CN117268674A - Six-channel vibrating table verification system and method - Google Patents
Six-channel vibrating table verification system and method Download PDFInfo
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- CN117268674A CN117268674A CN202311190760.9A CN202311190760A CN117268674A CN 117268674 A CN117268674 A CN 117268674A CN 202311190760 A CN202311190760 A CN 202311190760A CN 117268674 A CN117268674 A CN 117268674A
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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
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
- G01M7/06—Multidirectional test stands
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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Abstract
The utility model relates to a six-channel vibrating table verification system and a six-channel vibrating table verification method, wherein six-channel vibrating table control software is used for outputting standard displacement to a vibrating table surface, and a displacement measurement system is used for measuring displacement and comparing the displacement; the utility model solves the problems that the displacement control precision of the table top cannot be detected only by detecting the acceleration sensor in the prior art; verifying the displacement control precision of the table top, and fundamentally ensuring the iteration precision of the six-channel vibrating table; the hydraulic cylinder is prevented from being disassembled and assembled and the debugging work after recovery is avoided, and a great deal of manpower and cost are saved; the excellent characteristic of a laser tracker is utilized to solve the difficult problem of non-contact three-dimensional quasi-static displacement measurement; the displacement deviation direction can be found rapidly by detecting from +Z, -Z, +Y, -Y, +X and-X6 directions respectively, and the direction is indicated for the parameter fine adjustment of the hydraulic cylinder.
Description
Technical Field
The utility model belongs to the technical field of vibration table verification, and relates to a six-channel vibration table verification system and method.
Background
At present, the vibration table is mainly a single-shaft electromagnetic vibration table, and through development and improvement for many years, the vibration table has evolved into standard general equipment, and also has a special verification method JJG948-2018 'electric vibration test System verification procedure', so that the working accuracy of the vibration table is ensured. Due to its own characteristics, electromagnetic vibration tables perform poorly in low frequency bands, especially in the frequency band below 5Hz, and applications within the industry start from 5 Hz. For some car body parts and chassis parts, the vibration condition is often low-frequency, large-amplitude and multi-axis compound vibration, and in order to meet the vibration requirements of the test samples, a six-channel vibration table is gradually started to rise.
The six-channel vibrating table adopts a 6-degree-of-freedom control mode, adopts 6 hydraulic actuators as actuating elements, and is arranged in a Stuttgart (Stewart) 6-rod parallel mode, as shown in figure 1. The initial frequency can be as low as 0.5Hz, the amplitude peak-peak value is more than 250mm, the X-axis, Y-axis and Z-axis movements and the rotation around the X-axis, Y-axis and Z-axis can be simulated simultaneously for 6 degrees of freedom, and the time history reproduction can be completed according to the acquired road load spectrum iteration.
The six-channel vibrating table delivery verification is that each hydraulic cylinder is independently verified and finally assembled together, professional operation is needed, and when the follow-up equipment is annual inspected, disassembly and assembly operations are not carried out under the condition. The 6 hydraulic cylinders are linked and each hydraulic cylinder cannot be controlled independently. These adverse conditions all bring challenges to verification work, and the general practice in the industry is to verify the load-superimposed acceleration sensor and ensure the iteration precision, but the source of the iteration precision is the displacement control precision of the six-channel vibrating table surface or the verification is required.
Patent document CN201210292060.6 discloses an automated method of vibration system verification, comprising the steps of: a. defining and generating a rule base according to the verification standard and the analysis standard; b. selecting items to be verified from a rule base; c. filling operation parameters of the vibrating table during verification for each verification project; d. according to the rule base and the operation parameters of the test bed, automatically setting proper sampling and spectrum analysis parameters; e. the sensor is used for collecting and analyzing signals of acceleration, speed and displacement; f. and automatically calculating according to the project index calculation method provided by the rule base, and comparing the project index calculation method with a reference range. The method is based on the problems that the existing vibration test system is complex in verification process, long in verification time and high in requirements on the technical level of verification personnel. An automatic verification method is realized by means of data acquisition and analysis hardware, the three problems are greatly improved, and the reliability of verification results is effectively improved.
