CN108680303B - For rocking the system response error calculation method of dynamometry, rocking dynamometric system - Google Patents
For rocking the system response error calculation method of dynamometry, rocking dynamometric system Download PDFInfo
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- CN108680303B CN108680303B CN201810735780.2A CN201810735780A CN108680303B CN 108680303 B CN108680303 B CN 108680303B CN 201810735780 A CN201810735780 A CN 201810735780A CN 108680303 B CN108680303 B CN 108680303B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L25/00—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0028—Force sensors associated with force applying means
- G01L5/0038—Force sensors associated with force applying means applying a pushing force
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Abstract
The system response error calculation method that the invention discloses a kind of for rocking dynamometry rocks dynamometric system, method includes the following steps: step S100: obtaining the distance d that torsion angle measurement deviates θ, sensor drift angle α, sensor elevation angle β, sensor plate the crossbeam plane of symmetry；Step S200: it calculates actual measurement system response θ ': step S300: θ ' computing system response error ε being responded to θ and actual measurement system by torsion angle measurementθ；This method energy quantitative system response sensor error.Another aspect of the present invention additionally provides one kind and rocks dynamometric system, which can reduce system response measurement error.
Description
Technical field
The system response error calculation method that the present invention relates to a kind of for rocking dynamometry rocks dynamometric system, belongs to boat
Its device micromass culture testing field.
Background technique
Thrust and momentum are the important propulsive performance indexs of microthruster.In microthruster design, development and application stage
Thrust and momentum performance must be assessed.The thrust and momentum of microthruster can be used rock, hang pendulum etc. measuring systems into
Row directly measures, and by thrust or Impulse in rocking, hanging the measuring systems such as pendulum, the angle of rotation for waiting rotatable parts is rocked in measurement
Degree, to extrapolate thrust to be measured or momentum.
In general, the rotational angle rocked is very small, the displacement of the lines that need to measure rotation is obtained, and uses more displacement sensor
There is capacitance displacement sensor.But it due to noise errors such as ambient noise, sensor noise and sensor installation error noises, pushes away
There are errors for system rotational response measurement under power or Impulse, and after a variety of error couplers, give system response measurement error
Evaluation brings challenge.
Therefore, it is urgently to be resolved for how effectively cutting down system response measurement error, how accurately obtaining system response error
The technical issues of.
Summary of the invention
According to the one aspect of the application, provide it is a kind of for rocking the system response error calculation method of dynamometry, should
Method has preferable versatility, the system response measurement suitable for the similar second order vibration measuring system for rocking system.The party
Method quantitatively can obtain system response error.
The system response error includes system response sensor error, the system response sensor error include: by
Sensor installation error caused by sensor orientation error and sensor position error；The calculating side of the sensor installation error
Method the following steps are included:
Step S100: it obtains torsion angle measurement and cross is deviateed to θ, sensor drift angle α, sensor elevation angle β, sensor plate
The distance d of the beam plane of symmetry；
Step S200: actual measurement system response θ ' is calculated as follows:
θ '=arctan (hs′/Ls) (1)
Wherein, hs' be sensor measurement actual displacement, LsFor sensor measurement pole plate center and rock used in dynamometry
The distance of crossbeam shaft, and
xAFor sensor test surface to the vertical range in the lateral symmetry face of crossbeam, h when θ > 0s′/LsIncrease should take positive sign, h when θ < 0s′/
LsReduction should take negative sign；
Step S300: system response error ε is calculated as followsθ:
Preferably, the system response sensor error includes: sensor plate kinematic error, the sensor plate fortune
The calculation method of dynamic error the following steps are included:
Step S100: sensor measurement pole plate is set on measurement simulated block and with the measurement simulated block around the measurement
The longitudinally asymmetric axis of simulated block rotates, and obtains multiple measured values to (Δ hsi,θi) (i=1,2 ..., n), wherein Δ hsiIt is i-th
The displacement that one end of the beam relative equilibrium position occurs when secondary measurement, θiGained reverses angle measurement when measuring for i-th,
According to Δ hki=Δ hsi-δhsi, Δ hkiFor the pole plate kinematic error measured when i-th measurement, δ hsiTurn for pole plate
The spacing of pole plate and displacement sensor probe during dynamicWherein b rocks dynamometric system to be described
Vertical range between the lateral symmetry face of middle cross beam and the beam outer surface obtains multiple pole plate kinematic error measured values pair
(Δhki,θi) (i=1,2 ..., n)；
Step S200: set the sensor plate kinematic error and torsion angle fit curve equation asIn formula, k is fitting coefficient,Zero-mean normal distribution is obeyed, is returned using ratio
The estimated value that approximating method obtains the fitting coefficient isThe estimated value of variance is
Confidence level is the confidence interval of 1- α are as follows:
In formula, α is significance, t1-α/2It (n-1) is that the t that freedom degree is n-1 is distributed the downside point of given α/2 probability 1-
Digit obtains fit equation
Step S300: when rocking corner using displacement sensor, according to the fit equationAnd torsion
Outer corner measurement value obtains the sensor plate kinematic error.
Preferably, the measured value is to (Δ hsi,θi) obtain equipment therefor include: measurement simulated block, sensor measurement pole
Plate and measurement displacement sensor probe, the sensor measurement pole plate is set in the one side of the measurement simulated block, described
The lateral symmetry overlapping of axles of sensor measurement pole plate and the measurement simulated block；The measurement displacement sensor probe face institute
State the setting of sensor measurement pole plate.
