WO2022028287A1 - Wing deformation-based airborne imu high-precision reference acquisition method - Google Patents

Wing deformation-based airborne imu high-precision reference acquisition method Download PDF

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WO2022028287A1
WO2022028287A1 PCT/CN2021/108863 CN2021108863W WO2022028287A1 WO 2022028287 A1 WO2022028287 A1 WO 2022028287A1 CN 2021108863 W CN2021108863 W CN 2021108863W WO 2022028287 A1 WO2022028287 A1 WO 2022028287A1
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imu
aircraft
deformation
fbg sensor
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陈熙源
马振
王俊玮
方琳
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东南大学
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Abstract

Provided is a wing deformation-based airborne IMU high-precision reference acquisition method. The method comprises the following steps: establishing a finite element model, performing a ground resonance experiment, designing the layout of an FBG sensor, then measuring data to determine the spatial coordinates of each point on a wing, and finally determining a reference. An application for providing a reference for an airborne IMU on the basis of FEM technology and FBG sensing technology is implemented, and the reference for the IMU may be quickly determined, and universality is high.

Description

一种基于机翼形变的机载IMU高精度参考基准获取方法A high-precision reference datum acquisition method for airborne IMU based on wing deformation 技术领域technical field
本发明属于飞行机翼变形测量技术领域，具体涉及一种基于机翼形变的机载IMU高精度参考基准获取方法。The invention belongs to the technical field of flight wing deformation measurement, and in particular relates to an airborne IMU high-precision reference datum acquisition method based on the wing deformation.
背景技术Background technique
随着航空对地观测系统成像分辨率的提高以及对三维图像的需求，传统的航空观测系统采用的单位置姿态测量系统已无法满足需求，单载荷观测模式逐渐向多个载荷、多类载荷观测模式发展，即分布式载荷。分布式载荷天线会随着机载平台机翼的挠曲变形、颤振等产生随机抖动误差，这些因素会导致机载IMU的基准无法精准确定，同时机翼的大变形引起的几何非线性影响着模态频率和颤振特性。With the improvement of the imaging resolution of the aerial Earth observation system and the demand for 3D images, the single-position attitude measurement system used by the traditional aerial observation system can no longer meet the demand. Pattern development, i.e. distributed load. The distributed load antenna will generate random jitter errors with the deflection and flutter of the airborne platform wing. These factors will lead to the inability to accurately determine the reference of the airborne IMU. At the same time, the geometric nonlinearity caused by the large deformation of the wing will affect the modal frequencies and flutter characteristics.
发明内容SUMMARY OF THE INVENTION
为解决上述问题，本发明公开了一种基于机翼形变的机载IMU高精度参考基准获取方法，考虑机翼的挠曲变形和颤振，结合FEM技术和FBG传感技术，高精度拟合出机翼变形后的各点位置坐标，为机载IMU提供高精度的基准。In order to solve the above problems, the present invention discloses a method for obtaining a high-precision reference datum of an airborne IMU based on the deformation of the airfoil. Considering the deflection deformation and flutter of the airfoil, combined with the FEM technology and the FBG sensing technology, high-precision fitting is achieved. The position coordinates of each point after the deformation of the wing are obtained to provide a high-precision reference for the airborne IMU.
