CN109100083A - Attitude control engine vectored thrust measuring device calibrates control system and method - Google Patents
Attitude control engine vectored thrust measuring device calibrates control system and method Download PDFInfo
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- CN109100083A CN109100083A CN201810621113.1A CN201810621113A CN109100083A CN 109100083 A CN109100083 A CN 109100083A CN 201810621113 A CN201810621113 A CN 201810621113A CN 109100083 A CN109100083 A CN 109100083A
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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
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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
- G01M15/00—Testing of engines
Abstract
The problem of the present invention relates to attitude control engine vectored thrust measuring device calibration control systems and method, correct if solving existing vector force snesor without field calibration, and it is bigger than normal sensor measurement indicating value uncertainty occur, poor repeatability.The control system includes control module, acquisition module unit, memory module, data processing module and loading mechanism；Loading mechanism includes transfer panel, standard force snesor and electric cylinder；Transfer panel is calibrated object for installing connection, and one end of standard force snesor is connect with transfer panel, and the other end is connect with electric cylinder；For realizing the control of electric cylinder stroke, electric cylinder exports calibrated force and gives standard force snesor control module, and calibrated force is passed to six-component sensor by transfer panel by standard force snesor；The data transfer of acquisition module unit acquisition is stored to memory module, and the data of storage are transferred to data processing module by memory module, and data processing module includes decoupling module, and decoupling module carries out decoupling operation to data.
Description
Technical field
The present invention relates to space flight liquid engines to test field, and in particular to 7500N attitude control engine altitude simulation test
Front and back, attitude control engine vectored thrust measuring device calibrate control system and method.
Background technique
The traditional measurement method of thrust is directly to hang on engine on sensor, and the weight of engine is born by sensor
Amount, then carries out thrust measurement, and the foil gauge of sensor deforms the thrust of 1 times of engine.7500N attitude control engine is the moon
The sustainer of moon landing detector dynamical system in engineering is detected, thrust variation range is 1500N~7500N, is used for
Realize the soft landings mission requirements such as the nearly moon braking of moon landing detector, power dropping.High ratio is obtained in order to meet Space-Work
The jet pipe of punching performance, engine uses big divergence ratio, but due to the limitation of machining accuracy, will form the geometric dimension of engine
Asymmetry, and in high temperature and pressure, asymmetry of the deformation and combustion gas of engine throat and jet pipe in jet pipe
Flowing, cause motor power position deviate engine center axis, to produce thrust eccentric, occur lateral thrust and
Torque of the thrust vectoring around propeller mass center.The generation of lateral force and torque will lead to moon landing detector orbit displacement, this
When need to make detector track accurate by adjusting the operating attitude of attitude control engine.If lateral force and torque are excessive, appearance
Engine is controlled by frequent posture adjustment, to bring propellant expenditure excessive to moon landing detector and landing place is difficult to accurately
The risk of control.Therefore, become the thrust vectoring performance for pushing away engine for accurate evaluation 7500N, need in engine altitude simulation
Engine vectored thrust is accurately obtained in heat run, in order to meet development mission requirements, is undertaken test unit and is established vectored thrust
Measuring device.
Vector force snesor used at present, coefficient matrix are that national measurement department is calibrated to obtain in laboratory
, but since there are the variation of sensor installation position, temperature difference, vibration, the installation limitations of Propellant Supply pipeline for testing ground
Equal disturbing factors, vector force snesor factory coefficient matrix are such as corrected without field calibration when starting test to use, often
The problem of appearance sensor measurement indicating value uncertainty is bigger than normal, poor repeatability.Therefore, it is necessary to the vectored thrust measurements to being established
Vector force snesor on device carries out field calibration, carries out live amendment to its coefficient matrix.
Summary of the invention
It is corrected if present invention aim to address existing vector force snesors without field calibration, it may appear that sensor
The problem of measurement indicating value uncertainty is bigger than normal, poor repeatability, for this purpose, the present invention provides a kind of surveys of attitude control engine vectored thrust
Measure device calibration control system and method.