Preferably, the measured value is to (Δ hsi,θi) obtain equipment therefor further include: simulated block bracket and rotating platform,
The measurement simulated block is installed on one end of the simulated block bracket, and the other end of the simulated block bracket is installed on the rotation
On platform；The longitudinal axes coincident of the measurement simulated block, the simulated block bracket and the rotating platform；The rotating platform
Drive the measurement simulated block around the fore-aft axis of the measurement simulated block.
It is yet another aspect of the present invention to provide one kind to rock dynamometric system, comprising: crossbeam, displacement sensor pole plate and
Displacement sensor probe is set to one end of the crossbeam to thrust-measuring device, and the other end is by counterweight trim, and the crossbeam is with institute
It states and generates thrust around the longitudinal central axis of the crossbeam to thrust-measuring device；One end of the displacement sensor pole plate
It is connected with one end of the crossbeam, the other end is along the crossbeam laterally outward horizontal extension；The displacement sensor probe is just
The displacement sensor pole plate is arranged, and detects the displacement of the one end of the beam.
Preferably, the displacement sensor probe and the displacement sensor pole plate spacing are institute's displacement sensors
The 1/2 of range.
Preferably, the cross in the displacement sensor pole plate face towards the displacement sensor probe and the crossbeam
It is concordant to the plane of symmetry.
Preferably, the dynamometric system that rocks further includes vibration-isolating platform and shield, and the dynamometric system that rocks is installed on
On vibration-isolating platform；The shield covers at described rock outside dynamometric system.
Preferably, the dynamometric system that rocks further includes fixed outline border, elastomeric element and rotating middle shaft, the rotating middle shaft
Both ends pass through the elastomeric element respectively and connect with the fixed outline border, the rotating middle shaft receiving is set to outside the fixation
In frame, the central symmetry axis of the rotating middle shaft is overlapped with the longitudinal axis of the fixed outline border；The rotating middle shaft is along the crossbeam
The longitudinally through crossbeam；The outer outer frame of the fixation is symmetrically stretched out at the both ends of the crossbeam, and is swung around the rotating middle shaft.
Preferably, the quality of the rotating middle shaft and the crossbeam is within 2 times of the elastomeric element axial direction load-bearing.
Preferably, the vertical range of the displacement sensor pole plate and the rotating middle shaft is institute's displacement sensors
11.5 times or more of range.
Beneficial effects of the present invention include but is not limited to:
(1) provided by the present invention for rocking the system response error calculation method of dynamometry, this method can pass through measurement
Torsion angle obtains sensor orientation location error, sensor plate kinematic error in measurement process
The design for rocking dynamometric system provides guidance, improves elimination of the measuring device structure realization to error.Errors can also conduct
Measurement error reference, instructs subsequent operation.
(2) provided by the present invention for rocking the system response error calculation method of dynamometry, errors can be according to it
With the relationship of the torsion angle upper limit, changed according to measured torsion angle, measuring device is improved, improve measurement accuracy, solved
Set of device measures error larger problem caused by all torsion angles.
(3) provided by the present invention to rock dynamometric system, in the result using the device dynamometry, sensor orientation position is missed
Difference, sensor plate kinematic error can be eliminated, and improve the precision of measurement result.
Detailed description of the invention
Fig. 1 is the system response error calculation method flow diagram provided by the present invention for rocking dynamometry；
Fig. 2 is the sensor plate kinematic error calculation method flow diagram provided by the present invention for rocking dynamometry；
Fig. 3 is provided by the invention to rock dynamometric system structural schematic diagram；
Fig. 4 is system response measurement schematic illustration in the preferred embodiment of the present invention, and wherein AB is to rock in dynamometric system
The plane of symmetry of crossbeam, LsFor the measurement arm of sensor, hsFor measurement displacement, θ is torsion angle；
Fig. 5 is sensor installation error decomposition diagram in the preferred embodiment of the present invention, wherein AB is sensor detection side
To；α is drift angle, and AB is projected in XOY plane to the right to be positive, to the left is negative；β is the elevation angle, looks up and is positive, overlooks and be negative；θ is to turn round
Corner；D is that B point deviates crossbeam plane of symmetry distance, and sensor measurement pole plate is against the face of sensor probe at B point；A point coordinate
For (xA,Ls,zA)；
Fig. 6 is the cutting method schematic diagram of sensor orientation error in the preferred embodiment of the present invention, wherein O is sensor
The AnchorPoint of probe rotation；A point is the most distal point of sensor probe；B1For the intersection point of pop one's head in extended line and the crossbeam plane of symmetry
(other point intersection points thus in this figure), rotate backward starting point；B0For shortest distance point；B2To rotate backward terminal；①；②；
3. indicating present position in probe rotation process；
Fig. 7 is sensor plate kinematic error instrumentation plan in the preferred embodiment of the present invention, and θ is torsion angle；
Fig. 8 is measuring device schematic diagram used in sensor plate kinematic error used in the preferred embodiment of the present invention；
Fig. 9 is the schematic top plan view of Fig. 8, and θ is torsion angle；B is the distance between the crossbeam plane of symmetry and beam outer surface.
