CN107991049A - Six-degree of freedom vibration test method and device based on acceleration transducer - Google Patents
Six-degree of freedom vibration test method and device based on acceleration transducer Download PDFInfo
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- CN107991049A CN107991049A CN201711184069.4A CN201711184069A CN107991049A CN 107991049 A CN107991049 A CN 107991049A CN 201711184069 A CN201711184069 A CN 201711184069A CN 107991049 A CN107991049 A CN 107991049A
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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
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
- G01M7/06—Multidirectional test stands
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Abstract
The invention discloses a kind of six-degree of freedom vibration test method and device based on acceleration transducer, this method comprises the following steps：1) the first three-dimensional acceleration transducer is set at vibration-testing point, using the first three-dimensional acceleration transducer as origin, establish rectangular coordinate system in space, and the second~the 4th three-dimensional acceleration transducer is set at specific coordinate position；2) acceleration at point is measured respectively by each three-dimensional acceleration transducer；3) linear acceleration at vibration-testing point is measured, and calculates the angular acceleration at vibration-testing point.The device includes the first integral three-dimensional acceleration transducer of encapsulation, the second three-dimensional acceleration transducer, the 3rd three-dimensional acceleration transducer and the 4th three-dimensional acceleration transducer, each sensor and is installed according to specific coordinate position.The present invention uses multiple acceleration transducer synchronism detections, can completely build reduction vibration-testing point motion conditions.
Description
Technical field
The invention belongs to vibration-testing field, more particularly to a kind of six-degree of freedom vibration test based on acceleration transducer
Method and device.
Background technology
Six-degree of freedom vibration test is the important component of environmental test test, and six-degree of freedom vibration test can be applied to
The calibration of six-freedom degree vibration test platform, aerospace, workpiece environmental testing, the inertial navigation of water transport Road Transportation instrument are put down
Six-degree of freedom vibration test of platform etc..Six-degree of freedom vibration is tested, for work shape of the workpiece under six-degree of freedom vibration environment
State is estimated significant with Working state analysis, reasonably avoiding workpiece work risk etc. field.
Traditional single three-dimensional acceleration transducer can only synchronize three one-movement-freedom-degrees on X, Y, Z coordinate system
Test, it is impossible to three rotational freedoms around these three reference axis are tested, therefore can not full backup six-degree of freedom vibration test point
Working status.Can not accurate reproduction vibration-testing point moving situation using the multiple testing experiment of unidirectional acceleration transducer.
And optics vibration measuring method is used to the more demanding of laboratory, it is difficult to carry out field test and cost is excessive in theory.
The content of the invention
It is an object of the invention to provide a kind of work easy to operate, being capable of full backup six-degree of freedom vibration test point
The six-degree of freedom vibration test method and device based on acceleration transducer of state.
To achieve the above object, the six-degree of freedom vibration test method based on acceleration transducer designed by the present invention,
Include the following steps：
1) the first three-dimensional acceleration transducer is set at vibration-testing point, using the first three-dimensional acceleration transducer as origin
O, establishes rectangular coordinate system in space O-XYZ, sets the two or three at space coordinate (ρ, 0,0), (0, ρ, 0) and (0,0, ρ) place respectively
To acceleration transducer, the 3rd three-dimensional acceleration transducer and the 4th three-dimensional acceleration transducer, ρ is non-zero constant (its value root
Selected according to process conditions and required precision), and make three measurement directions (i.e. three-phase acceleration biography of each three-phase acceleration transducer
The X, Y, Z axis direction indicated on sensor) X, Y with coordinate system O-XYZ, Z coordinate direction of principal axis are parallel respectively；
2) acceleration at point, the first three-dimensional acceleration transducer are measured by each three-dimensional acceleration transducer respectively
The acceleration in the X, Y, Z axis direction measured is denoted as a respectively1、a2、a3, Y that the second three-dimensional acceleration transducer measures, Z-direction
Acceleration be denoted as a respectively9、a7, X that the 3rd three-dimensional acceleration transducer measures, the acceleration of Z-direction are denoted as a respectively8、
a5, X that the 4th three-dimensional acceleration transducer measures, the acceleration of Y direction are denoted as a respectively6、a4；
3) linear acceleration at vibration-testing point is measured by the first three-dimensional acceleration transducer, i.e.,：
Wherein, a0x、a0y、a0zRespectively linear acceleration component of the vibration-testing point in X, Y, Z axis direction；
4) it is calculated as follows to obtain the angular acceleration at vibration-testing point：
Wherein, αx、αy、αzRespectively vibration-testing point X, Y, Z axis direction component of angular acceleration, so far, vibration-testing
Point real motion situation is reduced in certain precision.
