CN112880622A - Method for calibrating swing angle sensor of flexible spray pipe by using inclinometer - Google Patents
Method for calibrating swing angle sensor of flexible spray pipe by using inclinometer Download PDFInfo
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- CN112880622A CN112880622A CN202110158334.1A CN202110158334A CN112880622A CN 112880622 A CN112880622 A CN 112880622A CN 202110158334 A CN202110158334 A CN 202110158334A CN 112880622 A CN112880622 A CN 112880622A
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- swing angle
- inclinometer
- angle sensor
- spray pipe
- flexible
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
Abstract
A method for calibrating a flexible nozzle swing angle sensor by using an inclinometer belongs to the technical field of semi-physical simulation of a carrier rocket control system. The method comprises the following steps: an inclinometer and a plurality of swing angle sensors are arranged at the outlet end of the flexible spray pipe; reading data of the electronic inclinometer when the flexible nozzle is not inflated; inflating the flexible spray pipe for a preset megapascal, reading data of the inclinometer again after the inflation is finished, comparing two readings before and after the inflation, and obtaining the static zero inflation change rate of the flexible spray pipe under the preset megapascal; sending a step signal instruction to the flexible spray pipe to enable the flexible spray pipe to swing along with the instruction, wherein the step is formed from-L degrees to L degrees every preset degree; recording the measured values of each step inclinometer and each swing angle sensor; and performing ternary linear regression on the n groups of readings to obtain a fitted swing angle formula, and acquiring signals of a swing angle sensor in real time when the fitted swing angle formula is used for a semi-physical simulation test, so as to obtain an actual swing angle according to the fitted formula and use the actual swing angle for subsequent closed-loop simulation.
Description
Technical Field
The invention relates to a method for calibrating a swing angle sensor of a flexible spray pipe by using an inclinometer, and belongs to the technical field of semi-physical simulation of a carrier rocket control system.
Background
With the technical progress, the flexible nozzle is gradually applied to an engine system of a carrier rocket, the joint material can be unevenly deformed along with the inflation of the flexible joint, the engine pivot center and the thrust line are deviated, and the measurement deviation of the pivot angle sensor is caused.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method for calibrating the swing angle sensor of the flexible spray pipe by using the inclinometer overcomes the defects of the prior art, and provides an accurate swing angle measurement formula for a closed loop test.
The technical solution of the invention is as follows: a method for calibrating a swing angle sensor of a flexible spray pipe by using an inclinometer comprises the following steps:
an inclinometer and a plurality of swing angle sensors are arranged at the outlet end of the flexible spray pipe;
reading data of the electronic inclinometer when the flexible nozzle is not inflated;
inflating the flexible spray pipe for a preset megapascal, reading data of the inclinometer again after the inflation is finished, comparing two readings before and after the inflation, and obtaining the static zero inflation change rate of the flexible spray pipe under the preset megapascal;
sending a step signal instruction to the flexible spray pipe to enable the flexible spray pipe to swing along with the instruction, wherein the step is formed from-L degrees to L degrees every preset degree; recording the measured values of each step inclinometer and each swing angle sensor; the reading of the inclinometer is recorded as y1......ynThe reading of the yaw angle sensor is recorded as [ xa1,xb1,xc1],[xa2,xb2,xc2]......[xan,xbn,xcn](ii) a L is a swing angle amplitude limit value;
and performing ternary linear regression on the n groups of readings to obtain a fitted swing angle formula, and acquiring signals of a swing angle sensor in real time when the fitted swing angle formula is used for a semi-physical simulation test, so as to obtain an actual swing angle according to the fitted swing angle formula and use the actual swing angle for subsequent closed-loop simulation.
Further, the preset degree is 0.1 degree.
Further, the inclinometer is symmetrically arranged with a swing angle sensor.
Further, the measurement accuracy of the inclinometer is not less than that of the swing angle sensor.
Further, the swing angle formula under a plurality of different inflation pressures is obtained by changing inflation pressure fitting and is used for swing angle fitting under real-time pressure change.
Further, the formula of the swing angle of an inclinometer corresponds to the swing direction of a servo mechanism.
