CN114636559B - Radial thrust collection mechanism, thrust vector measurement device and method - Google Patents

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

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Publication number
CN114636559B
CN114636559B CN202210354934.XA CN202210354934A CN114636559B CN 114636559 B CN114636559 B CN 114636559B CN 202210354934 A CN202210354934 A CN 202210354934A CN 114636559 B CN114636559 B CN 114636559B
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thrust
radial
axis
axial
movable frame
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CN114636559A (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

Abstract

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

Description

Radial thrust collection 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 measuring device and a method.
Background
In the field of liquid rocket engine thrust measurement, to realize vector measurement of engine thrust (i.e. to measure the thrust magnitude and the thrust direction simultaneously), a six-component sensor is often required. The six-component force sensor can realize the measurement of single-point multidirectional force, and can realize the vector measurement effect through the use of a plurality of sensors, but the six-component force sensor needs customization, has poor generality and is easy to damage.
When the pull pressure sensor is used for thrust measurement, only axial measurement can be realized at present, but radial measurement cannot be realized, and the direction information of the combined thrust of the engine cannot be obtained.
Disclosure of Invention
The purpose of the application is to provide a radial thrust acquisition mechanism, a thrust vector measurement device and a method, so as to solve the technical problems that radial measurement cannot be realized and the information of the combined thrust of an engine cannot be obtained to a certain extent in the prior art.
The application provides a radial thrust acquisition 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 space along the radial direction of the preset cylinder area is formed between the hole wall of the mounting hole and the first movable frame;
the first movable frame is annular, the inner space of the first movable frame forms a preset cylinder area, at least three pulleys are respectively connected with the first movable frame and are arranged around the preset cylinder area, the sliding direction of each pulley is parallel to the axial direction of the preset cylinder area, and at least three pulleys can clamp and limit a part to be tested to the preset cylinder area;
the radial tension pressure sensor is connected between the first fixed frame and the first movable frame, so that the first movable frame can generate displacement along the radial direction of the preset cylinder area relative to the first fixed frame under the drive of the part to be tested.
In the above technical solution, further, the number of the radial tension pressure sensors is at least three, and at least three radial tension pressure sensors are arranged at intervals along the circumferential direction of the predetermined cylinder area.
In the above technical solution, further, the radial tension pressure sensor is screwed with the first fixed frame, and a connection part between the radial tension pressure sensor and the outer surface of the first fixed frame and a connection part between the radial tension pressure sensor and the inner surface of the first fixed frame are both screwed with a fixing nut;
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 in threaded connection with the connection part of the pulley frame and the outer surface of the first movable frame and the connection part of the inner surface of the pulley frame.
The application also provides a thrust vector measurement device which is used for vector measurement of 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 collecting mechanism and at least one radial thrust collecting mechanism according to any technical scheme;
the radial thrust acquisition mechanism is arranged on the working platform, and a preset cylinder area of the radial thrust acquisition mechanism is used for coaxially accommodating one end of the rocket engine;
the axial thrust acquisition mechanism comprises a second fixed frame, a second movable frame and an axial tension pressure sensor, wherein 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 along the axial direction of the preset cylinder area at intervals, and the second movable frame is used for being connected with the other end of the rocket engine;
the axial tension pressure sensor has a strain direction along an 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 a first radial thrust collecting mechanism and a second radial thrust collecting mechanism respectively;
a predetermined cylindrical region of the first radial thrust collecting means for coaxially receiving a body of the rocket engine;
the second radial thrust collecting mechanism and the first radial thrust collecting mechanism are arranged at intervals side by side, and the preset cylinder area of the second radial thrust collecting mechanism is used for coaxially accommodating the head of the rocket engine;
the axial thrust collection mechanism further comprises an elastic pre-tightening piece, the elastic pre-tightening piece comprises a fixing portion and an elastic portion, the fixing portion is connected with the second movable frame, two ends of the elastic portion in the length direction are a first end and a second end respectively, the first end is abutted to the second fixed frame, and the second end is adjustably connected with the fixing portion, so that the length of the elastic pre-tightening piece is adjustable.
