CN107664558A - Inertial measuring unit centroid measurement method - Google Patents

Inertial measuring unit centroid measurement method Download PDF

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CN107664558A
CN107664558A CN201610600176.XA CN201610600176A CN107664558A CN 107664558 A CN107664558 A CN 107664558A CN 201610600176 A CN201610600176 A CN 201610600176A CN 107664558 A CN107664558 A CN 107664558A
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product
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test fixture
measuring unit
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CN107664558B (en
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安振东
宋利锋
贾青萍
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Beijing Institute of Computer Technology and Applications
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Beijing Institute of Computer Technology and Applications
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M1/00—Testing static or dynamic balance of machines or structures
    • G01M1/12—Static balancing; Determining position of centre of gravity
    • G01M1/122—Determining position of centre of gravity
    • G01M1/125—Determining position of centre of gravity of aircraft

Abstract

The invention discloses a kind of inertial measuring unit product centroid measurement method based on inertia angle measuring principle, wherein, including：Test fixture is set, and the test fixture has a vertical plane and a horizontal plane, and can be rotated with a center of circle, if the direction of vertical plane is Y-axis, the direction of horizontal plane is X-axis；It is bonded with the horizontal mounting surface of test fixture with the mounting surface of product, is bonded the vertical plane of product is vertical with test fixture by face；Test is powered up to product, the linear acceleration incremental data of inertial measuring unit X-axis accelerometer sensitive is acquired, the data in the very first time is gathered and takes its average value；Product mounting surface is bonded with the vertical plane of test fixture, the vertical plane of product is bonded with the horizontal plane of test fixture, the linear acceleration incremental data of inertial measuring unit Y-axis accelerometer sensitive is acquired, the data in the second time is gathered and takes its average value；The centroid position of product is calculated.

Description

Inertial measuring unit centroid measurement method
Technical field
The present invention relates to a kind of centroid measurement technology, the centroid measurement method of more particularly to a kind of inertial measuring unit.
Background technology
Centroid measurement is most important for spacecraft, and the requirement of the development of new weapon to mass center measurement precision is continuous Improving, important component of the inertial measuring unit as guided missile, longitudinally and radially barycenter is important Parameter of Overall Design for it, Because inertial measuring unit is complicated, there is substantial amounts of installing component inside, and it is difficult to accurately determine its matter that general theory, which calculates, The geometric position of the heart, it is necessary to carry out actual centroid position measurement.
The content of the invention
Present invention aims at a kind of centroid measurement method of inertial measuring unit is provided, for solving above-mentioned prior art The problem of.
A kind of inertial measuring unit product centroid measurement method based on inertia angle measuring principle of the present invention, wherein, including：If Test fixture is put, the test fixture has a vertical plane and a horizontal plane, and can be rotated with a center of circle, if the side of vertical plane It is X-axis to the direction for Y-axis, horizontal plane；It is bonded with the mounting surface of product with the horizontal mounting surface of test fixture, by hanging down for product Face directly and vertical with test fixture be bonded by face；Test is powered up to product, to inertial measuring unit X-axis accelerometer sensitive Linear acceleration incremental data be acquired, gather the very first time in data simultaneously take its average value mug；Gathered data, analysis meter Calculate μgWith the angle of gravity acceleration g, and then the test fixture angle of revolution θ under static balance state is obtained；By product mounting surface with The vertical plane fitting of test fixture, the vertical plane of product is bonded with the horizontal plane of test fixture, inertial measuring unit Y-axis is added The sensitive linear acceleration incremental data of speedometer is acquired, and is gathered the data in the second time and is taken its average value mug', pass through Analysis of data collected obtains the test fixture angle of revolution α under static balance state；The centroid position of product is calculated.
