CN113074904B - Loading frame initial positioning device and method for wind tunnel balance calibration system - Google Patents
Loading frame initial positioning device and method for wind tunnel balance calibration system Download PDFInfo
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- G01M9/062—Wind tunnel balances; Holding devices combined with measuring arrangements
Abstract
A loading frame initial positioning device and method for a wind tunnel balance calibration system belong to the technical field of aerospace aerodynamic wind tunnel tests. The method comprises the steps of utilizing a laser tracker, a first target ball target seat, a second target ball target seat and a loading frame coordinate system recurrence device to achieve recurrence of a force source coordinate system and a loading frame coordinate system, simultaneously quantitatively giving three rotation angle values and three translation numerical values required for enabling the loading frame coordinate system to coincide with the force source coordinate system, and utilizing a six-degree-of-freedom motion mechanism to achieve six-degree-of-freedom synchronous adjustment and positioning of a loading frame until initial positioning accuracy that angular displacement of the loading frame is smaller than 5' and linear displacement is smaller than 0.03mm is achieved. The initial positioning precision of the loading frame is improved; the six-degree-of-freedom synchronous adjustment and positioning of the loading frame are realized, and the initial positioning efficiency of the loading frame is improved; the force source coordinate system and the loading frame coordinate system can be completely reproduced, the accurate value of the initial positioning precision of the loading frame is quantitatively given, and the risk caused by random errors of manual operation is avoided.
Description
Technical Field
The invention relates to wind tunnel balance calibration, in particular to a loading frame initial positioning device and method for a wind tunnel balance calibration system, and belongs to the technical field of aerospace aerodynamic wind tunnel tests.
Background
The wind tunnel force measurement test is a main means for accurately predicting the aerodynamic force of the aircraft, directly participates in the aerodynamic force design process of the aircraft, avoids insufficient design and prevents design risks. As a key core device of a wind tunnel force measurement test, a wind tunnel balance directly senses six-component pneumatic load of a body axis system borne by an aircraft; before the wind tunnel force test, a calibration system is required to be applied to calibrate the wind tunnel balance so as to obtain an accurate working formula (33 multiplied by 6 matrix), and the accuracy of measurement data in the wind tunnel force test is ensured.
The wind tunnel balance calibration system is used for calibrating the wind tunnel balance, namely simulating the stress state of an aircraft in a wind tunnel, applying a plurality of groups of six-component accurate loads to the wind tunnel balance by applying a plurality of directional force sources in a three-dimensional space through a loading frame, simultaneously recording the corresponding output of the wind tunnel balance, and finally fitting by adopting a least square method to give a working formula of the wind tunnel balance. A force source coordinate system where a plurality of directional force sources are located in a three-dimensional space is fixed, and a loading frame coordinate system moves. The purpose of initial positioning of the loading frame is to apply a six-degree-of-freedom motion mechanism to support and adjust the position and attitude angle of the loading frame, so that a loading frame coordinate system is coincided with a force source coordinate system, and the accuracy of the magnitude, direction and action point of the applied six-component load is ensured.
Each wind tunnel test unit and research institution in China has a respective wind tunnel balance calibration system, and the initial positioning method of the loading frame adopted comprises a mechanical platform positioning method, a theodolite aiming positioning method and an optical positioning method. The theodolite aiming positioning method and the optical positioning method adopt a method for adjusting and positioning each degree of freedom of a loading frame one by one, and the adjustment and positioning of one degree of freedom have influence on numerical values of other degrees of freedom, so that the positioning needs to be adjusted repeatedly, and the efficiency is obviously lower than that of a mechanical platform positioning method. In addition, the optical positioning method has the highest theoretical positioning accuracy among the three methods, and can achieve the angular displacement of less than 10' and the linear displacement of less than 0.05 mm. However, the three methods cannot completely reproduce a force source coordinate system and a loading frame coordinate system, and cannot provide an accurate value of the initial positioning precision of the loading frame.