Component and reference signs list:
| Component names | Appended drawing reference |
| Pedestal | 101 |
| Displacement sensor adjustment seat | 201 |
| Displacement sensor probe bracket | 202 |
| Displacement sensor probe | 203 |
| Crossbeam | 301 |
| Thruster to be measured | 302 |
| Fixed outline border | 303 |
| Rotating middle shaft | 304 |
| Counterweight | 305 |
| Displacement sensor pole plate | 306 |
| Elastomeric element | 307 |
| Displacement sensor probe is used in measurement | 401 |
| Displacement sensor bracket | 402 |
| Sensor measurement pole plate | 403 |
| Measure simulated block | 404 |
| Simulated block bracket | 405 |
| Rotating platform | 406 |
Specific embodiment
The present invention is described in detail below with reference to embodiment, but the invention is not limited to these embodiments.
Method presented herein is suitable for existing all kinds of rocking dynamometric system.Thrust and impulse measurement are carried out using to rock
In, system response mentioned herein refers to the torsion angle rocked with the variation of time, and system response error refers to existing
Rock in dynamometric system by sensor measurement to torsion angle rung with the difference of actual rotational angle, system measured by this paper is rocked
Answering error includes system response sensor error and system response noises error.System response noises error belongs to random error,
It can be inhibited using certain measure, system response sensor error includes that sensor installation error and sensor plate movement miss
Difference.Sensor installation error includes sensor orientation error and sensor position error.Sensor orientation error refers to sensor
Detection direction out of plumb rocks measurement error caused by the crossbeam plane of symmetry.Sensor position error refers to sensor plate installation position
Set measurement error caused by deviateing the crossbeam plane of symmetry.Sensor plate kinematic error refers to since sensor plate is with rocking cross
The movement of the beam plane of symmetry causes not parallel caused measurement error between pole plate.System response error needs to carry out calculating analysis, and
It is modified using certain device.Provided by the present invention for rocking the system response sensor error calculation method of dynamometry,
The system response sensor error includes: that the installation of sensor caused by sensor orientation error and sensor position error misses
Difference, referring to Fig. 1, the calculation method of the sensor installation error the following steps are included:
Step S100: it obtains torsion angle measurement and cross is deviateed to θ, sensor drift angle α, sensor elevation angle β, sensor plate
The distance d of the beam plane of symmetry；
Step S200: actual measurement system response θ ' is calculated as follows:
θ '=arctan (hs′/Ls) (1)
Wherein, hs' be sensor measurement actual displacement, LsDynamometry is rocked with described for the center of sensor measurement pole plate
The distance of crossbeam shaft used, and
xAFor sensor test surface to the vertical range in the lateral symmetry face of crossbeam, h when θ > 0s′/LsIncrease should take positive sign, h when θ < 0s′/
LsReduction should take negative sign；
Step S300: system response error ε is calculated as followsθ:
For this method obtain as a result, can be by acquiring different testing times corresponding torsion angle, multiple change i are complete
At the calculating of multiple measurement errors.In specific calculating process, when θ > 0, hs′/LsIncrease should take positive sign；θ < 0, hs′/LsSubtract
It is small to take negative sign.
Certain method provided by the invention can also apply in the measuring device with similar pendulum measurement structure.By upper
The method of stating can quantitatively obtain rocking system response error caused by existing sensor orientation and location error during dynamometry.
After obtaining response error caused by sensor orientation and location error, it both can be used for the work that directs study, it can also be in engineering
With when the influence to result of quantitative consideration error, thus preferable correcting measured results.
System response error caused by the sensor orientation and location error includes sensor orientation error and sensor
Location error, the sensor orientation error are reflected by sensor drift angle α；The sensor position error is by sensor elevation angle β
Reflection.
Referring to Fig. 5 it is found that rocking dynamometry during, crossbeam can be at one end under the action of thrust-measuring device thrust, around it
The process state out as shown in figure 5, sensor measurement pole plate is against the face of sensor probe by longitudinal axis rotation in coordinate
At B point；After crossbeam rotates, A point coordinate is (xA,Ls,zA)。
Referring to fig. 2, it is preferred that the system response sensor error includes: sensor plate kinematic error, the sensing
The calculation method of device pole plate kinematic error the following steps are included:
Step S100: sensor measurement pole plate is set on measurement simulated block and longitudinally right around it with the measurement simulated block
Claim axis rotation, obtains multiple measured values to (Δ hsi,θi) (i=1,2 ..., n), wherein Δ hsiFor what is measured when i-th measurement
Displacement, θiGained reverses angle measurement when measuring for i-th,
According to Δ hki=Δ hsi-δhsi, δ hsiFor the spacing of pole plate and displacement sensor probe in pole plate rotation processWherein b be it is described rock the lateral symmetry face of dynamometric system middle cross beam and the beam outer surface it
Between vertical range, obtain multiple pole plate kinematic error measured values to (Δ hki,θi) (i=1,2 ..., n), Δ hkiFor pole plate fortune
Dynamic error；
Step S200: the sensor plate kinematic error Δ h is setkiIt is with torsion angle fit curve equationIn formula, k is fitting coefficient,Zero-mean normal distribution is obeyed, is returned using ratio
Approximating method obtains the fitting coefficient estimated valueEstimate of variance is
Confidence level is that the confidence interval of 1- α is
In formula, α is significance, t1-α/2It (n-1) is that the t that freedom degree is n-1 is distributed the downside point of given α/2 probability 1-
Digit obtains fit equation
Step S300: when rocking corner using displacement sensor, according to the fit equationAnd torsion
Outer corner measurement value obtains the sensor plate kinematic error.
