CN114636559A - Radial thrust acquisition mechanism, thrust vector measurement device and method - Google Patents

Radial thrust acquisition mechanism, thrust vector measurement device and method Download PDF

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CN114636559A
CN114636559A CN202210354934.XA CN202210354934A CN114636559A CN 114636559 A CN114636559 A CN 114636559A CN 202210354934 A CN202210354934 A CN 202210354934A CN 114636559 A CN114636559 A CN 114636559A
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thrust
radial
axial
tension
axis
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CN114636559B (en
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俞南嘉
龚昊杰
周闯
安山
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Beihang University
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Beihang University
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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/0028—Force sensors associated with force applying means
    • G01L5/0038—Force sensors associated with force applying means applying a pushing force
    • 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
    • G01M15/14—Testing gas-turbine engines or jet-propulsion engines

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Analytical Chemistry (AREA)
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Abstract

The application relates to the technical field of rockets, in particular to a radial thrust acquisition mechanism, a thrust vector measurement device and a thrust vector measurement method. The radial thrust collecting mechanism comprises a first fixed frame, a first movable frame, a pulley and a radial tension and pressure sensor; the first movable frame is arranged in the mounting hole of the first fixed frame and forms an annular interval; a preset cylinder area is formed in the annular first movable frame, at least three pulleys are connected with the first movable frame and arranged around the preset cylinder area, and the sliding direction is axial so as to clamp the component to be tested in the preset cylinder area; the radial tension and pressure sensor can radially strain and is connected with the first fixed frame and the first movable frame so as to enable the first movable frame to radially move. The thrust vector measuring device comprises the radial thrust acquisition mechanism. The thrust vector measurement employs the thrust vector measurement device. The radial thrust acquisition mechanism, the thrust vector measuring device and the method realize the independent measurement of the radial thrust and the measurement of the direction of the combined thrust of the engine.

Description

Radial thrust acquisition mechanism, thrust vector measurement device and method
Technical Field
The application relates to the technical field of rockets, in particular to a radial thrust acquisition mechanism, a thrust vector measurement device and a thrust vector measurement method.
Background
In the field of thrust measurement of liquid rocket engines, a six-component sensor is often used to realize vector measurement of engine thrust (i.e. simultaneously measuring the magnitude and the direction of thrust). The six-component force sensor can realize single-point multi-direction force measurement, and can realize a vector measurement effect by combining a plurality of sensors, but the six-component force sensor needs to be customized, has poor universality and is easy to damage.
When the tension pressure sensor is used for measuring the thrust, only axial measurement can be realized at present, but radial measurement cannot be realized, and the direction information of the resultant thrust of the engine cannot be acquired.
Disclosure of Invention
The application aims to provide a radial thrust acquisition mechanism, a thrust vector measuring device and a method, and aims to solve the technical problems that radial measurement cannot be realized and resultant thrust direction information of an engine cannot be acquired in the prior art to a certain extent.
The application provides a radial thrust collecting mechanism which comprises a first fixed frame, a first movable frame, a pulley and a radial tension pressure sensor;
the first fixed frame is provided with a mounting hole, the first movable frame is arranged in the mounting hole, and an annular interval along the radial direction of the preset cylindrical area is formed between the hole wall of the mounting hole and the first movable frame;
the first movable frame is annular, a preset cylindrical area is formed in the inner space of the first movable frame, at least three pulleys are respectively connected with the first movable frame and arranged around the preset cylindrical area, the sliding direction of each pulley is parallel to the axial direction of the preset cylindrical area, and the at least three pulleys can clamp and limit a component to be tested in the preset cylindrical area;
the radial tension and pressure sensor is provided with a strain direction parallel to the radial direction of the preset cylinder area, and the radial tension and pressure sensor is connected between the first fixed frame and the first movable frame, so that the first movable frame can generate radial displacement along the preset cylinder area relative to the first fixed frame under the driving of the part to be tested.
In the above technical solution, further, the number of the radial pull pressure sensors is at least three, and the at least three radial pull pressure sensors are arranged at intervals along the circumferential direction of the predetermined cylinder region.
In the above technical solution, further, the radial tension and pressure sensor is screwed with the first fixed frame, and a joint of the radial tension and pressure sensor and the outer surface of the first fixed frame and a joint of the inner surface of the first fixed frame are both screwed with fixing nuts;
the pulley comprises a pulley frame and a pulley body pivoted to the pulley frame, the pulley frame is in threaded connection with the first movable frame, and fixing nuts are respectively in threaded connection with the joint of the outer surface of the first movable frame and the joint of the inner surface of the pulley frame.
The application also provides a thrust vector measuring device, which is used for carrying out vector measurement on the thrust of the rocket engine, wherein the rocket engine comprises a head part, a body part and a tail part which are sequentially arranged along the axial direction of the rocket engine;
the rocket engine thrust vector measuring device comprises a working platform, an axial thrust acquisition mechanism and at least one radial thrust acquisition mechanism according to any one of the technical schemes;
the radial thrust collecting mechanism is arranged on the working platform, and a preset cylinder area of the radial thrust collecting mechanism is used for accommodating one end of the rocket engine in a coaxial mode;
the axial thrust collecting mechanism comprises a second fixed frame, a second movable frame and an axial tension and pressure sensor, the second fixed frame is vertically arranged on the working platform, the second movable frame is plate-shaped and is arranged with the second fixed frame at intervals along the axial direction of the preset cylinder area, and the second movable frame is used for being connected with the other end of the rocket engine;
the axial tension and pressure sensor has a strain direction along the axial direction of the predetermined cylindrical region, and is connected between the second fixed frame and the second movable frame, so that the second movable frame can generate displacement along the axial direction of the predetermined cylindrical region relative to the second fixed frame.