According to the present invention the inertial measuring unit product centroid measurement method based on inertia angle measuring principle an embodiment, Wherein, the centroid position of inertial measuring unit product, which is calculated, to be included：
Frock angle of revolution θ：
The equation of static equilibrium can obtain：
F1×Lc=F2×Lp=F2×L1×Sinθ (2)；
It can be obtained by geometrical relationship：
L0=L2-L3×tanθ-Lc×cscθ (3)；
It can be obtained by equation (1)~(3)：
Frock angle of revolution α can be obtained by data collection and analysis：
It can be obtained by the equation of static equilibrium：
F1×L'c=F2×L'p=F2×L1×Sinα (5)；
It can be obtained by geometrical relationship：
L'0=L2-L3×tanα-L'c×cscα (6)；
It can be obtained by equation (4)~(6)：
Centroid position coordinate in product X/Y plane is (LX,LY), it can be obtained by centroid position solution nomogram in X/Y plane：
LY-L0=tan θ × (L4-LX) (7)；
LY=tan α × (LX-L'0) (8)；
Combinatorial formula (1)~(8) can obtain the centroid position coordinate (L of inertial measuring unit in X/Y planeX,LY)；
Wherein：O is the test fixture centre of gyration；
F1For the weight of test product；
F2For the weight of test fixture；
LcTest product barycenter arrived the distance of the centre of gyration vertical line when being placed for Product Level；
LpTest fixture barycenter arrived the distance of the centre of gyration vertical line when being placed for Product Level；
L‘cTest product barycenter arrived the distance of the centre of gyration vertical line when being disposed vertically for product；
L‘pTest fixture barycenter arrived the distance of the centre of gyration vertical line when being disposed vertically for product；
L1For the distance of test fixture barycenter to the centre of gyration；
L2It is that test fixture vertically leans on face to the parallel distance of the centre of gyration；
L3For the vertical range of test fixture horizontal mounting surface to the centre of gyration；
L4For the height of test product.
According to the present invention the inertial measuring unit product centroid measurement method based on inertia angle measuring principle an embodiment, Wherein, if Z axis, by changing the placement location of product, calculates the centroid position coordinate in YZ planes perpendicular to XY axles.
According to the present invention the inertial measuring unit product centroid measurement method based on inertia angle measuring principle an embodiment, Wherein, test is powered up to product after product and test fixture reach static balance state.
According to the present invention the inertial measuring unit product centroid measurement method based on inertia angle measuring principle an embodiment, Wherein, the very first time is 1 minute.
According to the present invention the inertial measuring unit product centroid measurement method based on inertia angle measuring principle an embodiment, Wherein, second time is 1 minute.
According to the present invention the inertial measuring unit product centroid measurement method based on inertia angle measuring principle an embodiment, Wherein, the test equipment used also includes：Inertial measuring unit data acquisition equipment, electronic scale and slide measure.
According to the present invention the inertial measuring unit product centroid measurement method based on inertia angle measuring principle an embodiment, Wherein, the test fixture with a center of circle in X/Y plane and the YZ rotation with surface perpendicular to X/Y plane.
According to the present invention the inertial measuring unit product centroid measurement method based on inertia angle measuring principle an embodiment, Wherein, in addition to：According to product design size design test fixture.
According to the present invention the inertial measuring unit product centroid measurement method based on inertia angle measuring principle an embodiment, Wherein, in addition to：Product is calculated respectively in X/Y plane and the centroid position of YZ planes.
To sum up, the present invention is based on inertial measuring unit static state angle measurement principle, independent of the realization pair of other external measurement devices The barycenter of inertial measuring unit accurately measures.
Brief description of the drawings
Fig. 1 show the signal of Product Level laying state；
Fig. 2 show Product Level and is placed back into outer corner measurement schematic diagram；
Fig. 3 show product and is disposed vertically state signal；
Fig. 4 show product and is disposed vertically revolution angular measurement；
Fig. 5 show centroid position solution nomogram in product X/Y plane；
Fig. 6 show the schematic perspective view of Product Level placement；
Fig. 7 show the schematic perspective view of Product Level placement.
Embodiment
To make the purpose of the present invention, content and advantage clearer, with reference to the accompanying drawings and examples, to the present invention's Embodiment is described in further detail.
The specific implementation step of inertial measuring unit product centroid measurement method based on inertia angle measuring principle includes：
The first step：Build the test system of centroid measurement
The test system of centroid measurement includes：Test fixture, inertial measuring unit data acquisition equipment, electronic scale, vernier Slide calliper rule.
According to product design size design test fixture, test fixture should include centre of gyration O, horizontal mounting surface (frock The bottom of the swing arm of support) and vertically lean on face (perpendicular end surface of tooling bracket).It can determine that by test fixture model analysis Distance L of the test fixture barycenter to the centre of gyration1, test fixture is vertically by the parallel distance L in face to the centre of gyration2, test fixture Vertical range L of the horizontal mounting surface to the centre of gyration3.Pass through universal measuring device, it may be determined that the height L4 of test product, be tested The weight F1 of product, the weight F2 of test fixture.