Further, the inclinometer is rigidly fixed in a mounted position.
Compared with the prior art, the invention has the advantages that:
(1) the static zero inflation change rate of the inflation state of the flexible nozzle is measured through an inclinometer, the change rate quantitatively reflects the change condition of the flexible interface along with inflation, the change rate is recorded before each test, and if the change rate changes remarkably (is more than 10 percent), the flexible structure or the inflation possibly fails;
(2) the existing calibration technology of the engine swing angle measuring system is used for static calibration of a rigid spray pipe, a unitary linear calibration formula is obtained through a swing angle sensor, and the technology cannot adapt to the states of swing center and thrust line offset of a flexible spray pipe in an inflation state. The method can be applied to various test scenes for solving the problems of center of swing and thrust line deviation, and the more the number of paths of the configured swing angle sensors is, the higher the precision is.
Drawings
FIG. 1 is a flexible nozzle test connection;
FIG. 2 is a test chart of the flexible nozzle;
FIG. 3 is a top view of a flexible nozzle test.
Detailed Description
In order to better understand the technical solutions, the technical solutions of the present application are described in detail below with reference to the drawings and specific embodiments, and it should be understood that the specific features in the embodiments and examples of the present application are detailed descriptions of the technical solutions of the present application, and are not limitations of the technical solutions of the present application, and the technical features in the embodiments and examples of the present application may be combined with each other without conflict.
The method for calibrating the swing angle sensor of the flexible nozzle by using the inclinometer provided by the embodiment of the application is further described in detail below with reference to the attached drawings of the specification, and specific implementation manners can include (as shown in fig. 1 to 3):
in the solution provided in the embodiment of the present invention, the object to be tested is a servo system with a flexible nozzle, and generally includes a servo controller (power amplifier), a servo mechanism, a flexible nozzle engine, a tilt angle sensor, and a supporting bracket, a device, and a cable, etc., the test device is an electronic inclinometer and an industrial personal computer, and the industrial personal computer needs to implement a communication protocol of acquiring the electronic inclinometer, sending a servo control command, etc., and configure a corresponding communication board card, a program, etc.
Firstly, an electronic inclinometer and a swing angle sensor are installed according to the positions of fig. 2 and fig. 3, and a test device and a system to be tested are connected according to the position shown in fig. 1. The test equipment is generally an industrial personal computer, has the function of sending instructions to a servo controller (power amplifier) every millisecond, has the function of reading data of an electronic inclinometer, has the function of acquiring signals of a swing angle sensor every millisecond, and has a real-time operating system.
Secondly, the static zero inflation change rate of the flexible spray pipe is measured:
1) measuring readings of a flexible nozzle in an uninflated state using an electronic inclinometer
2) Inflating the flexible nozzle by A MPa, and reading the data ySta of the inclinometer again after the inflation is finished0Comparing the two readings before and after inflation to obtain the static zero inflation change rate of the flexible nozzle under A MPa,
if the rate of change changes significantly (greater than 10%), it is an indication that the flexible structure or the inflation may fail;
then, step signal dynamic measurement is carried out on the flexible spray pipe, and a linear regression formula is fitted:
1) the method comprises the steps of sending a step signal to a servo controller (power amplifier) through an industrial personal computer, commanding the servo controller (power amplifier) to move from-L degrees to L degrees when the swing angle limits L degrees, and recording the measured values of an inclinometer and a swing angle sensor by each step, wherein n is (2) L + 10+1 groups. The reading of the inclinometer is recorded as y1......ynThe reading of the yaw angle sensor is recorded as [ xa1,xb1,xc1],[xa2,xb2,xc2]......[xan,xbn,xcn]；
2) Because three swing angle sensors are adopted, ternary linear regression needs to be carried out on the n groups of numbers, and the regression function of matlab is utilized:
[b,bint,r,rint,stats]＝regress(Y,X)
wherein b ═ b1 b2 b3 b4], the linear regression formula obtained by fitting is:
y＝f(xa,xb,xc)＝b1+b2·xa+b3·xb+b4·xc