Patent document CN201721230981.4 discloses a portable vibrating table calibrating device, which comprises an L-shaped base, wherein the base consists of a horizontal bottom plate and a vertical bottom plate vertically arranged on one side of the horizontal bottom plate, and also comprises a mounting rack arranged on the horizontal bottom plate, the mounting rack comprises a horizontal mounting plate arranged above the horizontal bottom plate in parallel, two sides of one side of the horizontal mounting plate, which is close to the vertical bottom plate, are respectively provided with an inclined column fixedly connected with the horizontal bottom plate, and two sides of one side of the horizontal mounting plate, which is far away from the vertical bottom plate, are respectively provided with an upright column fixedly connected with the horizontal bottom plate; the vibration table is elastically suspended below the horizontal mounting plate, and the vibration exciter for driving the vibration table to vibrate is arranged on the vertical bottom plate. The vibration table calibrating device integrates the horizontal calibration and the vertical calibration of the sensor, avoids the defect that the horizontal direction and the vertical direction of the traditional vibration table calibrating device need to be separately calibrated, and has simple operation, time saving and labor saving.
Patent document CN201811486548.6 discloses a laser absolute calibration device for linear vibration of a multi-axial vibration table, which mainly comprises a laser absolute measurement system, a target and a three-directional linear vibration accelerometer. The laser absolute measurement system is used for guaranteeing that the same laser beam is divided into multiple paths for synchronous measurement and real-time display of three-dimensional line vibration generated by the multi-axis vibration table, and achieving the tracing of the three-dimensional line vibration to the length and the time base.
The above patent documents have low relevance to the present application.
Disclosure of Invention
The utility model provides a six-channel vibrating table verification method, which uses six-channel vibrating table control software to output standard displacement to the vibrating table surface, and uses a laser tracker to measure the displacement and compare. The utility model solves the problem that the displacement control precision of the table top cannot be detected only by detecting the acceleration sensor in the prior art.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
In order to solve the technical problems, the utility model is realized by adopting the following technical scheme:
a six-channel vibrating table verification system comprises six-channel vibrating table control software and a displacement measurement system;
and outputting a standard displacement to the table surface of the vibrating table by using six-channel vibrating table control software, and simultaneously measuring the displacement by using a displacement measurement system and comparing.
Further, the displacement measurement system is a laser tracker; the laser tracker adopts a grating dial to measure angles; when the dial rotates, the optical signal falls on the photoelectric receiving tube through moire fringes, and when one grating rotates, the receiving tube correspondingly moves by one fringe width, the output current in the receiving tube changes for one period, the grating included angle is known, and the angle value is calculated by using the current period calculated by the counter.
Further, a six-channel vibrating table verification system further comprises a reflector 3;
the laser tracker main body 1 is erected at the left front corner position of the six-channel vibrating table 2, and the height is adjusted so that the laser tracker main body 1 can fully cover the table top of the six-channel vibrating table 2. The reflector 3 is fixed on the table surface of the six-channel vibrating table 2, and the laser 4 between the laser tracker main body 1 and the reflector 3 is checked to be normally emitted and received.
Further, during measurement, a prism reflection ball is placed at the target point P, laser heads emit and receive laser returned by the reflection ball, a laser tracker can acquire the instrument corner alpha, the instrument vertex angle beta and the inclined distance L of the target point P at the same time, and the three-dimensional coordinate of the target point P can be obtained; coordinate calculation formula (1), formula (2), formula (3):
x＝L sinβcosα (1)
y＝L sinβsinα (2)
z＝L cosβ (3)。
a six-channel vibrating table verification method is characterized in that:
and (3) carrying out unidirectional control on the displacement of the table top of the vibrating table, carrying out displacement measurement by using a non-contact three-dimensional quasi-static displacement measurement system, and comparing the measurement result with the set displacement to obtain a verification conclusion.
Further, the unidirectional control of the displacement of the table top of the vibrating table is realized by unidirectional control of the displacement of the table top of the vibrating table through a software control interface of a six-channel vibrating table, and 20mm, 40mm and 60mm are selected in combination with actual use and verification requirements.
Further, the six-channel vibrating table surface displacement measurement requirement is a non-contact three-dimensional quasi-static displacement measurement system, and a laser tracker is selected as the displacement measurement system.