Therefore, it is desirable to provide a novel loading frame high-efficiency high-precision initial positioning device and method for a wind tunnel balance calibration system to solve the above technical problems.
Disclosure of Invention
The present invention has been developed in order to solve the problem of the prior art load frame initial positioning method failing to fully reproduce the force source coordinate system and the load frame coordinate system, and a brief summary of the present invention is provided below in order to provide a basic understanding of some aspects of the present invention. It should be understood that this summary is not an exhaustive overview of the invention. It is not intended to determine the key or critical elements of the present invention, nor is it intended to limit the scope of the present invention.
The technical scheme of the invention is as follows:
the initial positioning device for the loading frame of the wind tunnel balance calibration system comprises a laser tracker arranged on a foundation, an outer steel frame, an inner steel frame, a force source transformation ratio lever and an electromechanical loading force source, wherein the outer steel frame is sleeved outside the inner steel frame, the force source transformation ratio lever is connected with the electromechanical loading force source, the initial positioning device further comprises a loading frame coordinate system recurrence device and a six-freedom-degree movement mechanism, the six-freedom-degree movement mechanism is arranged at the upper end of the inner steel frame, and the loading frame coordinate system recurrence device is arranged at the bottom of the six-freedom-degree movement mechanism.
Preferably: still include twelve first target ball target seats, all be provided with 2 first target ball target seats on two pillars in the rear of outer steelframe, a pillar in the left side in the place ahead and two pillars in the place ahead of interior steelframe, the right side pillar in the rear.
Preferably: the six-degree-of-freedom motion mechanism comprises a static platform, a linear electric push rod, a movable platform and an electric linear slide rail, wherein one end of the linear electric push rod is in spherical hinge with the static platform, the other end of the linear electric push rod is in spherical hinge with the movable platform, the electric linear slide rail is arranged at the bottom of the movable platform, and a loading frame coordinate system recurrence device is installed on a slide block of the electric linear slide rail.
Preferably: and the four end points and the middle part of the left side and the right side of the loading frame coordinate system reproduction device are respectively provided with a second target ball target seat.
Preferably: the twelve first ball targets are each 1.5 inch ball targets.
Preferably: and the second target ball target seats on the loading frame coordinate system reproduction device are all 0.5 inch target ball target seats.
In order to solve the problem that an accurate numerical value of the initial positioning precision of the loading frame cannot be given, the invention provides the following technical scheme:
a method for initially positioning a loading frame of a wind tunnel balance calibration system comprises the following steps:
the method comprises the following steps: fixing the outer steel frame and the inner steel frame on the foundation, and fixing the six-degree-of-freedom motion mechanism on the inner surface of the upper end of the inner steel frame;
step two: twelve first target ball target seats of 1.5 inches are fixed on the outer steel frame and the inner steel frame;
step three: fixing five second target ball target seats of 0.5 inch on the loading frame to form a loading frame coordinate system recurrence device;
step four: mounting the calibrated balance and the support rod on a slide block of the electric linear slide rail, and connecting the loading frame coordinate system reproducing device to a measuring end of the calibrated balance;
step five: the laser tracker is fixed at the position where twelve 1.5-inch first target ball target seats and a loading frame coordinate system recurrence device can be observed, and is electrified for preheating;
step six: measuring the coordinate values of twelve first target ball target seats of 1.5 inches under a coordinate system of the laser tracker one by utilizing a measuring head of the laser tracker and twelve first target ball target seats of 1.5 inches;
step seven: reproducing and establishing a force source coordinate system according to the original coordinate values of the twelve 1.5-inch first target ball target seats under the force source coordinate system and the data measured in the sixth step;
step eight: measuring the coordinate values of five 0.5-inch second target ball target seats of the loading frame coordinate system recurrence device under a force source coordinate system one by utilizing a measuring head of the laser tracker and five 0.5-inch second target ball target seats of the loading frame coordinate system recurrence device;
step nine: according to the original coordinate values of five 0.5-inch second target ball target seats on the loading frame coordinate system recurrence device under the loading frame coordinate system and the data measured in the step eight, recurrence and establishment of the loading frame coordinate system are carried out;
step ten: rotating and translating the loading frame coordinate system established in the step nine to the force source coordinate system established in the step seven to obtain three required rotation angle values and three required translation numerical values;
step eleven: comparing and judging whether the three rotation angle values obtained in the step ten are all smaller than 5' and whether the three translation values are all smaller than 0.03 mm;
step twelve: and when the requirement of the step eleven is not met, directly importing the numerical values obtained in the step eleven into six-degree-of-freedom motion control software, controlling and driving a six-degree-of-freedom motion mechanism to drive the calibrated balance and the loading frame to rotate and translate, and repeating the steps eight to eleven until the three rotation angle values and the three translation numerical values obtained in the step eleven meet the requirement of the step eleven.