In any 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 cylinder area, and the first fixing frame of the radial thrust collecting mechanism is detachably inserted into any one of the slots;
the axial thrust collection mechanism comprises two axial tension pressure sensors, and the distance between the two axial tension 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 measurement method, which adopts the thrust vector measurement device according to any one of the technical schemes to measure the thrust of the rocket engine, and 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 cylinder 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 perpendicular 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 engine thrust according to the radial tension and the axial tension.
In any of the above solutions, further, the step of calculating the engine thrust specifically includes the steps of:
calculating the moment of the engine thrust taking the x axis as a rotating shaft, and calculating the moment of the engine thrust 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 the rotating shaft;
and solving the eccentricity and the eccentric radial angle of the engine thrust according to the principle that the engine thrust moment and the external force moment are balanced.
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 tension pressure sensors, the plurality of radial tension pressure sensors are uniformly arranged along the circumference of the predetermined cylindrical area, the strain direction of one radial tension pressure sensor is parallel to the y-axis, and the strain direction of one radial tension pressure sensor is deflected by 30 ° relative to the direction of the x-axis deviating from the y-axis;
the axial thrust acquisition mechanism comprises two axial tension pressure sensors;
calculated engine thrustFSaid engine thrustFComponent along x-axis, component along y-axis and component along z-axisF x 、F y 、F z ) The method comprises the following steps:
，
wherein,、/>and->Data acquired by three radial tension pressure sensors of the first radial thrust acquisition mechanism respectively, < ->、/>And->Data acquired by three radial tension pressure sensors of the second radial thrust acquisition mechanism respectively, < >>And->Data acquired by the two axial tension pressure sensors of the axial thrust acquisition mechanism,Gis the gravity of the rocket engine.
In any of the above technical solutions, further, the step of calculating the engine thrust specifically further includes the following steps:
an equation set of the external force moment is established,
，
wherein,is the resultant moment of external force around x axis +.>Is the resultant moment of external force around the y axis, +.>Is the distance between the centroid of the rocket engine and the origin of coordinates, < >>For the distance between the center of the first movable frame of the first radial thrust collecting mechanism and the origin of coordinates, +.>For the distance between the center of the second movable frame of the second radial thrust collecting mechanism and the origin of coordinates,dfor axially pulling the measuring point of the pressure sensor and the origin of coordinatesIs a distance of (2);
a system of equations for the thrust torque of the engine is established,，
wherein the engine thrust takes the eccentric distance component of the x-axis as a rotating shaft asThe eccentricity component of the engine thrust with the y axis as the rotation axis is +.>；
According to the principle of balancing the external force moment and the thrust moment of the engine, the eccentricity component is solvedEccentricity component->The method comprises the following steps:
；
based on the eccentricity componentEccentricity component->The eccentricity of the solved engine thrust>And eccentric radial angle->Wherein, the method comprises the steps of, wherein,
，
。
compared with the prior art, the beneficial effects of this application are:
the radial thrust collection mechanism that this application provided includes first fixed bolster, first movable bolster, radial tension pressure sensor and at least three pulley. The at least three pulleys define a preset cylinder area for installing the part to be tested, when the part to be tested generates thrust, the pulley directions of the three pulleys are parallel to the axial direction of the preset cylinder area, so that the rigid connection of the first movable frame and the part to be tested along the axial direction of the preset cylinder area is canceled, the first movable frame generates radial displacement along the preset cylinder area relative to the first fixed frame only under the action of the radial thrust of the part to be tested, and meanwhile, the first movable frame transmits the radial thrust between the radial tension pressure sensor and the part to be tested, so that the radial tension pressure sensor can detect the radial thrust of the part to be tested.
Therefore, the radial thrust collecting mechanism can directly measure the radial thrust without being influenced by the axial thrust, so that the axial thrust and the radial thrust are measured without mutual interference, the independent measurement of the radial thrust is realized, the existing thrust measuring device can be conveniently modified, the axial thrust structure is combined for use, and the information of the combined thrust of the engine is possible to obtain. In addition, this radial thrust collection mechanism has simple structure, and installs convenient advantage.
