CN108827573B - Calibration method of micro-vibration interference source test verification system - Google Patents
Calibration method of micro-vibration interference source test verification system Download PDFInfo
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Abstract
The invention discloses a calibration method of a high-precision micro-vibration interference source test verification system, which comprises the steps of calibrating dynamic and static force test precision and moment test precision in three coordinate axis directions, and is realized by the cooperation of weights, a pulley device, a high-precision force sensor and the like. The calibration method is simple and reliable, and by utilizing the method, the calibration of the test precision of the six-component interference force of the micro-vibration interference source six-component test system can be realized, and the test accuracy is objectively evaluated.
Description
Technical Field
The invention belongs to the technical field of spacecraft dynamics tests, and particularly relates to a calibration system of a micro-vibration interference source test verification system and a method for calibrating by using the calibration system of the micro-vibration interference source test verification system.
Background
The micro-vibration is the reciprocating motion with small overall and/or local amplitude of the spacecraft caused by the normal work of the carrying equipment (such as high-speed rotating parts such as momentum wheels, stepping parts such as solar wing driving mechanisms, swinging parts such as infrared camera swing mirrors and the like) or the micro-excitation of the space environment (such as the thermally induced micro-vibration generated by the ground shadow of the spacecraft) during the on-orbit operation of the spacecraft. The existence of the in-orbit micro-vibration environment can cause the pointing direction of the satellite-borne equipment to move relative to a target, and is an important factor influencing the imaging quality, pointing accuracy and other key performances of high-precision spacecrafts such as space telescopes, high-resolution remote sensing satellites, laser communication satellites and the like.
A large number of researches show that the disturbance generated when a momentum wheel (reaction wheel) works is a main disturbance source influencing the imaging quality of high-precision spacecrafts, particularly high-precision space telescopes such as 'Hubbo' spacecrafts. The reaction wheel disturbances are mainly due to static and dynamic imbalances caused by the non-uniform mass distribution of the momentum wheel. Static imbalance is caused by the center of mass of the wheel being offset from the center of the axis of rotation, and dynamic imbalance is caused by the non-uniform mass distribution of the wheel resulting in a non-zero product of inertia of the wheel. In order to analyze the influence of a reaction wheel on a satellite mechanical environment, the output vibration disturbance force of a single machine is fully identified, a micro-vibration interference source test verification system is test equipment for testing the output vibration disturbance force of the single machine of a momentum wheel (reaction theory), as shown in fig. 1, the test equipment comprises a base table, a force sensor is arranged on the base table, a working table is arranged on the upper portion of the force sensor, the six-component interference force generated by moving parts such as a satellite momentum wheel and the like can be quantitatively measured by using the test system, although the six-component interference force can be measured, the accuracy of how to answer the test interference force is always a difficult problem, and the accuracy of the system needs to be quantitatively calibrated before use.
Disclosure of Invention
The invention aims to provide a calibration method of a high-precision micro-vibration interference source test verification system, which is suitable for the test calibration of six components of a satellite micro-vibration interference source. In the past, a microvibration disturbance source testing system can be used for quantitatively measuring six-component disturbance force generated by moving parts such as a satellite momentum wheel, and the like, but the accuracy of how to answer the test disturbance force is always a difficult problem. The method of the invention can be used for calibrating the six-component test system, and successfully solves the problem of test precision for determining the dynamic six-component interference force.
