CN116007872A - Device and method for measuring radial dynamic characteristics of compressed rubber for inertial navigation system - Google Patents
Device and method for measuring radial dynamic characteristics of compressed rubber for inertial navigation system Download PDFInfo
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Abstract
The invention relates to a device and a method for measuring radial dynamic characteristics of compressed rubber for an inertial navigation system, wherein the device is characterized in that: the bolt is penetrated and arranged in a bolt hole in the center of the foundation base in a way that the bolt head is downward, and the upper end of the bolt is penetrated and arranged with a gasket and a connecting nut; the rubber test piece to be tested is arranged on the bolt in a penetrating way through the central hole and is arranged between the upper end of the foundation base and the lower end of the gasket; an actuating plate is inserted into an actuating plate slot arranged on one side of the rubber to be measured and is connected through a fixing pin, two guide-out plate slots on the other side of the rubber to be measured along the horizontal direction are respectively inserted with a guide-out plate, a measuring block is fixedly clamped between the outer extension ends of the two guide-out plates, and a strain gauge is fixed on the outer vertical surface of the measuring block; the strain gauge is connected with the force sensor through a wire. The invention realizes the accurate measurement of the radial dynamic characteristics of the compressed rubber.
Description
Technical Field
The invention belongs to the technical field of hemispherical resonator gyroscope inertial navigation, and particularly relates to a device and a method for measuring radial dynamic characteristics of compressed rubber for an inertial navigation system.
Background
In the process of designing hemispherical resonator gyro inertial navigation system products, as shown in fig. 1, the conical platform body has limited installation space, high requirement on vertical precision and high vibration reduction property of the assembly. Thus, accurate measurement of the dynamic characteristics (including dynamic stiffness and damping angle) of the compressed rubber 3 used to connect the conical body 1 and the system base 2 can improve the dynamic accommodation of hemispherical resonator gyro inertial assemblies.
As typical super elastic materials, the mounting and loading process of rubber is complex, and the precision of hemispherical resonator gyro inertial navigation is seriously affected due to various nonlinearities such as nonlinearity of the rubber elastic material structure, wide rubber geometry, contact property of actual mounting state and the like. And because the dynamic characteristics of the rubber are mainly determined by the nonlinear viscoelastic mechanical characteristics of the rubber, such as hysteresis effect and strain rate sensitivity, the rubber is easy to be influenced by factors such as the structural size, load, excitation frequency, excitation amplitude and the like of the compressed rubber. The quantitative characterization of dynamic characteristics (dynamic stiffness and damping angle) of the compressed rubber plays an important role in precision compensation of the hemispherical resonator gyro inertial navigation system. Therefore, how to realize accurate measurement of radial dynamic characteristics of a compressed rubber material becomes a critical problem to be solved in the design process of a hemispherical resonator gyro inertial navigation system.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a device and a method for measuring radial dynamic characteristics of compressed rubber for an inertial navigation system.
One of the above objects of the present invention is achieved by the following technical solutions:
a device for measuring radial dynamic characteristics of compressed rubber for an inertial navigation system is characterized in that: the device comprises a foundation base, bolts, nuts, gaskets, an actuating plate, two guide-out plates, a measuring block, a strain gauge, a wire, a force sensor and a rubber test piece to be measured;
the center of the foundation base is provided with a bolt hole, the bolt is penetrated in the bolt hole in a way that the bolt head faces downwards, and the upper end of the bolt is penetrated with the gasket and is connected with the nut;
the rubber test piece to be tested is provided with a central hole, is arranged on the bolt in a penetrating way through the central hole, and is arranged between the upper end of the foundation base and the lower end of the gasket; an actuating plate slot along the horizontal direction is formed in one side of the rubber test piece to be tested, and two guide-out plate slots along the horizontal direction are formed in the other side of the rubber test piece to be tested in parallel up and down; two vertical pin holes are formed in the position, corresponding to the actuating plate slot, of the rubber test piece to be tested, and two vertical pin holes are formed in the position, corresponding to the two guide-out plate slots, of the rubber test piece to be tested in a communicating manner;
one end of the actuating plate and one end of the two guide-out plates are respectively provided with two pin holes; one end of the actuating plate, provided with a pin hole, is inserted into the actuating plate slot and is connected with the rubber test piece to be tested through two fixing pins inserted into the corresponding pin holes; one end of each pin hole of the two guide plates is inserted into the corresponding pin hole of the upper guide plate slot and the lower guide plate slot respectively, and is connected with the rubber test piece to be tested through two fixing pins inserted into the corresponding pin holes;
the measuring block is fixedly clamped between the outer protruding ends of the two leading-out plates, and the strain gauge is fixed on the outer vertical surface of the measuring block; the strain gauge is connected with the force sensor through a lead.