In any of the above technical solutions, further, the number of the radial thrust collecting mechanisms is two, and the two radial thrust collecting mechanisms are respectively a first radial thrust collecting mechanism and a second radial thrust collecting mechanism;
a predetermined cylindrical region of the first radial thrust gathering mechanism for coaxially receiving a body portion of the rocket engine;
the second radial thrust collection mechanism is arranged side by side at a distance from the first radial thrust collection mechanism, and the predetermined cylindrical region of the second radial thrust collection mechanism is used for coaxially accommodating the head of the rocket engine;
axial thrust gathers the mechanism and still includes elasticity pretension piece, elasticity pretension piece includes fixed part and elastic part, the fixed part with the second moves the frame and is connected, the length direction's of elastic part both ends are first end and second end respectively, first end with the butt is decided to the second, the second end with the fixed part is connected adjustably, so that the length of elasticity pretension piece is adjustable.
In any one of the above technical solutions, further, the working platform is provided with a plurality of slots, the plurality of slots are sequentially arranged at intervals along the axial direction of the predetermined cylindrical region, and the first fixing frame of the radial thrust collecting mechanism is detachably inserted into any one of the slots;
the axial thrust acquisition mechanism comprises two axial pull pressure sensors, and the distance between the two axial pull pressure sensors and the axis of the preset cylinder area is equal along the radial direction of the preset cylinder area.
The application also provides a thrust vector measuring method, the thrust vector measuring device adopting any one of the technical schemes measures the thrust of the rocket engine, and the thrust vector measuring method comprises the following steps:
establishing a three-dimensional Cartesian coordinate system by taking the center of the axial thrust acquisition mechanism as a coordinate origin, wherein the z axis of the three-dimensional Cartesian coordinate system is collinear with the axis of the preset cylindrical area, the y axis of the three-dimensional Cartesian coordinate system is consistent with the height direction of the working platform, and the x axis of the three-dimensional Cartesian coordinate system is vertical to the y axis and the z axis;
acquiring radial tension and pressure measured by each radial tension and pressure sensor, and acquiring axial tension and pressure measured by each axial tension and pressure sensor;
and calculating the thrust of the engine according to the radial tension and pressure and the axial tension and pressure.
In any of the above technical solutions, further, the step of calculating the engine thrust specifically includes the steps of:
calculating the moment of the thrust of the engine by taking the x axis as a rotating shaft, and calculating the moment of the thrust of the engine by taking the y axis as the rotating shaft;
calculating the moment of the external force by taking the x axis as a rotating shaft, and calculating the moment of the external force by taking the y axis as the rotating shaft;
and solving the eccentricity and the eccentricity argument of the thrust of the engine according to the principle that the thrust moment of the engine is balanced with the external force moment.
In any of the above technical solutions, further, the number of the radial thrust collecting mechanisms is two, each of the two radial thrust collecting mechanisms includes three radial pull pressure sensors, the radial pull pressure sensors are uniformly arranged along the circumferential direction of the predetermined cylindrical region, the strain direction of one of the radial pull pressure sensors is parallel to the y-axis, and the strain direction of one of the radial pull pressure sensors deflects by 30 ° with respect to the direction of the x-axis away from the y-axis;
the axial thrust acquisition mechanism comprises two axial tension pressure sensors;
the calculated engine thrust force F and the components of said engine thrust force F along the x-axis, the y-axis and the z-axis (F)x、Fy、Fz) Comprises the following steps:
Figure BDA0003582066360000051
wherein, Fr1、Fr2And Fr3Data respectively acquired by three radial tension and pressure sensors of the first radial thrust acquisition mechanism, Fr4、Fr5And Fr6Data respectively acquired by three radial tension and pressure sensors of the second radial thrust acquisition mechanism, Fz1And Fz2And G is the gravity of the rocket engine.
