CN114199444A - Six-component force sensor of solid attitude and orbit control engine - Google Patents
Six-component force sensor of solid attitude and orbit control engine Download PDFInfo
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- CN114199444A CN114199444A CN202111391300.3A CN202111391300A CN114199444A CN 114199444 A CN114199444 A CN 114199444A CN 202111391300 A CN202111391300 A CN 202111391300A CN 114199444 A CN114199444 A CN 114199444A
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- 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
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
- G01L5/161—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance
- G01L5/1627—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance of strain gauges
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Abstract
The invention relates to the field of space thrust vector testing, in particular to a six-component force sensor of a solid attitude and orbit control engine. The piezoelectric quartz crystal sensor comprises an upper cover, a shell, a piezoelectric quartz crystal sensitive unit and a base, wherein the piezoelectric quartz crystal sensitive unit is fixed on the base, and the upper cover is matched with the shell for packaging. The piezoelectric quartz crystal sensitive unit is formed by laminating three groups of crystal groups with the same output polarity, the piezoelectric quartz crystal sensitive unit is formed by laminating quartz unit wafers formed by different cut types, each group of unit crystal groups are in a parallel connection structure, each group of crystal groups are mutually separated through a diaphragm, and three negative poles form three output signals. The invention has high sensitivity, small nonlinear error and wide dynamic test range, is suitable for measuring various instantaneous dynamic forces, can also carry out quasi-static force measurement for more than ten minutes, and can not influence the dynamic and static characteristics of a measured object due to the installation of the sensor. The method has the characteristics of high integration level, small interference between directions and high dynamic response.
Description
Technical Field
The invention relates to the field of space thrust vector testing, in particular to a six-component force sensor of a solid attitude and orbit control engine.
Background
The solid attitude and orbit control engine has the capability of adjusting the pitching, yawing and rolling postures of a rocket or missile system, and the core of the attitude and orbit control power system is to control the opening and closing of an attitude and orbit control engine valve by means of a control command signal, so that the thrust in different directions is realized.
The solid attitude and orbit control engine is a combined product of a multi-nozzle solid engine and an electromechanical system, works in a high-altitude low-pressure environment, and realizes gas flow control through a high-temperature-resistant gas valve, so that the advanced air defense weapon has the capabilities of orbit change and tail end attitude adjustment. The method has the characteristics of multiple space impulses and quick response. As a main power device for guided missile or spacecraft orbit transfer and attitude adjustment in the near space, the solid attitude and orbit control engine has the function of controlling and adjusting the thrust and the direction, can realize accurate adjustment and control of the flight orbit and the flight attitude, and is an important basis for measuring the design quality, maneuverability and striking capability of a weapon system. Therefore, the thrust vector of the solid attitude and orbit control engine needs to be accurately measured to evaluate the performance of the solid attitude and orbit control engine and provide guidance for the design of the engine.
At present, a test system for testing thrust vectors of a solid attitude and orbit control engine in China generally adopts a six-component test bed or a multi-component test platform, and if a single six-component sensor is adopted, most of the six-component sensors are imported.
(1) Six-component test run bench
The six-component test bed consists of a fixed frame, a movable frame, 6 force measuring assemblies, an in-situ calibration device, a safety frame and a force bearing pier. The engine is arranged on the movable frame, and the movable frame is connected with the fixed frame through the force measuring assembly; the fixed frame is fixed on the bearing pier, is a reference platform of the whole test bed and bears the main thrust and 5 lateral forces transmitted by the fixed frame through 6 force measuring assemblies; 6 dynamometry subassemblies provide 6 restraints for respectively moving the frame: 1Z axis, 2Y axis and 3X axis for limiting 6 freedom degrees of the engine and measuring component force applied by the engine; the safety frame is used for protecting the sensor when the movable frame is subjected to abnormal external force; the in-situ calibration device is used for calibrating 6 sensors before an engine hot test so as to ensure the measurement accuracy. From the 6 component forces measured by the 6 sensors, 6 components (force components in 3 directions and moment components in 3 directions) of the engine thrust vector in the rectangular coordinate system can be obtained, and the thrust vector of the engine can be obtained by synthesizing the forces by using the rigid body balance principle.
(2) Multi-component force testing platform
The multi-component force testing platform consists of a fixed frame, a connecting plate and a multi-component force dynamic sensor. The four-component dynamic sensor comprises 4 three-component dynamic sensors with equal range and equal performance, wherein the three-component dynamic sensors are connected between two connecting plates through bolts in a pre-tightening mode, the upper connecting plate and the lower connecting plate are respectively connected with a fixed frame and a tested product to form a multi-component testing platform, and finally each component is obtained through a decoupling matrix.
(3) Six-component force sensor
The sensors with different six component forces according to the sensitivity principle can be divided into a resistance strain type, a piezoelectric type, a capacitance type and the like.