wherein x isa、xb、xcRespectively the collected values of the three swing angle sensors. y is a real swing angle value;
3) the description has been given by using three swing angle sensors to obtain a fitting formula of a true swing angle in an inflated state, and since the swing center and the thrust line of the flexible nozzle in the inflated state are uncertain, when the servo mechanism pushes the nozzle, the swing angles are distributed in multiple directions, the number of the swing angle sensors is mounted at different positions, and the more the number is, the closer the fitting formula is to the true swing angle. The derivation method of the multiple linear regression formula of the swing angle sensors is consistent with the description above;
and finally, applying the fitted multiple linear regression formula to closed-loop simulation for subsequent real-time simulation.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (7)
1. A method for calibrating a swing angle sensor of a flexible spray pipe by using an inclinometer is characterized by comprising the following steps:
an inclinometer and a plurality of swing angle sensors are arranged at the outlet end of the flexible spray pipe;
reading data of the electronic inclinometer when the flexible nozzle is not inflated;
inflating the flexible spray pipe for a preset megapascal, reading data of the inclinometer again after the inflation is finished, comparing two readings before and after the inflation, and obtaining the static zero inflation change rate of the flexible spray pipe under the preset megapascal;
sending a step signal instruction to the flexible spray pipe to enable the flexible spray pipe to swing along with the instruction, wherein the step is formed from-L degrees to L degrees every preset degree; recording the measured values of each step inclinometer and each swing angle sensor; the reading of the inclinometer is recorded as y1......ynThe reading of the yaw angle sensor is recorded as [ xa1,xb1,xc1],[xa2,xb2,xc2]......[xan,xbn,xcn](ii) a L is a swing angle amplitude limit value;
and performing ternary linear regression on the n groups of readings to obtain a fitted swing angle formula, and acquiring signals of a swing angle sensor in real time when the fitted swing angle formula is used for a semi-physical simulation test, so as to obtain an actual swing angle according to the fitted swing angle formula and use the actual swing angle for subsequent closed-loop simulation.
2. The method for calibrating the swing angle sensor of the flexible nozzle by using the inclinometer as claimed in claim 1, wherein: the preset degree is 0.1 degree.
3. The method for calibrating the swing angle sensor of the flexible nozzle by using the inclinometer as claimed in claim 1, wherein: the inclinometer is symmetrically arranged with a swing angle sensor.
4. The method for calibrating the swing angle sensor of the flexible nozzle by using the inclinometer as claimed in claim 1, wherein: the measurement precision of the inclinometer is not less than that of the swing angle sensor.
5. The method for calibrating the swing angle sensor of the flexible nozzle by using the inclinometer as claimed in claim 1, wherein: and changing inflation pressure fitting to obtain a plurality of swing angle formulas under different inflation pressures, and fitting the swing angles under real-time pressure change.
6. The method for calibrating the swing angle sensor of the flexible nozzle by using the inclinometer as claimed in claim 1, wherein: the formula of the pivot angle of an inclinometer corresponds to the pivot direction of a servo mechanism.
7. The method for calibrating the swing angle sensor of the flexible nozzle by using the inclinometer as claimed in claim 1, wherein: the inclinometer is rigidly fixed in a mounting position.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110158334.1A CN112880622B (en) | 2021-02-04 | 2021-02-04 | Method for calibrating swing angle sensor of flexible spray pipe by using inclinometer |
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| CN202110158334.1A CN112880622B (en) | 2021-02-04 | 2021-02-04 | Method for calibrating swing angle sensor of flexible spray pipe by using inclinometer |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115559831A (en) * | 2022-12-05 | 2023-01-03 | 东方空间(西安)宇航技术有限公司 | Pre-deflection angle adjusting system and method for flexible spray pipe of rocket engine |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115559831A (en) * | 2022-12-05 | 2023-01-03 | 东方空间(西安)宇航技术有限公司 | Pre-deflection angle adjusting system and method for flexible spray pipe of rocket engine |
| CN115559831B (en) * | 2022-12-05 | 2023-03-24 | 东方空间(西安)宇航技术有限公司 | Pre-deflection angle adjusting system and method for flexible spray pipe of rocket engine |
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| CN112880622B (en) | 2022-12-13 |
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