Second step：Frock turns round angular measurement under static balance state
Product is bonded according to shown in Fig. 1 with the mounting surface of test product with the horizontal mounting surface of test fixture, level is put Put on test fixture, by the mounting surface of product and vertical plane respectively with the horizontal mounting surface of test fixture and vertical being pasted by face Close.Test is powered up to product after product and test fixture reach static balance state, by data acquisition equipment to inertia The linear acceleration incremental data of measurement apparatus X-axis accelerometer sensitive is acquired, and is gathered 1min data and is taken its average value mug。 Because the measurable gravity acceleration value g of the accelerometer of inertial measuring unit is in the component of sensitive axes X-axis, pass through gathered data point Analysis can calculate μgWith g angle, and then the test fixture angle of revolution θ under static balance state is can obtain, as shown in Figure 2.
Product is vertically disposed on test fixture according to shown in Fig. 3, i.e. the vertical plane of product mounting surface and test fixture Fitting, the vertical plane of product are bonded with the horizontal plane of test fixture, using same method, treat that product reaches quiet with test fixture Test is powered up after poised state to product, to the linear acceleration incremental data of inertial measuring unit Y-axis accelerometer sensitive It is acquired, gathers 1min data and take its average value mug', the test under static balance state can obtain by analysis of data collected Frock angle of revolution α, as shown in Figure 4.
3rd step：Establish centroid position computation model
When product according to it is horizontal positioned shown in Fig. 1 when, frock angle of revolution θ can be obtained by data collection and analysis
It can be obtained by the equation of static equilibrium：
F1×Lc=F2×Lp=F2×L1×Sinθ (2)
It can be obtained by geometrical relationship：
L0=L2-L3×tanθ-Lc×cscθ (3)
It can be obtained by equation (1)~(3)：
When product shown in Fig. 2 according to being disposed vertically, frock angle of revolution α can be obtained by data collection and analysis
It can be obtained by the equation of static equilibrium：
F1×L'c=F2×L'p=F2×L1×Sinα (5)
It can be obtained by geometrical relationship：
L'0=L2-L3×tanα-L'c×cscα (6)
It can be obtained by equation (4)~(6)：
Centroid position coordinate in product X/Y plane is (LX,LY), centroid position solution nomogram in X/Y plane as shown in Figure 5 It can obtain：
LY-L0=tan θ × (L4-LX) (7)
LY=tan α × (LX-L'0) (8)
Combinatorial formula (1)~(8) can obtain the centroid position coordinate (L of inertial measuring unit in X/Y planeX,LY)。
Repeat the above steps the centroid position coordinate (L that can be obtained in YZ planesY,LZ).Surveyed by the above-mentioned inertia that can be calculated Measure the centroid position of device product.
Wherein：O --- the test fixture centre of gyration；
OA--- the summit 1 of test product；
OB--- the summit 2 of test product；
F1--- the weight of test product；
F2--- the weight of test fixture；
Lc--- test product barycenter arrived the distance of the centre of gyration vertical line when Product Level is placed；
Lp--- test fixture barycenter arrived the distance of the centre of gyration vertical line when Product Level is placed；
L‘c--- test product barycenter arrived the distance of the centre of gyration vertical line when product is disposed vertically；
L‘p--- test fixture barycenter arrived the distance of the centre of gyration vertical line when product is disposed vertically；
L1--- the distance of test fixture barycenter to the centre of gyration；
L2--- --- test fixture is vertically by the parallel distance in face to the centre of gyration；
L3Vertical range of --- --- the test fixture horizontal mounting surface to the centre of gyration；
L4The height of --- --- test product；
Angle of revolution when θ --- --- Product Level is placed under test fixture inactive state；
Angles of revolution of the α --- --- when product is disposed vertically under test fixture inactive state；
G------ local gravitational acceleration values；
μg--- --- Product Level places brief acceleration meter sensitive axes collection 1min average value；
μg' --- --- product is disposed vertically brief acceleration meter sensitive axes collection 1min average value.
The product centroid position error for adopting this method measurement is determined by measuring accuracy, mainly includes the measurement of electronic scale Precision, the measurement accuracy of slide measure and the measurement accuracy of test product sensitivity acceleration of gravity.
The present invention also designs easy test fixture, the product in face will be leaned on benchmark according to horizontal and vertical two states It is placed on test fixture, makes test product vertical with test fixture and be bonded by face and horizontal mounting surface, by resolving static(al) Equilibrium equation is learned, can accurately measure the centroid position of inertial measuring unit, test product measurement accuracy is higher, obtained measurement knot Fruit is more accurate.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art For member, without departing from the technical principles of the invention, some improvement and deformation can also be made, these are improved and deformation Also it should be regarded as protection scope of the present invention.