The force sensing principle of the resistance strain type six-component force sensor is the strain-resistance effect of a strain gauge. When external force is applied to an elastic element with a certain shape, the elastic element deforms, the strain gauge attached to the elastic element deforms accordingly, the received force is output according to the change of the resistance value of a corresponding quantity, and finally the change of the resistance is converted into the change of voltage through the conversion circuit to be used for later detection and processing.
The capacitance type six-component force sensor is provided with a plurality of pairs of capacitances. The measurement of the six-point force is realized by the relative gap change between the pole pieces.
The six-component test bed or the multi-component test platform is used for testing the thrust vector of the attitude and orbit control engine, and has the following problems and disadvantages:
(1) the six-component test run bench adopts a mode of measuring a single component and then calculating decoupling, errors caused by test installation and debugging and calculation rounding are inevitably introduced, so that the test precision is influenced, and meanwhile, the efficiency of the installation and debugging process is low due to low integration level;
(2) the multi-component force testing platform has the defects of low integration level, high requirement on installation precision and strong coupling among directions.
(3) The resistance strain type six-component force sensor has the advantages of high precision, wide measurement range and mature technology, but has the defects of poor dynamic response, large influence of external factors on a bridge circuit and the like.
(4) The capacitance type six-component force sensor has the advantages of high sensitivity and resolution, good temperature stability, larger influence of parasitic capacitance and the like, and relatively less influence in practical application.
Disclosure of Invention
Technical problem to be solved by the invention
The invention provides a six-component force sensor of a solid attitude and orbit control engine, which aims to solve the problems that a test platform formed by a plurality of three-component force sensors adopted at present is low in response frequency, cannot measure a real force value, is difficult to screen and remove factors of mutual interference of thrust vectors under the action of a plurality of spray pipes, and is low in test precision.
Technical scheme adopted for solving technical problem
A six-component force sensor of a solid attitude and orbit control engine is composed of an upper cover 1, a shell 2, a piezoelectric quartz crystal sensitive unit 3 and a base 4, wherein the piezoelectric quartz crystal sensitive unit 3 is fixed on the base and is covered and matched with the shell for packaging.
Furthermore, the piezoelectric quartz crystal sensitive unit is formed by laminating three groups of crystal groups with the same output polarity, the piezoelectric quartz crystal sensitive unit is formed by laminating quartz unit wafers formed by different cut types, each group of unit crystal groups is of a parallel structure, each group of crystal groups is mutually separated through a diaphragm, and three cathodes form three paths of output signals.
Further, the piezoelectric quartz crystal sensing unit comprises a gasket 31, a Y-direction crystal piece 32, an upper diaphragm 33, a Y-direction crystal piece 34, a lower diaphragm 35, a Z-direction crystal piece 36, an upper diaphragm 37, a Z-direction crystal piece 38, a lower diaphragm 39, an X-direction crystal piece 310, an upper diaphragm 311, an X-direction crystal piece 312 and a lower diaphragm 313 which are laminated from top to bottom.
Further, the Y-direction crystal plate 32, the upper film plate 33, the Y-direction crystal plate 34 and the lower film plate 35 are a crystal group, and the X, Z directions are the same.
Further, the axis of maximum sensitivity between the crystal groups is strictly perpendicular by 90 °.
Furthermore, the piezoelectric quartz crystal sensor comprises 4 piezoelectric quartz crystal sensitive units which are uniformly arranged in the same direction, in parallel and in the circumferential direction.
Advantageous effects obtained by the present invention
The invention has the advantages of high sensitivity, small nonlinear error, wide dynamic test range, firm structure, high rigidity, convenient installation, long service life and the like. The device is suitable for measuring various instantaneous dynamic forces, can also measure quasi-static forces for tens of minutes, and cannot influence the dynamic and static characteristics of a measured object due to sensor installation. The method has the characteristics of high integration level, small interference between directions and high dynamic response.
Drawings
FIG. 1: a solid attitude and orbit control engine six-component force sensor system is formed into a diagram;
FIG. 2: engine thrust vector parameter description schematic diagram
FIG. 3: a piezoelectric quartz crystal sensitive unit composition diagram;
FIG. 4: controlling thrust parameters in the X direction by rail;
FIG. 5: controlling thrust parameters in the Y direction by a rail;
wherein: 1-upper cover, 2-shell, 3-piezoelectric quartz crystal sensitive unit, 4-base, 31-gasket, 32-Y direction crystal piece, 33-upper diaphragm, 34-Y direction crystal piece, 35-lower diaphragm, 36-Z direction crystal piece, 37-upper diaphragm, 38-Z direction crystal piece, 39-lower diaphragm, 310-X direction crystal piece, 311-upper diaphragm, 312-X direction crystal piece and 313-lower diaphragm.