The invention adopts the following technical scheme:
the calibration method of the high-precision micro-vibration interference source test verification system comprises the following steps:
1) calibrating the testing precision of dynamic and static forces in three coordinate axis directions, wherein the three coordinate axis directions are respectively defined as x, y and z
1.1) when calibrating the z-direction force Fz, adopting a prefabricated force release mode, specifically, placing a weight with given weight at a central positioning pin on the upper surface of a basic table board, starting a data acquisition system to acquire a table board force time domain signal, then suddenly removing the weight, continuously recording the table board force time domain signal, reading a force time domain signal peak value before and after removing the weight, and then calculating the test precision in the Fz direction according to a formula (1):
static force measurement accuracy (m g-F)/m g … … … … … … … … … … … (1)
Wherein, m … weight mass; f … z direction, where F is Fz;
1.2) when calibrating an x-direction force Fx, calibrating a static force by adopting a mode of giving a prefabrication force in the x direction and then releasing the prefabrication force, and calibrating a dynamic force by adopting a mode of comparing with a high-precision force sensor, wherein the high-precision force sensor is fixed at the center of the lower surface of a working table and is in the same plane with 4 force sensors below the working table, and the direction of a force measuring axis is the x direction; fixing a pulley device at the center of the edge of the upper part of the side surface of the base platform, connecting a weight by using a rope, changing the stress direction by using a pulley, and then connecting the pulley device to a high-precision force sensor; the height of the pulley is adjusted to enable the rope to be horizontal, the rope is enabled to be coincident with a force measuring shaft of the high-precision force sensor, the gravity of the weight is transmitted to the high-precision force sensor through the rope and then transmitted to the working table top, and the force in the x direction borne by the working table top is consistent with the force in the x direction borne by the high-precision force sensor;
when a static force test is carried out, a data acquisition system is started to acquire a table top force time domain signal, then the weight is suddenly released, and the table top force time domain signal is continuously recorded; reading the peak value of a force time domain signal before and after the weight is released, and calculating the test precision in the Fx direction according to a formula 1, wherein F is Fx; when carrying out the dynamic force test, open data acquisition system and gather power time domain signal, then strike the weight bottom with the plumb bob, make it produce vibration signal, at this moment, mesa force transducer and high accuracy force transducer all can gather vibration signal, read its peak value, utilize formula (2) calculation measuring accuracy:
dynamic force test accuracy ═ (F1-F2)/F1 … … … … … … … … … … (2)
F1 … peak value of force measured by the high-precision force sensor; f2 … peak value of resultant force measured by the table;
1.3) when the force in the y direction is calibrated, the calibration mode of Fy is the same as the calibration mode of Fx;
2) calibrating the test accuracy of dynamic and static moments around three coordinate axes, wherein the directions of the three coordinate axes are defined as x, y and z
And 2.1) when the moment around the y axis is calibrated, giving a known moment of the y axis to the working table top, and calculating the testing precision of the y axis moment by comparing the known moment with the y axis moment measured by the table top. The high-precision force sensor is fixed at the center of the upper surface of the working table through a steel rod with the length of l, after the high-precision force sensor is installed, the high-precision force sensor is higher than the center of the upper surface of the working table by the distance of l, and the direction of a force measuring shaft is in the x direction. Fixing a pulley device at the center of the edge of the upper part of the side surface of the base platform, connecting a weight by using a rope, changing the stress direction by using a pulley, and then connecting the pulley device to a high-precision force sensor; the height of the pulley is adjusted to enable the rope to be horizontal, the rope is enabled to be coincident with a force measuring shaft of the high-precision force sensor, and the gravity of the weight is transmitted to the high-precision force sensor through the rope and then transmitted to the working table top through the steel rod; the force applied to the table top is the gravity of the weight, and the force arm is the moment around the y axis of l;
when static moment test is carried out, a data acquisition system is started to acquire a table top moment time domain signal and a high-precision force sensor force time domain signal, then weights are released suddenly, the table top moment time domain signal and the high-precision force sensor force time domain signal are continuously recorded, the peak values of a table top y-axis moment time domain signal and the high-precision force sensor force time domain signal before and after the weights are released are read, and the My test precision is calculated according to a formula (3):
static moment measurement accuracy ═ (M × g × l-M)/M × g × l … … … … … … … … … … (3)
m … weight mass; l … steel rod length; m … table measured torque;
when carrying out the dynamic moment test, open data acquisition system and gather mesa moment time domain signal and high accuracy force sensor power time domain signal, then strike the weight bottom with the plumb, make it produce vibration signal, at this moment, the mesa records y axle moment vibration signal, and high accuracy force sensor can gather power vibration signal, reads its peak value respectively, utilizes formula (4) to calculate the measuring accuracy:
dynamic moment test accuracy (F1 l-M)/F1 l … … … … … … … … … … (4)
Wherein, the F1 … high-precision force sensor measures the peak value of the force; l … steel rod length; m. peak torque value measured on the table top;
2.2) when the moment around the x axis is calibrated, the calibration mode of Mx is the same as the calibration mode of My;