Further, during verification, the software interface of the laser tracker is zeroed; the software control interface of the six-channel vibrating table carries out unidirectional control on the displacement of the table surface of the vibrating table, firstly slowly moves for 20mm along the +Z direction, and collects data at the software interface of the laser tracker; continuously slowly moving for 20mm along the +Z direction, accumulating for 40mm, and collecting data at a software interface of the laser tracker; continuously slowly moving for 20mm along the +Z direction, accumulating for 60mm, and collecting data at a software interface of the laser tracker; returning to the zero position, and comparing the difference between the acquired data and the set displacement; then, repeating the above operation along the-Z direction; after completion, the above operations are repeated along +Y, -Y, +X, -X directions respectively until the verification is completed in all 6 directions.
Further, the detection is carried out from +Z, -Z, +Y, -Y, +X and X6 directions respectively, 6 hydraulic cylinders are linked, the combined displacement is decomposed into single-axis unidirectional displacement, and if the displacement in a certain direction deviates, the displacement in the direction is independently regulated.
Further, the result of the verification was judged to be 1% accurate.
Compared with the prior art, the utility model has the beneficial effects that:
1. verifying the displacement control precision of the table top, and fundamentally ensuring the iteration precision of the six-channel vibrating table;
2. the hydraulic cylinder is prevented from being disassembled and assembled and the debugging work after recovery is avoided, and a great deal of manpower and cost are saved;
3. the excellent characteristic of a laser tracker is utilized to solve the difficult problem of non-contact three-dimensional quasi-static displacement measurement;
4. the displacement deviation direction can be found rapidly by detecting from +Z, -Z, +Y, -Y, +X and-X6 directions respectively, and the direction is indicated for the parameter fine adjustment of the hydraulic cylinder.
Drawings
The utility model is further described below with reference to the accompanying drawings:
FIG. 1 is a schematic diagram of a six-channel vibrating table;
FIG. 2 is a schematic diagram of the operation of a laser tracker;
FIG. 3 is a six-channel vibrating table verification schematic;
in the figure:
1. a laser tracker body;
2. a six-channel vibrating table;
3. a reflecting mirror;
4. and (5) laser.
Detailed Description
In order to make the objects, technical solutions and advantages of the present utility model become more apparent, the technical solutions in the embodiments of the present utility model will be described in more detail below with reference to the accompanying drawings in the embodiments of the present utility model. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of the utility model. The embodiments described below by referring to the drawings are illustrative and intended to explain the present utility model and should not be construed as limiting the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model. Embodiments of the present utility model will be described in detail below with reference to the accompanying drawings.
In the description of the present utility model, it should be understood that the terms "center," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate describing the present utility model and simplify the description, and do not indicate or imply that the devices or elements being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the scope of the present utility model.
The utility model is described in detail below with reference to the attached drawing figures:
the six-channel vibrating table verification system combines the existing conditions, and realizes the scheme that the displacement of the vibrating table surface is unidirectionally controlled, meanwhile, a non-contact three-dimensional quasi-static displacement measurement system is used for measuring the displacement, and a measurement result is compared with a set displacement to obtain a verification conclusion.
1. Standard displacement application
The software control interface of the six-channel vibrating table can carry out unidirectional control on the displacement of the table top of the vibrating table, and 20mm, 40mm and 60mm are selected in combination with the actual use and verification requirements.
Six-channel vibrating table control software is the prior art.
2. Displacement measuring system
The six-channel vibrating table surface displacement measurement requirement is a non-contact three-dimensional quasi-static displacement measurement system, and a laser tracker is selected as a displacement measurement system through comprehensive comparison.
The laser tracker is a high-precision three-dimensional measurement system based on laser and automatic control technology, and is mainly used in the field of large-size space coordinate measurement. The method integrates advanced technologies such as laser interference ranging, angle measurement and the like, and realizes precise measurement of three-dimensional coordinates through angle measurement and ranging based on the measurement principle of a spherical coordinate method.