Detailed Description
The basic content of the technical scheme of the invention is to design a six-component force sensor for testing a solid attitude and orbit control engine based on the positive piezoelectric property of a quartz crystal material. The sensor device comprises four groups of piezoelectric quartz crystal sensitive units, a diaphragm, a shell, a base and the like. The force measuring platform is formed by four groups of piezoelectric quartz crystal sensitive units which are installed in the same direction, and accurate measurement of six components of the solid attitude and orbit control engine is achieved.
In order to make the objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It is obvious that the described embodiments are only some, not all embodiments of the proposed solution. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in figure 1, the six-component force sensor system of the solid attitude control engine is composed of an upper cover 1, a shell 2, a piezoelectric quartz crystal sensitive unit 3 and a base 4.
The force bearing surface of the sensor is designed to be double-sided convex, when the tested external force is uniformly applied to the force bearing surface of the sensor, the force sensor generates electric charge, and the size of the electric charge is completely proportional to the applied external force. The sensor designs 4 groups of output ports for X, Y, Z three-direction force and moment, and has 12 paths of output. The low-noise data line is connected to the charge amplifier and then transmitted to the acquisition system for data acquisition and processing.
The piezoelectric quartz crystal sensitive unit is a main sensing component of the six-component sensor, as shown in fig. 3, from top to bottom: the spacer 31, the Y-direction crystal piece 32, the upper diaphragm 33, the Y-direction crystal piece 34, the lower diaphragm 35, the Z-direction crystal piece 36, the upper diaphragm 37, the Z-direction crystal piece 38, the lower diaphragm 39, the X-direction crystal piece 310, the upper diaphragm 311, the X-direction crystal piece 312, and the lower diaphragm 313. Wherein, Y is to crystal piece 32, upper diaphragm 33, Y is to crystal piece 34, lower diaphragm 35 to a crystal group, Z, X direction is similar. The X, Y, Z crystal piece, the upper diaphragm and the lower diaphragm in three directions are all the same, the crystal piece and the diaphragm adopt a laminated structure, and the maximum sensitive axis between crystal groups is strictly vertical to form 90 degrees so as to reduce the transverse interference. The 3 crystal groups have the same output polarity, and 3 negative poles form 3 output signals.
The six-component force sensor comprises 4 groups of piezoelectric quartz crystal sensitive units, in order to test X, Y, Z orthogonal forces in three directions, crystal groups of the 4 groups of piezoelectric quartz crystal sensitive units adopt different cutting types, each group of unit crystal groups adopts a parallel structure, and each group of crystal groups is mutually separated through a diaphragm.
The physical properties of the sensor are:
(1) interference between the two directions: fz，MzThe interference between the two is less than or equal to 5 percent
Mx，MyThe interference between the two is less than or equal to 5 percent
Fx，FyThe interference between the two is less than or equal to 5 percent
(2) Overload capacity: 120 percent;
(3) sensitivity: fx:7.39pC/N；Fy:7.38pC/N；Fz:3.82pC/N
Mx:115.1pC/Nm；My:117.8pC/Nm
The decoupling of the sensor is based on a model of the principle of thrust measurement. The plane of the lower end face of the sensor base (4) is selected as a reference plane, the theoretical central axis of the sensor is used as the Y axis of a reference coordinate system, the description of the measurement coordinate system and the thrust vector parameters is shown in figure 2, and the description of the thrust vector parameters of the engine is shown in figure 2.
In the figure: fx，Fy，Fz-the component of the thrust vector F in the x, y, z axis;
the included angle between alpha-F and the z axis;
the angle between beta-OP and the x-axis;
delta-the distance between the point of action P of the force and the origin O of the coordinates.
In the coordinate system, the description parameters and the theoretical calculation formula of the thrust vector at a certain time (for example: when the thrust vector deviates from the Z axis) are respectively as follows:
main thrust: fz
Lateral thrust:
main thrust inclination angle: tan α ═ Fxy|/|Fz|
Thrust offset azimuth:
thrust offset:
since the plane of the lower end face of the sensor base (4) is determined as the reference plane in advance, the action point of F can be considered to be on the reference plane, and the z coordinate of F satisfies that c is 0.
As can be seen from the above formulas, the measurement of the attitude and orbit control engine F is substantially Fx，Fy，FzAnd a and b.
Sensor sharing Fx1、Fx2、Fx3、Fx4、Fy1、Fy2、Fy3、Fy4、Fz1、Fz2、Fz3、Fz4And 12 paths of output. The measurement decoupling equation is:
Fx＝Fx1+Fx2+Fx3+Fx4
Fy＝Fy1+Fy2+Fy3+Fy4
Fz＝Fz1+Fz2+Fz3+Fz4
Mx＝Fz1-Fz3
My＝Fz4-Fz2
Mz＝Fx1-Fx3+Fy4-Fy2
in order to verify the effectiveness of the invention, cold flow test verification is carried out on a certain type of solid attitude and orbit control engine, and test curve data are shown in detail in figure 4, namely an X-direction thrust parameter, and figure 5, namely a thrust parameter.