2.3) when calibrating the moment around the z axis, giving the known moment around the z axis to the working table top, and calculating the moment test precision around the z axis by comparing the known moment around the z axis with the moment around the z axis measured by the table top; the method comprises the following steps of fixing a positioning device at the position of the y-direction side edge of the working table, and installing a high-precision force sensor on the positioning device; after the positioning device is installed, the vertical distance from the center of the working table to the installation point of the positioning device is b, and the direction of the force measuring axis of the high-precision force sensor is the same as the x direction of the table; the pulley device is arranged on the edge of the upper part of the x-direction side surface of the foundation platform, is preset in the direction of the force measuring axis of the high-precision force sensor, is connected with a weight by a rope, changes the stress direction by the pulley, is connected with the high-precision force sensor, adjusts the height of the pulley, enables the rope to be horizontal, ensures that the rope is superposed with the force measuring axis of the high-precision force sensor, transmits the gravity of the weight to the high-precision force sensor by the rope and then transmits the gravity of the weight to a working platform surface by a positioning device, the stress on the working platform surface is the weight of the weight, and the; when a static moment test is carried out, a data acquisition system is started to acquire a table top moment time domain signal and a high-precision force sensor force time domain signal, then the weight is released suddenly, the table top moment time domain signal and the high-precision force sensor force time domain signal are continuously recorded, the peak values of the table top z-axis moment time domain signal and the high-precision force sensor force time domain signal before and after the weight is released are read, and the test precision in the Mz direction is calculated according to the formula (5); when the dynamic torque test is carried out, the data acquisition system is started to acquire a table top torque time domain signal and a high-precision force sensor force time domain signal, then the bottom of the weight is knocked by a plumb head to generate a vibration signal, at the moment, the table top measures a z-axis torque vibration signal, the high-precision force sensor acquires the force vibration signal, the peak values of the force vibration signal are respectively read, and the test precision is calculated by using the formula (6).
Static moment measurement accuracy (M g b-M)/M g b … … … … … … … … … … (5)
m … weight mass; b … vertical distance between the center of the work table and the installation point of the positioning device; m … table measured torque;
dynamic moment test accuracy (F1 × b-M)/F1 × b … … … … … … … … … … (6)
Wherein, the F1 … high-precision force sensor measures the peak value of the force; b … vertical distance between the center of the work table and the installation point of the positioning device; peak torque measured at the M … table;
when the z-direction force Fz is calibrated, the testing precision of the table top can be calculated by comparing the z-direction force Fz with a value measured by the high-precision force sensor.
Wherein, high accuracy force sensor is unipolar kistler9215 force sensor, and the model can be replaced by other models.
The static force and moment calibration adopts a weight gravity releasing or loading mode, and the loading mode can be replaced by other modes.
The dynamic force calibration adopts a high-precision dynamic response synchronous test mode.
The high-precision force sensor added in the dynamic force and moment calibration device can measure simultaneously with the table-board force sensor.
The high-precision force sensor needs to be calibrated independently before the table top is calibrated to be a standard signal, and then a dynamic response signal measured by the test table top is compared with a dynamic response signal measured by the high-precision force sensor to obtain the test precision of the dynamic force and the moment of the high-precision force sensor.
The positioning device is fixed on the side face of the working table top and used for positioning the high-precision force sensor when Mz calibration is carried out and transmitting the force borne by the high-precision force sensor to the working table top without loss. The positioning device is required to have high rigidity.
The calibration method of the satellite micro-vibration interference source six-component testing system is simple and reliable, can realize the calibration of the testing precision of the six-component interference force of the micro-vibration interference source six-component testing system, and has an objective evaluation on the testing accuracy.
Drawings
Fig. 1a is a front view of a high-precision micro-vibration interference source testing and verifying system in the prior art.
FIG. 1b is a front view of a high-precision micro-vibration interference source testing and verifying system in the prior art.
FIG. 2 is a schematic diagram of the calibration of Fz in the calibration method of the present invention; wherein, 1 is a weight;
FIG. 3a is a front view of the calibration of Fx and Fy in the calibration method of the present invention, the calibration method in both directions is the same; wherein, 1 is a weight; 2 is a pulley device; 3 is a high-precision force sensor;
FIG. 3b is a top view of the calibration of Fx and Fy in the calibration method of the present invention, wherein the calibration method is the same in both directions; wherein, 1 is a weight; 2 is a pulley device; 3 is a high-precision force sensor;
FIG. 4a is a front view of Mx and My calibration in the calibration method of the present invention, wherein the calibration modes in two directions are the same; wherein, 1 is a weight; 2 is a pulley device; 3 is a high-precision force sensor; 4 is the steel pole of length l
FIG. 4b is a front view of the calibration of Mx and My in the calibration method of the present invention, wherein the calibration modes in the two directions are the same; wherein, 1 is a weight; 2 is a pulley device; 3 is a high-precision force sensor; 4 is the steel pole of length l
FIG. 5a is a front view of Mz calibration in the calibration method of the present invention; wherein, 1 is a weight; 2 is a pulley device; 3 is a high-precision force sensor; and 5, a positioning device.
