CN107664558B - Centroid measuring method of inertia measuring device - Google Patents

Centroid measuring method of inertia measuring device Download PDF

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CN107664558B
CN107664558B CN201610600176.XA CN201610600176A CN107664558B CN 107664558 B CN107664558 B CN 107664558B CN 201610600176 A CN201610600176 A CN 201610600176A CN 107664558 B CN107664558 B CN 107664558B
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product
center
test
tool
rotation
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CN107664558A (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 method for measuring the mass center of a product of an inertia measuring device based on the principle of inertia angle measurement, wherein the method comprises the following steps: arranging a test tool, wherein the test tool is provided with a vertical surface and a horizontal surface and can rotate around a circle center, the direction of the vertical surface is set as an axis Y, and the direction of the horizontal surface is set as an axis X; fitting the mounting surface of the product with the horizontal mounting surface of the test tool, and fitting the vertical surface of the product with the vertical leaning surface of the test tool; the method comprises the steps of performing power-on test on a product, collecting linear acceleration increment data sensitive to an X-axis accelerometer of an inertia measuring device, collecting data in a first time and taking an average value of the data; attaching the mounting surface of the product to the vertical surface of the test tool, attaching the vertical surface of the product to the horizontal surface of the test tool, collecting linear acceleration increment data sensitive to a Y-axis accelerometer of the inertia measuring device, collecting data in a second time and taking the average value of the data; and calculating to obtain the position of the mass center of the product.

Description

Centroid measuring method of inertia measuring device
Technical Field
The invention relates to a mass center measuring technology, in particular to a mass center measuring method of an inertia measuring device.
Background
The mass center measurement is crucial to a space vehicle, the requirement of the development of a novel weapon on the mass center measurement precision is continuously improved, an inertia measurement device is used as an important component of a missile, the longitudinal and radial mass centers of the inertia measurement device are important overall design parameters, and due to the fact that the inertia measurement device is complex in structure and a large number of installation parts are arranged inside the inertia measurement device, the geometric position of the mass center of the inertia measurement device is difficult to accurately determine through general theoretical calculation, and actual mass center position measurement must be carried out.
Disclosure of Invention
The present invention aims to provide a method for measuring the mass center of an inertial measurement unit, which is used for solving the problems of the prior art.
The invention relates to a method for measuring the product mass center of an inertia measuring device based on the inertia angle measuring principle, which comprises the following steps: arranging a test tool, wherein the test tool is provided with a vertical surface and a horizontal surface and can rotate around a circle center, the direction of the vertical surface is set as an axis Y, and the direction of the horizontal surface is set as an axis X; fitting the mounting surface of the product with the horizontal mounting surface of the test tool, and fitting the vertical surface of the product with the vertical leaning surface of the test tool; the method comprises the steps of performing power-on test on a product, acquiring linear acceleration increment data sensitive to an X-axis accelerometer of an inertia measuring device, and acquiringData over time and mean value μg(ii) a Collecting data, analyzing and calculating mugThe included angle between the gravity acceleration g and the test tool rotation angle theta in a static balance state is further obtained; attaching the product mounting surface to the vertical surface of the test tool, attaching the vertical surface of the product to the horizontal surface of the test tool, collecting the linear acceleration increment data sensitive to the Y-axis accelerometer of the inertia measurement device, collecting the data in the second time and taking the average value mu of the datag' obtaining a test tool rotation angle α in a static balance state through data acquisition and analysis, and calculating to obtain the centroid position of the product.
According to an embodiment of the method for measuring the center of mass of the product of the inertial measurement unit based on the inertial angle measurement principle, the step of calculating the center of mass position of the product of the inertial measurement unit comprises the following steps:
tool rotation angle θ:
Figure BDA0001060736690000021
the static equilibrium equation can be found:
F1×Lc＝F2×Lp＝F2×L1×Sinθ (2)；
from the geometric relationship:
L0＝L2-L3×tanθ-Lc×cscθ (3)；
from equations (1) to (3), we can see:
Figure BDA0001060736690000022
the tool rotation angle α can be obtained through data acquisition and analysis:
Figure BDA0001060736690000023
the static equilibrium equation gives:
F1×L'c＝F2×L'p＝F2×L1×Sinα (5)；
from the geometric relationship:
L'0＝L2-L3×tanα-L'c×cscα (6)；
from equations (4) to (6), we can see:
Figure BDA0001060736690000031
the coordinate of the centroid position in the XY plane of the product is (L)X,LY) And obtaining a centroid position solution diagram in the XY plane:
LY-L0＝tanθ×(L4-LX) (7)；
LY＝tanα×(LX-L'0) (8)；
the mass center position coordinate (L) of the inertia measuring device in the XY plane can be obtained by combining the formulas (1) to (8)X,LY)；
Figure BDA0001060736690000032
Figure BDA0001060736690000033
Wherein: o is a rotation center of the test tool;
F1is the weight of the product to be measured;
F2the weight of the tool is tested;
Lcthe distance from the center of mass of the product to be measured to the perpendicular line passing through the center of rotation when the product is horizontally placed;
Lptesting the distance from the center of mass of the tool to the perpendicular line passing through the center of rotation when the product is horizontally placed;
L‘cthe distance from the center of mass of the product to be measured to the perpendicular line passing through the center of rotation when the product is vertically placed;
L‘ptesting the distance from the center of mass of the tool to the perpendicular line passing through the center of rotation when the product is vertically placed;
L1the distance from the center of mass of the test tool to the center of rotation;
L2the parallel distance from the vertical leaning surface of the test tool to the rotation center is measured;
L3the vertical distance from the horizontal mounting surface of the test fixture to the rotation center;
L4is the height of the product to be measured.