The technical scheme is that
Attitude control engine vectored thrust measuring device provided by the present invention calibrates control system, including control module, adopts
Collect modular unit, memory module, data processing module and loading mechanism；The loading mechanism includes transfer panel, proof force sensing
Device and electric cylinder, the standard force snesor are single component sensor；The transfer panel is calibrated object for installing connection, institute
Stating and being calibrated object is six-component sensor, and one end of the standard force snesor is connect with transfer panel, the other end and electric cylinder
Telescopic rod connection；The acquisition module unit includes acquisition module and amplification module, for acquiring and amplifying standard force snesor
With the measurement numerical value of six-component sensor；Control of the control module for realizing electric cylinder stroke, electric cylinder output school
Quasi- power gives standard force snesor, and calibrated force is passed to six-component sensor by transfer panel by standard force snesor；The acquisition
Modular unit acquisition data transfer give memory module storage, the memory module to the collected data of six-component sensor into
The storage of the following form of row, the output component column matrix of six-component sensor is indicated:
Wherein,For the voltage output value of the six-component sensor when X-direction reinforces；
Fx is the load force value of standard force snesor when carrying out X-direction calibration；
Wherein,The voltage output value of six-component sensor when to reinforce in the Y direction；
Fy is the load force value of standard force snesor when carrying out Y-direction calibration；
Wherein,For the voltage output value of the six-component sensor when Z-direction reinforces；
Fz is the load force value of standard force snesor when carrying out Z-direction calibration；
Wherein,For the voltage output value of the six-component sensor when the direction Mx reinforces；
Mx is to carry out loading torque value when X-direction calibration, the multiply-add load of standard force snesor output force value loaded by torque
Torque arm length obtains；
Wherein,For the voltage output value of the six-component sensor when the direction My reinforces；
My is to carry out loading torque value when Y-direction calibration, the multiply-add load of standard force snesor output force value loaded by torque
Torque arm length obtains；
Wherein,For the voltage output value of the six-component sensor when the direction Mz reinforces；
Mz is to carry out loading torque value when Z-direction calibration, the multiply-add load of standard force snesor output force value loaded by torque
Torque arm length obtains；
For six-component sensor coefficient matrix；
The data of storage are transferred to data processing module by memory module, and data processing module includes decoupling module, decoupling
Module carries out decoupling operation to data, and steps are as follows:
Step 1: Calibration equation (formula 1-1)~(formula 1-6) is normalized and is write as matrix form, then have:
Wherein: wi1=vi1/Fx、wi2=vi2/Fy、wi3=vi3/Fz、wi4=vi4/Mx、wi5=vi5/My、wi6=vi6/Mz, i
=1~6；
Brief note are as follows:
D6×6×W6×6=E6×6
Wherein, E6×6For unit matrix, D6×6It is defined as coefficient matrix, W6×6It is defined as coupling (calibration) matrix；
Step 2: coefficient matrix decouples:
To coefficient matrix D6×6It carries out seeking inverse operation,
D6×6=W6×6 -1(formula 1-8)
Step 3: coefficient matrix is corrected:
The coefficient matrix D obtained with inversion operation6×6The laboratory system's matrix number for the six-component sensor being calibrated is substituted,
In real engine vectored thrust measurement process, the virtual voltage output matrix v of sensor is obtainedi1, substituting into following formula can obtain
To the force value of six direction；
Actual output voltageWhen, reality output force value expression formula are as follows:
Further, control module controls electric cylinder loading procedure by pid control algorithm, loads from setting
When target force values difference is larger, control electric cylinder is moved with 2 times of normal speeds, is being set in difference range from load target value
When, control electric cylinder is moved with 0.1 times of normal speed.
Further, the acquisition module unit is high-accuracy instrument Dmp40.