The laser tracker consists of an interferometer/rangefinder and two perpendicular goniometer systems. And controlling the movement of the ray tracing reflecting target through the double-shaft rotary driving mechanism, measuring the distance of the reflecting target ball and the angular coordinate of the rotary shaft, and determining the three-dimensional coordinate of the target point. When in measurement, a prism reflection ball is placed at the position of the target point P, the laser head emits and receives laser returned by the reflection ball, the instrument can simultaneously acquire the instrument corner alpha, the instrument vertex angle beta and the inclined distance L of the target point P, and then the three-dimensional coordinate of the target point P can be obtained. The working principle diagram is shown in fig. 2, and the coordinate calculation is shown in formula (1), formula (2) and formula (3).
x＝L sinβcosα (1)
y＝L sinβsinα (2)
z＝L cosβ (3)
Alpha represents the instrument rotation angle of the target point P;
beta represents the instrument vertex angle of the target point P;
l represents the pitch.
Typically laser tracker distance measurement can reach um level accuracy. The laser tracker mainly adopts a grating dial for angle measurement (relative incremental angle measurement). When the dial rotates, the optical signal falls on the photoelectric receiving tube through moire fringes, and when one grating rotates, the receiving tube correspondingly moves by one fringe width, the output current in the receiving tube changes by one period (the grating included angle is known, and the angle value can be calculated by using the current period calculated by the counter).
As shown in fig. 3, a six-channel vibrating table verification schematic is shown. Firstly, the laser tracker main body 1 is erected at the left front corner position of the six-channel vibrating table 2, and the height is adjusted so that the laser tracker main body 1 can fully cover the table top of the six-channel vibrating table 2. The reflector 3 is fixed on the table surface of the six-channel vibrating table 2, and the laser 4 between the laser tracker main body 1 and the reflector 3 is checked to be normally emitted and received.
When detecting, the software interface of the laser tracker is zeroed. The software control interface of the six-channel vibrating table can carry out unidirectional control on the displacement of the table surface of the vibrating table, firstly, the vibrating table slowly moves for 20mm along the +Z direction, and data are collected on the software interface of the laser tracker; slowly moving for 20mm along the +Z direction (accumulating for 40 mm), and collecting data at a software interface of the laser tracker; and continuously slowly moving for 20mm along the +Z direction (60 mm is accumulated), and collecting data at a laser tracker software interface. And returning to the zero position, and comparing the difference between the acquired data and the set displacement. Thereafter, the above operation is repeated in the-Z direction. After completion, the above operations are repeated along +Y, -Y, +X, -X directions respectively until the verification is completed in all 6 directions.
3. Determination of assay results
The test results are listed in table 1, and the test results are judged to be qualified with an accuracy of 1%.
Table 1 six channel vibrating table verification results
The utility model provides a six-channel vibrating table verification method, which uses six-channel vibrating table control software to output standard displacement to the vibrating table surface, and uses a laser tracker to measure the displacement and compare. The utility model solves the problem that the displacement control precision of the table top cannot be detected only by detecting the acceleration sensor in the prior art.
1. Verifying the displacement control precision of the table top, and fundamentally ensuring the iteration precision of the six-channel vibrating table;
the method provided by the utility model can be used for verifying the displacement control precision of the table top of the six-channel vibrating table.
2. The hydraulic cylinder is prevented from being disassembled and assembled and the debugging work after recovery is avoided, and a great deal of manpower and cost are saved;
the six-channel vibrating table delivery verification is that each hydraulic cylinder is independently verified and finally assembled together, professional operation is needed, and when the follow-up equipment is annual inspected, disassembly and assembly operations are not carried out under the condition. The debugging after recovery also requires the operation of a professional technician, and also requires time and expense, which is equivalent to overhaul. The method provided by the utility model avoids the above work and saves manpower and cost.
3. The excellent characteristic of a laser tracker is utilized to solve the difficult problem of non-contact three-dimensional quasi-static displacement measurement;
the laser tracker is a high-precision three-dimensional measurement system based on laser and automatic control technology, and is mainly used in the field of large-size space coordinate measurement. The method integrates advanced technologies such as laser interference ranging, angle measurement and the like, and realizes precise measurement of three-dimensional coordinates through angle measurement and ranging based on the measurement principle of a spherical coordinate method. Typically laser tracker distance measurement can reach um level accuracy.
4. The displacement deviation direction can be found rapidly by detecting from +Z, -Z, +Y, -Y, +X and-X6 directions respectively, and the direction is indicated for the parameter fine adjustment of the hydraulic cylinder.