为达到上述目的，本发明的技术方案如下：For achieving the above object, technical scheme of the present invention is as follows:
一种基于机翼形变的机载IMU高精度参考基准获取方法，包括以下六个步骤：A method for obtaining a high-precision reference datum of an airborne IMU based on wing deformation, including the following six steps:
步骤(1)、确定有限元模型，进行模态实验：Step (1), determine the finite element model, and conduct modal experiments:
针对选定型号的飞机，确定三维模型，根据模型初步确定飞机的有限元模型，然后针对选定型号的飞机进行纯模态实验，确定飞机结构的各阶模态参数；For the selected type of aircraft, determine the three-dimensional model, initially determine the finite element model of the aircraft according to the model, and then carry out pure modal experiments for the selected type of aircraft to determine the modal parameters of the aircraft structure;
步骤(2)、确定机翼动力学有限元模型：Step (2), determine the finite element model of wing dynamics:
通过模态实验得到机翼各阶模态参数，将结果与有限元模型进行对比，确定机翼动力学有限元模型，实验飞机的机翼采用两点悬吊，根据机翼结构的模态分析结果，确定激振的位置，对机翼进行纵向激振，进行飞机机翼颤振特性分析，对飞机机翼的气动弹性性能进行评估；The modal parameters of each order of the wing are obtained through modal experiments, and the results are compared with the finite element model to determine the finite element model of the wing dynamics. The wing of the experimental aircraft adopts two-point suspension. According to the modal analysis of the wing structure As a result, the position of the excitation is determined, the longitudinal excitation of the wing is carried out, the flutter characteristics of the aircraft wing are analyzed, and the aeroelastic performance of the aircraft wing is evaluated;
步骤(3)、FBG传感器的布局：Step (3), the layout of the FBG sensor:
根据对机翼结构的有限元分析结果，确定FBG传感器阵列在机翼上的布置位置，根据机翼的实际尺寸确定不同位置处FBG传感器阵列的长短；According to the finite element analysis results of the wing structure, the arrangement position of the FBG sensor array on the wing is determined, and the length of the FBG sensor array at different positions is determined according to the actual size of the wing;
步骤(4)、地面模拟实验：Step (4), ground simulation experiment:
测量数据确定机翼上各点空间坐标，控制实验环境温度，在恒温环境中对机翼进行变载荷实验，基于形变拟合的数学模型，将FBG传感器获得的测量值计算拟合出变形后的曲线，拟合出变形后的机翼曲面，确定机翼动态变形下机翼上各点的空间坐标，即确定机翼上各挂载的IMU的位置坐标；The measurement data determines the spatial coordinates of each point on the wing, controls the temperature of the experimental environment, and conducts a variable load experiment on the wing in a constant temperature environment. Curve, fit the deformed wing surface, determine the spatial coordinates of each point on the wing under the dynamic deformation of the wing, that is, determine the position coordinates of each mounted IMU on the wing;
步骤(5)、空中飞行实验：Step (5), aerial flight experiment:
根据选定型号飞机的飞行包线，进行飞行实验，飞行过程中机翼的变形情况由FBG传感阵列测得，通过数学模型拟合得到机翼各IMU 的相对位置坐标；According to the flight envelope of the selected type of aircraft, a flight experiment is carried out. During the flight, the deformation of the wing is measured by the FBG sensor array, and the relative position coordinates of each IMU of the wing are obtained by mathematical model fitting;
步骤(6)、确定参考基准。Step (6), determine the reference datum.
优选的，激振加载方式采用电液激振系统，采用非接触式的全场扫描式激光测振仪获取测量结果。Preferably, the excitation loading method adopts an electro-hydraulic excitation system, and a non-contact full-field scanning laser vibrometer is used to obtain the measurement results.
优选的，所选取的FBG传感器阵列分为长FBG传感器(LFBG)和短FBG传感器(SFBG)，根据机翼的结构确定LFBG和SFBG数量及布局。IMU分为主IMU和子IMU，主IMU位于机舱内部，子IMU在机翼蒙皮下方对称挂置。Preferably, the selected FBG sensor array is divided into long FBG sensors (LFBG) and short FBG sensors (SFBG), and the number and layout of LFBGs and SFBGs are determined according to the structure of the wing. The IMU is divided into the main IMU and the sub-IMU. The main IMU is located inside the cabin, and the sub-IMU is symmetrically mounted under the wing skin.
优选的，FBG传感器采用表贴式进行固定不仅不破坏飞行的结构，也可有效进行形变拟合数据获取；子IMU分别对称布置在机翼上2-3个，主IMU为1个布置在机舱内部。Preferably, the FBG sensor is fixed by the surface mount type, which not only does not damage the flight structure, but also can effectively obtain deformation fitting data; the sub-IMUs are symmetrically arranged on the wings with 2-3, and the main IMU is arranged in the cabin. internal.
