that the force axis is perpendicular to the force surface.
详细的，在对试验系统六分量力在线校准中一定要使三维施力坐标基准（X、Y、Z）与试验系统六分量力传感器坐标基准以及试验台的坐标基准重合，基准不同一将产生分力效应，而此不该有的误差效应又与六分量力传感器自身的交叉耦合效应（CrossTalk）混叠且不能分离，就无法对试验系统六分量力正确校准。In detail, in the online calibration of the six-component force of the test system, the three-dimensional force applied coordinate reference (X, Y, Z) must coincide with the coordinate reference of the six-component force sensor of the test system and the coordinate reference of the test bench. Component force effect, and this unnecessary error effect is aliased with the cross-coupling effect (CrossTalk) of the six-component force sensor itself and cannot be separated, so the six-component force of the test system cannot be calibrated correctly.
被校对接机构综合试验系统的关键设备六分量力传感器安装定位精度非常高，可以认为传感器的坐标系和试验台的坐标系是重合的，因此只要解决校准时施力轴线与六分量力传感器三维轴线的重合问题。The installation and positioning accuracy of the six-component force sensor, the key equipment of the comprehensive test system of the docking mechanism, is very high. It can be considered that the coordinate system of the sensor and the coordinate system of the test bench are coincident. axis coincidence problem.
根据不同试验台本身的结构特点以及各个六分量力传感器的实际安装状态，研制与之配套的带有微调机构的标定工装，工装所起的作用一是固定和支撑标准力传感器、蜗轮蜗杆传动机构，二是确保标准力能够沿着六分量力传感器各个坐标轴正确加载，从而实现在线校准。工装同时还要克服反作用力，因此要有足够的强度、刚度和重量。According to the structural characteristics of different test benches and the actual installation status of each six-component force sensor, a matching calibration tool with a fine-tuning mechanism is developed. The role of the tool is to fix and support the standard force sensor and the worm gear transmission mechanism. , the second is to ensure that the standard force can be correctly loaded along each coordinate axis of the six-component force sensor, so as to realize online calibration. The tooling must also overcome the reaction force at the same time, so it must have sufficient strength, rigidity and weight.
为确保基准同一，工装研制时应采取以下措施：一是根据六分量力传感器的安装基准进行工装设计，通过加工基准和加工精度保证施力轴线与六分量力传感器受力线一致；二是设计中确保工装刚度，防止受力变形影响基准同一；三是采用微调机构保证施力轴线与受力面的垂直。In order to ensure the same benchmark, the following measures should be taken when developing the tooling: first, design the tooling according to the installation benchmark of the six-component force sensor, and ensure that the force axis is consistent with the force line of the six-component force sensor through the machining benchmark and machining accuracy; the second is to design In the middle, the rigidity of the tooling is ensured to prevent the same benchmark from being affected by force and deformation; the third is to use a fine-tuning mechanism to ensure that the force axis is perpendicular to the force surface.
优选的，步骤S1中根据试验系统不同的试验台选择配套的专用计量工装并安装到试验台上，根据被校试验台六分量力的测量范围选择蜗轮蜗杆传动机构和标准力传感器并安装到计量工装上后，步骤S2，传动机构将标准力传递到标准力传感器上并施加到被校试验台六分量力传感器上，包括：Preferably, in step S1, select a supporting special measuring tool according to the different test benches of the test system and install it on the test bench, and select a worm gear transmission mechanism and a standard force sensor according to the measurement range of the six-component force of the tested bench and install them on the metrology station. After the tooling is installed, in step S2, the transmission mechanism transmits the standard force to the standard force sensor and applies it to the six-component force sensor of the tested test bench, including:
如图12所示，对力值进行校准时，标准力沿着六分量力传感器的坐标轴线施加，如图13所示，对扭矩进行校准时，标准力作用轴线平行于六分量力传感器的坐标轴线并间距L，即校准力值时蜗轮蜗杆传动机构的安装位置与校准扭矩时的安装位置间距为L。As shown in Figure 12, when the force value is calibrated, the standard force is applied along the coordinate axis of the six-component force sensor. As shown in Figure 13, when the torque is calibrated, the standard force axis is parallel to the coordinates of the six-component force sensor The parallel distance between the axes is L, that is, the distance between the installation position of the worm gear and worm transmission mechanism when the force value is calibrated and the installation position when the torque is calibrated is L.