In any of the above technical solutions, further, the step of calculating the thrust of the engine specifically further includes the steps of:
an equation set of the external force moment is established,
Figure BDA0003582066360000052
wherein the content of the first and second substances,
Figure BDA0003582066360000053
is the resultant moment of the external force around the x-axis,
Figure BDA0003582066360000054
is the resultant moment of external force around the y-axis, LGIs the distance between the center of mass of the rocket engine and the origin of coordinates, Lr1Is the distance, L, between the center of the first movable frame of the first radial thrust acquisition mechanism and the origin of coordinatesr2The distance between the center of a second movable frame of the second radial thrust acquisition mechanism and the origin of coordinates is d, and the distance between the measuring point of the axial tension pressure sensor and the origin of coordinates is d;
an equation set of the thrust moment of the engine is established,
Figure BDA0003582066360000055
wherein the eccentricity component of the engine thrust taking the x axis as the rotating shaft is PxStart ofThe eccentricity component of the mechanical thrust taking the y axis as a rotating shaft is Py；
According to the principle that the external force moment and the engine thrust moment are balanced, the eccentricity component P is solvedxAnd an eccentricity component PyComprises the following steps:
Figure BDA0003582066360000061
according to the eccentricity component PxAnd an eccentricity component PyThe eccentricity P and the eccentricity argument phi of the thrust of the engine are solved, wherein,
Figure BDA0003582066360000062
Figure BDA0003582066360000063
compared with the prior art, the beneficial effects of this application do:
the application provides a radial thrust gathers mechanism includes first stationary barrier, first movable barrier, radially draws pressure sensor and at least three pulley. The device comprises a preset cylinder area, a first movable frame and a second movable frame, wherein the preset cylinder area is used for mounting a component to be tested, the pulley directions of the three pulleys are parallel to the axial direction of the preset cylinder area under the condition that the component to be tested generates thrust, so that the rigid connection between the first movable frame and the component to be tested along the axial direction of the preset cylinder area is cancelled, the first movable frame generates radial displacement along the preset cylinder area relative to the first fixed frame under the action of the radial thrust of the component to be tested, and meanwhile, the first movable frame transmits the radial thrust between a radial tension and pressure sensor and the component to be tested, so that the radial tension and pressure sensor can detect the radial thrust of the component to be tested.
Thereby this radial thrust collection mechanism can directly measure radial thrust under the influence that does not receive axial thrust for axial thrust and radial thrust measure mutual noninterference, not only realized radial thrust's independent measurement, can conveniently reequip current thrust measuring device moreover, combine the axial thrust structure to use, make the direction information that closes the thrust that obtains the engine become possible. In addition, the radial thrust acquisition mechanism has the advantages of simple structure and convenience in installation.
The thrust vector measuring device is used for measuring the thrust of the rocket engine. The thrust vector measuring device comprises an axial thrust acquisition mechanism, a first radial thrust acquisition mechanism and a second radial thrust acquisition mechanism. The axial thrust of the rocket engine is acquired through the axial thrust acquisition mechanism, the radial thrust of the rocket engine is acquired through the first radial thrust acquisition mechanism and the second thrust acquisition mechanism, and the engine thrust obtained through calculation is calculated according to the radial tension and compression force and the axial tension and compression force.
The thrust vector measuring method provided by the application adopts the thrust vector measuring device to measure the thrust of the rocket engine. The thrust vector measuring method has all the advantageous effects of the thrust vector measuring device described above.
Drawings
In order to more clearly illustrate the detailed description of the present application or the technical solutions in the prior art, the drawings needed to be used in the detailed description of the present application or the prior art description will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a radial thrust force acquisition mechanism according to an embodiment of the present disclosure;
FIG. 2 is a cross-sectional view of FIG. 1 at a radial thrust harvesting mechanism-radial thrust harvesting mechanism cross-section;
FIG. 3 is an enlarged view of a portion of FIG. 2 at B;
FIG. 4 is an enlarged view of a portion of FIG. 2 at C;
fig. 5 is a schematic view illustrating a first usage state of a first movable frame of the radial thrust capturing mechanism according to an embodiment of the present application;
fig. 6 is a schematic view illustrating a second use state of the first movable frame of the radial thrust collecting mechanism according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of a thrust vector measuring device according to a second embodiment of the present application;
fig. 8 is a first structural schematic view of an axial thrust collecting mechanism of a thrust vector measuring device according to a second embodiment of the present application;
FIG. 9 is a cross-sectional view of the thrust vector measuring device of FIG. 8 at section D-D;
fig. 10 is a second structural schematic view of an axial thrust collecting mechanism of the thrust vector measuring device according to the second embodiment of the present application;
fig. 11 is a force analysis diagram of a rocket engine located in a thrust vector measuring device according to a thrust vector measuring method provided in the third embodiment of the present application;
fig. 12 is an enlarged view of a portion of fig. 11 at E.
Reference numerals:
1-a working platform; 2-a second stationary frame; 3-a second movable frame; 4-axial pull pressure sensor; 5-a spring plunger; 6-fixing the body; 7-body moving frame; 8-radial pull pressure sensor; 9-a pulley; 10-head fixing frame; 11-head moving frame; 12-a rocket motor; 13-nut.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. 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.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example one
Referring to fig. 1 to 6, an embodiment of the present application provides a radial thrust collecting mechanism for detecting a radial thrust of a component to be detected, in particular, a radial thrust of a rocket engine 12.
The radial thrust collection mechanism provided by the embodiment is used for a thrust vector measuring device and comprises a first fixed frame, a first movable frame, a pulley 9 and a radial tension and pressure sensor 8.
Hereinafter, the above components of the radial thrust collecting mechanism will be described in detail.
Referring to fig. 1 to 6, in an alternative of this embodiment, a mounting hole is formed in the first fixed frame, the first movable frame is disposed in the mounting hole, the first movable frame is annular, an inner space of the first movable frame forms a predetermined cylindrical region, the predetermined cylindrical region is used for mounting the rocket engine 12 to be tested, and an annular space along a radial direction of the predetermined cylindrical region is formed between a hole wall of the mounting hole and the first movable frame, so that a sufficient space is provided for the first movable frame to displace relative to the first fixed frame along the radial direction of the predetermined cylindrical region.