As can be seen from the test results of FIG. 4, the X, Y-direction force value output waveform collected by the collection system has good consistency, less system interference and no obvious lag or large harmonic oscillation. And the dynamic response is within 20ms, and the main frequency is about 80 Hz. The requirement that the technical index working frequency of the testing device is not less than 50Hz is met.
Claims (6)
1. A six-component force sensor of a solid attitude and orbit control engine is characterized in that: the piezoelectric quartz crystal sensor is characterized by comprising an upper cover (1), a shell (2), a piezoelectric quartz crystal sensitive unit (3) and a base (4), wherein the piezoelectric quartz crystal sensitive unit (3) is fixed on the base, and the upper cover is matched with the shell for packaging.
2. The solid attitude control engine six-component force sensor according to claim 1, characterized in that: the piezoelectric quartz crystal sensitive unit (3) is formed by laminating three groups of crystal groups with the same output polarity, the piezoelectric quartz crystal sensitive unit is formed by laminating quartz unit wafers formed by different cut types, each group of unit crystal groups are in a parallel connection structure, each group of crystal groups are mutually separated through a diaphragm, and three cathodes form three paths of output signals.
3. The solid attitude control engine six-component force sensor according to claim 1, characterized in that: the piezoelectric quartz crystal sensitive unit comprises a gasket (31), a Y-direction crystal piece (32), an upper membrane (33), a Y-direction crystal piece (34), a lower membrane (35), a Z-direction crystal piece (36), an upper membrane (37), a Z-direction crystal piece (38), a lower membrane (39), an X-direction crystal piece (310), an upper membrane (311), an X-direction crystal piece (312) and a lower membrane (313), and is formed by laminating from top to bottom.
4. A solid attitude control engine six-component force sensor according to claim 2 or 3, characterized in that: the Y-direction crystal plate (32), the upper film plate (33), the Y-direction crystal plate (34) and the lower film plate (35) are a crystal group, and the X, Z directions are the same.
5. The solid attitude control engine six-component force sensor according to claim 2, characterized in that: the axis of maximum sensitivity between the crystal groups is strictly perpendicular at 90 deg..
6. The solid attitude control engine six-component force sensor according to claim 1, characterized in that: the piezoelectric quartz crystal sensor comprises 4 piezoelectric quartz crystal sensitive units (3) which are uniformly arranged in the same direction, in parallel and in the circumferential direction.
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| CN202111391300.3A CN114199444A (en) | 2021-11-23 | 2021-11-23 | Six-component force sensor of solid attitude and orbit control engine |
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| CN202111391300.3A CN114199444A (en) | 2021-11-23 | 2021-11-23 | Six-component force sensor of solid attitude and orbit control engine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115575016A (en) * | 2022-11-29 | 2023-01-06 | 长春工业大学 | Piezoelectric type wheel six-component force sensor device |
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| CN106441675A (en) * | 2016-11-08 | 2017-02-22 | 烟台职业学院 | Non-load-sharing piezoelectric thrust test device |
| US20180245996A1 (en) * | 2015-09-04 | 2018-08-30 | Kistler Holding Ag | Device for force and torque detection |
| CN110274725A (en) * | 2019-01-17 | 2019-09-24 | 上海肇擎传感技术有限公司 | A kind of six-axis force sensor sensitive structure based on quartz vibration beam |
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2021
- 2021-11-23 CN CN202111391300.3A patent/CN114199444A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2000009564A (en) * | 1998-06-10 | 2000-01-14 | Korea Standard & Science Res Inst | Six-component force/moment sensor and its case |
| CN102735375A (en) * | 2011-04-14 | 2012-10-17 | 精工爱普生株式会社 | Sensor device, force detection device, and robot |
| CN203519229U (en) * | 2013-09-11 | 2014-04-02 | 中国电子科技集团公司第四十八研究所 | Quartz piezoelectric six-dimensional force detecting device |
| US20180245996A1 (en) * | 2015-09-04 | 2018-08-30 | Kistler Holding Ag | Device for force and torque detection |
| CN105910750A (en) * | 2016-04-11 | 2016-08-31 | 沈阳工业大学 | Pumping device impeller dynamic circumference vector force measuring device and method |
| CN106441675A (en) * | 2016-11-08 | 2017-02-22 | 烟台职业学院 | Non-load-sharing piezoelectric thrust test device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115575016A (en) * | 2022-11-29 | 2023-01-06 | 长春工业大学 | Piezoelectric type wheel six-component force sensor device |
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