The 6 hydraulic cylinders are linked, the combined displacement is decomposed into single-axis unidirectional displacement, and once the displacement in a certain direction deviates, the displacement in the direction is independently regulated.
The foregoing is merely illustrative of specific embodiments of the present utility model, and the scope of the utility model is not limited thereto, but any modifications, equivalents, improvements and alternatives falling within the spirit and principles of the present utility model will be apparent to those skilled in the art within the scope of the present utility model. And all that is not described in detail in this specification is well known to those skilled in the art.
Claims (10)
1. The utility model provides a six passageway shaking table verification system, includes six passageway shaking table control software, six passageway shaking table control software gives shaking table mesa output a standard displacement, its characterized in that: the displacement measuring system is also included; and simultaneously, measuring displacement by a displacement measurement system and comparing.
2. A six channel vibrating table verification system according to claim 1, wherein:
the displacement measurement system is a laser tracker; the laser tracker adopts a grating dial to measure angles; when the dial rotates, the optical signal falls on the photoelectric receiving tube through moire fringes, and when one grating rotates, the receiving tube correspondingly moves by one fringe width, the output current in the receiving tube changes for one period, the grating included angle is known, and the angle value is calculated by using the current period calculated by the counter.
3. A six channel vibrating table verification system according to claim 1, wherein:
also comprises a reflecting mirror (3);
the laser tracker main body (1) is erected at the left front angle position of the six-channel vibrating table (2), and the height is adjusted so that the laser tracker main body (1) can fully cover the table top of the six-channel vibrating table (2); the reflector (3) is fixed on the table top of the six-channel vibrating table (2), and the laser (4) between the laser tracker main body (1) and the reflector (3) is checked to be normally emitted and received.
4. A six channel vibrating table verification system according to claim 1, wherein:
during measurement, a prism reflection ball is placed at the target point P, laser heads emit and receive laser returned by the reflection ball, a laser tracker can acquire the instrument rotation angle alpha, the instrument vertex angle beta and the inclined distance L of the target point P at the same time, and the three-dimensional coordinate of the target point P can be obtained; the coordinate calculation formula:
x＝L sin β cos α
y＝L sinβsinα
z＝L cosβ。
5. a six-channel vibrating table verification method is characterized in that:
and (3) carrying out unidirectional control on the displacement of the table top of the vibrating table, carrying out displacement measurement by using a non-contact three-dimensional quasi-static displacement measurement system, and comparing the measurement result with the set displacement to obtain a verification conclusion.
6. The six channel vibrating table verification method according to claim 5, wherein:
the displacement of the table top of the vibrating table is unidirectionally controlled through a software control interface of the six-channel vibrating table, and 20mm, 40mm and 60mm are selected according to actual use and verification requirements.
7. The six channel vibrating table verification method according to claim 6, wherein:
the six-channel vibrating table surface displacement measurement requirement is a non-contact three-dimensional quasi-static displacement measurement system, and a laser tracker is selected as the displacement measurement system.
8. A six channel vibrating table verification method according to claim 7, wherein:
when detecting, firstly zeroing a software interface of the laser tracker; the software control interface of the six-channel vibrating table carries out unidirectional control on the displacement of the table surface of the vibrating table, firstly slowly moves for 20mm along the +Z direction, and collects data at the software interface of the laser tracker; continuously slowly moving for 20mm along the +Z direction, accumulating for 40mm, and collecting data at a software interface of the laser tracker; continuously slowly moving for 20mm along the +Z direction, accumulating for 60mm, and collecting data at a software interface of the laser tracker; returning to the zero position, and comparing the difference between the acquired data and the set displacement; then, repeating the above operation along the-Z direction; after completion, the above operations are repeated along +Y, -Y, +X, -X directions respectively until the verification is completed in all 6 directions.
9. A six channel vibrating table verification method according to claim 8, wherein:
the detection is carried out from +Z, -Z, +Y, -Y, +X and X6 directions respectively, 6 hydraulic cylinders are linked, the combined displacement is decomposed into single-axis unidirectional displacement, and if the displacement in a certain direction deviates, the displacement in the certain direction is independently regulated.
10. A six channel vibrating table verification method according to claim 9, wherein: the results of the tests were evaluated to 1% accuracy.
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