Alternatively, in order to ensure the central symmetry of the structure and simplify the structure, the mounting hole is cut in a section which is a section taken in a section perpendicular to the axial direction of the predetermined cylindrical region, and the section is a circle which is coaxial with the predetermined cylindrical region.
The number of pulleys 9 is at least three, for example three, four or more. The at least three pulleys 9 are respectively connected with the first movable frame and arranged around the preset cylinder area, the sliding direction of each pulley 9 is parallel to the axial direction of the preset cylinder area, so that after the rocket engine 12 to be tested is coaxially arranged in the preset cylinder area, the at least three pulleys 9 can clamp and limit the part to be tested in the preset cylinder area, and particularly, when the rocket engine 12 is limited in the preset cylinder area, the peripheral outline of each pulley 9 is tangent to a bus of the rocket engine 12.
Therefore, on one hand, the first movable frame and the rocket engine 12 form rigid connection along the radial direction of the preset cylinder area, and the radial thrust of the rocket engine 12 can be transmitted to the first movable frame, and on the other hand, the first movable frame and the rocket engine 12 form sliding connection along the axial direction of the preset cylinder area, namely, rigid connection is avoided, so that the transmission path of the axial thrust of the rocket engine 12 to the first movable frame is cut off, and the radial thrust measurement is not influenced by the axial thrust measurement.
Alternatively, the number of the pulleys 9 is three, on one hand, the number of the pulleys 9 is enough to enable the rocket motor 12 to be stably limited in a predetermined cylinder area, so as to improve the radial synchronism between the rocket motor 12 and the first movable frame, on the other hand, the number of the pulleys 9 is not too large, so that the structure of the radial thrust acquisition mechanism is facilitated, and further, in the case of thrust vector measurement of the rocket motor 12, the calculation is facilitated.
The radial tension and pressure sensor 8 has a strain direction parallel to the radial direction of the predetermined cylinder region, and the radial tension and pressure sensor 8 is connected between the first fixed frame and the first movable frame, so that the first movable frame can generate radial displacement along the predetermined cylinder region relative to the first fixed frame under the driving of the component to be measured, that is, under the action of the radial thrust of the rocket engine 12, the first movable frame generates a radial movement trend or generates radial movement, so that the first movable frame plays a role in thrust transmission between the rocket engine 12 and the radial tension and pressure sensor 8, and the radial tension and pressure sensor 8 is acted by the tension (or pressure) of the first movable frame, thereby achieving the purpose of measuring the radial thrust of the rocket engine 12 through the radial tension and pressure sensor 8.
In an alternative of this embodiment, the number of the radial tension and pressure sensors 8 is at least three, and at least three radial tension and pressure sensors 8 are arranged at intervals in the circumferential direction of the predetermined cylindrical region, that is, the number of the radial tension and pressure sensors 8 is three, four or more.
Alternatively, in order to improve the uniformity of the acquisition of the radial tension and pressure measurement points in the circumferential direction of the rocket motor 12 and to improve the reliability of the measured data, all the radial tension and pressure sensors 8 are uniformly arranged in the circumferential direction of the predetermined cylinder region.
Optionally, the number of the radial tension and pressure sensors 8 is three, so that three-point measurement of the radial thrust is realized, and the thrust calculation process is simplified.
In the alternative of this embodiment, the radial tension and pressure sensor 8 is screwed with the first fixed frame, and the joint of the radial tension and pressure sensor 8 and the outer surface of the first fixed frame is screwed with the fixing nut 13, and the joint of the radial tension and pressure sensor 8 and the inner surface of the first fixed frame is screwed with the fixing nut 13.
The pulley 9 includes pulley yoke and pin joint in the pulley body of pulley yoke, and the pulley 9 passes through pulley yoke and first movable frame looks spiro union, and specifically and the pulley yoke has fixation nut 13 with the junction spiro union of the surface of first movable frame to and the pulley yoke has fixation nut 13 with the equal spiro union of junction of the internal surface of first movable frame.
That is to say, the radial tension and pressure sensor 8 is connected with the first fixed frame in a double-nut mode, the pulley 9 is connected with the first movable frame in a double-nut mode, on one hand, bidirectional adjustment of the pulley 9 and the radial tension and pressure sensor 8 is achieved, on the other hand, bidirectional clamping is conducted on the pulley 9 and the radial tension and pressure sensor 8, and connection rigidity of the movable frame and the rocket engine 12 is guaranteed.
In addition, the radial thrust collecting mechanism can be used for measuring the radial thrust of engines with different outer diameters, the application range is expanded, the tension or pressure pre-tightening zero adjustment can be realized on the radial tension and pressure sensor 8 according to different requirements, namely, the radial tension and pressure sensor 8 is adjusted to a first preset tension or a first preset pressure, and then the radial tension and pressure sensor 8 is adjusted to zero, so that the measurement value of the radial tension and pressure sensor 8 is not influenced by the radial pre-tightening force.
Example two
The second embodiment provides a thrust vector measuring device, the second embodiment includes the radial thrust collecting mechanism in the first embodiment, the technical features of the radial thrust collecting mechanism disclosed in the first embodiment are also applicable to the second embodiment, and the technical features of the radial thrust collecting mechanism disclosed in the first embodiment are not described repeatedly.