Meanwhile the present invention also provides a kind of attitude control engine vectored thrust measuring device adjustment controlling means, including it is following
Step:
1) data acquire；
Acquisition module unit includes acquisition module and amplification module, for acquiring and amplifying standard force snesor and six square phase
The measurement numerical value of sensor；
2) the collected data of step 1) are stored；
Memory module carries out the storage of following form to the collected data of six-component sensor, by six-component sensor
Output component column matrix indicates:
Wherein,For the voltage output value of the six-component sensor when X-direction reinforces；
Fx is the load force value of standard force snesor when carrying out X-direction calibration；
Wherein,The voltage output value of six-component sensor when to reinforce in the Y direction；
Fy is the load force value of standard force snesor when carrying out Y-direction calibration；
Wherein,For the voltage output value of the six-component sensor when Z-direction reinforces；
Fz is the load force value of standard force snesor when carrying out Z-direction calibration；
Wherein,For the voltage output value of the six-component sensor when the direction Mx reinforces；
Mx is to carry out loading torque value when X-direction calibration, the multiply-add load of standard force snesor output force value loaded by torque
Torque arm length obtains；
Wherein,For the voltage output value of the six-component sensor when the direction My reinforces；
My is to carry out loading torque value when Y-direction calibration, the multiply-add load of standard force snesor output force value loaded by torque
Torque arm length obtains；
Wherein,For the voltage output value of the six-component sensor when the direction Mz reinforces；
Mz is to carry out loading torque value when Z-direction calibration, the multiply-add load of standard force snesor output force value loaded by torque
Torque arm length obtains；
3) data processing；
The data of storage are transferred to data processing module, data processing module includes decoupling module, decoupling module logarithm
According to decoupling operation is carried out, steps are as follows:
3.1) Calibration equation (formula 1-1)~(formula 1-6) is normalized and is write as matrix form, then had:
Wherein: wi1=vi1/Fx、wi2=vi2/Fy、wi3=vi3/Fz、wi4=vi4/Mx、wi5=vi5/My、wi6=vi6/Mz, i
=1~6；
Brief note are as follows:
D6×6×W6×6=E6×6
Wherein, E6×6For unit matrix, D6×6It is defined as coefficient matrix, W6×6It is defined as coupling (calibration) matrix；
3.2) coefficient matrix decouples:
To coefficient matrix D6×6It carries out seeking inverse operation,
D6×6=W6×6 -1(formula 1-8)
3.3) coefficient matrix is corrected:
The coefficient matrix D obtained with inversion operation6×6The laboratory system's matrix number for the six-component sensor being calibrated is substituted,
In real engine vectored thrust measurement process, the virtual voltage output matrix v of sensor is obtainedi1, substituting into following formula can obtain
To the force value of six direction；
Actual output voltageWhen, reality output force value expression formula are as follows:
Compared with prior art, the present invention having following technical effect that
1. present system and method carry out field calibration amendment to vector force snesor (six-component sensor), solve
The problem of measurement indicating value uncertainty caused by site environment interference is bigger than normal, poor repeatability, realizes showing for thrust-measuring device
Field calibration and precise measurement.
2. control system loading efficiency of the present invention high (quickly calibrated), repeatability error are small (calibration accuracy is high).
3. the control module that control system of the present invention uses can be in the forward and backward remote auto calibration of engine ignition.Automatically
In loading procedure electric cylinders can be controlled in the resident stable time of calibration setting force value point by control module.Control system can be with
By arbitrarily controlling the load force value gear step number of electric cylinders, the multi gear position calibration of each component of six-component sensor is realized.
Detailed description of the invention
Fig. 1 is that attitude control engine vectored thrust measuring device of the present invention calibrates control system figure.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawing:
As shown in Figure 1,7500N attitude control engine vectored thrust measuring device calibrates control system, as engine high-altitude
The chief component of vectored thrust measuring device in simulation test, mainly by control module, acquisition module unit, storage mould
Block, data processing module and loading mechanism composition, in addition, can also be realized manually by manual control button and impulse generator
Control calibration.