For ease of understanding, the derivation of equation in step 4) following present：
With a0(component in X, Y, Z axis is respectively a to the vector acceleration of expression vibration-testing point0x、a0y、a0z), α tables
Show that (component in X, Y, Z axis is respectively α for the angular acceleration of vibration-testing pointx、αy、αz), ω represents the angle speed of vibration-testing point
(component in X, Y, Z axis is respectively ω to degree vectorx、ωy、ωz).It can be obtained with drag by sport dynamics：
ai=a0+α×ri+(ω×ω×ri)+εiI=1,2,3 ... 9 (1)
Wherein εiFor error caused by non-rigid effect (flexibility), due to after encapsulation device in rigidity, non-rigid effect pair
Measuring accuracy influences very little, therefore non-rigid effect, i.e. ε can be neglectedi=0, then contain three unknown quantity a in equation (1)0, α and ω,
In order to make equation easy to calculate, equivalent operation is carried out using matrix.
ai=a0+ [α] × ρ+[ω] × [ω] × ρ=a0+ [Ω] × ρ i=1,2,3 ... 9 (2)
In equation (2), [α] and [ω] is skew symmetric matrix；[Ω]=[α]+[ω] × [ω], represents angular movement to being surveyed
The contribution of linear acceleration.
IfIt is the angular acceleration in fixed coordinates
With angular speed (The respectively unit vector of X, Y, Z axis forward direction), then：
Equation (3) is substituted into equation (2) to obtain：
a1=a0x, a2=a0y, a3=a0z
a4=a0y+ωxωy+αz
a5=a0z+ωxωz-αy
a6=a0x+ωxωy-αz
a7=a0z+ωyωz+αx
a8=a0x+ωxωz+αy
a9=a0y+ωyωz-αx
Further arranging to obtain：
Wherein, a0x、a0y、a0zRespectively vibration-testing point X, Y, Z axis acceleration (component), by the first three-dimensional accelerate
The directly measurement of degree sensor obtains, αx、αy、αzFor X, Y, Z axis angular acceleration (component), so far, vibration-testing point real motion feelings
Condition is reduced in certain precision.
In such scheme, in addition to the first three-dimensional acceleration transducer, other three-dimensional acceleration transducers all only measure two
The acceleration in a direction, therefore two unidirectional acceleration transducers can be respectively adopted and substitute.Specifically, second three-dimensional accelerates
Spend sensor to use positioned at coordinate (ρ, 0,0), two of (- ρ, 0,0) place unidirectional acceleration transducers replacements, measure a respectively9、a7
In one；3rd three-dimensional acceleration transducer is used to be passed positioned at coordinate (0, ρ, 0), two of (0 ,-ρ, 0) place unidirectional acceleration
Sensor replaces, respectively a8、a5In one；, the 4th three-dimensional acceleration transducer use positioned at coordinate (0,0, ρ), (0,0 ,-ρ) place
Two unidirectional acceleration transducers replace, measure a respectively6、a4In one.