本发明的有益效果是：The beneficial effects of the present invention are:
本发明所述的一种基于机翼形变的机载IMU高精度参考基准获取方法，基于FEM技术和FBG传感技术，高精度拟合出机翼变形后的各点位置坐标，为机载IMU提供高精度的基准，操作简单方便，对工作人员的技能要求低，可实现快速确定IMU的参考基准，通用性强。The method for obtaining a high-precision reference datum of the airborne IMU based on the deformation of the airfoil described in the present invention is based on the FEM technology and the FBG sensing technology. Provides high-precision benchmarks, is simple and convenient to operate, requires low skills for staff, can quickly determine the reference benchmark of IMU, and has strong versatility.
附图说明Description of drawings
图1；飞机机翼的示意图。Figure 1; Schematic diagram of an aircraft wing.
图2；传感器布局示意图。Figure 2; Schematic diagram of the sensor layout.
其中，1.机翼；2.子IMU；3.FBG传感器阵列；4.主IMU。Among them, 1. Wing; 2. Sub-IMU; 3. FBG sensor array; 4. Main IMU.
具体实施方式detailed description
下面结合附图和具体实施方式，进一步阐明本发明，应理解下述具体实施方式仅用于说明本发明而不用于限制本发明的范围。The present invention will be further clarified below with reference to the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are only used to illustrate the present invention and not to limit the scope of the present invention.
如图所示，本发明所述的一种基于机翼形变的机载IMU高精度参考基准获取方法，包括以下六个步骤：As shown in the figure, a method for obtaining a high-precision reference datum of an airborne IMU based on the deformation of the airfoil described in the present invention includes the following six steps:
步骤(1)、确定有限元模型，进行模态实验：针对选定型号的飞机，确定三维模型，根据模型初步确定飞机的有限元模型，然后针对选定型号的飞机进行纯模态实验，确定飞机结构的各阶模态参数；Step (1), determine the finite element model, and conduct modal experiments: for the selected type of aircraft, determine the three-dimensional model, initially determine the finite element model of the aircraft according to the model, and then conduct pure modal experiments for the selected type of aircraft to determine Modal parameters of various orders of aircraft structure;
步骤(2)、确定机翼动力学有限元模型：通过模态实验得到机翼各阶模态参数，将结果与有限元模型进行对比，确定机翼动力学有限元模型，实验飞机的机翼1采用两点悬吊，根据机翼结构的模态分析结果，确定激振的位置，对机翼进行纵向激振，进行飞机机翼颤振特性分析，对飞机机翼的气动弹性性能进行评估；Step (2), determine the wing dynamics finite element model: obtain the modal parameters of each order of the wing through modal experiments, compare the results with the finite element model, determine the wing dynamics finite element model, and test the wing of the aircraft. 1 Using two-point suspension, according to the modal analysis results of the wing structure, determine the position of the excitation, conduct longitudinal excitation of the wing, analyze the flutter characteristics of the aircraft wing, and evaluate the aeroelastic performance of the aircraft wing ;
步骤(3)、FBG传感器的布局：根据对机翼结构的有限元分析结果，确定FBG传感器阵列3在机翼上的布置位置，根据机翼的实际尺寸确定不同位置处FBG传感器阵列的长短；Step (3), the layout of the FBG sensor: according to the finite element analysis result of the wing structure, determine the arrangement position of the FBG sensor array 3 on the wing, and determine the length of the FBG sensor array at different positions according to the actual size of the wing;
步骤(4)、地面模拟实验：测量数据确定机翼上各点空间坐标，控制实验环境温度，在恒温环境中对机翼进行变载荷实验，基于形变拟合的数学模型，将FBG传感器获得的测量值计算拟合出变形后的曲线，拟合出变形后的机翼曲面，确定机翼动态变形下机翼上各点的空间坐标，即确定机翼上各挂载的IMU的位置坐标；Step (4), ground simulation experiment: the measurement data determine the spatial coordinates of each point on the wing, control the temperature of the experimental environment, carry out a variable load experiment on the wing in a constant temperature environment, and based on the mathematical model of deformation fitting, the FBG sensor obtained. Calculate and fit the deformed curve of the measured value, fit the deformed wing surface, and determine the spatial coordinates of each point on the wing under the dynamic deformation of the wing, that is, determine the position coordinates of each mounted IMU on the wing;
步骤(5)、空中飞行实验：根据选定型号飞机的飞行包线，进 行飞行实验，飞行过程中机翼的变形情况由FBG传感阵列测得，通过数学模型拟合得到机翼各IMU的相对位置坐标；Step (5), aerial flight experiment: according to the flight envelope of the selected type of aircraft, a flight experiment is carried out. The deformation of the wing during the flight is measured by the FBG sensing array, and the mathematical model is fitted to obtain the IMU of the wing. relative position coordinates;
步骤(6)、确定参考基准。Step (6), determine the reference datum.