Claims (10)

  1. A kind of 1. inertial measuring unit product centroid measurement method based on inertia angle measuring principle, it is characterised in that including：
    Test fixture is set, and the test fixture has a vertical plane and a horizontal plane, and can be rotated with a center of circle, if vertically The direction in face is Y-axis, and the direction of horizontal plane is X-axis；
    It is bonded with the horizontal mounting surface of test fixture with the mounting surface of product, is leaned on the vertical plane of product is vertical with test fixture Face is bonded；
    Test is powered up to product, the linear acceleration incremental data of inertial measuring unit X-axis accelerometer sensitive is adopted Collection, gather the data in the very first time and take its average value mug；Gathered data, analysis calculate μgWith the angle of gravity acceleration g, And then obtain the test fixture angle of revolution θ under static balance state；
    Product mounting surface is bonded with the vertical plane of test fixture, the vertical plane of product is bonded with the horizontal plane of test fixture, The linear acceleration incremental data of inertial measuring unit Y-axis accelerometer sensitive is acquired, gathers the data in the second time And take its average value mug', the test fixture angle of revolution α under static balance state is obtained by analysis of data collected；
    The centroid position of product is calculated.
  2. 2. the inertial measuring unit product centroid measurement method based on inertia angle measuring principle as claimed in claim 1, its feature It is, the centroid position of inertial measuring unit product, which is calculated, to be included：
    Frock angle of revolution θ：
    <mrow> <mi>&amp;theta;</mi> <mo>=</mo> <mi>arccos</mi> <mfrac> <msub> <mi>&amp;mu;</mi> <mi>g</mi> </msub> <mi>g</mi> </mfrac> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>1</mn> <mo>)</mo> </mrow> <mo>;</mo> </mrow>
    The equation of static equilibrium obtains：
    F1×Lc=F2×Lp=F2×L1×Sinθ (2)；
    Obtained by geometrical relationship：
    L0=L2-L3×tanθ-Lc×cscθ (3)；
    Obtained by equation (1)~(3)：
    <mrow> <msub> <mi>L</mi> <mn>0</mn> </msub> <mo>=</mo> <msub> <mi>L</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>L</mi> <mn>3</mn> </msub> <mo>&amp;times;</mo> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mi>&amp;theta;</mi> <mo>-</mo> <mfrac> <mrow> <msub> <mi>F</mi> <mn>2</mn> </msub> <mo>&amp;times;</mo> <msub> <mi>L</mi> <mn>1</mn> </msub> <mo>&amp;times;</mo> <mi>S</mi> <mi>i</mi> <mi>n</mi> <mi>&amp;theta;</mi> </mrow> <msub> <mi>F</mi> <mn>1</mn> </msub> </mfrac> <mo>&amp;times;</mo> <mi>csc</mi> <mi>&amp;theta;</mi> <mo>;</mo> </mrow>
    Frock angle of revolution α is obtained by data collection and analysis：
    <mrow> <mi>&amp;alpha;</mi> <mo>=</mo> <mi>arccos</mi> <mfrac> <msubsup> <mi>&amp;mu;</mi> <mi>g</mi> <mo>&amp;prime;</mo> </msubsup> <mi>g</mi> </mfrac> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>4</mn> <mo>)</mo> </mrow> <mo>;</mo> </mrow>
    Obtained by the equation of static equilibrium：
    F1×L'c=F2×L'p=F2×L1×Sinα (5)；
    Obtained by geometrical relationship：
    L'0=L2-L3×tanα-L'c×cscα (6)；
    Obtained by equation (4)~(6)：
    <mrow> <msubsup> <mi>L</mi> <mn>0</mn> <mo>&amp;prime;</mo> </msubsup> <mo>=</mo> <msub> <mi>L</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>L</mi> <mn>3</mn> </msub> <mo>&amp;times;</mo> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mi>&amp;alpha;</mi> <mo>-</mo> <mfrac> <mrow> <msub> <mi>F</mi> <mn>2</mn> </msub> <mo>&amp;times;</mo> <msub> <mi>L</mi> <mn>1</mn> </msub> <mo>&amp;times;</mo> <mi>S</mi> <mi>i</mi> <mi>n</mi> <mi>&amp;alpha;</mi> </mrow> <msub> <mi>F</mi> <mn>1</mn> </msub> </mfrac> <mo>&amp;times;</mo> <mi>csc</mi> <mi>&amp;alpha;</mi> <mo>;</mo> </mrow>
    Centroid position coordinate in product X/Y plane is (LX,LY), obtained by centroid position solution nomogram in X/Y plane：
    LY-L0=tan θ × (L4-LX) (7)；
    LY=tan α × (LX-L'0) (8)；
    Combinatorial formula (1)~(8) obtain the centroid position coordinate (L of inertial measuring unit in X/Y planeX,LY)；