Invention also provides a kind of six-degree of freedom vibration test device based on acceleration transducer, including it is packaged into
The first three-dimensional acceleration transducer, the second three-dimensional acceleration transducer, the 3rd three-dimensional acceleration transducer and the four or three of one
To acceleration transducer；Using the first three-dimensional acceleration transducer as origin O, rectangular coordinate system in space O-XYZ is established, described second
Three-dimensional acceleration transducer, the 3rd three-dimensional acceleration transducer and the 4th three-dimensional acceleration transducer respectively positioned at coordinate (ρ,
0,0), (0, ρ, 0) and (0,0, ρ) place (implication of ρ is identical with method part), and the measurement side of each three-dimensional acceleration transducer
It is corresponding with the change in coordinate axis direction of coordinate system O-XYZ to (three measurement directions indicated on three acceleration transducers).
Six-degree of freedom vibration test device of the another kind based on acceleration transducer provided by the invention, including it is packaged into one
The the first three-dimensional acceleration transducer and six unidirectional acceleration transducers of body；Using the first three-dimensional acceleration transducer as origin O,
Establish rectangular coordinate system in space O-XYZ, six unidirectional acceleration transducers respectively positioned at coordinate (ρ, 0,0), (- ρ, 0,0), (0,
ρ, 0), (0 ,-ρ, 0), (0,0, ρ), (0,0 ,-ρ) place (implication of ρ is identical with method part), its measurement direction (unidirectional acceleration
The measurement direction indicated on sensor) in the forward direction of a reference axis, Y or the Z axis that are followed successively by reference axis Y or Z axis
The forward direction of another reference axis, X or the forward direction of a reference axis in Z axis, the forward direction of X or another reference axis in Z axis, X
Or the forward direction of the forward direction of a reference axis in Y-axis, X or another reference axis in Y-axis.
Compared with prior art, the beneficial effects of the present invention are：
1) present invention is ingenious utilizes acceleration transducer and science algorithm, has evaded all of traditional multi-freedom-degree vibration test
More drawbacks, are of great significance popularization of the six-degree of freedom vibration test in vibration-testing experiment.
2) present invention uses multiple acceleration transducer synchronism detections, has evaded the single acceleration transducer repeatedly side of test
The drawbacks of method, can completely build reduction vibration-testing point motion conditions.
3) present invention meets most of vibration laboratory's test conditions, easy to carry, available for field test, has cost
Rationally, can field test, the accurate advantage of test result.
Brief description of the drawings
The structural representation for the six-degree of freedom vibration test device based on acceleration transducer that Fig. 1 is provided by embodiment 1
Figure.
Fig. 2 is the schematic view of the mounting position of six-degree of freedom vibration test device in Fig. 1.
The structural representation for the six-degree of freedom vibration test device based on acceleration transducer that Fig. 3 is provided by embodiment 2
Figure.
Fig. 4 is the schematic view of the mounting position of six-degree of freedom vibration test device in Fig. 3.
Wherein：First three-dimensional acceleration transducer 1, the second three-dimensional acceleration transducer 2, the 3rd three-dimensional acceleration transducer
3rd, the 4th three-dimensional acceleration transducer 4, unidirectional acceleration transducer 5, encapsulation medium 6
Embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment 1
As shown in Figure 1, the six-degree of freedom vibration test device based on acceleration transducer designed by the present embodiment, including
First three-dimensional acceleration transducer 1, the second three-dimensional acceleration transducer 2, the 3rd three-dimensional acceleration transducer 3 and the 4th three-dimensional add
Velocity sensor 4.First~the 4th three-dimensional acceleration transducer is packaged into packet by encapsulation medium 6, to reduce error, the
One three-dimensional acceleration transducer 1 is arranged on an apex of packet.
As shown in Fig. 2, with the first three-dimensional acceleration transducer 1 for origin O, rectangular coordinate system in space O-XYZ is established, second
Three-dimensional acceleration transducer 2, the 3rd three-dimensional acceleration transducer 3 and the 4th three-dimensional acceleration transducer 4 are located at coordinate respectively
(ρ, 0,0), (0, ρ, 0) and (0,0, ρ) place, and the measurement direction of each three-dimensional acceleration transducer and the seat of coordinate system O-XYZ
Parameter direction corresponds to.Wherein, ρ is non-zero constant, is made choice as needed.