The thrust vector measuring device is used for measuring the thrust of the rocket engine. The thrust vector measuring device comprises an axial thrust collecting mechanism, a first radial thrust collecting mechanism and a second radial thrust collecting mechanism. The axial thrust of the rocket engine is obtained through the axial thrust collecting mechanism, the radial thrust of the rocket engine is obtained through the first radial thrust collecting mechanism and the second thrust collecting mechanism, and therefore the calculated engine thrust is calculated according to the radial pulling pressure and the axial pulling pressure, and specifically, the size and the direction information of the radial pulling pressure and the axial pulling pressure can be obtained, so that the size and the direction information of the engine thrust can be obtained.
According to the thrust vector measurement method, the thrust vector measurement device is used for measuring 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 embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a radial thrust collecting mechanism according to a first embodiment of the present disclosure;
FIG. 2 is a cross-sectional view of FIG. 1 at a radial thrust collection mechanism-radial thrust collection mechanism cross-section;
FIG. 3 is a partial enlarged view 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 of a first use state of a first movable frame of a radial thrust collecting mechanism according to an embodiment of the present disclosure;
FIG. 6 is a schematic view illustrating a second usage state of a first movable frame of a radial thrust collecting mechanism according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of a thrust vector measurement device according to a second embodiment of the present disclosure;
fig. 8 is a first structural schematic diagram of an axial thrust collecting mechanism of a thrust vector measurement device according to a second embodiment of the present disclosure;
FIG. 9 is a cross-sectional view of the thrust vector measurement device of FIG. 8 at section D-D;
fig. 10 is a second schematic structural diagram of an axial thrust collecting mechanism of the thrust vector measurement device according to the second embodiment of the present application;
FIG. 11 is a diagram illustrating a force analysis of a rocket engine positioned in a thrust vector measurement device according to a third embodiment of the present disclosure;
fig. 12 is a partial enlarged view at E of fig. 11.
Reference numerals:
1-a working platform; 2-a second fixed frame; 3-a second movable frame; 4-an axial tension pressure sensor; 5-spring plunger; 6, body fixing frame; 7-a body movable frame; 8-a radial pull pressure sensor; 9-pulleys; 10-head setting; 11-head moving frame; 12-rocket engine; 13-nut.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific 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 explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Example 1
Referring to fig. 1-6, embodiments of the present application provide a radial thrust collecting mechanism for detecting radial thrust of a component under test, and in particular, radial thrust of a rocket motor 12.
The radial thrust collecting mechanism provided in this embodiment is used for a thrust vector measuring device including a first fixed frame, a first movable frame, a pulley 9, and a radial tension pressure sensor 8.
Hereinafter, the above-described 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 a first fixed frame, the first movable frame is disposed in the mounting hole, the first movable frame is annular, an internal space of the first movable frame forms a predetermined cylindrical region, the predetermined cylindrical region is used for mounting a rocket motor 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 radially displace along the predetermined cylindrical region relative to the first positioning frame.
Alternatively, in order to secure the central symmetry of the structure and simplify the structure, the mounting hole is cut in a cross section perpendicular to the axial direction of the predetermined cylindrical region to have a circular shape coaxial with the predetermined cylindrical region.
The number of pulleys 9 is at least three, for example three, four or more. At least three pulleys 9 are respectively connected with the first movable frame and are arranged around the predetermined cylinder area, and the sliding direction of each pulley 9 is parallel to the axial direction of the predetermined cylinder area, so that after the rocket motor 12 to be tested is coaxially placed in the predetermined cylinder area, the at least three pulleys 9 can clamp and limit the part to be tested to the predetermined cylinder area, specifically, when the rocket motor 12 is limited in the predetermined cylinder area, the peripheral contour of each pulley 9 is tangent to the bus of the rocket motor 12.
The first carriage and the rocket motor 12 are thus rigidly connected in the radial direction of the predetermined cylinder area on the one hand, so that the radial thrust of the rocket motor 12 can be transmitted to the first carriage, and the first carriage and the rocket motor 12 are slidably connected in the axial direction of the predetermined cylinder area on the other hand, i.e. a rigid connection is avoided, so that the transmission path of the axial thrust of the rocket motor 12 to the first carriage is cut off, so that the radial thrust measurement is not affected by the axial thrust measurement.