Obtaining the sensor plate kinematic error on the one hand by the method may indicate that dynamometric system is rocked in use
On the other hand the margin of error that may include in obtained result can also rock in design and consider the error in dynamometric system, and
Just the error is cut down during design of measuring system.
For example, according to fit equationDetermine the torsion angle upper limit value θ that the sensor plate is capable of measuringu, knot
The torsion angle that thrust to be measured can be generated is closed, makes torsion angle variation range by improving measuring system | θ |≤θuIt is interior, thus
Realize the raising to measurement result precision.Sensor plate kinematic error upper limit valueMeet high-acruracy survey to want
It asks.
Referring to fig. 4, in the calculating process of sensor plate kinematic error, it is required measurement numerical value as shown in figure 4, crossbeam cross
It is AB to the plane of symmetry, during dynamometry, forms torsion angle, L with former equilibrium resting position after crossbeam pivotingsFor sensing
The measurement arm of device, hsIt for measurement displacement, is calculated and is required according to above-mentioned steps, data needed for can measure are calculated.Sensor is visited
The B point of the lateral symmetry face AB of head face.
Referring to Fig. 8, it is preferred that the measured value is to (Δ hsi,θi) (i=1,2 ..., n) to obtain equipment therefor include: to survey
Measure simulated block 404, sensor measurement pole plate 403 and measurement displacement sensor probe 401, the sensor measurement pole plate 403
It is set in the one side of the measurement simulated block 404, the cross of the sensor measurement pole plate 403 and the measurement simulated block 404
To symmetrical overlapping of axles；Sensor measurement pole plate 403 described in measurement 401 face of displacement sensor probe is arranged.
Preferably, the measured value is to (Δ hsi,θi) (i=1,2 ..., n) obtain equipment therefor further include: simulated block branch
Frame 405 and rotating platform 406, the measurement simulated block 404 are installed on one end of the simulated block bracket 405, the simulated block
The other end of bracket 405 is installed on the rotating platform 406；The measurement simulated block 404,405 and of simulated block bracket
The longitudinal axes coincident of the rotating platform 406；The rotating platform 406 drives the measurement simulated block 404 around the measurement
The fore-aft axis of simulated block 404.
In one embodiment, referring to Fig. 8, measured value is to (Δ hsi,θi) (i=1,2 ..., n) acquisition equipment therefor,
It include: that measurement displacement sensor probe 401 is mounted on one end of displacement sensor bracket 402, sensor measurement pole plate 403
It is fixed on the side wall of measurement simulated block 404, and face measurement displacement sensor probe 401.One end of simulated block bracket 405
It is connect with measurement simulated block 404, the other end is connected with rotating platform 406.The other end of displacement sensor bracket 402 and rotation
The bottom surface of platform 406 is in and is same as on horizontal plane.Measure symmetry axis and the simulation of simulated block 404 and sensor measurement pole plate 403
The symmetry axis of block bracket 405 is overlapped.With the rotation measuring simulated block 404 of rotating platform 406 in the longitudinal direction of measurement simulated block 404
Central axis.Sensor measurement pole plate 403 is rotated with measurement simulated block 404, and is measured and obtained δ hsi.Simulated block 404 is measured to rotate
There is the case where multiple not face measurement displacement sensor probe 401 in sensor measurement pole plate 403 in the process, passes through measuring block
Rotate different torsion angles, the measurement error caused by research sensor plate is not parallel.
Another aspect of the present invention additionally provides one kind and rocks dynamometric system, comprising: crossbeam, displacement sensor pole plate
And displacement sensor probe, be set to one end of the crossbeam to thrust-measuring device, the other end by counterweight trim, the crossbeam with
It is described to generate thrust around the longitudinal central axis of the crossbeam to thrust-measuring device；The one of the displacement sensor pole plate
End is connected with one end of the crossbeam, and the other end is along the crossbeam laterally outward horizontal extension；The displacement sensor probe
The setting of displacement sensor pole plate described in face, and detect the displacement of the one end of the beam.
The measuring system can eliminate system response sensor error, and the system response sensor error includes sensor peace
Error and sensor plate kinematic error are filled, the sensor installation error includes that sensor orientation error and sensor position are missed
Difference.
Preferably, the cross in the displacement sensor pole plate face towards the displacement sensor probe and the crossbeam
It is concordant to the plane of symmetry.
By adjusting the installation site of pole plate, makes sensor measurement pole plate against the face of sensor probe and rock crossbeam pair
Distance d=0 between title face, to cut down sensor position error.
Preferably, the displacement sensor probe and the displacement sensor pole plate spacing are displacement sensor measurement range
1/2.It can achieve at this time and eliminate drift angle or the elevation angle, and then cut down the effect of sensor orientation error.
The preparation method of minimum range herein, in one embodiment:
Referring to Fig. 6, the cutting method of the sensor orientation error is the following steps are included: with the end point of sensor probe
The other end for the center of circle, the sensor probe turns to B to positive direction around the center of circle O1Point, B1At point, the sensor is visited
Head with the sensor plate distance isThe other end of the sensor probe rotates B to opposite direction around the center of circle2
Point at andThe sensor probe is recorded from B1Point goes to B2The corner γ turned over；The sensor probe around
The center of circle O fixes position after rotating forward γ/2.