FIG. 5b is a top view of Mz calibration in the calibration method of the present invention; wherein, 1 is a weight; 2 is a pulley device; 3 is a high-precision force sensor; and 5, a positioning device.
Detailed Description
The following is a description of the present invention, which is further illustrated by the following embodiments. The following detailed description, of course, is merely illustrative of various aspects of the invention and is not to be construed as limiting the scope of the invention.
The calibration method of the high-precision micro-vibration interference source test verification system comprises the steps of calibrating the test precision of dynamic and static forces in three coordinate axis directions and calibrating the moments in the three coordinate axis directions for calibration, wherein the three coordinate axes are respectively in the X direction, the Y direction and the Z direction.
(a) Calibration of Fz
Referring to fig. 2, fig. 2 shows a schematic diagram of the calibration of Fz in the calibration method; as shown in fig. 2, when the z-direction force calibration is performed, the weight 1 with a given weight is placed at the central positioning pin on the upper surface of the working table, the data acquisition system is started to acquire the table force time domain signal, then the weight is suddenly removed, and the table force time domain signal is continuously recorded. And reading the peak value of the force time domain signal before and after the weight is removed, and calculating the test precision in the Fz direction according to the formula 1.
Static force measurement accuracy (m g-F)/m g … … … … … … … … … … … (1)
Wherein, m … weight mass; f … z direction, where F is Fz;
(b) calibration of Fx and Fy
Referring to fig. 3, fig. 3 shows a schematic diagram of the calibration of Fx and Fy in the calibration method of the present invention, and the calibration in both directions is the same; as shown in fig. 3, the Fx-direction calibration is performed in the following steps:
(1) the high-precision force sensor 3 is fixed at the center of the lower surface of the working table and is in the same plane with the 4 force sensors below the working table, and the direction of a force measuring shaft is the x direction.
(2) Fixing the pulley device 2 at the center of the side upper edge of the foundation bed
(3) The weight is connected by a rope, the stress direction is changed by a pulley, and then the weight is connected to the high-precision force sensor. The height of the pulley is adjusted to enable the rope to be horizontal, the rope is enabled to coincide with a force measuring shaft of the high-precision force sensor, the gravity of the weight is transmitted to the high-precision force sensor through the rope and then transmitted to the working table top, and the force in the x direction received by the working table top is consistent with the force in the x direction received by the high-precision force sensor
(4) When the static force test is carried out, the data acquisition system is started to acquire the table force time domain signal, then the weight 1 is suddenly released, and the table force time domain signal is continuously recorded. And reading the peak value of the force time domain signal before and after the weight is released, and calculating the test precision in the Fx direction according to the formula 1. The test accuracy of the table top can also be calculated by comparing with the value measured by the high-accuracy force sensor.
Static force measurement accuracy (m g-F)/m g … … … … … … … … … … … (1)
Wherein, m … weight mass; f … z direction table force, where F ═ Fx;
(5) when the dynamic force test is carried out, the data acquisition system is started to acquire force time domain signals, and then the weight bottom is knocked by the vertical head to generate vibration signals. At the moment, the table top force sensor and the high-precision force sensor can acquire vibration signals. The peak value is read, and the test precision is calculated by using the formula 2.
Dynamic force test accuracy ═ (F1-F2)/F1 … … … … … … … … … … (2)
F1 … peak value of force measured by the high-precision force sensor; f2 … peak value of resultant force measured by the table;
and the Fy calibration mode is the same as the Fx calibration mode.
(c) Mx and My calibration method
Referring to fig. 4, fig. 4 shows a schematic diagram of the calibration of Mx and My in the calibration method of the present invention, and the calibration manner in both directions is the same. As shown in FIG. 4, the My calibration is performed in the following steps.
(1) The high-precision force sensor 3 is fixed at the center of the upper surface of the working table through a steel rod 4 with the length of l, after the high-precision force sensor is installed, the high-precision force sensor 3 is higher than the center of the upper surface of the working table by a distance of l, and the direction of a force measuring axis is the x direction.