The device is further equipped with signal acquisition and data handling system (using conventional data collecting card, computer i.e.
Can), by carrying out continuous collecting to the data of each sensor, and according to method provided by the present invention calculated, obtain
Go out the linear velocity and angular speed at vibration-testing point.
The step of carrying out vibration-testing using the six-degree of freedom vibration test device is as follows：
1) the first three-dimensional acceleration transducer 1 is set at vibration-testing point, is original with the first three-dimensional acceleration transducer 1
Point O, establishes rectangular coordinate system in space O-XYZ, sets second at space coordinate (ρ, 0,0), (0, ρ, 0) and (0,0, ρ) place respectively
Three-dimensional acceleration transducer 2, the 3rd three-dimensional acceleration transducer 3 and the 4th three-dimensional acceleration transducer 4, ρ are non-zero constant, and
Make three measurement directions of each three-dimensional acceleration transducer parallel with the X, Y, Z axis direction of coordinate system O-XYZ respectively；
2) acceleration at point, the first three-dimensional acceleration transducer are measured by each three-dimensional acceleration transducer respectively
The acceleration in the 1 X, Y, Z axis direction measured is denoted as a respectively1、a2、a3, Y that the second three-dimensional acceleration transducer 2 measures, Z axis side
To acceleration be denoted as a respectively9、a7, X that the 3rd three-dimensional acceleration transducer 3 measures, the acceleration of Z-direction are denoted as respectively
a8、a5, X that the 4th three-dimensional acceleration transducer 4 measures, the acceleration of Y direction are denoted as a respectively6、a4；
3) linear acceleration at vibration-testing point is measured by the first three-dimensional acceleration transducer 1, i.e.,：
Wherein, a0x、a0y、a0zRespectively linear acceleration component of the vibration-testing point in X, Y, Z axis direction；
4) it is calculated as follows to obtain the angular acceleration at vibration-testing point：
Wherein, αx、αy、αzRespectively vibration-testing point X, Y, Z axis direction component of angular acceleration, so far, vibration-testing
Point real motion situation is reduced in certain precision.
Embodiment 2
As shown in figure 3, the six-degree of freedom vibration test device based on acceleration transducer designed by the present embodiment, including
First three-dimensional acceleration transducer 1 and six unidirectional acceleration transducers 5.First three-dimensional acceleration transducer 1, each unidirectional acceleration
Degree sensor 5 is packaged into packet by encapsulation medium 6.
As shown in figure 4, with the first three-dimensional acceleration transducer 1 for origin O, rectangular coordinate system in space O-XYZ is established, six
Unidirectional acceleration transducer 5 respectively positioned at coordinate (ρ, 0,0), (- ρ, 0,0), (0, ρ, 0), (0 ,-ρ, 0), (0,0, ρ), (0,0 ,-
ρ) place, the measurement direction of six unidirectional acceleration transducers 5 are followed successively by reference axis Y, Z, X, Z, X, the positive direction of Y-axis.
The device is further equipped with signal acquisition and data handling system (using conventional data collecting card, computer i.e.
Can), by carrying out continuous collecting to the data of each sensor, and according to method provided by the present invention calculated, obtain
Go out the linear velocity and angular speed at vibration-testing point.