Specific explanations illustrate and use example:
As shown in figure 3, displacement sensor probe 203 is mounted in displacement sensor adjustment seat 201 in displacement measurement.Displacement
Sensor probe 203 can carry out rotation as shown in FIG. 6 under the drive of displacement sensor adjustment seat 201.Displacement sensor
Adjustment seat 201 is rotated around O point.A point is to indicate probe positions, B1Point indicates detection direction and rocks the lateral symmetry face of crossbeam
Intersection point has when detection direction vertically rocks the crossbeam plane of symmetry
Illustrate: when sensor detection direction vertically rocks the crossbeam plane of symmetry, the distance detected is most short.Utilize this
Principle is, it can be achieved that the sensor detection direction vertical crossbeams plane of symmetry, the referred to as alignment of sensor.
It preferably, further include vibration-isolating platform and shield, the dynamometric system that rocks is installed on vibration-isolating platform；It is described anti-
Shield covers at described rock outside dynamometric system.
Preferably, further include fixed outline border 303, elastomeric element 307 and with rotating middle shaft 304, the rotating middle shaft 304
Both ends pass through elastomeric element 307 respectively and connect with the fixed outline border 303, and the receiving of rotating middle shaft 304 is set to described solid
Determine in outline border 303, the central symmetry axis of the rotating middle shaft is overlapped with the longitudinal axis of the fixed outline border；The rotating middle shaft 304
The fixed outline border is symmetrically stretched out along 301 both ends of crossbeam described in the longitudinally through crossbeam 301 of the crossbeam, and around the rotation
Axis 304 rocks.
Preferably, the quality of the rotating middle shaft and the crossbeam is within 2 times of the elastomeric element axial direction load-bearing.
Referring to Fig. 3, it is preferred that the vertical range of the displacement sensor pole plate 306 and the rotating middle shaft 304 is
11.5 times or more of displacement sensor measurement range.
Dynamometric system is rocked in measurement process, the sensor noise error and ambient noise error being randomly generated be known as be
Response noises error of uniting can make sensor noise error be less than due to its randomness by using high accuracy displacement sensor
Ambient noise error.It is placed on vibration-isolating platform by the way that the whole series are rocked dynamometric system, using shield by a whole set of measuring system
The method that cover gets up cuts down environment displacement excitation and external force of environment excitation interference, using increase measuring system rotatable parts Quality Design
Method further cuts down ambient noise error.Sensing is cut down using the method for increasing displacement sensor to the distance for rocking shaft
The influence of device noise error and ambient noise error.
It is shown in Figure 3, dynamometric system, including pedestal 101, displacement sensor tune are rocked used in method provided by the invention
Saving seat 201, displacement sensor probe bracket 202, displacement sensor probe 203, crossbeam 301, thruster to be measured 302 (can also be with
Wait for thrust-measuring device for other), fixed outline border 303, rotating middle shaft 304, counterweight 305, displacement sensor pole plate 306.Gu
303 standing rack of outline border is determined on pedestal 101, and fixed 303 intermediate region of outline border is opened wide.One end of rotating middle shaft 304, which rotates, to be connected
It is connected on fixed 303 top beam of outline border.The other end of rotating middle shaft 304 is connected with crossbeam 301.Crossbeam 301 is with rotating middle shaft 304
Centered on axisymmetrically stretched out to fixed outline border 303.At 301 both ends of crossbeam in the case where not set any object, 301 liang of crossbeam
Hold weighing apparatus level with both hands.Thruster 302 to be measured is installed on one end of crossbeam 301, counterweight 305 is installed on the other end.The side for installing configuration is horizontal
Displacement sensor pole plate 306 is extended along the lateral symmetry axis of crossbeam 301 on 301 outer wall of beam.Displacement sensor probe
203 face displacement sensor pole plates 306 are set on pedestal 101.Displacement sensor probe 203 passes through the position sequentially connected
Displacement sensor adjustment seat 201, displacement sensor probe bracket 202 are installed on pedestal 101.
Fixed outline border 303 is connected with rotating middle shaft 304 by elastic element, when thruster 302 to be measured works in this way, crossbeam
301, thruster 302 to be measured, rotating middle shaft 304, counterweight 305, displacement sensor pole plate 306 rotate around the axis together, position
It offs normal the distance of displacement sensor measuring pad 306 displacement sensor 203 measuring probe end faces of popping one's head in.
Specifically, sensor plate kinematic error calculation method the following steps are included:
(1) measuring device for using sensor plate kinematic error, the rotating method of measuring block is controlled using rotating platform,
Measured value (the Δ h of series of displacement and torsion angle is obtained using sensorsi,θi) (i=1,2 ..., n).Δ h at this timesi=Δ
hki+δhsi, including pole plate kinematic error Δ hkiPole plate spacing is caused to change δ h with measuring block rotationsi；
(2) since measuring block rotation causes pole plate spacing to change δ hsiFor
(3) sensor plate kinematic error is Δ hki=Δ hsi-δhsi, obtain sensor plate kinematic error and torsion angle
Measured value (Δ hki,θi) (i=1,2 ..., n)；
(4) set sensor plate kinematic error and torsion angle fit curve equation asIn formula, k is
Fitting coefficient,Obey zero-mean normal distribution；
Using ratio regression fit method, fitting coefficient estimated value isEstimate of variance isConfidence level is that the confidence interval of 1- α is
In formula, t1-α/2It (n-1) is that the t that freedom degree is n-1 is distributed to
Determine the downside quantile of α/2 probability 1-；
(5) according to obtained fit equationMultiple sensor plate kinematic errors can be obtained.