Optionally, the number of pulleys 9 is three, on the one hand, the number of pulleys 9 is enough to enable rocket motor 12 to be stably limited in a predetermined cylinder area, so as to improve the radial synchronism between rocket motor 12 and the first movable frame, and on the other hand, the number of pulleys 9 is not excessive, which is beneficial to simplifying the structure of the radial thrust collecting mechanism, and further, in the case of thrust vector measurement of rocket motor 12, is beneficial to simplifying calculation.
The radial tension pressure sensor 8 has a strain direction parallel to the radial direction of the predetermined cylinder area, the radial tension 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 area relative to the first fixed frame under the drive of the component to be tested, that is, under the action of the radial thrust of the rocket motor 12, the first movable frame generates radial movement trend or generates radial movement, so that the first movable frame plays a role in thrust transmission between the rocket motor 12 and the radial tension pressure sensor 8, and the radial tension pressure sensor 8 is subjected to the action of the tensile force (or the pressure) of the first movable frame, thereby achieving the purpose of measuring the radial thrust of the rocket motor 12 through the radial tension pressure sensor 8.
In an alternative of the present embodiment, the number of the radial tension pressure sensors 8 is at least three, and the at least three radial tension pressure sensors 8 are arranged at intervals along the circumferential direction of the predetermined cylindrical region, that is, the number of the radial tension pressure sensors 8 is three, four or more.
Alternatively, to improve the uniformity of acquisition of the radial pull pressure measurement points along the circumference of the rocket motor 12 to improve the reliability of the measured data, all the radial pull pressure sensors 8 are uniformly arranged along the circumference of the predetermined cylindrical region.
Alternatively, the number of the radial tension pressure sensors 8 is three, so that three-point measurement of the radial thrust is realized, which is beneficial to simplifying the thrust calculation process.
In an alternative scheme of the embodiment, the radial tension pressure sensor 8 is in threaded connection with the first bracket, a fixing nut 13 is in threaded connection with the connection position of the radial tension pressure sensor 8 and the outer surface of the first bracket, and fixing nuts 13 are in threaded connection with the connection positions of the radial tension pressure sensor 8 and the inner surface of the first bracket.
The pulley 9 comprises a pulley frame and a pulley body pivoted on the pulley frame, the pulley 9 is in threaded connection with the first movable frame through the pulley frame, specifically, a fixing nut 13 is in threaded connection with the connecting position of the pulley frame and the outer surface of the first movable frame, and fixing nuts 13 are in threaded connection with the connecting positions of the pulley frame and the inner surface of the first movable frame.
That is, the radial tension pressure sensor 8 is connected with the first fixed frame in a double-nut mode, and the pulley 9 is connected with the first movable frame in a double-nut mode, so that on one hand, bidirectional adjustment of the pulley 9 and the radial tension pressure sensor 8 is realized, and on the other hand, bidirectional clamping is performed on the pulley 9 and the radial tension pressure sensor 8, and connection rigidity of the movable frame and the rocket motor 12 is ensured.
In addition, the radial thrust collecting mechanism can be used for measuring radial thrust of engines with different outer diameters, the application range is enlarged, and tension or pressure pre-tightening zeroing can be realized on the radial tension pressure sensor 8 according to different requirements, namely, the radial tension pressure sensor 8 is adjusted to a first preset tension or a first preset pressure, and then the radial tension pressure sensor 8 is zeroed, so that the measurement value of the radial tension pressure sensor 8 is not influenced by the magnitude of the radial pre-tightening force.
Example two
The second embodiment provides a thrust vector measuring device, which includes the radial thrust collecting mechanism in the first embodiment, and the technical features of the radial thrust collecting mechanism disclosed in the first embodiment are also applicable to the first embodiment, and the technical features of the radial thrust collecting mechanism disclosed in the first embodiment are not repeated.
Referring to 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 thrust of the rocket engine 12.
Rocket motor 12 includes a head, a body, and a tail, which are sequentially arranged along its own axis. The rocket engine thrust vector measuring device comprises a working platform 1, an axial thrust collecting mechanism and at least one radial thrust collecting mechanism.