    <mrow> <msub> <mi>L</mi> <mi>X</mi> </msub> <mo>=</mo> <mfrac> <mrow> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mi>&amp;theta;</mi> <mo>&amp;times;</mo> <msub> <mi>L</mi> <mn>4</mn> </msub> <mo>+</mo> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mi>&amp;alpha;</mi> <mo>&amp;times;</mo> <msubsup> <mi>L</mi> <mn>0</mn> <mo>&amp;prime;</mo> </msubsup> <mo>+</mo> <msub> <mi>L</mi> <mn>0</mn> </msub> </mrow> <mrow> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mi>&amp;theta;</mi> <mo>+</mo> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mi>&amp;alpha;</mi> </mrow> </mfrac> <mo>;</mo> </mrow>
    <mrow> <msub> <mi>L</mi> <mi>Y</mi> </msub> <mo>=</mo> <mfrac> <mrow> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mi>&amp;alpha;</mi> <mo>&amp;times;</mo> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mi>&amp;theta;</mi> <mo>&amp;times;</mo> <msub> <mi>L</mi> <mn>4</mn> </msub> <mo>-</mo> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mi>&amp;alpha;</mi> <mo>&amp;times;</mo> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mi>&amp;theta;</mi> <mo>&amp;times;</mo> <msubsup> <mi>L</mi> <mn>0</mn> <mo>&amp;prime;</mo> </msubsup> <mo>+</mo> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mi>&amp;alpha;</mi> <mo>&amp;times;</mo> <msub> <mi>L</mi> <mn>0</mn> </msub> </mrow> <mrow> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mi>&amp;theta;</mi> <mo>+</mo> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mi>&amp;alpha;</mi> </mrow> </mfrac> <mo>;</mo> </mrow>
    Wherein：O is the test fixture centre of gyration；
    F1For the weight of test product；
    F2For the weight of test fixture；
    LcTest product barycenter arrived the distance of the centre of gyration vertical line when being placed for Product Level；
    LpTest fixture barycenter arrived the distance of the centre of gyration vertical line when being placed for Product Level；
    L‘cTest product barycenter arrived the distance of the centre of gyration vertical line when being disposed vertically for product；
    L‘pTest fixture barycenter arrived the distance of the centre of gyration vertical line when being disposed vertically for product；
    L1For the distance of test fixture barycenter to the centre of gyration；
    L2It is that test fixture vertically leans on face to the parallel distance of the centre of gyration；
    L3For the vertical range of test fixture horizontal mounting surface to the centre of gyration；
    L4For the height of test product.
  3. 3. the inertial measuring unit product centroid measurement method based on inertia angle measuring principle as claimed in claim 1, its feature It is, if Z axis, by changing the placement location of product, calculates the centroid position coordinate in YZ planes perpendicular to XY axles.
  4. 4. the inertial measuring unit product centroid measurement method based on inertia angle measuring principle as claimed in claim 1, its feature It is, test is powered up to product after product and test fixture reach static balance state.
  5. 5. the inertial measuring unit product centroid measurement method based on inertia angle measuring principle as claimed in claim 1, its feature It is, the very first time is 1 minute.
  6. 6. the inertial measuring unit product centroid measurement method based on inertia angle measuring principle as claimed in claim 1, its feature It is, second time is 1 minute.
  7. 7. the inertial measuring unit product centroid measurement method based on inertia angle measuring principle as claimed in claim 1, its feature It is, the test equipment used also includes：Inertial measuring unit data acquisition equipment, electronic scale and slide measure.
  8. 8. the inertial measuring unit product centroid measurement method based on inertia angle measuring principle as claimed in claim 1, its feature It is,
    The test fixture is with a center of circle in X/Y plane and the YZ rotation with surface perpendicular to X/Y plane.
  9. 9. the inertial measuring unit product centroid measurement method based on inertia angle measuring principle as claimed in claim 1, its feature It is, in addition to：According to product design size design test fixture.
  10. 10. the inertial measuring unit product centroid measurement method based on inertia angle measuring principle as claimed in claim 8, its feature It is, in addition to：Product is calculated respectively in X/Y plane and the centroid position of YZ planes.
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