It is to be appreciated that details described above is only each step for example, not needing to cooperate between each step
As an entirety, each technical characteristic can also wherein will be combined with other technical characteristics in the present invention to form claim
The technical solution of middle restriction.
Specifically, sensor installation error calculation method the following steps are included:
(1) giving true torsion angle=i Δ θ, Δ θ is the step-length of torsion angle, starts to walk to calculate since i=1；
(2) sensor drift angle α and elevation angle β is given, i.e., given sensor orientation error；
(3) it gives sensor and deviates crossbeam plane of symmetry distance d, i.e., given sensor position error；
(4) calculating real system response θ ' is θ '=arctan (hs′/Ls), wherein hs' be sensor measurement actual bit
It moves, LsFor the measurement arm of sensor, and
When θ > 0, hs′/LsIncrease should take positive sign；θ < 0, hs′/LsReduction should take negative sign；
(5) computing system response error εθFor
It according to measurement needs, can repeat the above steps to the i=i+1 in above-mentioned steps, obtain repeatedly measuring gained knot
Fruit.
It is to be appreciated that details described above is only each step for example, not needing to cooperate between each step
As an entirety, each technical characteristic can also wherein will be combined with other technical characteristics in the present invention to form claim
The technical solution of middle restriction.
The calculation method of 1 system response sensor error of embodiment
(1) giving true torsion angle=i Δ θ, Δ θ is the step-length of torsion angle, starts to walk to calculate since i=1.
(2) sensor drift angle α and elevation angle β is given.
(3) it gives sensor measurement pole plate and deviates crossbeam plane of symmetry distance d against the face of sensor probe.
(4) calculate sensor measurement to system response θ ' be
θ '=arctan (hs′/Ls) (22)
Wherein, hs' be sensor measurement actual displacement, LsDynamometry is rocked with described for the center of sensor measurement pole plate
The distance of crossbeam shaft, and
XA is vertical range of the sensor test surface to crossbeam plane of symmetry zero position, h when θ > 0s′/LsIncrease should take positive sign, when θ < 0
hs′/LsReduction should take negative sign；
(5) computing system response error is
2 sensor installation error method for reducing of embodiment
(1) cutting method of sensor position error
Sensor position error is against the face of sensor probe due to sensor measurement pole plate not to rock crossbeam symmetrical
Caused by face, the face of sensor measurement pole plate against sensor probe is mounted on and is rocked on the crossbeam plane of symmetry, so that sensor
Measuring pad against sensor probe face and rock distance d=0 between the crossbeam plane of symmetry, sensor position error can be cut down.
(2) cutting method-sensor of sensor orientation error rotates and reverse alignment methods
As shown in figure 3, displacement sensor probe 203 is mounted in displacement sensor adjustment seat 201 in displacement measurement.Displacement
Sensor probe 203 can carry out rotation as shown in FIG. 6 under the drive of displacement sensor adjustment seat 201.Displacement sensor
Adjustment seat 201 is rotated around O point.A point is to indicate probe positions, B1Point indicates detection direction and rocks the lateral symmetry face of crossbeam
Intersection point has when detection direction vertically rocks the crossbeam plane of symmetry
Illustrate: when sensor detection direction vertically rocks the crossbeam plane of symmetry, the distance detected is most short.Utilize this
Principle is, it can be achieved that the sensor detection direction vertical crossbeams plane of symmetry, the referred to as alignment of sensor.
As shown in fig. 6, being illustrated so that sensor eliminates drift angle as an example.Firstly, turntable is gradually adjusted, the position measured
Shifting is gradually increased, in-position 1., recording distanceSecondly, reversely adjusting turntable since position is 1., measure
Displacement is gradually smaller, is gradually increased again later, works as appearance distanceWhen, 2. 1. in-position, is recorded from position
The corner γ of in-position 2.；Finally, 2. reversely rotating the angle of γ/2 again from position, displacement sensor probe 203 can be made to reach
3. to position, and the purpose of sensor drift angle is eliminated in 203 present position of fixed displacement sensor probe, realization.Eliminating drift angle
Under the conditions of, method is rotated and reverse using identical, then eliminate the elevation angle.It is this to use Two Dimensional Rotating platform, by rotating forward and instead
The method for turning to eliminate drift angle and the elevation angle, referred to as sensor rotate and reverse alignment methods.
It is specific calculation shows that: certain Capacitive Displacement Sensor With High Accuracy in sensor maximum range 1mm and rocks measuring arm of force Ls
=150~1000mm, torsion angle variation range be | θmax|=0.0033 (< 0.2 °), in sensor drift angle | α |≤1 ° and the elevation angle |
β |≤1 ° and take sensor position error d/LsWhen≤0.01, installation error is less than 0.045%, therefore installation error is negligible not
Meter.