Hereinafter, the above-described components of the rocket motor 12 will be specifically described.
In an alternative to this embodiment, the number of radial thrust collecting mechanisms is one, two, three or more, all of which are in turn used to make radial thrust measurements on a corresponding number of measurement points from the head to the tail of the rocket engine 12.
Alternatively, the number of the radial thrust collecting mechanisms may be two, and the two radial thrust collecting mechanisms are a first radial thrust collecting mechanism and a second radial thrust collecting mechanism, respectively.
A first radial thrust collecting means is provided on the working platform 1, the predetermined cylindrical region of which is intended to house the body of the rocket engine 12 in a coaxial manner.
The second radial thrust collecting mechanism is arranged on the working platform 1, and is arranged side by side and at intervals with the first radial thrust collecting mechanism, and a predetermined cylinder area of the second radial thrust collecting mechanism is used for accommodating the head of the rocket engine 12 in a coaxial mode.
The body and the head of the rocket engine 12 are respectively fixed and radially thrust-collected through the first radial thrust-collecting mechanism and the second radial thrust-collecting mechanism, so that the distribution range of the radial thrust-collecting points along the axial direction of the rocket engine 12 is enlarged, and the reliability and the accuracy of the collected radial thrust data are improved.
In this embodiment, the working platform 1 is provided with a plurality of slots, the plurality of slots are sequentially arranged at intervals along the axial direction of the predetermined cylinder area, and the first fixed frame of the radial thrust collecting mechanism is detachably inserted into any slot, that is, the first radial thrust collecting mechanism can be inserted into any slot, and the second radial thrust collecting mechanism can be inserted into any slot, so that the positions of the first radial thrust collecting mechanism and the second radial thrust collecting mechanism can be respectively and reasonably adjusted according to the axial dimension of the rocket engine 12.
Alternatively, the first fixed frame and the first movable frame of the first radial thrust collecting 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 collecting mechanism are the head fixed frame 10 and the head movable frame 11, respectively.
In an alternative of this embodiment, the axial thrust collection mechanism includes a second fixed frame 2, a second movable frame 3, and an axial tension 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 along the axial direction of the preset cylinder area at intervals, and the second movable frame 3 is used for being connected with the tail part of the rocket engine 12.
The axial tension pressure sensor 4 has a strain direction along an axial direction of the predetermined cylindrical region, and the axial tension pressure sensor 4 is connected between the second fixed frame 2 and the second movable frame 3 so that the second movable frame 3 can generate a displacement along the axial direction of the predetermined cylindrical region with respect to the second fixed frame 2, thereby measuring an axial thrust of the rocket motor 12 by the axial tension pressure sensor 4.
In this embodiment, the axial thrust collecting mechanism includes two axial tension pressure sensors 4, as shown in fig. 11, along the radial direction of the predetermined cylinder area, the distances between the two axial tension pressure sensors 4 and the axis of the predetermined cylinder area are equal and equal to d, so that the subsequent moment calculation is facilitated. Wherein the center of the axial thrust collecting mechanism is defined as the intersection point between the second movable frame 3 and the axis of the predetermined cylindrical region.
In this embodiment, the axial thrust collection mechanism further includes an elastic pre-tightening member, the elastic pre-tightening member includes a fixing portion and an elastic portion, the fixing portion is connected with the second movable frame 3, two ends of the elastic portion in a length direction are a first end and a second end respectively, the first end is abutted against the second fixed frame 2, and the second end is adjustably connected with the fixing portion, so that the length of the elastic pre-tightening member is adjustable.
Therefore, the length of the elastic pre-tightening piece can be adjusted, the pre-tightening force of each axial tension pressure sensor 4 can be adjusted, so that the axial tension pressure sensors 4 can be pre-tightened to zero, specifically, as the thrust of the rocket motor 12 along the axial direction is generally directed from the tail to the head, tension is applied to the second movable frame 3, when the pre-tightening force is adjusted, the elastic pre-tightening piece can be adjusted to a state that the reading of the axial tension pressure sensors 4 is in tension, and in the adjusted state, the axial tension pressure sensors 4 are zeroed, the pre-tightening adjustment effect is good, the precision is high, and the magnitude of the pre-tightening force does not influence the numerical value of the axial tension pressure sensors 4.