(2) The pulley device 2 is fixed at the center of the side upper edge of the foundation bed.
(3) The weight 1 is connected by a rope, the stress direction is changed by a pulley, and then the weight is connected to the high-precision force sensor 3. The pulley height of adjustment makes the rope level, guarantees rope and high accuracy force transducer force-measuring shaft coincidence, and the gravity of weight 1 passes through the rope and transmits 3 rethread steel pole 4 transmissions for table surface for high accuracy force transducer. The force applied to the table top is the gravity of the weight, and the force arm is the moment around the y axis of the L.
(4) When the static moment test is carried out, the data acquisition system is started to acquire the table torque time domain signal and the high-precision force sensor force time domain signal, then the weight 1 is released suddenly, and the table torque time domain signal and the high-precision force sensor force time domain signal are continuously recorded. And reading y-axis moment time domain signals of the table top before and after the weight is released and force time domain signal peak values of the high-precision force sensor, and calculating the testing precision in the My direction according to a formula 3.
Static moment measurement accuracy ═ (M × g × l-M)/M × g × l … … … … … … … … … … (3)
m … weight mass; l … steel rod length; m … table measured torque;
(5) when the dynamic moment test is carried out, the data acquisition system is started to acquire a table-board moment time domain signal and a high-precision force sensor 3 force time domain signal, and then the weight 1 bottom is knocked by a plumb to generate a vibration signal. At this time, the table board measures a y-axis moment vibration signal, the high-precision force sensor 3 collects the force vibration signal, the peak values of the force vibration signal are respectively read, and the testing precision is calculated by using a formula 4.
Dynamic moment test accuracy (F1 l-M)/F1 l … … … … … … … … … … (4)
Wherein, the F1 … high-precision force sensor measures the peak value of the force; l … steel rod length; peak torque measured at the M … table;
and the calibration mode of Mx is the same as that of My.
(d) Mz calibration method
Referring to FIG. 5, FIG. 5 is a schematic diagram of Mz calibration in the calibration method of the present invention; as shown in fig. 5, the Mz calibration is performed in the following steps.
(1) The positioning device 5 is fixed in position to the y-side edge of the worktop.
(2) The high-precision force sensor 3 is arranged on the positioning device 5, after the high-precision force sensor is arranged, the vertical distance from the center of the working table to the mounting point of the positioning device is b, and the direction of the force measuring axis of the high-precision force sensor is the same as the x direction of the table
(3) The pulley device is arranged on the upper edge of the x-direction side surface of the base table and is pre-arranged in the direction of the force measuring shaft of the high-precision force sensor. The weight is connected by a rope, the stress direction is changed by a pulley, and then the weight is connected to the high-precision force sensor. The pulley height is adjusted to make the rope level, guarantees that rope and high accuracy force transducer dynamometry axle coincide, and the gravity of weight passes through the rope and transmits for high accuracy force transducer and transmits for table surface through positioner again, and table surface receives the power size and is weight, and the arm of force is the moment of b around the z axle.
(4) When the static moment test is carried out, the data acquisition system is started to acquire the table torque time domain signal and the high-precision force sensor force time domain signal, then the weight is released suddenly, and the table torque time domain signal and the high-precision force sensor force time domain signal are continuously recorded. And reading the z-axis moment time domain signal of the front table top and the rear table top after the weight is released and the force time domain signal peak value of the high-precision force sensor, and calculating the testing precision in the Mz direction according to a formula 5.
Static moment measurement accuracy (M g b-M)/M g b … … … … … … … … … … (5)
m … weight mass; b … vertical distance between the center of the work table and the installation point of the positioning device; m … table measured torque;
(5) when the dynamic torque test is carried out, the data acquisition system is started to acquire a table-board torque time domain signal and a high-precision force sensor force time domain signal, and then the bottom of the weight is knocked by a plumb to generate a vibration signal. At the moment, the table board measures a z-axis moment vibration signal, the high-precision force sensor collects the force vibration signal, peak values of the force vibration signal are respectively read, and the testing precision is calculated by using a formula 6.