Preferably: the laser tracker measures and stores original coordinate values of twelve first target ball target seats of 1.5 inches under a force source coordinate system;
the loading frame coordinate system reappearing device in the third step is that after the loading frame is machined, five second target ball target seats of 0.5 inch are fixedly arranged on the loading frame, and the original coordinate values of the five second target ball target seats of 0.5 inch in the loading frame coordinate system are measured and stored by using a three-coordinate measuring machine.
Preferably: the force source coordinate system established in the seventh iteration, the loading frame coordinate system established in the ninth iteration and the loading frame coordinate system established in the tenth iteration are fitted to the force source coordinate system established in the seventh iteration in a rotating and translating manner, and three rotating angle values and three translation values required by calculation are adopted:
wherein dgama, dbeta and dalpha are angle values rotated around the original coordinate system X, Y and the Z axis, respectively, x1, y1 and Z1 are coordinate values under the original coordinate system, dx, dy and dz are translation values along the original coordinate system X, Y and the Z axis, respectively, and x, y and Z are coordinate values under the target coordinate system, respectively.
Preferably: in the step twelve, the motion sequence of the six-degree-of-freedom motion mechanism driven by the six-degree-of-freedom motion control software is that the six-degree-of-freedom motion mechanism rotates around the X, Y, Z axis in sequence, and then translates along the original coordinate system X, Y and the Z axis.
The invention has the following beneficial effects:
1. according to the initial positioning method of the loading frame for the wind tunnel balance calibration system, the initial positioning precision of the loading frame is improved;
2. according to the initial positioning device for the loading frame of the wind tunnel balance calibration system, the six-degree-of-freedom synchronous adjustment and positioning of the loading frame can be realized, and the initial positioning efficiency of the loading frame is improved;
3. according to the loading frame initial positioning method for the wind tunnel balance calibration system, a force source coordinate system and a loading frame coordinate system can be completely reproduced, the accurate numerical value of the loading frame initial positioning precision is quantitatively given, and the risk caused by random errors of manual operation is avoided;
4. the loading frame initial positioning device for the wind tunnel balance calibration system has the advantages of simple structure, ingenious design, convenience in disassembly and assembly and low cost, and is suitable for popularization and application.
Drawings
FIG. 1 is a perspective view of a loading frame initial positioning device for a wind tunnel balance calibration system;
FIG. 2 is a schematic structural diagram of a loading frame initial positioning device for a wind tunnel balance calibration system;
FIG. 3 is a schematic structural diagram of a loading frame coordinate system reproduction device of a loading frame initial positioning device for a wind tunnel balance calibration system;
FIG. 4 is a schematic structural diagram of a six-degree-of-freedom motion mechanism of a loading frame initial positioning device for a wind tunnel balance calibration system;
FIG. 5 is a flow chart of the motion control of the six-degree-of-freedom motion mechanism of the present invention;
FIG. 6 is a schematic diagram of the electrical control scheme of the six degree-of-freedom motion mechanism of the present invention;
FIG. 7 is a circuit diagram of a six degree of freedom motion mechanism of the present invention;
in the figure, 2-a laser tracker, 3-a loading frame coordinate system reproduction device, 4-a six-degree-of-freedom motion mechanism, 5-an outer steel frame, 6-an inner steel frame, 7-a force source transformation ratio lever, 8-an electromechanical loading force source, 9-a foundation, 41-a static platform, 42-a linear electric push rod, 43-a movable platform and 44-an electric linear slide rail.