Alternatively, the resilient pretension is a spring plunger 5.
In summary, compared with the existing thrust vector measuring device, the thrust vector measuring device does not use multidimensional force sensors such as a six-component force sensor, all the sensors are common tension pressure sensors, the structure is simplified, design difficulties caused by sensor customization are avoided, meanwhile, the sensors can be interchanged among different force measuring frames, 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 are not repeated here.
Example III
The third embodiment provides a thrust vector measurement method, in which the thrust vector measurement device in the second embodiment is adopted, and the technical features of the thrust vector measurement device disclosed in the second embodiment are also applicable to the second embodiment, and the technical features of the thrust vector measurement device disclosed in the second embodiment are not repeated.
Referring to fig. 11 and 12 in combination with fig. 1 to 10, the thrust vector measurement method provided in the present embodiment includes the following steps:
s1, taking the center of an axial thrust acquisition mechanism as a coordinate origin, establishing a three-dimensional Cartesian coordinate system, wherein the z axis of the three-dimensional Cartesian coordinate system is collinear with the axis of a preset cylinder area, the y axis of the three-dimensional Cartesian coordinate system is consistent with the height direction of a working platform 1, and the x axis, the y axis and the z axis of the three-dimensional Cartesian coordinate system are vertical;
s2, acquiring radial tension and pressure measured by each radial tension and pressure sensor 8, and acquiring axial tension and pressure measured by each axial tension and pressure sensor 4;
and 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 means an intersection point between the axis of the predetermined cylindrical region and the second movable 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. 11, the positive direction axial thrust collecting mechanism of the z axis is away from the side of the radial thrust collecting mechanism, the positive direction axial thrust collecting mechanism of the y axis is away from the side of the working platform 1, and the positive direction of the x axis is directed to any axial tension pressure sensor 4, that is, the connecting line of the two axial tension pressure sensors 4 is collinear with the x axis.
Specifically, from the measured values of each radial pull pressure sensor 8 and each axial pull pressure sensor 4 and the relative positional relationship between the measured values, the engine thrust and other index parameters related to the engine thrust can be calculated.
In an alternative of this embodiment, step S3 specifically includes the following steps:
step S300, calculating engine thrustFCalculated engine thrustFEngine thrustFComponent along x-axis, component along y-axis and component along z-axisF x 、F y 、F z ) In order to achieve this, the first and second,
，
wherein,、/>and->Data acquired by three radial tension pressure sensors 8 of the first radial thrust acquisition means respectively, < >>、/>And->Data acquired by three radial tension pressure sensors 8 of the second radial thrust acquisition mechanism respectively, < >>And->For the data acquired by the two axial tension pressure sensors 4 of the axial thrust acquisition mechanism,Gis the weight of rocket motor 12;
step S310, calculating the thrust moment of the engineEngine thrust moment->Moment about x-axis as rotation axis including engine thrust>And moment of engine thrust with y axis as rotation axis +.>，/>；
Step S320, calculating the moment of the external force taking the x axis as the 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 eccentric radial angle 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, a system of equations for external force moment is established,
，
wherein,is the resultant moment of external force around x axis +.>Is the resultant moment of external force around the y axis, +.>Distance of the centroid of rocket motor 12 from the origin of coordinates, +.>For the distance between the center of the first movable frame of the first radial thrust collecting mechanism and the origin of coordinates, +.>Is the distance between the center of the second movable frame 3 of the second radial thrust collecting mechanism and the origin of coordinates,dis the distance between the measuring point of the axial tension pressure sensor 4 and the origin of coordinates;
step S350, according to the principle that the external force moment and the thrust moment of the engine are balanced, the eccentricity component is solvedEccentricity component->，
。
Wherein the engine thrustFWith the axis x as the axis of rotation and the eccentricity component asThrust of engineFThe eccentricity component with the y-axis as the axis of rotation is +.>；
Step S360, according to the eccentricity componentEccentricity component->Eccentricity of engine thrust obtained by solvingAnd eccentric radial angle->Wherein, the method comprises the steps of, wherein,
，
。
in the above steps S310 to S360, as shown in fig. 5 and 11, each of the two radial thrust collecting mechanisms includes three radial tension pressure sensors 8, the plurality of radial tension pressure sensors 8 are uniformly arranged along the circumferential direction of the predetermined cylindrical region, and the strain direction of one radial tension pressure sensor 8 is parallel to the y-axis, and the strain direction of one radial tension pressure sensor 8 is deflected by 30 ° with respect to the x-axis direction away from the y-axis direction; the axial thrust collection mechanism comprises two axial tension pressure sensors 4.