Loading mechanism includes transfer panel, standard force snesor and electric cylinder, and standard force snesor is single component sensor；Turn
Connect disk for place be calibrated object, being calibrated object is six-component sensor, standard force snesor and electric cylinder telescopic rod one
End connection, the other end are connected to transfer panel, and electric cylinder movement generates stroke, when standard force snesor and telescopic rod link by
Extruding or stretch and generate calibration force value, which is acquired by high-accuracy instrument Dmp40 and is exported display, the force value signal
Send data processing module to simultaneously.Acquisition module unit includes acquisition module and amplification module, for acquiring and amplifying standard
Above-mentioned high-accuracy instrument Dmp40 specifically can be used in the measurement numerical value of force snesor and six-component sensor, acquisition module unit.
Control module sends instructions to drive control card, realizes that the stroke of electric cylinder accurately controls, and electric cylinder exports school
Quasi- power gives standard force snesor, and calibrated force is passed to six-component sensor by transfer panel by standard force snesor；Control module
The drive control alone or in combination for realizing the multiple electric cylinders of calibration system, is converted to proof force for the displacement of electric cylinder telescopic rod
The power of sensor exports, and realizes the calibration of the measurement force value on each component direction of vectored thrust measuring system.Data processing module
The standard force snesor output force value in high-accuracy instrument Dmp40 is read in real time, is carried out with preset loading force target value
Compare, when error meets the claimed range of setting, control module sends electric cylinder and instructs, and electric cylinder stopping acts and holds position
It sets, completes the automatic load of a setting calibration force value.
The data transfer of acquisition module unit acquisition is stored to memory module, and memory module collects six-component sensor
Data carry out the storage of following form, the output component column matrix of six-component sensor is indicated, by standard force snesor
Output valve carries out matrix with the output valve of six-component sensor and combines:
Wherein,For the voltage output value of the six-component sensor when X-direction reinforces；
Fx is the load force value of standard force snesor when carrying out X-direction calibration；
Wherein,The voltage output value of six-component sensor when to reinforce in the Y direction；
Fy is the load force value of standard force snesor when carrying out Y-direction calibration；
Wherein,For the voltage output value of the six-component sensor when Z-direction reinforces；
Fz is the load force value of standard force snesor when carrying out Z-direction calibration；
Wherein,For the voltage output value of the six-component sensor when the direction Mx reinforces；
Mx is to carry out loading torque value when X-direction calibration, the multiply-add load of standard force snesor output force value loaded by torque
Torque arm length obtains；
Wherein,For the voltage output value of the six-component sensor when the direction My reinforces；
My is to carry out loading torque value when Y-direction calibration, the multiply-add load of standard force snesor output force value loaded by torque
Torque arm length obtains；
Wherein,For the voltage output value of the six-component sensor when the direction Mz reinforces；
Mz is to carry out loading torque value when Z-direction calibration, the multiply-add load of standard force snesor output force value loaded by torque
Torque arm length obtains；
For six-component sensor coefficient matrix；
The data of storage are transferred to data processing module by memory module, and data processing module includes decoupling module, decoupling
Module carries out decoupling operation to data, and steps are as follows:
Step 1: Calibration equation (formula 1-1)~(formula 1-6) is normalized and is write as matrix form, then have:
Wherein: wi1=vi1/Fx、wi2=vi2/Fy、wi3=vi3/Fz、wi4=vi4/Mx、wi5=vi5/My、wi6=vi6/Mz, i
=1~6；
Brief note are as follows:
D6×6×W6×6=E6×6
Wherein, E6×6For unit matrix, D6×6It is defined as coefficient matrix, W6×6It is defined as coupling (calibration) matrix；
Step 2: coefficient matrix decouples:
To coefficient matrix D6×6It carries out seeking inverse operation,
D6×6=W6×6 -1(formula 1-8)
Step 3: coefficient matrix is corrected:
