CN107356361B - A kind of measurement method of six-dimensional space power - Google Patents

A kind of measurement method of six-dimensional space power Download PDF

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Publication number
CN107356361B
CN107356361B CN201710528994.8A CN201710528994A CN107356361B CN 107356361 B CN107356361 B CN 107356361B CN 201710528994 A CN201710528994 A CN 201710528994A CN 107356361 B CN107356361 B CN 107356361B
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model
bracing cable
force
support
dimensional
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CN107356361A (en
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任宗金
张军
任明帅
贾振元
化梅
刘帅
孙聪
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Dalian University of Technology
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Dalian University of Technology
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01LMEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/16Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
    • G01L5/167Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using piezo-electric means

Abstract

A kind of measurement method of six-dimensional space power uses the support of double tails and bracing cable combination for measuring the six-dimensional space power of aircraft model.Model is considered as during actual measurement fixed, according to statics balance principle, establish the mathematical model of the model suffered six-dimensional force in space, the model is measured by the force component of active force by the unidirectional force piezoelectric transducer that the triaxial pressure sensor being mounted on the tail supporting rod and upper bracing cable are connected with lower bracing cable, by solving the mathematical model of the foundation, realize to the model by the measurement of six-dimensional force.The measurement method of six-dimensional space power provided by the present invention has had both the good advantage of the small and rigid support system stability of bracing cable support interference, solve long and narrow, big quality module in independent tail supporting way it is big vibration, unstability problem.After increasing bracing cable Auxiliary support, the rigidity of test macro is improved, reduces the pressure of tail support stiffness design aspect, reduces the size design of tail support.