Substantially the same manner as Example 1, the difference using six-degree of freedom vibration test device progress vibration-testing step
It is, the second three-dimensional acceleration transducer 2 is using positioned at coordinate (ρ, 0,0), two unidirectional acceleration sensings at (- ρ, 0,0) place
Device 5 replaces, and measures Y, the acceleration a of Z-direction respectively9、a7；3rd three-dimensional acceleration transducer 3 using positioned at coordinate (0, ρ,
0), the unidirectional acceleration transducer 5 of two of (0 ,-ρ, 0) place replaces, and measures X, the acceleration a of Z-direction respectively8、a5；, the 4th
Three-dimensional acceleration transducer 4 is replaced using positioned at coordinate (0,0, ρ), two of (0,0 ,-ρ) place unidirectional acceleration transducers 5, point
Ce Liang not X, the acceleration a of Y direction6、a4。
Claims (4)
- A kind of 1. six-degree of freedom vibration test method based on acceleration transducer, it is characterised in that：Include the following steps：1) the first three-dimensional acceleration transducer (1) is set at vibration-testing point, is original with the first three-dimensional acceleration transducer (1) Point O, establishes rectangular coordinate system in space O-XYZ, sets second at space coordinate (ρ, 0,0), (0, ρ, 0) and (0,0, ρ) place respectively Three-dimensional acceleration transducer (2), the 3rd three-dimensional acceleration transducer (3) and the 4th three-dimensional acceleration transducer (4), ρ are non-zero Constant, and put down X, Y, Z axis direction of three measurement directions of each three-dimensional acceleration transducer respectively with space coordinates O-XYZ OK；2) acceleration at point, the first three-dimensional acceleration transducer (1) are measured by each three-dimensional acceleration transducer respectively The acceleration in the X, Y, Z axis direction measured is denoted as a respectively1、a2、a3, Y that the second three-dimensional acceleration transducer (2) measures, Z axis side To acceleration be denoted as a respectively9、a7, X, the acceleration of Z-direction that the 3rd three-dimensional acceleration transducer (3) measures are denoted as respectively a8、a5, X, the acceleration of Y direction that the 4th three-dimensional acceleration transducer (4) measures are denoted as a respectively6、a4；3) linear acceleration at vibration-testing point is measured by the first three-dimensional acceleration transducer (1), i.e.,：<mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <msub> <mi>a</mi> <mrow> <mn>0</mn> <mi>x</mi> </mrow> </msub> <mo>=</mo> <msub> <mi>a</mi> <mn>1</mn> </msub> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>a</mi> <mrow> <mn>0</mn> <mi>y</mi> </mrow> </msub> <mo>=</mo> <msub> <mi>a</mi> <mn>2</mn> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>a</mi> <mrow> <mn>0</mn> <mi>z</mi> </mrow> </msub> <mo>=</mo> <msub> <mi>a</mi> <mn>3</mn> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced>Wherein, a0x、a0y、a0zRespectively linear acceleration component of the vibration-testing point in X, Y, Z axis direction；4) it is calculated as follows to obtain the angular acceleration at vibration-testing point：<mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <msub> <mi>&alpha;</mi> <mi>x</mi> </msub> <mo>=</mo> <mo>&lsqb;</mo> <mo>(</mo> <msub> <mi>a</mi> <mn>7</mn> </msub> <mo>-</mo> <msub> <mi>a</mi> <mn>9</mn> </msub> <mo>)</mo> <mo>+</mo> <mo>(</mo> <msub> <mi>a</mi> <mrow> <mn>0</mn> <mi>y</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>a</mi> <mrow> <mn>0</mn> <mi>z</mi> </mrow> </msub> <mo>)</mo> <mo>&rsqb;</mo> <mo>/</mo> <mn>2</mn> </mtd> </mtr> <mtr> <mtd> <msub> <mi>&alpha;</mi> <mi>y</mi> </msub> <mo>=</mo> <mo>&lsqb;</mo> <mo>(</mo> <msub> <mi>a</mi> <mn>8</mn> </msub> <mo>-</mo> <msub> <mi>a</mi> <mn>5</mn> </msub> <mo>)</mo> <mo>+</mo> <mo>(</mo> <msub> <mi>a</mi> <mrow> <mn>0</mn> <mi>z</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>a</mi> <mrow> <mn>0</mn> <mi>x</mi> </mrow> </msub> <mo>)</mo> <mo>&rsqb;</mo> <mo>/</mo> <mn>2</mn> </mtd> </mtr> <mtr> <mtd> <msub> <mi>&alpha;</mi> <mi>z</mi> </msub> <mo>=</mo> <mo>&lsqb;</mo> <mo>(</mo> <msub> <mi>a</mi> <mn>4</mn> </msub> <mo>-</mo> <msub> <mi>a</mi> <mn>6</mn> </msub> <mo>)</mo> <mo>+</mo> <mo>(</mo> <msub> <mi>a</mi> <mrow> <mn>0</mn> <mi>x</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>a</mi> <mrow> <mn>0</mn> <mi>y</mi> </mrow> </msub> <mo>)</mo> <mo>&rsqb;</mo> <mo>/</mo> <mn>2</mn> </mtd> </mtr> </mtable> </mfenced>Wherein, αx、αy、αzRespectively vibration-testing point is in the component of angular acceleration in X, Y, Z axis direction, and so far, vibration-testing point is true Real motion conditions are reduced in certain precision.