The second object of the present invention is achieved by the following technical scheme:
the measurement method based on the device for measuring the radial dynamic characteristics of the compressed rubber for the inertial navigation system is characterized by comprising the following steps of: the method comprises the following steps:
2.1, firstly assembling a rubber test piece to be tested, an actuating plate, two guide-out plates, a fixed pin, a measuring block and a strain gauge on a foundation base through nuts, gaskets and bolts;
2.2, screwing the nut to apply a certain preload to the rubber test piece to be tested, so that the rubber test piece to be tested, the actuating plate and the two guide plates are fixedly connected through the fixing pin, and the connection state is the initial installation state of the rubber test piece to be tested;
2.3 then the height h of the base and the rubber test piece to be tested in the initial installed state is measured by means of a height gauge 0 ；
2.4 screwing in the nut to deform the rubber test piece to be tested, and introducingMeasuring the height h of the rubber test piece to be tested and the base seat after compression deformation by using an altimeter 1 ；
2.5 calculating to obtain the compression quantity of the rubber test piece to be tested, wherein Δh=h 0 -h 1 ；
3.1, connecting the outer end of the actuating plate with the actuating end of the vibration experiment table, and fixing the foundation base on the vibration experiment table;
3.2 applying a displacement excitation X (t) =x in the radial direction of the actuation end 0 sin(ω 0 t), where "ω 0 The angular frequency of excitation is "t" is the time of excitation, and the displacement signal x (t) of the actuating end of the vibration test bed and the force sensor signal F connected with the measuring block are recorded T (t)；
3.3, obtaining dynamic stiffness and damping angle of the compressed rubber by a geometric drawing method, and specifically: when the displacement excitation is sinusoidal, the force response is sinusoidal, the displacement is taken as an abscissa, and the force is taken as an ordinate to be plotted, so that a hysteresis loop line of the system is obtained; record F 0 、X 0 The force and displacement amplitudes are respectively, U is the area of a hysteresis loop, and the dynamic stiffness K is d And damping angle delta is calculated by the following formula
K d ＝F 0 /X 0 (1)
And using displacement excitation with different frequencies to load on an actuating end, and obtaining dynamic stiffness and damping angle curves of the compressed rubber along with the change of frequency through calculation.
The invention has the advantages and positive effects that:
the invention realizes the accurate measurement of the radial dynamic characteristics of the compressed rubber, reveals the evolution rule of the radial dynamic characteristics of the compressed rubber under different test parameters (the rolling reduction, the excitation frequency and the excitation amplitude) by a mapping method, and effectively solves the dynamic adaptability requirement of the hemispherical resonator gyro inertial navigation system. The technology is not limited to the accurate measurement of the radial dynamic characteristics of the compressed rubber of the resonance inertial navigation system, and can be popularized to rubber components in other strapdown inertial navigation systems.
Drawings
FIG. 1 is a schematic diagram of a hemispherical resonator gyro inertial assembly;
FIG. 2 is an overall view of a device for measuring radial dynamic characteristics of a compressed rubber for an inertial navigation system according to the present invention;
FIG. 3 is a schematic view of the external appearance of FIG. 2 with wires and force sensors removed;
FIG. 4 is a graph of displacement excitation versus force response of the present invention;
FIG. 5 is a schematic diagram of the hysteresis loop of the rubber of the present invention.
Detailed Description
The structure of the present invention will be further described by way of examples with reference to the accompanying drawings. It should be noted that the present embodiments are illustrative and not restrictive.
Referring to fig. 2 and 3, the device for measuring dynamic characteristics of compressed rubber for inertial navigation system mainly comprises a base 9, bolts 8, nuts 4, gaskets 5, an actuating plate 6, two guide-out plates 10, a measuring block 11, a wire 12, a force sensor 13 and a rubber test piece 14 to be measured.
The foundation base consists of a bottom plate part, a cylinder part arranged at the upper end of the bottom plate part and a plurality of triangular rib parts connected with the cylinder part and the bottom plate part, and has good structural stability. The center of the foundation base is provided with a bolt hole, the bolt hole is of a third-order hole structure, the diameter of the middle hole is minimum, the bolt hole is matched with the rod diameter of the bolt, the diameter of the lower hole is maximum, the bolt head is used for mounting the bolt, and the diameter of the upper hole is larger than the rod diameter of the bolt, so that the bolt is convenient to penetrate and mount and fix. The bolt is penetrated and arranged in the bolt hole in a mode that the bolt head faces downwards, and the upper end of the bolt is penetrated and arranged with the gasket and connected with the nut.