Description

A kind of measurement method of six-dimensional space power
Technical field
The invention belongs to sensor and observation and control technology field, it is related to a kind of six-dimensional space power that can be used for aircraft model Measurement method.
Background technique
In aviation field, the stress according to aircraft model is needed, design improves aircraft model.Therefore to boat Pocket model, which carries out six-dimensional space power measurement tool, to have very important significance.Traditional measurement method is to aircraft model using such as The supporting way of the forms such as belly stay, back up, shoe, is measured by strain transducer.There are different journeys for this supporting way The support interferences of degree have seriously affected the precision and accuracy of measurement data.Therefore reduce or amendment support interferences problem can The effective precision and accuracy for improving measurement aircraft model stress.The essence of bracing cable measurement method utilizes each rope Length controls the pose of measurand and calculates power suffered by measurand using the tension on all ropes.Although bracing cable measures Support interferences this problem can be well solved, but pure bracing cable is supported on the suspension centre on model and destroys the outer of model Shape, it is also difficult to which the sensitizing range for avoiding body-shedding vortex easily waves in test, influences measuring accuracy.Tail support and open Line support combinations are got up, and propose the combination of a kind of double tail supports and bracing cable support, it is small and rigid to have both bracing cable support interference The good advantage of support system stability can effectively solve the problem that long and narrow, big quality aircraft model in independent tail supporting way Big vibration, unstability problem.
Summary of the invention
The purpose of the present invention is to provide a kind of six-dimensional space force measuring methods that can be used for aircraft model, using double tails The combination measurement method of support and bracing cable support, has both the good advantage of the small and rigid support system stability of bracing cable support interference, Solve long and narrow, big quality model in independent tail supporting way it is big vibration, unstability problem.
Technical solution of the present invention:
A kind of measurement method of six-dimensional space power can be used for the six-dimensional space power measurement of aircraft model, use double tail branch Support and bracing cable combination;Aircraft model is considered as fixed in measurement process, according to statics balance principle, established The mathematical model of aircraft model stress, two three-dimensional force transducers and measurement being separately mounted in double tail support rods Two unidirectional force sensors of upper and lower bracing cable tension, for measure aircraft model by force component, by the empirical value of measurement Established mathematical model is substituted into, the value of six-dimensional space power suffered by aircraft model is solved.
It is preferred that the measurement method of measurement model six-dimensional space power, using the support of double tails and bracing cable combination, I.e. while support is realized using two rigid rods in the tail portion of the model, back and abdomen in the model are each to draw 1 The fixation to the model is realized in bracing cable.A three axis force sensing is respectively placed in two rigid supporting rods of the model tail portion Device, described two three-dimensional force transducers can measure two rigid supporting rod edge of model tail portionThe component in direction.Institute The one end for stating two unidirectional force sensors is respectively and fixedly installed in the model, and the other end is connect with the upper and lower bracing cable, institute Tension value suffered by the upper and lower bracing cable can be measured respectively by stating two unidirectional force sensors.Described two three axis forces are sensed Two force value respectively along upper and lower bracing cable direction that six force value and two unidirectional force sensors that device is measured are measured are updated to institute In the mathematical model for stating model stress, the model can be solved by the value of six-dimensional space power
It is preferred that the sensor is piezoelectric force transducer.
It is preferred that establishing the detailed process of the model stress mathematical model such as according to statics balance principle Under:
Rectangular coordinate system in space is established in the center of gravity of the model, the direction piezoelectric transducer being connected with upper bracing cable can Measure the line tension F along upper bracing cable direction1, the unidirectional force sensor being connected with lower bracing cable can measure along lower bracing cable direction Line tension F2;Two three-dimensional force transducers for being mounted on tail support bar can measure and export rigid rod bolster model Rigid connection along reference axis three component Fx1、Fy1、Fz1With Fx2、Fy2、Fz2.Model is considered as it is fixed, according to static(al) Equilibrium principle is learned, equation 1 of the model by six-dimensional force is established:
In formula 1, matrix
In matrix A, xi,yi,zi(i=1-2) coordinate of the unidirectional force sensor in the reference frame established is indicated (unidirectional force sensor is regarded as particle, xi,yi,zi(i=1-2) seat that this particle is fastened in built space coordinate is indicated It marks, wherein yi=zi=0 (i=1-2));xwi,ywi,zwi(i=1-2) indicate that three-dimensional force transducer is being established at tail support Coordinate in reference frame.
The force value F that each sensor is measured1、F2、Fx1、Fy1、Fz1With Fx2、Fy2、Fz2, equation 1 is substituted into, it can be achieved that model The solution of suffered six-dimensional space power.
As arbitrary way, bracing cable can also there are angle thetas with face XOY, can increase the quantity of bracing cable, increase the model Static stiffness, the specific range in combination with measurement considers.There are angle theta or increase the later six-dimensional force computation model of bracing cable quantity It is similar to the above, change matrix A.
Beneficial effects of the present invention: the precise measurement to six-dimensional space power suffered by the aircraft model is realized, is had both The small and rigid support system stability of bracing cable support interference good advantage, solves long and narrow, big quality aircraft model in list Big vibration when only tail supporting way, unstability problem.After increasing bracing cable Auxiliary support, in terms of tail support can reduce rigidity Design Pressure, reduce the size design of tail support, while improving measurement accuracy of the model by six-dimensional force.
Detailed description of the invention
Fig. 1 is measurement method schematic diagram of the aircraft model under the measurement method.
Fig. 2 is force analysis figure of the aircraft model under the support of double tails and upper and lower bracing cable support.
In figure: 1 aircraft model;Bracing cable on 2;3 first unidirectional force sensors;
4 first unidirectional force sensors;5 lower bracing cables;6 first triaxial pressure sensors;
7 second triaxial pressure sensors;8 first tail portion rigid supporting rods;9 second tail portion rigid supporting rods;
F1Indicate the line tension for the upper bracing cable that unidirectional force sensor 1 is measured;
F2Indicate the line tension for the lower bracing cable that unidirectional force sensor 2 is measured;
Fx1、Fy1、Fz1Indicate the institute's stress value for the tail support rigid rod 1 that three-dimensional force transducer 1 is measured;
Fx2、Fy2、Fz2Indicate the institute's stress value for the tail support rigid rod 2 that three-dimensional force transducer 2 is measured.
Specific embodiment
For a clearer understanding of the technical characteristics, objects and effects of the present invention, this hair of Detailed description of the invention is now compareed Bright specific embodiment.Wherein, identical component uses identical label.
As shown in Figure 1, a kind of measurement method of six-dimensional space power, for measuring space suffered by long and narrow, big mass objects 1 Six-dimensional force, it is characterised in that: bracing cable 2, lower bracing cable 5 and the first tail portion rigid supporting rod 8, the second tail portion rigid supporting rod in use 9 combinations.The object model is considered as fixed during actual measurement, according to statics balance principle, established The mathematical model of the model suffered six-dimensional force in space, by be mounted in first tail portion rigid supporting rod 8 What the second triaxial pressure sensor 7 and upper bracing cable 2 in one triaxial pressure sensor 6, the second tail portion rigid supporting rod 9 connected First unidirectional force sensor 3 and the second unidirectional force sensor 4 of lower bracing cable 5 connection measure the model by the power of active force Component is realized and is measured by the solution of six-dimensional force the model by solving the mathematical model of the foundation.
As shown in Fig. 2, force analysis of the model under the support of double tails and upper and lower bracing cable support, in the center of gravity of the model Place establishes rectangular coordinate system in space, and the unidirectional force sensor 1 can measure the line tension F along upper bracing cable direction1, the list The line tension F along lower bracing cable direction can be measured to force snesor 22, the three-dimensional force transducer 1 can measure and export tail Three component Fs of the portion's rigid supporting rod 1 along change in coordinate axis directionx1、Fy1、Fz1, the three-dimensional force transducer 2 can measure and export Three component Fs of the tail portion rigid supporting rod 2 along change in coordinate axis directionx2、Fy2、Fz2.Model is considered as it is fixed, then according to static(al) Equilibrium principle is learned, equation 1 of the model by six-dimensional force is established:
In formula 1, matrix
In matrix A, x1,2Indicate that bracing cable counter-force position is in the coordinate in reference frame;xwi,ywi,zwi(i=1-2) Indicate that active force is in the coordinate value of the rectangular coordinate system in space at tail support.
The force value F that each sensor is measured1、F2、Fx1、Fy1、Fz1With Fx2、Fy2、Fz2And each measured parameter value, it substitutes into Equation 1, it can be achieved that model by six-dimensional force solution.
As arbitrary way, bracing cable can also there are angle thetas with face XOY, can also increase the quantity of bracing cable, increase the mould The Static stiffness of type, the specific range in combination with measurement consider.There are angle theta or increase the later six-dimensional force mathematical modulo of bracing cable quantity Type is similar to the above, it is only necessary to change matrix A.It is also within the scope of the present invention with upper type.
The foregoing is merely the schematical specific embodiment of the present invention, the range being not intended to limit the invention.It is any Those skilled in the art, made equivalent variations, modification and combination under the premise of not departing from design and the principle of the present invention, It should belong to the scope of protection of the invention.