As shown in fig. 7 to 10 in combination with fig. 1 to 6, the thrust vector measurement device provided in the present embodiment is used for vector measurement of the thrust of the rocket engine 12.
The rocket motor 12 includes a head, a body, and a tail sequentially arranged along its own axis. The rocket engine thrust vector measuring device comprises a working platform 1, an axial thrust acquisition mechanism and at least one radial thrust acquisition mechanism.
Hereinafter, the above components of the rocket engine 12 will be described in detail.
In an alternative of this embodiment, the number of radial thrust capturing mechanisms is one, two, three or more, all of which are in turn used for radial thrust measurements for a corresponding number of measurement points from the head to the tail of the rocket engine 12.
Optionally, the number of the radial thrust collecting mechanisms may be two, and the two radial thrust collecting mechanisms are respectively a first radial thrust collecting mechanism and a second radial thrust collecting mechanism.
A first radial thrust collecting mechanism is provided to the working platform 1, and a predetermined cylindrical region of the first radial thrust collecting mechanism is used to coaxially accommodate the body of the rocket engine 12.
The second radial thrust collection mechanism is arranged on the working platform 1, the second radial thrust collection mechanism and the first radial thrust collection mechanism are arranged side by side at intervals, and a preset cylinder area of the second radial thrust collection mechanism is used for accommodating the head of the rocket engine 12 in a coaxial mode.
Therefore, the body and the head of the rocket engine 12 are respectively fixed and the radial thrust is acquired through the first radial thrust acquisition mechanism and the second radial thrust acquisition mechanism, so that the distribution range of radial thrust acquisition points along the axial direction of the rocket engine 12 is expanded, and the reliability and the accuracy of the acquired radial thrust data are improved.
In this embodiment, the working platform 1 is provided with a plurality of slots, the slots are arranged at intervals in order along the axial direction of the predetermined cylinder region, the first fixing frame of the radial thrust collection mechanism is detachably inserted into any one of the slots, that is, the first radial thrust collection mechanism can be inserted into any one of the slots, the second radial thrust collection mechanism can be inserted into any one of the slots, and the positions of the first radial thrust collection mechanism and the second radial thrust collection mechanism can be respectively and reasonably adjusted according to the axial size of the rocket engine 12.
Optionally, the first fixed frame and the first movable frame of the first radial thrust collection mechanism are the body fixed frame 6 and the body movable frame 7, respectively, and the first fixed frame and the first movable frame of the second radial thrust collection mechanism are the head fixed frame 10 and the head movable frame 11, respectively.
In an alternative of this embodiment, the axial thrust collecting mechanism includes a second fixed frame 2, a second movable frame 3 and an axial tension and pressure sensor 4.
The second fixed frame 2 is vertically arranged on the working platform 1, the second movable frame 3 is plate-shaped and is arranged with the second fixed frame 2 at intervals along the axial direction of a preset cylinder area, and the second movable frame 3 is used for being connected with the tail part of the rocket engine 12.
The axial tension and pressure sensor 4 has a strain direction along the axial direction of the predetermined cylindrical region, and the axial tension and pressure sensor 4 is connected between the second stationary frame 2 and the second movable frame 3 so that the second movable frame 3 can generate displacement along the axial direction of the predetermined cylindrical region with respect to the second stationary frame 2, thereby measuring the axial thrust of the rocket engine 12 by the axial tension and pressure sensor 4.
In this embodiment, the axial thrust collecting mechanism includes two axial pull pressure sensors 4, and as shown in fig. 9, the distance between the two axial pull pressure sensors 4 and the axis of the predetermined cylindrical region is equal and equal to d along the radial direction of the predetermined cylindrical region, so as to facilitate subsequent torque calculation. Wherein the center of the axial thrust collecting mechanism is defined as the intersection point between the second moving frame 3 and the axis of the predetermined cylindrical region.
In this embodiment, the axial thrust collection mechanism further comprises an elastic preload member, the elastic preload member comprises a fixing portion and an elastic portion, the fixing portion is connected with the second movable frame 3, the two ends of the elastic portion in the length direction are respectively a first end and a second end, the first end is connected with the second fixed frame 2 in an abutting mode, and the second end is connected with the fixing portion in an adjustable mode so that the length of the elastic preload member is adjustable.
Thereby can adjust through the length to the elasticity pretension piece, pull pressure sensor 4 to every axial and carry out the pretightning force and adjust, so that the axial pulls pressure sensor 4 to carry out the pretension zero setting, specifically speaking, because rocket engine 12 is usually by the directional head of afterbody along axial thrust, therefore exert pulling force to second movable frame 3, so when the pretightning force was adjusted, can adjust the elasticity pretension piece to the axial and pull the reading of pressure sensor 4 and show the state of pulling, and under this setting state, pull pressure sensor 4 zero setting with the axial, the pretension is adjusted effectually, the precision is high, and the pretightning force size does not influence the numerical value that the axial pulled pressure sensor 4.
Optionally, the resilient preload is a spring plunger 5.
In conclusion, compared with the existing thrust vector measuring device, the thrust vector measuring device does not use multi-dimensional force sensors such as a six-component force sensor and the like, and the used sensors are common tension and pressure sensors, so that the structure is simplified, the design difficulty caused by sensor customization is avoided, meanwhile, the interchange of the sensors among different force measuring frames can be realized, and the fault tolerance rate of the system is high.