The coefficient matrix D obtained with inversion operation6×6The laboratory system's matrix number for the six-component sensor being calibrated is substituted,
In real engine vectored thrust measurement process, the virtual voltage output matrix v of sensor is obtainedi1, substituting into following formula can obtain
To the force value of six direction；
Actual output voltageWhen, reality output force value expression formula are as follows:
Meanwhile the present invention also provides a kind of attitude control engine vectored thrust measuring device adjustment controlling means, including it is following
Step:
1) data acquire；
Acquisition module unit includes acquisition module and amplification module, for acquiring and amplifying standard force snesor and six square phase
The measurement numerical value of sensor；
2) the collected data of step 1) are stored；
Memory module carries out the storage of following form to the collected data of six-component sensor, by six-component sensor
Output component column matrix indicates, the output valve of standard force snesor is carried out matrix with the output valve of six-component sensor and is combined:
Wherein,For the voltage output value of the six-component sensor when X-direction reinforces；
Fx is the load force value of standard force snesor when carrying out X-direction calibration；
Wherein,The voltage output value of six-component sensor when to reinforce in the Y direction；
Fy is the load force value of standard force snesor when carrying out Y-direction calibration；
Wherein,For the voltage output value of the six-component sensor when Z-direction reinforces；
Fz is the load force value of standard force snesor when carrying out Z-direction calibration；
Wherein,For the voltage output value of the six-component sensor when the direction Mx reinforces；
Mx is to carry out loading torque value when X-direction calibration, the multiply-add load of standard force snesor output force value loaded by torque
Torque arm length obtains；
Wherein,For the voltage output value of the six-component sensor when the direction My reinforces；
My is to carry out loading torque value when Y-direction calibration, the multiply-add load of standard force snesor output force value loaded by torque
Torque arm length obtains；
Wherein,For the voltage output value of the six-component sensor when the direction Mz reinforces；
Mz is to carry out loading torque value when Z-direction calibration, the multiply-add load of standard force snesor output force value loaded by torque
Torque arm length obtains；
3) data processing；
The data of storage are transferred to data processing module by memory module, and data processing module includes decoupling module, decoupling
Module carries out decoupling operation to data, and steps are as follows:
3.1) Calibration equation (formula 1-1)~(formula 1-6) is normalized and is write as matrix form, then had:
Wherein: wi1=vi1/Fx、wi2=vi2/Fy、wi3=vi3/Fz、wi4=vi4/Mx、wi5=vi5/My、wi6=vi6/Mz, i
=1~6；
Brief note are as follows:
D6×6×W6×6=E6×6
Wherein, E6×6For unit matrix, D6×6It is defined as coefficient matrix, W6×6It is defined as coupling (calibration) matrix；
3.2) coefficient matrix decouples:
To coefficient matrix D6×6It carries out seeking inverse operation,
D6×6=W6×6 -1(formula 1-8)
3.3) coefficient matrix is corrected:
The coefficient matrix D obtained with inversion operation6×6The laboratory system's matrix number for the six-component sensor being calibrated is substituted,
In real engine vectored thrust measurement process, the virtual voltage output matrix v of sensor is obtainedi1, substituting into following formula can obtain
To the force value of six direction；
Actual output voltageWhen, reality output force value expression formula are as follows:
Control module of the present invention can carry out the calibration loading force numbers of gear steps on each force value direction with backhaul number is risen
Any setting；The overload protection upper limit can be arranged to the calibration loading force on each force value direction in control module, by reading in real time
Standard force snesor output force value in high-accuracy instrument Dmp40, preventing loading force is more than the overload protection upper limit.
Control module of the present invention uses pid control algorithm, controls electric cylinder loading procedure, loads from setting
When target force values difference is larger, control electric cylinder is moved with 2 times of normal speeds, is being set in difference range from load target value
When, control electric cylinder is moved with 0.1 times of normal speed, is improved reliable to the load of the control efficiency and force value of electric cylinder
Property.