- 2. the six-degree of freedom vibration test method according to claim 1 based on acceleration transducer, it is characterised in that：Institute The second three-dimensional acceleration transducer (2) is stated using positioned at coordinate (ρ, 0,0), two unidirectional acceleration transducers at (- ρ, 0,0) place (5) replace, measure a respectively9、a7In one；3rd three-dimensional acceleration transducer (3) using positioned at coordinate (0, ρ, 0), (0 ,- ρ, 0) two of place unidirectional acceleration transducers (5) replace, and measure a respectively8、a5In one；, the 4th three-dimensional acceleration sensing Device (4) is replaced using positioned at coordinate (0,0, ρ), two of (0,0 ,-ρ) place unidirectional acceleration transducers (5), measures a respectively6、a4 In one.
- 3. a kind of six-degree of freedom vibration based on acceleration transducer for aiming at method described in claim 1 of realizing and designing is surveyed Trial assembly is put, it is characterised in that：Including encapsulating the first integral three-dimensional acceleration transducer (1), the second three-dimensional acceleration sensing Device (2), the 3rd three-dimensional acceleration transducer (3) and the 4th three-dimensional acceleration transducer (4)；With the first three-dimensional acceleration transducer (1) it is origin O, establishes rectangular coordinate system in space O-XYZ, the second three-dimensional acceleration transducer (2), the 3rd three-dimensional acceleration Sensor (3) and the 4th three-dimensional acceleration transducer (4) respectively positioned at coordinate (ρ, 0,0), (0, ρ, 0) and (0,0, ρ) place, and And the measurement direction of each three-dimensional acceleration transducer is corresponding with the change in coordinate axis direction of coordinate system O-XYZ.
- 4. a kind of six-degree of freedom vibration based on acceleration transducer for aiming at method described in claim 2 of realizing and designing is surveyed Trial assembly is put, it is characterised in that：Including encapsulating integral the first three-dimensional acceleration transducer (1) and six unidirectional acceleration sensings Device (5)；With the first three-dimensional acceleration transducer (1) for origin O, rectangular coordinate system in space O-XYZ, six unidirectional acceleration are established Sensor (5) is located at coordinate (ρ, 0,0), (- ρ, 0,0), (0, ρ, 0), (0 ,-ρ, 0), (0,0, ρ), (0,0 ,-ρ) place respectively, its Measurement direction is followed successively by the forward direction of a reference axis in reference axis Y or Z axis, the forward direction of Y or another reference axis in Z axis, X Or the forward direction of a reference axis in Z axis, the forward direction of X or another reference axis in Z axis, X or a reference axis in Y-axis The forward direction of positive, X or another reference axis in Y-axis.
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| DE102022103414B3 (en) | 2022-02-14 | 2023-05-04 | Hiwin Technologies Corp. | Ident system and method for recognizing the sensor installation positions |
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| DE102022103414B3 (en) | 2022-02-14 | 2023-05-04 | Hiwin Technologies Corp. | Ident system and method for recognizing the sensor installation positions |
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