As shown in FIG. 11, the radial thrust measured by the first radial pull pressure sensor is shownThe radial thrust measured by the second radial tension pressure sensor +.>The radial thrust measured by the third radial tension pressure sensor +.>The radial thrust measured by the fourth radial tension pressure sensor +.>The radial thrust measured by the fifth radial tension pressure sensor +.>The radial thrust measured by the sixth radial tension pressure sensor +.>Is measured by the first axial tension pressure sensor>Is measured by a second axial pull pressure sensor>Is a position of (c).
Specifically, in step S350, the equation established according to the principle that the engine thrust moment and the external force moment are balanced isFrom this equation, the eccentricity component +_as shown in step S350 can be determined>Eccentricity component->. As shown in FIG. 11, the eccentricity component +.>The eccentricity component +.>The point of action of the engine thrust force F is offset in the y-direction from the z-axis.
That is, by determining the thrust vector measurement method, the engine thrust can be quickly and accurately determined by only reading the readings of eight sensors and measuring four distance valuesFThrust moment of engineThrust of engineFIs of the eccentricity of (a)And eccentric radial angle->Wherein the engine thrustFIs>And eccentric radial angle->The directionality of the thrust is described.
The thrust vector measurement method in the present embodiment has the advantages of the thrust vector measurement device in the second embodiment, and the advantages of the thrust vector measurement device disclosed in the second embodiment are not repeated here.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention. Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features but not others included in other embodiments, 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 can 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 (7)

1. A thrust vector measurement device for vector measurement of thrust of a rocket engine, the rocket engine including a head portion, a body portion, and a tail portion which are sequentially arranged along an axial direction thereof;
the thrust vector measuring device comprises a working platform, an axial thrust acquisition mechanism and at least one radial thrust acquisition mechanism;
the radial thrust acquisition mechanism 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 annular, the inner space of the first movable frame forms a preset cylinder area, the first movable frame is arranged in the mounting hole, and an annular space along the radial direction of the preset cylinder area is formed between the hole wall of the mounting hole and the first movable frame;
at least three pulleys are respectively connected with the first movable frame and are 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 a part to be tested to the preset cylinder area;
the radial tension pressure sensor is connected between the first fixed frame and the first movable frame, so that the first movable frame can generate displacement along the radial direction of the preset cylinder area relative to the first fixed frame under the drive of the part to be tested;
the number of the radial tension pressure sensors is at least three, and the at least three radial tension pressure sensors are distributed at intervals along the circumferential direction of the preset cylinder area;
the radial thrust acquisition mechanism is arranged on the working platform, and a preset cylinder area of the radial thrust acquisition mechanism is used for coaxially accommodating one end of the rocket engine;
the axial thrust acquisition mechanism comprises a second fixed frame, a second movable frame and an axial tension pressure sensor, wherein 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 along the axial direction of the preset cylinder area at intervals, and the second movable frame is used for being connected with the other end of the rocket engine;
the axial tension pressure sensor has a strain direction along the axial direction of the preset cylinder area, 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 preset cylinder area relative to the second fixed frame;
the radial tension pressure sensor is in threaded connection with the first fixed frame, and fixing nuts are in threaded connection with the connection of the radial tension pressure sensor and the outer surface of the first fixed frame and the connection of the radial tension 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 in threaded connection with the connection part of the pulley frame and the outer surface of the first movable frame and the connection part of the inner surface of the pulley frame.
