CN113567136B - System for measuring structural pose of high-thrust rocket engine and compensation method - Google Patents
System for measuring structural pose of high-thrust rocket engine and compensation method Download PDFInfo
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- CN113567136B CN113567136B CN202110796767.XA CN202110796767A CN113567136B CN 113567136 B CN113567136 B CN 113567136B CN 202110796767 A CN202110796767 A CN 202110796767A CN 113567136 B CN113567136 B CN 113567136B
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000012360 testing method Methods 0.000 claims abstract description 42
- 238000006073 displacement reaction Methods 0.000 claims abstract description 30
- 238000005259 measurement Methods 0.000 claims abstract description 18
- 210000001503 joint Anatomy 0.000 claims abstract description 12
- 238000011156 evaluation Methods 0.000 claims description 4
- 238000004458 analytical method Methods 0.000 claims description 3
- 238000012163 sequencing technique Methods 0.000 claims description 3
- 239000007921 spray Substances 0.000 claims description 3
- 230000001960 triggered effect Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 abstract description 7
- 230000007613 environmental effect Effects 0.000 abstract description 3
- 239000003550 marker Substances 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 206010034719 Personality change Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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Classifications
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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
- G01M15/02—Details or accessories of testing apparatus
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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
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/08—Shock-testing
Abstract
The invention relates to a rocket engine structure pose measurement system, in particular to a high-thrust rocket engine structure pose measurement system and a compensation method, and aims to solve the technical problems that in the prior art, additional displacement of a used camera under impact and vibration conditions is not stripped, environmental vibration generated by a test run of a high-thrust rocket engine is very strong, and the recognized key structure pose variation deviation is large. The system comprises a reference mark point, a reflective mark point, a control collector and at least two high-speed cameras. According to the compensation method, more than two high-speed cameras are used for carrying out displacement calculation on reflective mark points on a high-thrust rocket engine structure to obtain engine structure pose data, reference mark points are arranged at the butt joint end of a test bed to obtain vibration data of the high-speed cameras relative to the test bed, and the engine pose information is compensated by the vibration data to obtain pose change data of a tested engine relative to the test bed.
Description
Technical Field
The invention relates to a rocket engine structure pose measurement system, in particular to a high-thrust rocket engine structure pose measurement system and a compensation method.
Background
The acquisition of structural displacement and attitude change information under the rocket engine thermal test state mainly depends on the measurement acquisition of a vibration sensor and a strain gauge at present, and the obtained local data can not reflect macroscopic structural response and actual dangerous parts due to the limited number of measuring points. The structural strain and displacement of key parts of the rocket engine are measured by an image measurement technology, and the method is applied to the thermal test of the partial rocket engine. However, in rocket engine thermal testing, the direct use of digital image technology has the following problems: the additional displacement of the camera is not stripped under the impact and vibration conditions, and the variation deviation of the pose of the identified key structure is larger because the environmental vibration generated by the test run of the high-thrust rocket engine is very strong.
Disclosure of Invention
The invention aims to solve the technical problems that the existing rocket engine structural pose measuring system and the existing rocket engine structural pose compensating method are not used for stripping the additional displacement of a used camera under the impact and vibration conditions, and the environmental vibration generated by the test run of a high-thrust rocket engine is very strong, so that the identified key structural pose variation deviation is large.
In order to solve the technical problems, the technical solution provided by the invention is as follows:
the utility model provides a high thrust rocket engine structure position appearance measurement system which characterized in that:
the system comprises a reference mark point, a reflective mark point, a control collector and at least two high-speed cameras;
the at least two high-speed cameras are arranged around the tested engine and are used for forming a three-dimensional space vision measurement domain of the tested engine;
the reference mark point is arranged at the butt joint end of the butt joint frame of the test bed for butt joint of the tested engine and used for acquiring the moving speed and displacement information of the high-speed camera relative to the test bed;
the reflective mark points are arranged at the part to be detected of the detected engine and used for position identification;
the input end of the control collector is simultaneously connected with the output ends of all the high-speed cameras.
Further, the part to be tested is a turbine pump and two spray pipes of the tested engine.
Further, the high-speed cameras have two cameras, and the frame rate is 1000 frames/s.