Detailed Description
In order that the objects, aspects and advantages of the invention will become more apparent, the invention will be described by way of example only, and in connection with the accompanying drawings. It is to be understood that such description is merely illustrative and not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
The connection mentioned in the present invention is divided into a fixed connection and a detachable connection, the fixed connection (i.e. the non-detachable connection) includes but is not limited to a folding connection, a rivet connection, an adhesive connection, a welding connection, and other conventional fixed connection methods, the detachable connection includes but is not limited to a screw connection, a snap connection, a pin connection, a hinge connection, and other conventional detachment methods, when the specific connection method is not clearly defined, the function can be realized by always finding at least one connection method from the existing connection methods by default, and a person skilled in the art can select the connection method according to needs. For example: the fixed connection selects welding connection, and the detachable connection selects hinge connection.
The first embodiment is as follows: the embodiment is described with reference to fig. 1-4, and the loading frame initial positioning device for the wind tunnel balance calibration system of the embodiment comprises a laser tracker 2, an outer steel frame 5, an inner steel frame 6, a force source transformation ratio lever 7 and an electromechanical loading force source 8 which are arranged on a foundation 9, wherein the outer steel frame 5 is sleeved outside the inner steel frame 6, the force source transformation ratio lever 7 is connected with the electromechanical loading force source 8, the loading frame coordinate system recurrence device 3 and a six-degree-of-freedom motion mechanism 4 are further included, the six-degree-of-freedom motion mechanism 4 is arranged at the upper end of the inner steel frame 6, the loading frame coordinate system recurrence device 3 is arranged at the bottom of the six-degree-of-freedom motion mechanism 4, the recurrence of a force source coordinate system and a loading frame coordinate system is realized by using the laser tracker 2 and the loading frame coordinate system recurrence device 3, three rotation angle values and three translation values required for causing the loading frame coordinate system and the force source coordinate system to coincide can be given at the same time, and then, utilizing six-degree-of-freedom motion control software and a six-degree-of-freedom motion mechanism 4 to realize six-degree-of-freedom synchronous adjustment and positioning of the loading frame until the initial positioning precision of the angular displacement of the loading frame less than 5' and the linear displacement less than 0.03mm is achieved.
The second embodiment is as follows: the embodiment is described with reference to fig. 1 to 4, and based on the first embodiment, the initial positioning device of a loading frame for a wind tunnel balance calibration system of the embodiment further includes twelve first target ball target seats, and 2 first target ball target seats are respectively disposed on two pillars behind the outer steel frame 5, one pillar in front of the outer steel frame, two pillars in front of the inner steel frame 6, and two pillars behind the inner steel frame.
The third concrete implementation mode: the embodiment is described with reference to fig. 1 to 4, and the loading frame initial positioning device for the wind tunnel balance calibration system of the embodiment includes a static platform 41, a linear electric push rod 42, a movable platform 43 and an electric linear slide rail 44, where one end of the linear electric push rod 42 is spherically hinged to the static platform 41, the other end of the linear electric push rod 42 is spherically hinged to the movable platform 43, the electric linear slide rail 44 is arranged at the bottom of the movable platform 43, the loading frame coordinate system recurrence device 3 is installed on a slide block of the electric linear slide rail 44, and the electric linear slide rail 44 is an electric lead screw linear guide rail and a slide block set.
The fourth concrete implementation mode: referring to fig. 1 to 4, the loading frame initial positioning device for a wind tunnel balance calibration system of the present embodiment is described, and the loading frame coordinate system recurrence device 3 has four end points on the left and right sides and a second target ball target seat in the middle.