Claims (3)

1. a kind of measurement method of six-dimensional space power, the six-dimensional space power for aircraft model is measured, using the support of double tails and Bracing cable combination;It is characterized in that, aircraft model is considered as in measurement process it is fixed, according to statics balance original Reason, establishes the mathematical model of aircraft model stress, is realized in the tail portion of aircraft model using two rigid supporting rods While support, 1 bracing cable is respectively drawn at back and abdomen in aircraft model, realizes the fixation to aircraft model;Aviation A three-dimensional force transducer is respectively placed in two rigid supporting rods of device model tail portion, for measuring two rigid support of model tail portion Bar edgeThe component in direction;One end of two unidirectional force sensors is respectively and fixedly installed in aircraft model, separately One end is connect with upper and lower bracing cable respectively, and two unidirectional force sensors are for measuring tension value suffered by upper and lower bracing cable;By two Six force value that a three-dimensional force transducer is measured and two unidirectional force sensors measure respectively along two of upper and lower bracing cable direction Force value is updated in the mathematical model of aircraft model stress, solves the model by the value of six-dimensional space power;
The mathematical model of aircraft model stress is established according to statics balance principle, steps are as follows:
Rectangular coordinate system in space is established in the center of gravity of aircraft model, the unidirectional force sensor being connected with upper bracing cable is for measuring Line tension F along upper bracing cable direction1, the unidirectional force sensor being connected with lower bracing cable is for measuring the line tension along lower bracing cable direction F2;Two three-dimensional force transducers for being mounted on tail support bar are used to measure and export the rigid connection edge of rigid rod bolster model Three component F of reference axisx1、Fy1、Fz1With Fx2、Fy2、Fz2;Aircraft model is considered as it is fixed, according to statics balance Principle establishes equation (1) of the model by six-dimensional force:
In formula (1), matrix
In matrix A, xi,yi,zi, i=1-2, coordinate of the expression unidirectional force sensor in the reference frame established, i.e. handle Unidirectional force sensor is as particle, xi,yi,ziIndicate the coordinate that this particle is fastened in built space coordinate, wherein yi=zi= 0);xwi,ywi,zwiIndicate coordinate of the three-dimensional force transducer in the reference frame established at tail support;
The force value F that each sensor is measured1、F2、Fx1、Fy1、Fz1With Fx2、Fy2、Fz2, substitute into equation (1), obtain aircraft mould Six-dimensional space power suffered by type.
2. measurement method according to claim 1, which is characterized in that there are angle thetas with face XOY for bracing cable, increase bracing cable Quantity increases the Static stiffness of aircraft model, in conjunction with the range of measurement, there are angle theta or increases the later 6 DOF of bracing cable quantity Power computation model is identical as measurement direction described in claim 1, changes matrix A.
3. measurement method according to claim 1 or 2, which is characterized in that the three-dimensional force transducer and unidirectional force pass Sensor is piezoelectric force transducer.
CN201710528994.8A 2017-07-03 2017-07-03 A kind of measurement method of six-dimensional space power Active CN107356361B (en)

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Publication number Priority date Publication date Assignee Title
CN108414184B (en) * 2018-03-16 2019-09-27 大连理工大学 A kind of model supporting device and method based on the support of double tails and bracing cable support
CN110501107B (en) * 2019-07-03 2021-02-19 上海卫星工程研究所 Spacecraft rotation load dynamic balance measurement method based on six-dimensional force tester
CN111024275A (en) * 2019-12-23 2020-04-17 大连理工大学 Shear type unidirectional force piezoelectric sensor

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CN100494932C (en) * 2007-11-01 2009-06-03 大连理工大学 Piezoelectric six-dimensional large force sensor
CN100587429C (en) * 2008-11-26 2010-02-03 大连理工大学 Multi-point partial pre-fastening method with adjustable load sharing mechanism
CN101567222A (en) * 2009-06-05 2009-10-28 中国科学院长春光学精密机械与物理研究所 Automatic adjustment positioning device in a six-dimensional space
CN201903415U (en) * 2010-12-03 2011-07-20 西安金和光学科技有限公司 Six-dimension force sensing device

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