Meanwhile, the invention also provides a method for compensating the structural pose of the high-thrust rocket engine, which is based on the system for measuring the structural pose of the high-thrust rocket engine and is characterized by comprising the following steps:
1) The tested engine is butted to a test bed by using a butt-joint frame, all high-speed cameras are triggered simultaneously by a test time system of a test control measurement system, image data of the whole test process are collected by a control collector according to the same frequency, and the image data are determined to be original image data of pose analysis;
2) Detecting reflective mark points on the image data obtained in the step 1) frame by frame, and forming engine pose information comprising the additional displacement of the high-speed camera and the displacement of the test bed according to time sequencing;
3) Detecting reference mark points on the image data obtained in the step 1) frame by frame to obtain the moving speed and displacement information of the high-speed camera relative to the test bed;
4) And (3) compensating the pose information of the engine obtained in the step (2) by utilizing the moving speed and displacement information obtained in the step (3) so as to obtain pose change data of the tested engine relative to a test bed, and using the pose change data for response evaluation of the impact load structure of the engine.
Further, in step 4), the pose change data is a time-varying displacement curve, and the curve includes data in three directions of an axial direction X, a radial direction Y and a tangential direction Z.
Further, the method also comprises the step of calibrating the high-speed camera before the step 1).
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a high-thrust rocket engine structure pose measurement system, which comprises reference mark points, reflection mark points, a control collector and at least two high-speed cameras, wherein the compensation method is used for carrying out displacement calculation on the reflection mark points for measurement on a high-thrust rocket engine structure through more than two high-speed cameras to obtain engine structure pose data, the reference mark points are arranged at the butt joint ends of a test bed and an engine, the vibration data of the high-speed cameras relative to the test bed are obtained through the calculation of the reference mark points, the engine pose information is compensated by utilizing the vibration data of the high-speed cameras, so that the pose change data of a tested engine relative to the test bed is obtained, the problem that the additional vibration of the high-speed cameras and the additional displacement of the test bed are difficult to accurately obtain is solved, the obtained pose change data can be used as load input of the structural impact response of a calculation model by using the fixed support state of the upper end of the engine, so as to carry out whole-process impact load structural response evaluation of the engine main body structure.
Drawings
FIG. 1 is a schematic diagram of an embodiment of a system for measuring structural pose of a high thrust rocket engine according to the present invention, and further illustrating a measured engine;
FIG. 2 is a view of pose data obtained by imaging and processing the same reflective marker point by two high-speed cameras in the embodiment of the present invention, one of the two high-speed cameras is located at a near point and the other is located at a far point, where a represents pose data obtained by the high-speed camera at the near point and b represents pose data obtained by the high-speed camera at the far point;
FIG. 3 is a view of pose data obtained by imaging, processing and compensating the same reflective marker point by two high-speed cameras according to an embodiment of the present invention, wherein a represents pose data obtained by a high-speed camera at a near point and b represents pose data obtained by a high-speed camera at a far point;
reference numerals illustrate:
1-reference mark point, 2-high-speed camera, 3-reflection mark point, 4-control collector, 5-tested engine and 6-butt joint frame.
Detailed Description
The invention is further described below with reference to the drawings and examples.
The invention provides a high thrust rocket engine structural pose measuring system, which is an image measuring system, and specifically comprises a reference mark point 1, a reflective mark point 3, a control collector 4 and two high-speed cameras 2 (a plurality of high-speed cameras 2 can be adopted); the frame rate of the two high-speed cameras 2 is 1000 frames/s, and the two high-speed cameras are arranged around the tested engine 5 and are used for forming a three-dimensional space vision measurement domain of the tested engine 5; the reference mark point 1 is arranged at the butt joint end of the butt joint frame 6 of the test bed for butt joint of the tested engine 5 and used for acquiring the moving speed and displacement information of the high-speed camera 2 relative to the test bed, and the arrangement of the reference mark point 1 ensures that all the high-speed cameras 2 can be identified; the reflective mark point 3 is arranged at a part to be detected of the detected engine 5, and the part to be detected is specifically a main body structure part (namely a key part, namely a turbine pump and two spray pipes of the detected engine 5) and is used for position identification (representing the structure position); the input end of the control collector 4 is simultaneously connected with the output ends of all the high-speed cameras 2.