The fifth concrete implementation mode: referring to fig. 1-4, the embodiment is described, and the load carrier initial positioning device for the wind tunnel balance calibration system of the embodiment is provided, wherein each of the twelve first target ball target seats is a 1.5-inch target ball target seat.
The sixth specific implementation mode: referring to fig. 1 to 4, the embodiment is described, and the second target ball target seats on the loading frame coordinate system reproduction device 3 are all 0.5 inch second target ball target seats.
The seventh embodiment: the embodiment is described with reference to fig. 1 to 7, and the method for initially positioning the loading frame of the wind tunnel balance calibration system of the embodiment comprises the following steps:
the method comprises the following steps: fixing an outer steel frame 5 and an inner steel frame 6 on a foundation 9, and fixing a six-degree-of-freedom movement mechanism 4 on the inner surface of the upper end of the inner steel frame 6;
step two: twelve 1.5 inch first target ball backing plates are secured to the outer 5 and inner 6 steel frames as shown in fig. 2; after the force sources (the force source transformation ratio lever 7 and the electromechanical loading force source 8) in fig. 1 are installed, original coordinate values of twelve first target ball target seats in a force source coordinate system (H1 (-2177.68, -357.36, 2685.11), H2 (-2567.63, -1254.73, 1684.27), H3 (-2567.97, 356.16, 1674.99), H4 (-2178.62, -355.62, -2651.47), H5 (-2568.18, -1236.97, -1665.48), H6 (-2570.07, 296.63, -1658.70), H7 (2209.20, -363.01, -2644.00), H8 (2580.64, -1244.68, -1649.07), H9 (2583.86, 336.81, -1654.53), H10 (2189.97, -347.36, 2660.47), H11 (2575.80, -1249.78, 1706.42), H12 (2571.36, 293.23, 1693.26)) are obtained by laser tracker measurement, and stored in a notebook computer of the laser tracker, and used in a notebook computer complex coordinate system of the force source, wherein specific positions of H1-H12 are shown in FIG. 2;
step three: fixing five 0.5-inch second target ball target seats on a loading frame, as shown in fig. 3, to form a loading frame coordinate system recurrence device 3; after the loading frame is machined, the original coordinate values P1 (197.56, -75.02 and 67.93), P2 (-165.38, -90.98 and 18.97), P3 (-165.61, 91.99 and 18.88), P4 (0.31, -41.87 and 251.27), P5 (-1.34, -42.67 and-248.13) of five second target ball target seats in the loading frame coordinate system are measured and obtained by a three-coordinate measuring machine, and are stored in a notebook computer of a laser tracker for reproduction of the loading frame coordinate system 0 'X' Y 'Z';
step four: mounting the calibrated balance and the support rod on a slide block of the electric linear slide rail 44, and connecting the loading frame coordinate system recurrence device 3 to the measuring end of the calibrated balance;
step five: the laser tracker 2 is fixed at the position where twelve first target ball target seats with 1.5 inches and the loading frame coordinate system recurrence device 3 can be observed, and is electrified and preheated for 30 min;
step six: under a coordinate system of a laser tracker, measuring and obtaining coordinate values of twelve first target ball target seats of 1.5 inches under the coordinate system of the laser tracker one by utilizing a measuring head of the laser tracker and twelve first target ball target seats of 1.5 inches;
step seven: according to the original coordinate values of the twelve 1.5-inch first target ball target seats under the force source coordinate system and the data measured in the sixth step, the force source coordinate system is repeatedly established; fitting the original coordinate values of the twelve first target ball target seats in the force source coordinate system and the measured coordinate values in the laser tracker coordinate system, and repeatedly establishing a force source coordinate system 0XYZ in the figure 2;
step eight: under a force source coordinate system of 0XYZ, coordinate values P1 (191.95, -81.88, 67.66), P2 (-171.19, -93.48, 18.77), P3 (-169.22, 89.48, 18.43), P4 (-4.89, -46.01, 251.01), P5 (-6.53, -47.58, -248.44), and specific positions of P1 to P5 of the five 0.5-inch second target ball target seats of the loading frame coordinate system reproduction device 3 are measured one by using a measuring head of the laser tracker 2 and the five 0.5-inch second target ball target seats under the force source coordinate system as shown in FIG. 3;