3 sensor plate kinematic error calculation method of embodiment
As shown in fig. 7, in rocking thrust and impulse measurement system, another pole plate of displacement sensor is with rocking cross
Beam movement, cause it is not parallel between sensor plate, it is this due to sensor plate it is not parallel caused by measurement error, referred to as
Sensor plate kinematic error.As shown in figure 8, being the measuring device of sensor plate kinematic error, displacement sensor is used in measurement
Probe 401 is installed on displacement sensor bracket 402, and sensor measurement pole plate 403 is fixed on measurement simulated block 404, equal edge
405 vertical axis of simulated block bracket is symmetrical, and measurement simulated block 404 is mounted on rotating platform 406 by measuring simulated block bracket 405
On.The rotation that measurement simulated block 404 is controlled using rotating platform 406 rotates different torsion angles, research sensing by measuring block
Measurement error caused by device pole plate is not parallel.
Fig. 3 is to rock dynamometric system, and Fig. 8~9 are in order to which the not parallel error of analyte sensors utilizes measurement simulation block analysis
Set counter device, Fig. 9 are that the vertical view principle of Fig. 8 illustrates schematic diagram.
Measurement uses 401 vertical measurement sensor measurement pole plate 403 of displacement sensor probe and passes through center of rotation when beginning,
Use the torsion angle of the control measurement simulated block 404 of rotating platform 406 for θ, displacement measured by sensor is Δ hs=Δ hk+δ
hs, including pole plate kinematic error Δ hkPole plate spacing is caused to change δ h with measuring block rotations。
As shown in figure 9, sensor plate kinematic error calculation method:
(1) measuring device for using sensor plate kinematic error, the rotating method of measuring block is controlled using rotating platform,
Measured value (the Δ h of series of displacement and torsion angle is obtained using sensorsi,θi) (i=1,2 ..., n).Δ h at this timesi=Δ
hki+δhsi, including pole plate kinematic error Δ hkiPole plate spacing is caused to change δ h with measuring block rotationsi。
(2) it is since measuring block rotation causes the variation of pole plate spacing
(3) sensor plate kinematic error is
Δhki=Δ hsi-δhsi (29)
To obtain sensor plate kinematic error and torsion angle measurement (Δ hki,θi) (i=1,2 ..., n).
(4) set sensor plate kinematic error and torsion angle fit curve equation as
In formula,Obey zero-mean normal distribution.Using ratio regression fit method, fitting coefficient is estimated
Evaluation is
Estimate of variance is
Confidence level is that the confidence interval of 1- α is
In formula, t1-α/2It (n-1) is that the t that freedom degree is n-1 is distributed the downside quantile of given α/2 probability 1-.
(5) according to obtained fit equationSensor plate kinematic error can be obtained, while can also tie
Conjunction specifically researchs and analyses sensor plate kinematic error with torsion angle changing rule.
4 sensor plate kinematic error of embodiment is for cutting down error approach
(1) it according to the analysis method of sensor plate kinematic error, obtains sensor plate kinematic error and torsion angle is quasi-
Close equation
(2) in fit equationIn, determine torsion angle upper limit value θu, so that torsion angle variation range | θ |≤θu
It is interior, sensor plate kinematic error upper limit valueMeet high-acruracy survey requirement.
In specific example, with certain model Capacitive Displacement Sensor With High Accuracy, sensor maximum range is 1mm, rocks survey
In typical case, measurement is the arm of force (vertical range of displacement sensor pole plate and the rotating middle shaft) 150~1000mm
The torsion angle variation range of system is 0.029 °~0.19 °, and sensor plate kinematic error is 0.002~0.09 μm at this time, is reached
Negligible degree.
The above is only several embodiments of the present invention, not any type of limitation is done to the present invention, although this hair
It is bright to be disclosed as above with preferred embodiment, however be not intended to limit the invention, any person skilled in the art, it is not taking off
In the range of technical solution of the present invention, a little variation or modification are made using the technology contents of the disclosure above and is equal to
Case study on implementation is imitated, is belonged in technical proposal scope.
Claims (11)
1. a kind of for rocking the system response error calculation method of dynamometry, which is characterized in that the system response error includes
System response sensor error, the system response sensor error include: to be missed by sensor orientation error and sensor position
Sensor installation error caused by difference；The calculation method of the sensor installation error the following steps are included:
Step S100: it is symmetrical that torsion angle measurement θ, sensor drift angle α, sensor elevation angle β, sensor plate deviation crossbeam are obtained
The distance d in face；
Step S200: actual measurement system response θ ' is calculated as follows:
θ '=arctan (h 's/Ls) (1)
Wherein, h 'sFor the actual displacement of sensor measurement, LsFor sensor measurement pole plate center and rock crossbeam used in dynamometry
The distance of shaft, and
xAFor sensor test surface to the vertical range in the lateral symmetry face of crossbeam, h ' when θ > 0s/LsIncrease should take positive sign, h ' when θ < 0s/
LsReduction should take negative sign；
Step S300: system response error ε is calculated as followsθ:
2. according to claim 1 for rocking the system response error calculation method of dynamometry, which is characterized in that the system
Response sensor error of uniting includes: sensor plate kinematic error, and the calculation method of the sensor plate kinematic error includes
Following steps:
Step S100: sensor measurement pole plate is set on measurement simulated block and simulates with the measurement simulated block around the measurement
The longitudinally asymmetric axis of block rotates, and obtains multiple measured values to (Δ hsi,θi) (i=1,2 ..., n), wherein Δ hsiFor i-th survey
The displacement that one end of the beam relative equilibrium position occurs when amount, θiGained reverses angle measurement when measuring for i-th,
According to Δ hki=Δ hsi-δhsi, Δ hkiFor the pole plate kinematic error measured when i-th measurement, δ hsiFor pole plate rotation process
The spacing of middle pole plate and displacement sensor probeWherein b rocks dynamometric system middle cross beam to be described
Vertical range between lateral symmetry face and the beam outer surface obtains multiple pole plate kinematic error measured values to (Δ hki,
θi) (i=1,2 ..., n)；
Step S200: set the sensor plate kinematic error and torsion angle fit curve equation asFormula
In, k is fitting coefficient,Zero-mean normal distribution is obeyed, is obtained using ratio regression fit method described quasi-
The estimated value of collaboration number isThe estimated value of variance is
Confidence level is the confidence interval of 1- α are as follows:
In formula, α is significance, t1-α/2It (n-1) is that the t that freedom degree is n-1 is distributed the downside quartile of given α/2 probability 1-
Number, obtains fit equation
Step S300: when rocking corner using displacement sensor, according to the fit equationIt is surveyed with torsion angle
Magnitude obtains the sensor plate kinematic error.