The thrust vector measuring device in this embodiment has the advantages of the radial thrust collecting mechanism in the first embodiment, and the advantages of the radial thrust collecting mechanism disclosed in the first embodiment will not be described repeatedly here.
EXAMPLE III
The third embodiment provides a thrust vector measuring method, the thrust vector measuring device in the second embodiment is adopted in the third embodiment, the technical features of the thrust vector measuring device disclosed in the second embodiment are also applicable to the third embodiment, and the technical features of the thrust vector measuring device disclosed in the second embodiment are not described repeatedly.
Referring to fig. 11 and 12 in conjunction with fig. 1 to 10, the thrust vector measurement method provided in this embodiment includes the following steps:
step S1, establishing a three-dimensional Cartesian coordinate system by taking the center of the axial thrust acquisition mechanism as a coordinate origin, wherein the z axis of the three-dimensional Cartesian coordinate system is collinear with the axis of the preset cylindrical area, the y axis of the three-dimensional Cartesian coordinate system is consistent with the height direction of the working platform 1, and the x axis, the y axis and the z axis of the three-dimensional Cartesian coordinate system are vertical;
step S2, acquiring the radial tension and compression force measured by each radial tension and compression force sensor 8, and acquiring the axial tension and compression force measured by each axial tension and compression force sensor 4;
and step S3, calculating the thrust of the engine according to the radial tension and the axial tension.
In this alternative, the center of the axial thrust collecting mechanism refers to an intersection point between the axis of the predetermined cylindrical region and the second moving frame of the axial thrust collecting mechanism in the mounted state of the thrust vector measuring device. Specifically, the positive directions of the x-axis, the y-axis, and the z-axis of the three-dimensional cartesian coordinate system may be determined according to actual requirements, as shown in fig. 9, the positive direction of the z-axis points to the side of the axial thrust collecting mechanism away from the radial thrust collecting mechanism, the positive direction of the y-axis points to the side of the axial thrust collecting mechanism away from the working platform 1, and the positive direction of the x-axis points to any one of the axial tension and pressure sensors 4, that is, the connection line of the two axial tension and pressure sensors 4 is collinear with the x-axis.
Specifically, the engine thrust and other index parameters related to the engine thrust can be calculated according to the measurement values of each radial pull pressure sensor 8 and each axial pull pressure sensor 4 and the relative position relationship between the measurement values.
In an alternative of this embodiment, step S3 specifically includes the following steps:
step S300, calculating the engine thrust force F, and calculating the engine thrust force F and the component of the engine thrust force F along the x-axis, the component of the y-axis and the component of the z-axis (F)x、Fy、Fz) In order to realize the purpose,
Figure BDA0003582066360000161
wherein, Fr1、Fr2And Fr3Data respectively acquired by three radial tension and pressure sensors 8 of the first radial thrust acquisition mechanism, Fr4、Fr5And Fr6Data respectively acquired by three radial tension and pressure sensors 8 of the second radial thrust acquisition mechanism, Fz1And Fz2The data collected by the two axial tension and pressure sensors 4 of the axial thrust collecting mechanism is G, and G is the gravity of the rocket engine 12;
step S310, calculating the thrust moment M of the engineFThrust moment M of engineFComprising engine thrust with x-axis as axis of rotation
Figure BDA0003582066360000162
And the moment of the thrust of the engine using the y-axis as the rotating shaft
Figure BDA0003582066360000163
Step S320, calculating the moment of the external force taking the x axis as a rotating shaft, and calculating the moment of the external force taking the y axis as the rotating shaft;
step S330, solving the eccentricity and the eccentricity argument of the thrust of the engine according to the principle that the thrust moment of the engine is balanced with the external force moment;
step S340, establishing an equation set of the external force moment,
Figure BDA0003582066360000171
wherein the content of the first and second substances,
Figure BDA0003582066360000172
is the resultant moment of the external force around the x-axis,
Figure BDA0003582066360000173
is the resultant moment of external force around the y-axis, LGDistance of the center of mass of the rocket motor 12 from the origin of coordinates, Lr1Is the distance between the center of the first movable frame of the first radial thrust acquisition mechanism and the origin of coordinates, Lr2The distance between the center of a second movable frame 3 of the second radial thrust acquisition mechanism and the origin of coordinates is d, and the distance between the measuring point of the axial tension pressure sensor 4 and the origin of coordinates is d;
step S350, solving an eccentricity component P according to the principle that the external force moment and the engine thrust moment are balancedxAnd an eccentricity component Py，
Figure BDA0003582066360000174
Wherein, the eccentricity component of the engine thrust F taking the x axis as the rotating shaft is PxThe eccentricity component of the engine thrust F taking the y axis as the rotating shaft is Py；
Step S360, according to the eccentricity component PxAnd an eccentricity component PyThe eccentricity P and the eccentricity argument phi of the thrust of the engine are solved, wherein,
Figure BDA0003582066360000175
Figure BDA0003582066360000181
in the above steps S310 to S360, as shown in fig. 5 and 9, each of the two radial thrust force acquisition mechanisms includes three radial tension and pressure sensors 8, the plurality of radial tension and pressure sensors 8 are uniformly arranged along the circumferential direction of the predetermined cylindrical region, the strain direction of one radial tension and pressure sensor 8 is parallel to the y-axis, and the strain direction of one radial tension and pressure sensor 8 is deflected by 30 ° with respect to the direction of the x-axis away from the y-axis; the axial thrust collection mechanism comprises two axial tension pressure sensors 4.