According to an embodiment of the method for measuring the product centroid of the inertial measurement unit based on the inertial angle measurement principle, the Z axis is perpendicular to the XY axis, and the centroid position coordinates in the YZ plane are calculated by changing the placement position of the product.
According to an embodiment of the method for measuring the product mass center of the inertia measuring device based on the inertia angle measuring principle, the product is subjected to power-on test after the product and the test tool reach a static balance state.
According to an embodiment of the method for measuring the product mass center of the inertial measurement unit based on the inertial angle measurement principle, the first time is 1 minute.
According to an embodiment of the method for measuring the product mass center of the inertial measurement unit based on the inertial angle measurement principle, the second time is 1 minute.
According to an embodiment of the method for measuring the product mass center of the inertial measurement unit based on the inertial angle measurement principle, the used test equipment further comprises: inertia measuring device data acquisition equipment, electronic scale and slide caliper.
According to an embodiment of the method for measuring the product centroid of the inertial measurement unit based on the principle of inertial angle measurement, the test fixture rotates around a circle center in an XY plane and a YZ plane perpendicular to the XY plane.
According to an embodiment of the method for measuring the product mass center of the inertial measurement unit based on the inertial angle measurement principle, the method further comprises the following steps: and designing a testing tool according to the overall dimension of the product.
According to an embodiment of the method for measuring the product mass center of the inertial measurement unit based on the inertial angle measurement principle, the method further comprises the following steps: and respectively calculating the centroid positions of the product on the XY plane and the YZ plane.
In conclusion, the invention is based on the static angle measurement principle of the inertia measurement device, and does not depend on other external measurement equipment to realize the accurate measurement of the mass center of the inertia measurement device.
Drawings
FIG. 1 is a schematic view showing a state in which a product is horizontally placed;
FIG. 2 is a schematic view showing the measurement of the horizontal placement and rotation angle of a product;
FIG. 3 is a schematic view showing a product in a vertically placed state;
FIG. 4 shows a vertically positioned gyration angle measurement of a product;
FIG. 5 is a schematic diagram showing the location of the centroid in the XY plane of the product;
FIG. 6 is a perspective view of the product horizontally disposed;
fig. 7 is a perspective view showing the product placed horizontally.
Detailed Description
In order to make the objects, contents, and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.
The specific implementation steps of the product mass center measuring method of the inertia measuring device based on the inertia angle measuring principle comprise:
the first step is as follows: test system for constructing centroid measurements
The test system for centroid measurement comprises: the device comprises a test tool, an inertia measuring device data acquisition device, an electronic scale and a vernier caliper.
And designing a test tool according to the overall dimension of the product, wherein the test tool comprises a rotation center O, a horizontal mounting surface (the lower end part of a swing arm of the tool support) and a vertical leaning surface (the vertical end surface of the tool support). The distance L from the centroid of the test tool to the rotation center can be determined through analysis of the test tool model1And the parallel distance L from the vertical leaning surface of the test tool to the rotation center2And the vertical distance L from the horizontal mounting surface of the test fixture to the rotation center3. By means of a universal measuring device, the height L4 of the product to be measured, which is determinedWeight of the product F1, weight of the test fixture F2.