Dynamic moment test accuracy (F1 × b-M)/F1 × b … … … … … … … … … … (6)
Wherein, the F1 … high-precision force sensor measures the peak value of the force; b … vertical distance between the center of the work table and the installation point of the positioning device; peak torque measured at the M … table;
although particular embodiments of the invention have been described and illustrated in detail, it should be understood that various equivalent changes and modifications could be made to the above-described embodiments in accordance with the present invention, and that the resulting functional effects would still fall within the scope of the present invention without departing from the spirit of the present invention covered by the description and drawings.
Claims (7)
1. The calibration method of the high-precision micro-vibration interference source test verification system comprises the following steps:
1) calibrating the testing precision of dynamic and static forces in three coordinate axis directions, wherein the three coordinate axis directions are respectively defined as x, y and z;
1.1) when calibrating the z-direction force Fz, adopting a prefabricated force release mode, specifically, placing a weight with given weight at a central positioning pin on the upper surface of a basic table board, starting a data acquisition system to acquire a table board force time domain signal, then suddenly removing the weight, continuously recording the table board force time domain signal, reading a force time domain signal peak value before and after removing the weight, and then calculating the test precision in the Fz direction according to a formula (1):
static force test accuracy = (m × g-F)/m × g (1)
Wherein m is the mass of the weight; f is the resultant force measured on the table top in the z direction, where F = Fz;
1.2) when calibrating an x-direction force Fx, a static force is calibrated in a mode of giving a prefabrication force in the x direction and then releasing the prefabrication force, a dynamic force is calibrated in a mode of comparing with a high-precision force sensor, specifically, the high-precision force sensor is fixed at the center of the lower surface of a working table and is in the same plane with 4 force sensors below the working table, the force measuring axis direction is in the x direction, a pulley device is fixed at the center of the edge of the upper part of the side surface of a base table, a weight is connected by a rope, the force bearing direction is changed by the pulley, and then the pulley device is connected to the high-precision force sensor; the height of the pulley is adjusted to enable the rope to be horizontal, the rope is enabled to be coincident with a force measuring shaft of the high-precision force sensor, the gravity of the weight is transmitted to the high-precision force sensor through the rope and then transmitted to the working table top, and the force in the x direction borne by the working table top is consistent with the force in the x direction borne by the high-precision force sensor;
when a static force test is carried out, a data acquisition system is started to acquire a table top force time domain signal, then the weight is suddenly released, and the table top force time domain signal is continuously recorded; reading the peak value of a force time domain signal before and after the weight is released, and calculating the test precision in the Fx direction according to a formula (1), wherein F = Fx; when carrying out the dynamic force test, open data acquisition system and gather power time domain signal, then strike the weight bottom with the tup, make it produce vibration signal, at this moment, mesa force transducer and high accuracy force transducer all can gather vibration signal, read its peak value, utilize formula (2) to calculate the measuring accuracy:
dynamic force test accuracy = (F1-F2)/F1 (2)
Wherein F1 is the peak value of the force measured by the high-precision force sensor; f2 is the peak value of the resultant force measured by the table board;
1.3) when the force in the y direction is calibrated, the calibration mode of Fy is the same as the calibration mode of Fx;
2) calibrating the test accuracy of dynamic and static moments around three coordinate axes, wherein the directions of the three coordinate axes are defined as x, y and z
2.1) when calibrating the torque around the y axis, giving a known torque of the y axis to the working table, calculating the testing accuracy of the torque of the y axis by comparing the torque with the torque of the y axis measured by the table, specifically, fixing a high-accuracy force sensor at the center of the upper surface of the working table through a steel rod with the length of l, after the high-accuracy force sensor is installed, enabling the high-accuracy force sensor to be higher than the center of the upper surface of the working table by the distance of l, enabling the direction of the force measuring axis to be the direction of x, fixing a pulley device at the center of the upper edge of the side surface of a base table, connecting a weight with a rope, changing the stress direction through the pulley, and then connecting the weight to the high; the height of the pulley is adjusted to enable the rope to be horizontal, the rope is enabled to be coincident with a force measuring shaft of the high-precision force sensor, the gravity of the weight is transmitted to the high-precision force sensor through the rope and then transmitted to the working table top through the steel rod, the force applied to the table top is the gravity of the weight, and the force arm is the torque around the y axis of the l;