As shown in FIG. 9, the radial thrust force F measured by the first radial pull pressure sensor is shownr1Position of the second radial tension-pressure sensor, radial thrust F measured by the second radial tension-pressure sensorr2Position of (3), radial thrust F measured by the third radial tension-pressure sensorr3Position of (3), radial thrust F measured by the fourth radial tension-pressure sensorr4Position of (2), radial thrust F measured by the fifth radial tension-pressure sensorr5Position of (2), radial thrust F measured by the sixth radial tension-pressure sensorr6Position of (2), axial thrust F measured by the first axial tension pressure sensorz1Position of (2), axial thrust F measured by the second axial tension-pressure sensorz2The position of (a).
Specifically, in step S350, an equation is established based on the principle that the engine thrust moment and the external force moment are balanced as
Figure BDA0003582066360000182
From this equation, the eccentricity component P shown in step S350 can be obtainedxAnd an eccentricity component Py. As shown in fig. 11, the eccentricity component PxThe eccentricity component P, which is the distance in the x-direction by which the point of application of the engine thrust F deviates from the Z-axisyIs the distance by which the point of action of the engine thrust F is offset in the y-direction relative to the z-axis.
That is to say, the thrust vector measuring method can quickly and accurately determine the thrust F of the engine and the thrust of the engine by only reading the readings of eight sensors and measuring four distance valuesMoment MFEccentricity P and eccentricity argument phi of the engine thrust F, wherein the eccentricity P and eccentricity argument phi of the engine thrust F describe the directionality of the thrust.
The thrust vector measuring method in the present embodiment has the advantages of the thrust vector measuring device in the second embodiment, and the advantages of the thrust vector measuring device disclosed in the second embodiment will not be described again.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention. Moreover, those skilled in the art will appreciate that although some embodiments described herein include some features included in other embodiments, not others, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, any of the claimed embodiments may be used in any combination. The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.

Claims (10)

1. A radial thrust acquisition mechanism is characterized by comprising a first fixed frame, a first movable frame, a pulley and a radial tension and pressure sensor;
the first fixed frame is provided with a mounting hole, the first movable frame is annular, the inner space of the first movable frame forms a preset cylindrical area, the first movable frame is arranged in the mounting hole, and an annular interval along the radial direction of the preset cylindrical area is formed between the hole wall of the mounting hole and the first movable frame;
the at least three pulleys are respectively connected with the first movable frame and arranged around the preset cylinder area, the sliding direction of each pulley is parallel to the axial direction of the preset cylinder area, and the at least three pulleys can clamp and limit the component to be tested in the preset cylinder area;
the radial tension and pressure sensor is provided with a strain direction parallel to the radial direction of the preset cylinder area, and the radial tension and pressure sensor is connected between the first fixed frame and the first movable frame, so that the first movable frame can generate radial displacement along the preset cylinder area relative to the first fixed frame under the driving of the part to be tested.
2. The radial thrust force collection mechanism according to claim 1, wherein the number of said radial pull/press force sensors is at least three, and at least three of said radial pull/press force sensors are arranged at intervals along a circumferential direction of said predetermined cylindrical region.
3. The radial thrust force acquisition mechanism according to claim 1, wherein the radial pull pressure sensor is screwed with the first fixed frame, and fixing nuts are screwed at the joint of the radial pull pressure sensor and the outer surface of the first fixed frame and the joint of the radial pull pressure sensor and the inner surface of the first fixed frame;
the pulley comprises a pulley frame and a pulley body pivoted to the pulley frame, the pulley frame is in threaded connection with the first movable frame, and fixing nuts are respectively in threaded connection with the joint of the outer surface of the first movable frame and the joint of the inner surface of the pulley frame.
4. A thrust vector measuring device is characterized by being used for carrying out vector measurement on the thrust of a rocket engine, wherein the rocket engine comprises a head part, a body part and a tail part which are sequentially arranged along the axial direction of the rocket engine;
the rocket engine thrust vector measuring device comprises a working platform, an axial thrust acquisition mechanism and at least one radial thrust acquisition mechanism according to any one of claims 1 to 3;
the radial thrust collecting mechanism is arranged on the working platform, and a preset cylinder area of the radial thrust collecting mechanism is used for accommodating one end of the rocket engine in a coaxial mode;
the axial thrust collecting mechanism comprises a second fixed frame, a second movable frame and an axial tension and pressure sensor, the second fixed frame is vertically arranged on the working platform, the second movable frame is plate-shaped and is arranged with the second fixed frame at intervals along the axial direction of the preset cylinder area, and the second movable frame is used for being connected with the other end of the rocket engine;
the axial tension and pressure sensor has a strain direction along the axial direction of the predetermined cylindrical region, and is connected between the second fixed frame and the second movable frame, so that the second movable frame can generate displacement along the axial direction of the predetermined cylindrical region relative to the second fixed frame.