The second step is that: tool return angle measurement under static balance state
The product is attached to the horizontal mounting surface of the test fixture by the mounting surface of the tested product according to the figure 1, the tested product is horizontally placed on the test fixture, and the mounting surface and the vertical surface of the product are respectively attached to the horizontal mounting surface and the vertical leaning surface of the test fixture. After the product and the test tool reach a static balance state, the product is subjected to power-on test, linear acceleration increment data sensitive to an X-axis accelerometer of the inertia measurement device are collected through data collection equipment, 1min data are collected, and the average value mu of the data is obtainedg. As the accelerometer of the inertia measuring device can measure the component of the gravity acceleration value g on the sensitive axis X axis, the mu can be calculated by collecting data and analyzinggAnd g, the rotation angle theta of the test tool in a static balance state can be obtained, as shown in fig. 2.
Vertically placing the product on a testing tool according to the figure 3, namely, the mounting surface of the product is attached to the vertical surface of the testing tool, the vertical surface of the product is attached to the horizontal surface of the testing tool, adopting the same method, carrying out power-on test on the product after the product and the testing tool reach a static balance state, collecting the linear acceleration increment data sensitive to the Y-axis accelerometer of the inertial measurement device, collecting 1min data and taking the average value mu of the datag' the test fixture rotation angle α in the static equilibrium state can be obtained by collecting data and analyzing, as shown in fig. 4.
The third step: establishing a centroid position calculation model
When the product is horizontally placed as shown in fig. 1, the tool rotation angle theta can be obtained through data acquisition and analysis
Figure BDA0001060736690000061
The static equilibrium equation gives:
F1×Lc＝F2×Lp＝F2×L1×Sinθ (2)
from the geometric relationship:
L0＝L2-L3×tanθ-Lc×cscθ (3)
from equations (1) to (3), we can see:
Figure BDA0001060736690000062
when the product is vertically placed as shown in fig. 2, the tool rotation angle α can be obtained through data acquisition and analysis
Figure BDA0001060736690000071
The static equilibrium equation gives:
F1×L'c＝F2×L'p＝F2×L1×Sinα (5)
from the geometric relationship:
L'0＝L2-L3×tanα-L'c×cscα (6)
from equations (4) to (6), we can see:
Figure BDA0001060736690000072
the coordinate of the centroid position in the XY plane of the product is (L)X,LY) From the XY plane centroid position solution shown in fig. 5, the following can be obtained:
LY-L0＝tanθ×(L4-LX) (7)
LY＝tanα×(LX-L'0) (8)
the mass center position coordinate (L) of the inertia measuring device in the XY plane can be obtained by combining the formulas (1) to (8)X,LY)。
Figure BDA0001060736690000073
Figure BDA0001060736690000074
Repeating the above steps can obtain the coordinates (L) of the centroid position in the YZ planeY,LZ). The centroid position of the inertia measuring device product can be obtained through the calculation.
Wherein: o-testing the rotation center of the tool;
OAvertex 1 of the product under test;
OBvertex 2 of the product under test;
F1-the weight of the product to be measured;
F2-testing the weight of the tool;
Lcthe distance from the center of mass of the product to be measured to the perpendicular line passing through the center of rotation when the product is horizontally placed;
Lpwhen the product is horizontally placed, the distance from the center of mass of the tool to the vertical line passing through the center of rotation is tested;
L‘cthe distance from the center of mass of the product to be measured to the perpendicular line passing through the center of rotation when the product is vertically placed;
L‘pwhen the product is vertically placed, the distance from the center of mass of the tool to the vertical line passing through the center of rotation is tested;
L1testing the distance from the center of mass of the tool to the center of rotation;
L2-the parallel distance of the test fixture perpendicular to the seating surface to the centre of rotation;
L3-the vertical distance from the horizontal mounting surface of the test fixture to the centre of rotation;
L4-the height of the product to be tested;
theta-testing the rotation angle of the tool in a static state when the product is horizontally placed;
α - -testing the rotation angle of the fixture in a static state when the product is vertically placed;
g-local gravitational acceleration value;
μg-the accelerometer sensitive axis collects the average value for 1min when the product is placed horizontally;
μg' - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -The accelerometer sensitive axis collected an average value of 1min when placed straight.
The error of the product mass center position measured by the method is determined by the measuring precision, and mainly comprises the measuring precision of an electronic scale, the measuring precision of a vernier caliper and the measuring precision of the sensitive gravity acceleration of the measured product.