优选的，步骤S2，传动机构将标准力传递到标准力传感器上并施加到被校试验台六分量力传感器上，包括：Preferably, in step S2, the transmission mechanism transmits the standard force to the standard force sensor and applies it to the six-component force sensor of the tested test bench, including:
校准时，在被校试验台六分量力某分量测量范围内选取6个校准点，包括零点和最大点，以回转手柄转动蜗杆，带动蜗轮使丝杆平动伸出，将力通过标准力传感器压头施加到被校试验台的六分量力传感器上，标准力的大小由高精度测量仪显示，并读取试验系统六分量力测量值，然后进行下一个校准点加载和记录数据，直到所有校准点校准完毕。在此，试验系统采用压电式六分量力传感器测量对接时的六分量力，压电式六分量力传感器存在电荷泄漏现象，会导致测量值随着时间推移呈逐渐下降趋势，如果采用阶梯式加载方式，随着时间的推移，会造成测量误差与累积的输出漂移叠加而难以真实评定试验系统六分量测量的技术性能。如图9所示，本发明采用逐点校准的加载方式以提高校准结果的准确性。逐点校准的加载方式就是在每次校准完一个设置的校准点后退回到零点，并对显示仪表进行清零，然后进行下一个设置点的校准。When calibrating, select 6 calibration points within the measurement range of a certain component of the six-component force of the tested test bench, including the zero point and the maximum point, turn the worm with the rotary handle, drive the worm gear to make the screw extend out in translation, and pass the force through the standard force sensor The indenter is applied to the six-component force sensor of the tested test bench, and the standard force is displayed by a high-precision measuring instrument, and the six-component force measurement value of the test system is read, and then the next calibration point is loaded and recorded until all The calibration points are calibrated. Here, the test system uses a piezoelectric six-component force sensor to measure the six-component force during docking. The piezoelectric six-component force sensor has charge leakage, which will cause the measured value to gradually decrease over time. The loading method, as time goes by, will cause the measurement error to be superimposed with the accumulated output drift, making it difficult to truly evaluate the technical performance of the six-component measurement of the test system. As shown in FIG. 9 , the present invention adopts a point-by-point calibration loading method to improve the accuracy of calibration results. The loading method of point-by-point calibration is to return to the zero point after each calibration point is calibrated, and clear the display instrument, and then calibrate the next set point.
优选的，步骤S3，以标准力传感器的输出为标准力值与被校试验台六分量力测量值进行比较，获得各分量的测量误差，包括：Preferably, in step S3, the output of the standard force sensor is used as the standard force value to compare with the six-component force measurement value of the tested test bench to obtain the measurement error of each component, including:
比较标准力传感器和被校试验台的六分量传感器的输出值，其中，扭矩校准时，标准扭矩为标准力乘标准力臂L，得到该分量的示值误差，通过同样的方法对下一个分量进行校准，最后可以得到试验系统六分量测量沿X轴、Y轴、Z轴三个方向的力值和绕X、Y、Z轴三个方向的扭矩测量的示值误差，完成对试验系统六分量力的校准。Compare the output values of the standard force sensor and the six-component sensor of the tested test bench. When the torque is calibrated, the standard torque is the standard force multiplied by the standard moment arm L to obtain the indication error of this component, and use the same method for the next component Calibrate, and finally you can get the force value of the six-component measurement of the test system along the three directions of X-axis, Y-axis, and Z-axis and the indication error of the torque measurement around the three directions of X, Y, and Z-axis, and complete the six-component test of the test system. Calibration of component forces.
详细的，本发明一实施例的在线校准流程如图15所示。In detail, the online calibration process of an embodiment of the present invention is shown in FIG. 15 .