The high-thrust rocket engine structure pose compensation method based on the high-thrust rocket engine structure pose measurement system comprises the following steps:
1) The tested engine 5 is docked to the test bed by using the docking frame 6, all the high-speed cameras 2 are triggered simultaneously by a test time system of a test control measurement system (the high-speed cameras 2 are required to be calibrated before test, so that a three-dimensional space vision measurement domain of the tested engine 5 can be established), and image data of the whole test process is acquired according to the same frequency by controlling the acquisition device 4, wherein the image data is original image data of pose analysis;
2) Detecting the reflection mark points 3 on the image data obtained in the step 1) frame by frame (namely, carrying out displacement calculation on the reflection mark points 3 on the original image data obtained in the step 1) frame by frame), and forming engine pose information comprising the additional displacement of the high-speed camera 2 and the displacement of a test bed according to time sequencing (namely, obtaining the information of each point of the engine taking the high-speed camera 2 as a zero coordinate);
3) Detecting the reference mark point 1 on the image data obtained in the step 1) frame by frame (namely, carrying out displacement calculation on the reference mark point 1 on the original image data obtained in the step 1) frame by frame) so as to obtain the moving speed and displacement information of the high-speed camera 2 relative to a test bed (namely, obtaining the pose information of the high-speed camera 2 by taking the reference mark point 1 as a zero coordinate);
4) And (3) compensating and correcting the engine pose information obtained in the step (2) by utilizing the moving speed and the displacement information obtained in the step (3) to obtain pose change data (a curve of the displacement changing along with time, wherein the curve comprises data in three directions of an axial direction X, a radial direction Y and a tangential direction Z) of the main structure pose information of the tested engine 5 relative to a test bed (which is equivalent to the pose information of the main structure of the tested engine 5 relative to a reference mark point 1, namely, the additional displacement of the high-speed camera 2 and the displacement of the test bed are eliminated) for structural response evaluation of the impact load of the engine.
As shown in fig. 2 and 3, the two high-speed cameras 2 are utilized to image and compensate the same reflective marker point 3, a data comparison graph before and after compensation is obtained, the two high-speed cameras 2 have larger deviation on the whole-course pose data of the engine structure obtained by the same reflective marker point 3, the two high-speed cameras 2 after compensation measure the data of the same reflective marker point 3 to be mild (smaller deviation), the compensated data strip the additional vibration of the high-speed cameras 2, and the obtained pose change data can be used as load input of the whole-course impact load structure response of the engine main structure by taking the upper end fixed supporting state of the engine as a calculation model.
Finally, it should be noted that: the foregoing embodiments are merely for illustrating the technical solutions of the present invention, and not for limiting the same, and it will be apparent to those skilled in the art that modifications may be made to the specific technical solutions described in the foregoing embodiments, or equivalents may be substituted for some of the technical features thereof, without departing from the spirit of the technical solutions protected by the present invention.
Claims (5)
1. The high-thrust rocket engine structure pose compensation method is based on a high-thrust rocket engine structure pose measurement system, and comprises a reference mark point (1), a reflection mark point (3), a control collector (4) and at least two high-speed cameras (2);
the at least two high-speed cameras (2) are arranged around the tested engine (5) and are used for forming a three-dimensional space vision measurement domain of the tested engine (5);
the reference mark point (1) is arranged at the butt joint end of the butt joint frame (6) of the test bed for butt joint of the tested engine (5) and used for acquiring the moving speed and displacement information of the high-speed camera (2) relative to the test bed;
the reflective mark points (3) are arranged at the part to be detected of the detected engine (5) and used for position identification;
the input end of the control collector (4) is simultaneously connected with the output ends of all the high-speed cameras (2); the method is characterized by comprising the following steps:
1) The tested engine (5) is butted to a test bed by using a butting frame (6), all high-speed cameras (2) are triggered simultaneously by a test time system of a test control measurement system, image data of the whole test process are collected by a control collector (4) according to the same frequency, and the image data are determined to be original image data of pose analysis;
2) Detecting reflective mark points (3) on the image data obtained in the step 1) frame by frame, and forming engine pose information comprising the additional displacement of the high-speed camera (2) and the displacement of the test bed according to time sequencing;
3) Detecting reference mark points (1) on the image data obtained in the step 1) frame by frame to obtain the moving speed and displacement information of the high-speed camera (2) relative to the test bed;
4) And (3) compensating the pose information of the engine obtained in the step (2) by utilizing the moving speed and displacement information obtained in the step (3) to obtain pose change data of the tested engine (5) relative to a test bed, and using the pose change data for response evaluation of an impact load structure of the engine.
2. The method for compensating structural pose of high thrust rocket engine according to claim 1, wherein the method comprises the steps of:
in the step 4), the pose change data is a time-varying displacement curve, and the curve comprises data in three directions of an axial direction X, a radial direction Y and a tangential direction Z.
3. The method for compensating structural pose of high thrust rocket engine according to claim 2, wherein the method comprises the steps of:
further comprising the step of calibrating the high-speed camera (2) before step 1).
4. A method of compensating for structural pose of a high thrust rocket engine according to claim 3, wherein:
the part to be tested is a turbine pump and two spray pipes of the tested engine (5).
5. The method for compensating the structural pose of the high-thrust rocket engine according to any one of claims 1 to 4, wherein the method comprises the following steps:
the number of the high-speed cameras (2) is two, and the frame rate is 1000 frames/s.
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| CN114353589B (en) * | 2021-09-08 | 2022-10-04 | 西安电子科技大学 | Device and method for measuring missile central axis extraction and takeoff drift |
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