The rubber test piece to be tested is provided with a central hole, is arranged on the bolt in a penetrating mode through the central hole, and is arranged between the upper end of the foundation base and the lower end of the gasket. An actuating plate slot along the horizontal direction is arranged on one side of the rubber test piece to be tested, and an upper guide plate slot and a lower guide plate slot which are arranged in parallel along the horizontal direction are arranged on the other side of the rubber test piece to be tested. Two vertical pin holes are formed in the position, corresponding to the actuating plate slot, of the rubber test piece to be tested, and two vertical pin holes are formed in the position, corresponding to the two guide-out plate slots, of the rubber test piece to be tested in a communicating mode.
One end of the actuating plate and one end of the two guide-out plates are respectively provided with two pin holes. One end of the actuating plate, provided with a pin hole, is inserted into an actuating plate slot of the rubber test piece to be tested, and is connected with the rubber test piece to be tested through two fixing pins 7 inserted into the corresponding pin holes; one ends of the pin holes of the two guide plates are respectively inserted into the upper guide plate slot and the lower guide plate slot, and are connected with the rubber test piece to be tested through two fixing pins inserted into the corresponding pin holes.
The nut can control different rolling reduction of the rubber test piece to be tested, the rubber test piece to be tested is in the pre-load initial installation state, the actuating plate and the rubber test piece to be tested form fixed connection through the two fixing pins, and the two guide-out plates and the rubber test piece to be tested also form fixed connection through the two fixing pins.
The measuring block is fixedly clamped between the outer extending ends of the two leading-out plates. The measuring block is connected with the force sensor through a wire.
The measurement method based on the device for measuring the dynamic characteristics of the compressed rubber for the inertial navigation system comprises the following steps:
2.1, firstly assembling a rubber test piece to be tested, an actuating plate, two guide-out plates, a fixed pin, a measuring block and a strain gauge on a foundation base through nuts, gaskets and bolts;
2.2, screwing the nut to apply a certain preload to the rubber test piece to be tested, wherein the preload is about 100N, so that the rubber test piece to be tested, the actuating plate and the two guide-out plates are fixedly connected through the fixing pin, and the connection state is the initial installation state of the rubber test piece to be tested;
2.3 then the height h of the base and the rubber test piece to be tested in the initial installed state is measured by means of a height gauge 0 ；
2.4 screwing in the nut to deform the rubber test piece to be tested, and measuring the heights h of the rubber test piece to be tested and the base seat after compression deformation through the altimeter 1 ；
2.5 calculating to obtain the compression quantity of the rubber test piece to be tested, wherein Δh=h 0 -h 1 。
3.1, connecting the outer end of the actuating plate with the actuating end of the vibration experiment table, and fixing the foundation base on the vibration experiment table;
3.2 applying a displacement excitation X (t) =x in the radial direction of the actuation end 0 sin(ω 0 t) wherein "omega 0 "angular frequency of excitation," t "is the time of excitation, and the displacement signal x (t) of the displacement sensor connected with the actuating plate and the force sensor signal F connected with the measuring block are recorded T (t) as shown in fig. 4;
3.3, obtaining dynamic stiffness and damping angle of the compressed rubber by a geometric drawing method, and specifically: when the displacement excitation is sinusoidal, the force response is sinusoidal, the displacement is the abscissa, and the force is the ordinate, so as to obtain the hysteresis loop line of the system, as shown in figure 5, in the figure, "K e "refers to instantaneous stiffness, i.e., the instantaneous tangent to the hysteresis loop; record F 0 、X 0 The magnitudes of force and displacement, U is the area of the hysteresis loop, and is embodied in the force sensor signal F T (t) The difference in swept area in one cycle is shown in FIG. 5, then the dynamic stiffness K d And damping angle delta is calculated by the following formula
K d ＝F 0 /X 0 (1)
And using displacement excitation with different frequencies to load on an actuating end, and obtaining dynamic stiffness and damping angle curves of the compressed rubber along with the change of frequency through calculation.
Although the embodiments of the present invention and the accompanying drawings have been disclosed for illustrative purposes, those skilled in the art will appreciate that: various substitutions, changes and modifications are possible without departing from the spirit of the invention and the appended claims, and therefore the scope of the invention is not limited to the embodiments and the disclosure of the drawings.