综上所述，针对现有校准方案的不足，本发明设计了一种现场校准力源，其由标准力传感器、测量仪表、传动机构以及特殊的计量工装组成，在校准时，标准力传感器与被校试验系统的六分量力传感器采用背靠背方式安装，手动加载，传动机构将力传递到标准力传感器上并施加到被校试验系统的六分量力传感器上，以标准力传感器的输出为标准值与被校试验系统的六分量力测量值进行比较，获得试验系统六分量力各分量的测量误差。本发明选用与试验系统六分量力测量范围相适应的传动机构和标准力传感器，可以实现对试验系统六分量力整个测量范围的校准；本发明设计与试验系统相配套的专用计量工装来安装传动机构和标准力传感器，通过选用不同的计量工装和不同的安装位置，实现对试验系统六分量力各个分量的校准。In summary, aiming at the deficiencies of existing calibration schemes, the present invention designs an on-site calibration force source, which is composed of a standard force sensor, a measuring instrument, a transmission mechanism and a special measuring tool. During calibration, the standard force sensor and The six-component force sensor of the tested test system is installed back-to-back and manually loaded. The transmission mechanism transmits the force to the standard force sensor and applies it to the six-component force sensor of the tested test system. The output of the standard force sensor is used as the standard value. Compared with the measured value of the six-component force of the tested test system, the measurement error of each component of the six-component force of the test system is obtained. The present invention selects the transmission mechanism and the standard force sensor that are compatible with the six-component force measurement range of the test system, and can realize the calibration of the entire measurement range of the six-component force of the test system; the present invention designs a special measuring tool matched with the test system to install the transmission Mechanism and standard force sensor, through the selection of different measuring tools and different installation positions, the calibration of each component of the six-component force of the test system is realized.
本发明内容的有益效果：The beneficial effects of the content of the present invention:
1.设计了由标准力传感器、测量仪表、传动机构组成的空间对接机构综合试验系统六分量力现场校准用标准力源，其标准力传感器测量范围、蜗轮蜗杆传动机构负载根据综合试验系统六分量力的测量范围进行配置，解决了现有以砝码加载的校准方案因为测量范围小不能满足试验系统六分量力实际校准需求的问题。1. Design a standard force source for on-site calibration of the six-component force of the space docking mechanism comprehensive test system composed of standard force sensors, measuring instruments, and transmission mechanisms. The measurement range of the force is configured, which solves the problem that the existing calibration scheme loaded with weights cannot meet the actual calibration requirements of the six-component force of the test system because of the small measurement range.
2.设计了与综合试验系统不同试验台相匹配的计量工装，计量工装上分别设计了力值校准时和扭矩校准时标准力源的安装位置，能够方便地实现对综合试验系统六分量力测量全部分量的校准，解决了现有以砝码加载的校准方案因为加载方式受限而不能对全部分量进行校准因而无法满足试验系统六分量力实际校准需求的问题。2. Measuring tooling matched with different test benches of the comprehensive test system is designed, and the installation positions of the standard force source during force value calibration and torque calibration are respectively designed on the measuring tooling, which can conveniently realize the six-component force measurement of the comprehensive test system The calibration of all components solves the problem that the existing calibration scheme loaded with weights cannot calibrate all the components due to the limited loading method, thus failing to meet the actual calibration requirements of the six-component force of the test system.
3.采用逐点校准的加载方式避免了因试验系统压电式六分量传感器输出电荷随着时间推移逐渐下降造成测量误差与累积的输出漂移叠加而难以真实评定试验系统六分量测量的技术性能的问题，提高了校准结果的准确性。3. The point-by-point calibration loading method is adopted to avoid the problem that it is difficult to truly evaluate the technical performance of the six-component measurement of the test system due to the gradual decline of the output charge of the piezoelectric six-component sensor of the test system over time, resulting in the superposition of measurement error and accumulated output drift. problem, improving the accuracy of calibration results.
本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。Each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other.
专业人员还可以进一步意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、计算机软件或者二者的结合来实现，为了清楚地说明硬件和软件的可互换性，在上述说明中已经按照功能一般性地描述了各示例的组成及步骤。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本发明的范围。Professionals can further realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, computer software or a combination of the two. In order to clearly illustrate the possible For interchangeability, in the above description, the composition and steps of each example have been generally described according to their functions. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present invention.
显然，本领域的技术人员可以对发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包括这些改动和变型在内。Obviously, those skilled in the art can make various changes and modifications to the invention without departing from the spirit and scope of the invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and equivalent technologies thereof, the present invention also intends to include these modifications and variations.
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