step nine: according to the original coordinate values of the five second target ball target seats of the loading frame coordinate system recurrence device 3 in the loading frame coordinate system and the data measured in the step eight, recurrence establishment of the loading frame coordinate system is carried out; fitting the original coordinate values of the five second target ball target seats in the loading frame coordinate system and the measured coordinate values in the force source coordinate system 0XYZ, and repeatedly establishing the loading frame coordinate system 0 'X' Y 'Z' in the figure 3;
step ten: fitting the loading frame coordinate system 0 'X' Y 'Z' established in the step nine reproduction to the force source coordinate system 0XYZ established in the step seven reproduction in a rotating and translating manner to obtain three required rotating angle values (0.0766 degrees, 0.0183 degrees, 0.6415 degrees) and three required translating numerical values (4.7362, 4.4179 and 0.6575);
step eleven: comparing and judging whether the three rotation angle values obtained in the step ten are all smaller than 5' and whether the three translation values are all smaller than 0.03 mm;
step twelve: when the requirement of the eleventh step is not met, the numerical value obtained in the tenth step is directly imported into six-degree-of-freedom motion control software, the UMAC controller and the SF driver in the fig. 6 and 7 control and drive six linear electric push rods 42 of the six-degree-of-freedom motion mechanism 4 in the fig. 4, meanwhile, the length variation of the linear electric push rods 42 is fed back to the UMAC controller in the fig. 6 and 7, closed-loop control is realized, the six-degree-of-freedom motion mechanism 4 and the electric linear slide rail 44 drive the loading frame coordinate system recurrence device 3 in the fig. 1 to realize the required three-degree-of-freedom rotation and three-line displacement motion, the six-degree-of-freedom motion mechanism 4 is controlled and driven to drive the calibrated balance and the loading frame to rotate and translate, the UMAC in the fig. 6 and 7 is the controller, the SF3.1 and SF3.2 are the drivers, and the M3.1 and M3.2 are the servo motors;
repeating the eighth step to the eleventh step, and repeating measurement and reproduction to establish a loading frame coordinate system 0 'X' Y 'Z'; rotating and translating the repeatedly established loading frame coordinate system 0 'X' Y 'Z' to the repeatedly established force source coordinate system 0XYZ for fitting to obtain three required rotation angle values and three translation numerical values; and the six-degree-of-freedom motion control software controls and drives the six-degree-of-freedom motion mechanism to move until the initial loading positioning precision reaches that the angular displacement is less than 5' and the linear displacement is less than 0.03 mm.
The specific implementation mode is eight: referring to fig. 1 to 4, the embodiment of the method for initially positioning a loading frame for a wind tunnel balance calibration system is described, where the laser tracker 2 measures and stores original coordinate values of twelve first target ball target seats of 1.5 inches in a force source coordinate system;
the loading frame coordinate system reappearing device 3 in the third step is that after the loading frame is machined, five 0.5-inch second target ball target seats are fixedly arranged on the loading frame, and the original coordinate values of the five 0.5-inch second target ball target seats under the loading frame coordinate system are measured and stored by using a three-coordinate measuring machine.
The specific implementation method nine: with reference to fig. 1 to fig. 4, the embodiment is described, and a method for initially positioning a loading frame for a wind tunnel balance calibration system according to the embodiment includes establishing a force source coordinate system at the seventh iteration, establishing a loading frame coordinate system at the ninth iteration, and fitting rotation and translation of the loading frame coordinate system established at the ninth iteration to the force source coordinate system established at the seventh iteration at the tenth iteration, where three rotation angle values and three translation numerical values required for calculation are calculated by using formula 1:
wherein dgama, dbeta and dalpha are angle values rotated around the original coordinate system X, Y and the Z axis, respectively, x1, y1 and Z1 are coordinate values under the original coordinate system, dx, dy and dz are translation values along the original coordinate system X, Y and the Z axis, respectively, and x, y and Z are coordinate values under the target coordinate system, respectively.