System work process are as follows: control module drives servo electricity by PLC controller according to the calibration procedure set
Cylinder applies proof force load to standard force snesor, and installs transfer panel by six-component sensor, which is transmitted to
By school six-component sensor.Under this force, the voltage signal of six-component sensor output is by data acquisition module module unit
Acquisition acquires and stores in real time the force value that calibration process Plays power source and six-component sensor are exported in each calibration gear,
The calibration factor of sensor is obtained to data processing by data processing module again.
Claims (4)
1. a kind of attitude control engine vectored thrust measuring device calibrates control system, it is characterised in that: including control module, acquisition
Modular unit, memory module, data processing module and loading mechanism；
The loading mechanism includes transfer panel, standard force snesor and electric cylinder, and the standard force snesor is single component sensing
Device；The transfer panel is calibrated object for installing connection, and the object that is calibrated is six-component sensor, and the proof force passes
One end of sensor is connect with transfer panel, and the other end is connect with electric cylinder telescopic rod；
The acquisition module unit includes acquisition module and amplification module, for acquiring and amplifying standard force snesor and six square phase
The measurement numerical value of sensor；
For realizing the control of electric cylinder stroke, electric cylinder exports calibrated force and gives standard force snesor the control module, marks
Calibrated force is passed to six-component sensor by transfer panel by quasi- force snesor；
The data transfer of the acquisition module unit acquisition is stored to memory module, and the memory module adopts six-component sensor
The data collected carry out the storage of following form, and the output component column matrix of six-component sensor is indicated:
Wherein,For the voltage output value of the six-component sensor when X-direction reinforces；
Fx is the load force value of standard force snesor when carrying out X-direction calibration；
Wherein,The voltage output value of six-component sensor when to reinforce in the Y direction；
Fy is the load force value of standard force snesor when carrying out Y-direction calibration；
Wherein,For the voltage output value of the six-component sensor when Z-direction reinforces；
Fz is the load force value of standard force snesor when carrying out Z-direction calibration；
Wherein,For the voltage output value of the six-component sensor when the direction Mx reinforces；
Mx is to carry out loading torque value when X-direction calibration, the multiply-add load arm of force of standard force snesor output force value loaded by torque
Length obtains；
Wherein,For the voltage output value of the six-component sensor when the direction My reinforces；
My is to carry out loading torque value when Y-direction calibration, the multiply-add load arm of force of standard force snesor output force value loaded by torque
Length obtains；
Wherein,For the voltage output value of the six-component sensor when the direction Mz reinforces；
Mz is to carry out loading torque value when Z-direction calibration, the multiply-add load arm of force of standard force snesor output force value loaded by torque
Length obtains；
For six-component sensor coefficient matrix；
The data of storage are transferred to data processing module by memory module, and data processing module includes decoupling module, decoupling module
Decoupling operation is carried out to data, steps are as follows:
Step 1: Calibration equation (formula 1-1)~(formula 1-6) is normalized and is write as matrix form, then have:
Wherein: wi1=vi1/Fx、wi2=vi2/Fy、wi3=vi3/Fz、wi4=vi4/Mx、wi5=vi5/My、wi6=vi6/Mz, i=1~
6；
Brief note are as follows:
D6×6×W6×6=E6×6
Wherein, E6×6For unit matrix, D6×6It is defined as coefficient matrix, W6×6It is defined as coupling matrix；
Step 2: coefficient matrix decouples:
To coefficient matrix D6×6It carries out seeking inverse operation,
D6×6=W6×6 -1(formula 1-8)
Step 3: coefficient matrix is corrected:
The coefficient matrix D obtained with inversion operation6×6The laboratory system's matrix number for substituting the six-component sensor being calibrated, in reality
In the engine vectored thrust measurement process of border, the virtual voltage output matrix v of sensor is obtainedi1, substituting into following formula can be obtained six
The force value in a direction；
Actual output voltageWhen, reality output force value expression formula are as follows:
2. attitude control engine vectored thrust measuring device according to claim 1 calibrates control system, it is characterised in that: control
Molding block controls electric cylinder loading procedure by pid control algorithm, when larger from setting load target force values difference,
Control electric cylinder is moved with 2 times of normal speeds, when setting in difference range, is controlling electric cylinder from load target value with 0.1
The movement of times normal speed.