2. The thrust vector measurement device of claim 1, wherein the number of radial thrust collection mechanisms is two, and the two radial thrust collection mechanisms are a first radial thrust collection mechanism and a second radial thrust collection mechanism, respectively;
a predetermined cylindrical region of the first radial thrust collecting means for coaxially receiving a body of the rocket engine;
the second radial thrust collecting mechanism and the first radial thrust collecting mechanism are arranged at intervals side by side, and the preset cylinder area of the second radial thrust collecting mechanism is used for coaxially accommodating the head of the rocket engine;
the axial thrust collection mechanism further comprises an elastic pre-tightening piece, the elastic pre-tightening piece comprises a fixing portion and an elastic portion, the fixing portion is connected with the second movable frame, two ends of the elastic portion in the length direction are a first end and a second end respectively, the first end is abutted to the second fixed frame, and the second end is adjustably connected with the fixing portion, so that the length of the elastic pre-tightening piece is adjustable.
3. The thrust vector measurement device according to claim 1, 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 fixed frame of the radial thrust acquisition mechanism is detachably inserted into any one of the slots;
the axial thrust collection mechanism comprises two axial tension pressure sensors, and the distance between the two axial tension pressure sensors and the axis of the preset cylinder area is equal along the radial direction of the preset cylinder area.
4. A thrust vector measurement method for measuring thrust of a rocket engine using the thrust vector measurement apparatus according to any one of claims 1 to 3, 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 cylinder 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 perpendicular 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 engine thrust according to the radial tension and the axial tension.
5. The thrust vector measurement method according to claim 4, wherein the step of calculating the engine thrust force based on the radial pull pressure and the axial pull pressure specifically comprises the steps of:
calculating the moment of the engine thrust taking the x axis as a rotating shaft, and calculating the moment of the engine thrust 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 the rotating shaft;
and solving the eccentricity and the eccentric radial angle of the engine thrust according to the principle that the engine thrust moment and the external force moment are balanced.
6. The thrust vector measurement method according to claim 5, wherein the number of the radial thrust collecting mechanisms is two, the two radial thrust collecting mechanisms each include three radial tension pressure sensors, the three radial tension pressure sensors are uniformly arranged along the circumferential direction of the predetermined cylindrical region, the strain direction of one radial tension pressure sensor is parallel to the y-axis, and the strain direction of one radial tension pressure sensor 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;
calculated engine thrustFSaid engine thrustFComponent along x-axis, component along y-axis and component along z-axisF x 、F y 、F z ) In order to achieve this, the first and second,
wherein,、/>and->Data acquired by three radial tension pressure sensors of the first radial thrust acquisition mechanism respectively, < ->、/>And->Data acquired by three radial tension pressure sensors of the second radial thrust acquisition mechanism respectively, < >>And->Data acquired by the two axial tension pressure sensors of the axial thrust acquisition mechanism,Gis the gravity of the rocket engine.
7. The thrust vector measurement method of claim 6, wherein said step of calculating engine thrust specifically further comprises the steps of:
an equation set of the external force moment is established,
，
wherein,is the resultant moment of external force around x axis +.>Is the resultant moment of external force around the y axis, +.>Is the distance between the centroid of the rocket engine and the origin of coordinates, < >>For the distance between the center of the first movable frame of the first radial thrust collecting mechanism and the origin of coordinates, +.>For the distance between the center of the second movable frame of the second radial thrust collecting mechanism and the origin of coordinates,dthe distance between the measuring point of the axial tension pressure sensor and the origin of coordinates is set;
a system of equations for the thrust torque of the engine is established,
wherein the engine thrustFWith the axis x as the axis of rotation and the eccentricity component asThrust of engineFThe eccentricity component with the y-axis as the axis of rotation is +.>The moment of the thrust of the engine taking the x axis as the rotating shaft is +.>And the moment of the thrust of the engine taking the y axis as the rotating shaft is +.>；
According to the balance between external force moment and thrust moment of engineThen, the eccentricity component is solvedEccentricity component->，
；
Based on the eccentricity componentEccentricity component->Solved engine thrustFIs>And eccentric radial angleWherein, the method comprises the steps of, wherein,
，
。
CN202210354934.XA 2022-04-06 2022-04-06 Radial thrust collection mechanism, thrust vector measurement device and method Active CN114636559B (en)

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