The detailed implementation mode is ten: in the twelfth step, the six-degree-of-freedom motion control software drives the six-degree-of-freedom motion mechanism 4 to move in a sequence of rotation around the axis X, Y, Z of the coordinate system, and then to translate along the original coordinate system X, Y and the Z axis.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.
It should be noted that, in the above embodiments, as long as the technical solutions can be aligned and combined without contradiction, those skilled in the art can exhaust all possibilities according to the mathematical knowledge of the alignment and combination, and therefore, the present invention does not describe the technical solutions after alignment and combination one by one, but it should be understood that the technical solutions after alignment and combination have been disclosed by the present invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The utility model provides a loading frame initial positioning device for wind-tunnel balance calibration system which characterized in that: the device comprises a laser tracker (2) arranged on a foundation (9), an outer steel frame (5), an inner steel frame (6), a force source transformation ratio lever (7) and an electromechanical loading force source (8), wherein the outer steel frame (5) is sleeved on the outer side of the inner steel frame (6), the force source transformation ratio lever (7) is connected with the electromechanical loading force source (8), the device also comprises a loading frame coordinate system recurrence device (3) and a six-degree-of-freedom movement mechanism (4), the six-degree-of-freedom movement mechanism (4) is installed at the upper end of the inner steel frame (6), and the loading frame coordinate system recurrence device (3) is installed at the bottom of the six-degree-of-freedom movement mechanism (4);
the device also comprises twelve first target ball target seats, wherein 2 first target ball target seats are arranged on the rear two pillars of the outer steel frame (5), the front left pillar, the front two pillars of the inner steel frame (6) and the rear right pillar;
and the four end points and the middle part of the left side and the right side of the loading frame coordinate system recurrence device (3) are respectively provided with a second target ball target seat.
2. The initial positioning device of the loading frame for the wind tunnel balance calibration system according to claim 1, wherein: the six-degree-of-freedom movement mechanism (4) comprises a static platform (41), a linear electric push rod (42), a movable platform (43) and an electric linear slide rail (44), one end of the linear electric push rod (42) is in spherical hinge with the static platform (41), the other end of the linear electric push rod (42) is in spherical hinge with the movable platform (43), the electric linear slide rail (44) is arranged at the bottom of the movable platform (43), and a loading frame coordinate system recurrence device (3) is installed on a slide block of the electric linear slide rail (44).
3. The initial positioning device of the loading frame for the wind tunnel balance calibration system according to claim 2, wherein: the twelve first ball targets are each 1.5 inch ball targets.
4. The initial positioning device of the loading frame for the wind tunnel balance calibration system according to claim 3, wherein: and the second target ball target seats on the loading frame coordinate system reproduction device (3) are all 0.5 inch target ball target seats.