3. attitude control engine vectored thrust measuring device according to claim 1 calibrates control system, it is characterised in that: institute
Stating acquisition module unit is high-accuracy instrument Dmp40.
4. a kind of attitude control engine vectored thrust measuring device adjustment controlling means, which comprises the following steps:
1) data acquire；
Acquisition module unit includes acquisition module and amplification module, for acquiring and amplifying standard force snesor and six square phase sensing
The measurement numerical value of device；
2) the collected data of step 1) are stored；
Memory module carries out the storage of following form to the collected data of six-component sensor, by the output of six-component sensor
Component column matrix indicates:
Wherein,For the voltage output value of the six-component sensor when X-direction reinforces；
Fx is the load force value of standard force snesor when carrying out X-direction calibration；
Wherein,The voltage output value of six-component sensor when to reinforce in the Y direction；
Fy is the load force value of standard force snesor when carrying out Y-direction calibration；
Wherein,For the voltage output value of the six-component sensor when Z-direction reinforces；
Fz is the load force value of standard force snesor when carrying out Z-direction calibration；
Wherein,For the voltage output value of the six-component sensor when the direction Mx reinforces；
Mx is to carry out loading torque value when X-direction calibration, the multiply-add load arm of force of standard force snesor output force value loaded by torque
Length obtains；
Wherein,For the voltage output value of the six-component sensor when the direction My reinforces；
My is to carry out loading torque value when Y-direction calibration, the multiply-add load arm of force of standard force snesor output force value loaded by torque
Length obtains；
Wherein,For the voltage output value of the six-component sensor when the direction Mz reinforces；
Mz is to carry out loading torque value when Z-direction calibration, the multiply-add load arm of force of standard force snesor output force value loaded by torque
Length obtains；
For six-component sensor coefficient matrix；
3) data processing；
The data of storage are transferred to data processing module by memory module, and data processing module includes decoupling module, decoupling module
Decoupling operation is carried out to data, steps are as follows:
3.1) Calibration equation (formula 1-1)~(formula 1-6) is normalized and is write as matrix form, then had:
Wherein: wi1=vi1/Fx、wi2=vi2/Fy、wi3=vi3/Fz、wi4=vi4/Mx、wi5=vi5/My、wi6=vi6/Mz, i=1~
6；
Brief note are as follows:
D6×6×W6×6=E6×6
Wherein, E6×6For unit matrix, D6×6It is defined as coefficient matrix, W6×6It is defined as coupling (calibration) matrix；
3.2) coefficient matrix decouples:
To coefficient matrix D6×6It carries out seeking inverse operation,
D6×6=W6×6 -1(formula 1-8)
3.3) coefficient matrix is corrected:
The coefficient matrix D obtained with inversion operation6×6The laboratory system's matrix number for substituting the six-component sensor being calibrated, in reality
In the engine vectored thrust measurement process of border, the virtual voltage output matrix v of sensor is obtainedi1, substituting into following formula can be obtained six
The force value in a direction；
Actual output voltageWhen, reality output force value expression formula are as follows:
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810621113.1A CN109100083A (en) | 2018-06-15 | 2018-06-15 | Attitude control engine vectored thrust measuring device calibrates control system and method |
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| CN201810621113.1A CN109100083A (en) | 2018-06-15 | 2018-06-15 | Attitude control engine vectored thrust measuring device calibrates control system and method |
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