The invention also designs a simple test tool, a product with a reference leaning surface is placed on the test tool according to a horizontal state and a vertical state, the test product is attached to the vertical leaning surface and the horizontal mounting surface of the test tool, the mass center position of the inertia measurement device can be accurately measured by solving a statics equilibrium equation, and the higher the measurement precision of the product to be measured is, the more accurate the obtained measurement result is.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims (9)

1. A method for measuring the mass center of a product by an inertia measuring device based on the principle of inertia angle measurement is characterized by comprising the following steps:
arranging a test tool, wherein the test tool is provided with a vertical leaning surface and a horizontal mounting surface and can rotate around a circle center, and the direction of the vertical surface of the product is taken as an X axis and the direction of the mounting surface is taken as a Y axis during testing;
fitting the mounting surface of the product with the horizontal mounting surface of the test tool, and fitting the vertical surface of the product with the vertical leaning surface of the test tool;
the method comprises the steps of performing power-on test on a product, collecting linear acceleration increment data sensitive to an X-axis accelerometer of an inertia measuring device, collecting data in a first time and taking an average value mu of the datag(ii) a Collecting data, analyzing and calculating mugThe included angle between the gravity acceleration g and the test tool rotation angle theta in a static balance state is further obtained;
attaching the product mounting surface to the vertical leaning surface of the test tool, and horizontally mounting the vertical surface of the product and the test toolSurface fitting, collecting the linear acceleration increment data sensitive to the Y-axis accelerometer of the inertia measuring device, collecting the data in the second time and taking the average value mug' obtaining a test fixture rotation angle α in a static balance state through data acquisition and analysis;
calculating to obtain the position of the mass center of the product; the step of calculating the mass center position of the inertial measurement unit product comprises the following steps:
tool rotation angle θ:
Figure FDA0002217096810000011
the static equilibrium equation yields:
F1×Lc＝F2×Lp＝F2×L1×Sinθ (2)；
from the geometric relationship:
L0＝L2-L3×tanθ-Lc×cscθ (3)；
from equations (1) to (3):
Figure FDA0002217096810000021
tool rotation angle α obtained through data acquisition and analysis:
Figure FDA0002217096810000022
through a static equilibrium equation:
F1×L'c＝F2×L'p＝F2×L1×Sinα (5)；
from the geometric relationship:
L'0＝L2-L3×tanα-L'c×cscα (6)；
from equations (4) to (6):
Figure FDA0002217096810000023
the coordinate of the centroid position in the XY plane of the product is (L)X,LY) And obtaining a centroid position solution diagram in an XY plane:
LY-L0＝tanθ×(L4-LX) (7)；
LY＝tanα×(LX-L'0) (8)；
obtaining the centroid position coordinate (L) of the inertia measuring device in the XY plane by combining the formulas (1) - (8)X,LY)；
Figure FDA0002217096810000024
Figure FDA0002217096810000025
Wherein: o is a rotation center of the test tool;
F1is the weight of the product to be measured;
F2the weight of the tool is tested;
Lcthe distance from the center of mass of the product to be measured to the perpendicular line passing through the center of rotation when the product is horizontally placed;
Lptesting the distance from the center of mass of the tool to the perpendicular line passing through the center of rotation when the product is horizontally placed;
L’cthe distance from the center of mass of the product to be measured to the perpendicular line passing through the center of rotation when the product is vertically placed;
L’ptesting the distance from the center of mass of the tool to the perpendicular line passing through the center of rotation when the product is vertically placed;
L1the distance from the center of mass of the test tool to the center of rotation;
L2the parallel distance from the vertical leaning surface of the test tool to the rotation center is measured;
L3the vertical distance from the horizontal mounting surface of the test fixture to the rotation center;
L4is the height of the product to be measured.
2. The method for measuring the centroid of a product based on the inertial angle measurement principle according to claim 1, wherein the Z-axis is set to be perpendicular to the XY-axis, and the centroid position coordinates in the YZ-plane are calculated by changing the placement position of the product.
3. The method for measuring the mass center of a product of an inertial measurement unit based on the inertial angle measurement principle of claim 1, wherein the product is subjected to an electric test after the product and the test fixture reach a static equilibrium state.
4. The method of claim 1, wherein the first time is 1 minute.
5. The method of claim 1, wherein the second time is 1 minute.
6. The inertial measurement unit product centroid measurement method based on inertial goniometry principle as claimed in claim 1, wherein the test equipment used further comprises: inertia measuring device data acquisition equipment, electronic scale and slide caliper.
7. The inertial measurement unit product centroid measurement method based on inertial goniometry principle as claimed in claim 1,
the test tool rotates in an XY plane and a YZ plane vertical to the XY plane by a circle center.
8. The inertial measurement unit product centroid measurement method based on inertial goniometry principle as claimed in claim 1, further comprising: and designing a testing tool according to the overall dimension of the product.
9. The inertial measurement unit product centroid measurement method based on inertial goniometry principle as claimed in claim 8, further comprising: and respectively calculating the centroid positions of the product on the XY plane and the YZ plane.
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