5. A method for initially positioning a loading frame of a wind tunnel balance calibration system is characterized by comprising the following steps:
the method comprises the following steps: fixing an outer steel frame (5) and an inner steel frame (6) on a foundation (9), and fixing a six-degree-of-freedom movement mechanism (4) on the inner surface of the upper end of the inner steel frame (6);
step two: twelve first target ball target seats of 1.5 inches are fixed on an outer steel frame (5) and an inner steel frame (6);
step three: fixing five second target ball target seats of 0.5 inch on a loading frame to form a loading frame coordinate system recurrence device (3);
step four: the calibrated balance and the support rod are arranged on a slide block of the electric linear slide rail (44), and the loading frame coordinate system recurrence device (3) is connected to the measuring end of the calibrated balance;
step five: the laser tracker (2) is fixed at the position where twelve 1.5-inch first target ball target seats and the loading frame coordinate system recurrence device (3) can be observed, and is electrified for preheating;
step six: measuring the coordinate values of twelve first target ball target seats of 1.5 inches under a coordinate system of the laser tracker one by utilizing a measuring head of the laser tracker and twelve first target ball target seats of 1.5 inches;
step seven: reproducing and establishing a force source coordinate system according to the original coordinate values of the twelve 1.5-inch first target ball target seats under the force source coordinate system and the data measured in the sixth step;
step eight: measuring and obtaining coordinate values of five 0.5-inch second target ball target seats of the loading frame coordinate system recurrence device (3) under a force source coordinate system one by utilizing a measuring head of the laser tracker (2) and the five 0.5-inch second target ball target seats on the loading frame coordinate system recurrence device (3);
step nine: according to the original coordinate values of five 0.5-inch second target ball target seats on the loading frame coordinate system recurrence device (3) under the loading frame coordinate system and the data measured in the step eight, recurrence is carried out to establish a loading frame coordinate system;
step ten: rotating and translating the loading frame coordinate system established in the step nine to the force source coordinate system established in the step seven to obtain three required rotation angle values and three required translation numerical values;
step eleven: comparing and judging whether the three rotation angle values obtained in the step ten are all smaller than 5' and whether the three translation values are all smaller than 0.03 mm;
step twelve: and when the requirement of the step eleven is not met, directly importing the numerical values obtained in the step eleven into six-degree-of-freedom motion control software, controlling and driving a six-degree-of-freedom motion mechanism (4) to drive the calibrated balance and the loading frame to rotate and translate, and repeating the steps eight to eleven until the three rotation angle values and the three translation numerical values obtained in the step eleven meet the requirement of the step eleven.
6. The method for initially positioning the loading frame of the wind tunnel balance calibration system according to claim 5, wherein the method comprises the following steps: the laser tracker (2) measures and stores original coordinate values of twelve first target ball target seats of 1.5 inches under a force source coordinate system;
and the loading frame coordinate system reappearing device (3) in the third step is that after the loading frame is machined, five second target ball target seats of 0.5 inch are fixedly arranged on the loading frame, and the original coordinate values of the five second target ball target seats of 0.5 inch in the loading frame coordinate system are measured and stored by using a three-coordinate measuring machine.
7. The method for initially positioning the loading frame of the wind tunnel balance calibration system according to claim 5, wherein the method comprises the following steps: the force source coordinate system established in the seventh iteration, the loading frame coordinate system established in the ninth iteration and the rotation and translation fitting of the loading frame coordinate system established in the ninth iteration to the force source coordinate system established in the seventh iteration in the step ten all adopt a formula 1 to calculate three rotation angle values and three translation numerical values required:
wherein dgama, dbeta and dalpha are angle values rotated around the original coordinate system X, Y and the Z axis, respectively, x1, y1 and Z1 are coordinate values under the original coordinate system, dx, dy and dz are translation values along the original coordinate system X, Y and the Z axis, respectively, and x, y and Z are coordinate values under the target coordinate system, respectively.
8. The method for initially positioning the loading frame of the wind tunnel balance calibration system according to claim 7, wherein the method comprises the following steps: in the step twelve, the six-degree-of-freedom motion control software drives the six-degree-of-freedom motion mechanism (4) to move in a sequence of rotation around the original coordinate system X, Y, Z shaft in sequence, and then translation is carried out along the original coordinate system X, Y and the Z shaft.
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| CN113820096B (en) * | 2021-11-22 | 2022-02-15 | 中国空气动力研究与发展中心超高速空气动力研究所 | Six-degree-of-freedom wind tunnel test model attitude control device |
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| CN116593120B (en) * | 2023-06-21 | 2024-01-26 | 中国航空工业集团公司沈阳空气动力研究所 | Hypersonic wind tunnel engine thrust resistance measuring device and measuring method |
| CN117091800B (en) * | 2023-10-17 | 2024-01-02 | 中国空气动力研究与发展中心高速空气动力研究所 | Full-automatic six-degree-of-freedom balance calibration system for low-temperature balance calibration |
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