3. according to claim 2 for rocking the system response error calculation method of dynamometry, which is characterized in that the survey
Magnitude is to (Δ hsi,θi) to obtain equipment therefor include: that measurement simulated block, sensor measurement pole plate and measurement are visited with displacement sensor
Head, the sensor measurement pole plate are set in the one side of the measurement simulated block, the sensor measurement pole plate and the survey
Measure the lateral symmetry overlapping of axles of simulated block；Sensor measurement pole plate setting described in the measurement displacement sensor probe face.
4. according to claim 3 for rocking the system response error calculation method of dynamometry, which is characterized in that the survey
Magnitude is to (Δ hsi,θi) obtaining equipment therefor further include: simulated block bracket and rotating platform, the measurement simulated block are installed on institute
One end of simulated block bracket is stated, the other end of the simulated block bracket is installed on the rotating platform；The measurement simulated block,
The longitudinal axes coincident of the simulated block bracket and the rotating platform；The rotating platform drives the measurement simulated block around institute
State the fore-aft axis of measurement simulated block.
5. a kind of if any one of Claims 1 to 4 the method is with rocking dynamometric system characterized by comprising crossbeam,
Displacement sensor pole plate and displacement sensor probe, are set to one end of the crossbeam to thrust-measuring device, the other end by
Counterweight trim, the crossbeam generate thrust around the longitudinal central axis of the crossbeam to thrust-measuring device with described；Institute's rheme
One end of displacement sensor measuring pad is connected with one end of the crossbeam, and the other end along the crossbeam, laterally outward prolong by level
It stretches；The setting of displacement sensor pole plate described in the displacement sensor probe face, and detect the displacement of the one end of the beam.
6. according to claim 5 rock dynamometric system, which is characterized in that the displacement sensor probe and the displacement
Sensor measurement pole plate spacing is the 1/2 of the displacement sensor measurement range.
7. according to claim 5 rock dynamometric system, which is characterized in that the displacement sensor pole plate is towards institute
The face of displacement sensors probe is concordant with the lateral symmetry face of the crossbeam.
8. according to claim 5 rock dynamometric system, which is characterized in that the dynamometric system that rocks further includes that vibration isolation is flat
Platform and shield, the dynamometric system that rocks are installed on vibration-isolating platform；The shield rocks dynamometric system described in covering at
Outside.
9. according to claim 5 rock dynamometric system, which is characterized in that the dynamometric system that rocks further includes fixed outer
Frame, elastomeric element and rotating middle shaft, the both ends of the rotating middle shaft pass through the elastomeric element respectively and the fixed outline border connects
It connects, the rotating middle shaft receiving is set in the fixed outline border, outside the central symmetry axis of the rotating middle shaft and the fixation
The longitudinal axis of frame is overlapped；The rotating middle shaft is along the longitudinally through crossbeam of the crossbeam；Institute is symmetrically stretched out at the both ends of the crossbeam
Fixed outer outer frame is stated, and is swung around the rotating middle shaft.
10. according to claim 9 rock dynamometric system, which is characterized in that the matter of the rotating middle shaft and the crossbeam
Amount is within 2 times of the elastomeric element axial direction load-bearing.
11. according to claim 9 rock dynamometric system, which is characterized in that the displacement sensor pole plate and institute
The vertical range for stating rotating middle shaft is 11.5 times or more of the displacement sensor measurement range.
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| CN109357612B (en) * | 2018-11-21 | 2020-12-25 | 中国科学院合肥物质科学研究院 | On-line calibration method for capacitance displacement sensor of static leveling system |
| CN109470389A (en) * | 2018-11-27 | 2019-03-15 | 上海应用技术大学 | Strain-type torch measuring system and method |
| CN109795722B (en) * | 2018-12-26 | 2020-10-30 | 华中科技大学 | Many physical quantities of colloid propeller characterize device |
| CN113447180B (en) * | 2021-05-10 | 2022-03-22 | 中山大学 | Torsion pendulum testing device based on differential capacitor and torsion pendulum decoupling reading method |
| CN113340499B (en) * | 2021-05-21 | 2022-06-24 | 中国人民解放军战略支援部队航天工程大学 | Micro-thrust measuring device based on cam corner measurement |
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