Claims (2)
1. A device for measuring radial dynamic characteristics of compressed rubber for an inertial navigation system is characterized in that: the device comprises a foundation base, bolts, nuts, gaskets, an actuating plate, two guide-out plates, a measuring block, a strain gauge, a wire, a force sensor and a rubber test piece to be measured;
the center of the foundation base is provided with a bolt hole, the bolt is penetrated in the bolt hole in a way that the bolt head faces downwards, and the upper end of the bolt is penetrated with the gasket and is connected with the nut;
the rubber test piece to be tested is provided with a central hole, is arranged on the bolt in a penetrating way through the central hole, and is arranged between the upper end of the foundation base and the lower end of the gasket; an actuating plate slot along the horizontal direction is formed in one side of the rubber test piece to be tested, and two guide-out plate slots along the horizontal direction are formed in the other side of the rubber test piece to be tested in parallel up and down; two vertical pin holes are formed in the position, corresponding to the actuating plate slot, of the rubber test piece to be tested, and two vertical pin holes are formed in the position, corresponding to the two guide-out plate slots, of the rubber test piece to be tested in a communicating manner;
one end of the actuating plate and one end of the two guide-out plates are respectively provided with two pin holes; one end of the actuating plate, provided with a pin hole, is inserted into the actuating plate slot and is connected with the rubber test piece to be tested through two fixing pins inserted into the corresponding pin holes; one end of each pin hole of the two guide plates is inserted into the corresponding pin hole of the upper guide plate slot and the lower guide plate slot respectively, and is connected with the rubber test piece to be tested through two fixing pins inserted into the corresponding pin holes;
the measuring block is fixedly clamped between the outer protruding ends of the two leading-out plates, and the strain gauge is fixed on the outer vertical surface of the measuring block; the strain gauge is connected with the force sensor through a lead.
2. A measurement method based on the device for measuring radial dynamic characteristics of compressed rubber for inertial navigation system according to claim 1, which is characterized in that: the method comprises the following steps:
step 1, processing a rubber test piece to be tested according to the geometric dimensions of an actuating plate, a guide plate and a fixing pin, and ensuring that the assembled rubber test piece to be tested and the assembled rubber test piece to be tested are in clearance fit;
step 2, preloading:
2.1, firstly assembling a rubber test piece to be tested, an actuating plate, two guide-out plates, a fixed pin, a measuring block and a strain gauge on a foundation base through nuts, gaskets and bolts;
2.2, screwing the nut to apply a certain preload to the rubber test piece to be tested, so that the rubber test piece to be tested, the actuating plate and the two guide plates are fixedly connected through the fixing pin, and the connection state is the initial installation state of the rubber test piece to be tested;
2.3 then the height h of the base and the rubber test piece to be tested in the initial installed state is measured by means of a height gauge 0 ；
2.4 screwing in the nut to deform the rubber test piece to be tested, and measuring the heights h of the rubber test piece to be tested and the base seat after compression deformation through the altimeter 1 ；
2.5 calculating to obtain the compression quantity of the rubber test piece to be tested, wherein Δh=h 0 -h 1 ；
Step 3, performing displacement excitation:
3.1, connecting the outer end of the actuating plate with the actuating end of the vibration experiment table, and fixing the foundation base on the vibration experiment table;
3.2 applying a displacement excitation X (t) =x in the radial direction of the actuation end 0 sin(ω 0 t), where "ω 0 The angular frequency of excitation is "t" is the time of excitation, and the displacement signal x (t) of the actuating end of the vibration test bed and the force sensor signal F connected with the measuring block are recorded T (t)；
3.3 obtaining the compressed rubber by geometric mappingDynamic stiffness and damping angle, specifically: when the displacement excitation is sinusoidal, the force response is sinusoidal, the displacement is taken as an abscissa, and the force is taken as an ordinate to be plotted, so that a hysteresis loop line of the system is obtained; record F 0 、X 0 The force and displacement amplitudes are respectively, U is the area of a hysteresis loop, and the dynamic stiffness K is d And damping angle delta is calculated by the following formula
K d ＝F 0 /X 0 (1)
And using displacement excitation with different frequencies to load on an actuating end, and obtaining dynamic stiffness and damping angle curves of the compressed rubber along with the change of frequency through calculation.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310012773.0A CN116007872A (en) | 2023-01-05 | 2023-01-05 | Device and method for measuring radial dynamic characteristics of compressed rubber for inertial navigation system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117570952A (en) * | 2024-01-15 | 2024-02-20 | 中国船舶集团有限公司第七〇七研究所 | Method for reducing hemispherical resonance gyro vibration coupling |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117570952A (en) * | 2024-01-15 | 2024-02-20 | 中国船舶集团有限公司第七〇七研究所 | Method for reducing hemispherical resonance gyro vibration coupling |
| CN117570952B (en) * | 2024-01-15 | 2024-03-19 | 中国船舶集团有限公司第七〇七研究所 | Method for reducing hemispherical resonance gyro vibration coupling |
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