5. The thrust vector measuring device according to claim 4, wherein the number of the radial thrust force collecting mechanisms is two, and the two radial thrust force collecting mechanisms are a first radial thrust force collecting mechanism and a second radial thrust force collecting mechanism, respectively;
a predetermined cylindrical region of the first radial thrust gathering mechanism for coaxially receiving a body portion of the rocket engine;
the second radial thrust collection mechanism is arranged side by side at a distance from the first radial thrust collection mechanism, and the predetermined cylindrical region of the second radial thrust collection mechanism is used for coaxially accommodating the head of the rocket engine;
axial thrust gathers the mechanism and still includes elasticity pretension piece, elasticity pretension piece includes fixed part and elastic part, the fixed part with the second moves the frame and is connected, the length direction's of elastic part both ends are first end and second end respectively, first end with the butt is decided to the second, the second end with the fixed part is connected adjustably, so that the length of elasticity pretension piece is adjustable.
6. The thrust vector measuring device according to claim 4, wherein the working platform is provided with a plurality of slots, the plurality of slots are sequentially arranged at intervals along the axial direction of the predetermined cylindrical region, and the first fixing frame of the radial thrust collecting mechanism is detachably inserted into any one of the slots;
the axial thrust acquisition mechanism further comprises two axial pull pressure sensors, and the distance between the two axial pull pressure sensors and the axis of the preset cylinder area is equal along the radial direction of the preset cylinder area.
7. A thrust vector measurement method for measuring a thrust of a rocket engine using the thrust vector measurement apparatus according to any one of claims 4 to 6, the thrust vector measurement method comprising the steps of:
establishing a three-dimensional Cartesian coordinate system by taking the center of the axial thrust acquisition mechanism as a coordinate origin, wherein the z axis of the three-dimensional Cartesian coordinate system is collinear with the axis of the preset cylindrical area, the y axis of the three-dimensional Cartesian coordinate system is consistent with the height direction of the working platform, and the x axis of the three-dimensional Cartesian coordinate system is vertical to the y axis and the z axis;
acquiring the radial tension and pressure measured by each radial tension and pressure sensor, and acquiring the axial tension and pressure measured by each axial tension and pressure sensor;
and calculating the thrust of the engine according to the radial tension and pressure and the axial tension and pressure.
8. The thrust vector measurement method of claim 7, wherein said step of calculating engine thrust from said radial tension and compression forces and said axial tension and compression forces comprises in particular the steps of:
calculating the moment of the thrust of the engine by taking the x axis as a rotating shaft, and calculating the moment of the thrust of the engine by taking the y axis as the rotating shaft;
calculating the moment of the external force taking the x axis as a rotating shaft, and calculating the moment of the external force taking the y axis as a rotating shaft;
and solving the eccentricity and the eccentricity argument of the thrust of the engine according to the principle that the thrust moment of the engine is balanced with the external force moment.
9. The thrust vector measurement method according to claim 8, wherein the number of the radial thrust force acquisition mechanisms is two, each of the two radial thrust force acquisition mechanisms includes three radial tension and pressure sensors, the plurality of radial tension and pressure sensors are uniformly arranged along the circumferential direction of the predetermined cylindrical region, the strain direction of one of the radial tension and pressure sensors is parallel to the y-axis, and the strain direction of one of the radial tension and pressure sensors is deflected by 30 ° with respect to the x-axis in a direction away from the y-axis;
the axial thrust acquisition mechanism comprises two axial tension pressure sensors;
the calculated engine thrust force F and the components of said engine thrust force F along the x-axis, the y-axis and the z-axis (F)x、Fy、Fz) In order to realize the purpose of the method,
Figure FDA0003582066350000041
wherein, Fr1、Fr2And Fr3Data respectively acquired by three radial tension and pressure sensors of the first radial thrust acquisition mechanism, Fr4、Fr5And Fr6Data respectively acquired by three radial tension and pressure sensors of the second radial thrust acquisition mechanism, Fz1And Fz2The axial thrust acquisition mechanism is used for acquiring the data of the two axial tension pressure sensors, and G is the gravity of the rocket engine.
10. The thrust vector measurement method of claim 9, wherein the step of calculating the engine thrust further comprises the steps of:
an equation set of the external force moment is established,
Figure FDA0003582066350000042
wherein the content of the first and second substances,
Figure FDA0003582066350000051
is the resultant moment of the external force around the x-axis,
Figure FDA0003582066350000052
is the resultant moment of external force around the y-axis, LGIs the distance between the center of mass of the rocket engine and the origin of coordinates, Lr1The distance, L, between the center of the first moving frame of the first radial thrust collecting mechanism and the origin of coordinatesr2The distance between the center of a second movable frame of the second radial thrust acquisition mechanism and the origin of coordinates is d, and the distance between the measuring point of the axial tension pressure sensor and the origin of coordinates is d;
an equation set of the thrust moment of the engine is established,
Figure FDA0003582066350000053
wherein, the eccentricity component of the engine thrust F taking the x axis as the rotating shaft is PxThe eccentricity component of the thrust F of the engine taking the y axis as a rotating shaft is Py；
According to the principle that the external force moment and the engine thrust moment are balanced, the eccentricity component P is solvedxAnd an eccentricity component Py，
Figure FDA0003582066350000054
According to the eccentricity component PxAnd an eccentricity component PyThe eccentricity P and the eccentricity argument phi of the engine thrust F are solved, wherein,
Figure FDA0003582066350000055
Figure FDA0003582066350000056
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