激振加载方式采用电液激振系统，采用非接触式的全场扫描式激光测振仪获取测量结果。The excitation loading method adopts an electro-hydraulic excitation system, and a non-contact full-field scanning laser vibrometer is used to obtain the measurement results.
所选取的FBG传感器阵列分为长FBG传感器(LFBG)和短FBG传感器(SFBG)，根据机翼的结构确定LFBG和SFBG数量及布局。IMU分为主IMU和子IMU，主IMU位于机舱内部，子IMU在机翼蒙皮下方对称挂置。The selected FBG sensor arrays are divided into long FBG sensors (LFBG) and short FBG sensors (SFBG). The number and layout of LFBG and SFBG are determined according to the structure of the wing. The IMU is divided into the main IMU and the sub-IMU. The main IMU is located inside the cabin, and the sub-IMU is symmetrically mounted under the wing skin.
作为优选的，FBG传感器采用表贴式进行固定不仅不破坏飞行的结构，也可有效进行形变拟合数据获取；子IMU分别对称布置在机翼上2-3个，主IMU1个。Preferably, the FBG sensor is fixed by the surface mount type, which not only does not damage the flight structure, but also can effectively obtain deformation fitting data; 2-3 sub-IMUs are symmetrically arranged on the wing, and one main IMU is arranged.
本发明方案所公开的技术手段不仅限于上述实施方式所公开的技术手段，还包括由以上技术特征任意组合所组成的技术方案。The technical means disclosed in the solution of the present invention are not limited to the technical means disclosed in the above embodiments, but also include technical solutions composed of any combination of the above technical features.

Claims (4)

  1. 一种基于机翼形变的机载IMU高精度参考基准获取方法，其特征在于：包括以下六个步骤：A method for obtaining a high-precision reference datum for an airborne IMU based on wing deformation, characterized in that it includes the following six steps:
    步骤(1)、确定有限元模型，进行模态实验：Step (1), determine the finite element model, and conduct modal experiments:
    针对选定型号的飞机，确定三维模型，根据模型初步确定飞机的有限元模型，然后针对选定型号的飞机进行纯模态实验，确定飞机结构的各阶模态参数；For the selected type of aircraft, determine the three-dimensional model, initially determine the finite element model of the aircraft according to the model, and then carry out pure modal experiments for the selected type of aircraft to determine the modal parameters of the aircraft structure;
    步骤(2)、确定机翼动力学有限元模型：Step (2), determine the finite element model of wing dynamics:
    通过模态实验得到机翼各阶模态参数，将结果与有限元模型进行对比，确定机翼动力学有限元模型，实验飞机的机翼采用两点悬吊，根据机翼结构的模态分析结果，确定激振的位置，对机翼进行纵向激振，进行飞机机翼颤振特性分析，对飞机机翼的气动弹性性能进行评估；The modal parameters of each order of the wing are obtained through modal experiments, and the results are compared with the finite element model to determine the finite element model of the wing dynamics. The wing of the experimental aircraft adopts two-point suspension. According to the modal analysis of the wing structure As a result, the position of the excitation is determined, the longitudinal excitation of the wing is carried out, the flutter characteristics of the aircraft wing are analyzed, and the aeroelastic performance of the aircraft wing is evaluated;
    步骤(3)、FBG传感器的布局：Step (3), the layout of the FBG sensor:
    根据对机翼结构的有限元分析结果，确定FBG传感器阵列在机翼上的布置位置，根据机翼的实际尺寸确定不同位置处FBG传感器阵列的长短；According to the finite element analysis results of the wing structure, the arrangement position of the FBG sensor array on the wing is determined, and the length of the FBG sensor array at different positions is determined according to the actual size of the wing;
    步骤(4)、地面模拟实验：Step (4), ground simulation experiment:
    测量数据确定机翼上各点空间坐标，控制实验环境温度，在恒温环境中对机翼进行变载荷实验，基于形变拟合的数学模型，将FBG传感器获得的测量值计算拟合出变形后的曲线，拟合出变形后的机翼曲面，确定机翼动态变形下机翼上各点的空间坐标，即确定机翼上各挂 载的IMU的位置坐标；The measurement data determines the spatial coordinates of each point on the wing, controls the temperature of the experimental environment, and conducts a variable load experiment on the wing in a constant temperature environment. Curve, fit the deformed wing surface, determine the spatial coordinates of each point on the wing under the dynamic deformation of the wing, that is, determine the position coordinates of each mounted IMU on the wing;
    步骤(5)、空中飞行实验：Step (5), aerial flight experiment:
    根据选定型号飞机的飞行包线，进行飞行实验，飞行过程中机翼的变形情况由FBG传感阵列测得，通过数学模型拟合得到机翼各IMU的相对位置坐标；According to the flight envelope of the selected type of aircraft, the flight experiment is carried out. During the flight, the deformation of the wing is measured by the FBG sensor array, and the relative position coordinates of each IMU of the wing are obtained by mathematical model fitting;
    步骤(6)、确定参考基准。Step (6), determine the reference datum.
  2. 根据权利要求1所述的一种基于机翼形变的机载IMU高精度参考基准获取方法，其特征在于：激振加载方式采用电液激振系统，采用非接触式的全场扫描式激光测振仪获取测量结果。A method for obtaining a high-precision reference datum for an airborne IMU based on wing deformation according to claim 1, wherein the excitation loading method adopts an electro-hydraulic excitation system, and a non-contact full-field scanning laser measurement method is adopted. vibrator to obtain the measurement results.
  3. 根据权利要求1所述的一种基于机翼形变的机载IMU高精度参考基准获取方法，其特征在于：所选取的FBG传感器阵列分为长FBG传感器和短FBG传感器，根据机翼的结构确定LFBG和SFBG数量及布局；IMU分为主IMU和子IMU，主IMU位于机舱内部，子IMU在机翼蒙皮下方对称挂置。The method for obtaining a high-precision reference datum of an airborne IMU based on the deformation of the airfoil according to claim 1, wherein the selected FBG sensor array is divided into a long FBG sensor and a short FBG sensor, which are determined according to the structure of the airfoil. Number and layout of LFBG and SFBG; IMU is divided into main IMU and sub-IMU. The main IMU is located inside the cabin, and the sub-IMU is symmetrically mounted under the wing skin.
  4. 根据权利要求1所述的一种基于机翼形变的机载IMU高精度参考基准获取方法，其特征在于：FBG传感器采用表贴式；子IMU分别对称布置在机翼上2-3个，主IMU为1个布置在机舱内部。The method for obtaining a high-precision reference reference of an airborne IMU based on the deformation of the wing according to claim 1, wherein the FBG sensor adopts a surface-mounted type; One IMU is arranged inside the cabin.
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