when static moment test is carried out, a data acquisition system is started to acquire a table top moment time domain signal and a high-precision force sensor force time domain signal, then weights are released suddenly, the table top moment time domain signal and the high-precision force sensor force time domain signal are continuously recorded, the peak values of a table top y-axis moment time domain signal and the high-precision force sensor force time domain signal before and after the weights are released are read, and the My test precision is calculated according to a formula (3):
static moment test accuracy = (M × g × l-M)/M × g × l (3)
m is the mass of the weight; l is the length of the steel rod, M is the moment measured on the table top;
when carrying out the dynamic moment test, open data acquisition system and gather mesa moment time domain signal and high accuracy force sensor power time domain signal, then strike the weight bottom with the tup, make it produce vibration signal, at this moment, the mesa records y axle moment vibration signal, and high accuracy force sensor can gather power vibration signal, reads its peak value respectively, utilizes formula (4) to calculate the measuring accuracy:
dynamic moment test accuracy = (F1 l-M)/F1 l (4)
Wherein F1 is the peak value of the force measured by the high-precision force sensor; l is the length of the steel rod; m is the peak value of the moment measured by the table top;
2.2) when the moment around the x axis is calibrated, the calibration mode of Mx is the same as the calibration mode of My;
2.3) when calibrating the moment around the z axis, giving the known moment around the z axis to the working table top, and calculating the testing precision of the moment around the z axis by comparing the known moment around the z axis with the moment around the z axis measured by the table top, wherein the specific method is that a positioning device is fixed at the position of the y-direction side edge of the working table top, and a high-precision force sensor is arranged on the positioning device; after installation, the vertical distance from the center of the workbench to the installation point of the positioning device is b, the force measuring axis direction of the high-precision force sensor is the same as the x direction of the workbench, the pulley device is installed on the edge of the upper part of the x direction side of the base platform and is preset in the force measuring axis direction of the high-precision force sensor, a weight is connected by a rope, the stress direction is changed by the pulley and is then connected to the high-precision force sensor, the height of the pulley is adjusted to enable the rope to be horizontal, the rope is enabled to be coincident with the force measuring axis of the high-precision force sensor, the gravity of the weight is transmitted to the high-precision force sensor through the rope and then transmitted to the workbench through the positioning device, the force borne by the workbench is the weight of; when a static moment test is carried out, a data acquisition system is started to acquire a table top moment time domain signal and a high-precision force sensor force time domain signal, then the weight is released suddenly, the table top moment time domain signal and the high-precision force sensor force time domain signal are continuously recorded, the peak values of the table top z-axis moment time domain signal and the high-precision force sensor force time domain signal before and after the weight is released are read, and the test precision in the Mz direction is calculated according to the formula (5); when the dynamic torque test is carried out, a data acquisition system is started to acquire a table top torque time domain signal and a high-precision force sensor force time domain signal, then the bottom of a weight is knocked by a hammer head to generate a vibration signal, at the moment, the table top measures the torque vibration signal, the high-precision force sensor acquires the force vibration signal, the peak values of the force vibration signal are respectively read, and the test precision is calculated by using the formula (6);
static moment test accuracy = (M × g × b-M)/M × g × b (5)
m is the mass of the weight; b is the vertical distance between the center of the working table and the mounting point of the positioning device; m is the moment measured by the table top;
dynamic moment test accuracy = (F1 b-M)/F1 b (6)
The dynamic force calibration adopts a high-precision dynamic response synchronous test mode, and F1 is a peak value of the force measured by the high-precision force sensor; b is the vertical distance between the center of the working table and the mounting point of the positioning device; m is the peak torque value measured by the table.
2. The method of claim 1, wherein the accuracy of the table testing is calculated by comparing the z-direction force Fz with the value measured by the high accuracy force sensor when calibrating the z-direction force Fz.
3. The method of claim 1, wherein the high-precision force sensor is a single-axis kistler9215 force sensor.
4. The method of claim 1, wherein the static force and moment calibration is performed by gravity release or loading of a weight.
5. The method of claim 1, wherein a high precision force sensor added to the dynamic force, torque calibration device can measure simultaneously with the table top force sensor.
6. The method as claimed in claim 1, wherein the high-precision force sensor needs to be calibrated separately before calibrating the table-board, and then the dynamic response signal measured by the test table-board is compared with the dynamic response signal measured by the high-precision force sensor, so as to obtain the test precision of the dynamic force and the moment.
7. The method of claim 1, wherein the positioning device is affixed to the side of the table top and is configured to position the high-accuracy force sensor during the Mz calibration and to transmit the force applied to the high-accuracy force sensor to the table top without loss.
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