CN101881651A - Small-size portable high-accuracy disturbance measuring system - Google Patents
Small-size portable high-accuracy disturbance measuring system Download PDFInfo
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- CN101881651A CN101881651A CN 201010209792 CN201010209792A CN101881651A CN 101881651 A CN101881651 A CN 101881651A CN 201010209792 CN201010209792 CN 201010209792 CN 201010209792 A CN201010209792 A CN 201010209792A CN 101881651 A CN101881651 A CN 101881651A
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Abstract
The invention provides a small-size portable high-accuracy disturbance measuring system. The system consists of an upper installation part, a lower installation part, eight piezoelectric force sensors (four sensors are arranged along a vertical direction and the other four sensors are arranged along a horizontal direction) and a data acquiring and processing system, wherein the upper and lower installation parts are connected through a screw to form a whole; and a vertical pressure sensor and a transverse pressure sensor are arranged in an integral part consisting of the upper and lower installation parts and drive washers to compress the sensors through bolts respectively. The eight sensors are arranged reasonably so that three dynamic forces and three dynamic bending moments of a disturbance source can be measured. The disturbance source is arranged outside the system according to a specific requirement. The piezoelectric sensors are connected with the data acquiring and processing system through leads. The measuring system can accurately measure the disturbing force of a tiny disturbance source and has high measuring reliability. The system has a small size per se, light weight and capability of testing the disturbing force under various environments so that the range of application is expanded to a large extent.
Description
Technical field
The present invention relates to a kind of small-size portable high-accuracy disturbance measuring system, can under multiple environment, carry out the disturbing force test, applied range; Because the measuring accuracy height can be used for the spacecraft inside vibration signal of tiny perturbation load on six-freedom degree carried out kinetic measurement.
Background technology
Present spacecraft all belongs to large-scale flexible expansion mechanism mostly, and has a large amount of optical elements, and they have all proposed very high requirement to pointing accuracy and degree of stability.In addition, in modern spacecraft attitude control system, reaction wheel, single frame moment gyro and sun wing driving mechanism etc. are the critical elements in its control system, they are when providing necessary control power, also can cause some nuisance vibrations (for the sake of simplicity, below above-mentioned three kinds of systems being referred to as disturbing source).These disturbances are mainly caused by flywheel imbalance, bearing disturbance, motor disturbance, motor-driven error etc., wherein the flywheel imbalance is the main reason that causes the flywheel vibration, these disturbing forces and disturbing moment can reduce the performance index of accuracy instrument in the body space, so the dynamic perfromance of measurement and the disturbance of analysis spacecraft useful load, thereby very important engineering significance is arranged for the Safety Design of the attitude control accuracy of analyzing and eliminate disturbance raising spacecraft and reinforcement spacecraft.
Because the disturbance of spacecraft disturbing source is very little, indivedual useful load such as momenttum wheel be three faint disturbances that direction can only produce tens milli newton even a few milli newton in the space, it is very difficult to want to measure in the ground experiment chamber with strong relatively jamming pattern noise this type of disturbance, and the accuracy requirement of its respective sensor is very high.
At present, do not see the reported in literature of relevant this type of microvibration measuring system both at home and abroad as yet.
Summary of the invention
The technical problem to be solved in the present invention is: overcome the deficiencies in the prior art, a kind of small-size portable high-accuracy disturbance measuring system is provided, measure and analyze in the spacecraft operational process and because the technical advantage of its miniature portable can be measured the dynamic perfromance of disturbing source on the six-freedom degree of space in the work of satellite space, for the attitude control accuracy that improves spacecraft and the Safety Design of reinforcement spacecraft provide reliable test data.
The present invention will solve the technical scheme that its technical matters adopts: a kind of small-size portable high-accuracy disturbance measuring system, comprise mounting means, following fabricated section, coupling bolt, four vertical piezoelectric sensors, four horizontal piezoelectric sensors, four located lateral baffle plates, four horizontal hold-down bolts, four vertical positioning baffles, four vertical hold-down bolts, the data acquisition and processing (DAP) system; Mounting means is connected in aggregates with following fabricated section by coupling bolt; Four vertical piezoelectric sensors are positioned at the upper surface of fabricated section down along vertical cube to symmetry respectively, and four vertical bolts drive vertical positioning baffle and compress four vertical piezoelectric sensors, are used to measure the oscillatory torque of the vibration force of Z direction and X, Y direction; Four horizontal piezoelectric sensors are installed on the inner horizontal direction of mounting means along four sides of fabricated section, and install about the diagonal line symmetry in twos, and four cross bolts drive the located lateral baffle plates and compress four horizontal piezoelectric sensors; The installation direction of four horizontal piezoelectric sensors and Z axle are the spatial vertical relation, are used for the vibration force of measured X, Y direction and the oscillatory torque of Z direction; The output of four vertical piezoelectric sensors and four horizontal piezoelectric sensors links to each other with the data acquisition and processing (DAP) system by signal transmssion line; Disturbing source is installed in the upper surface of mounting means, and the lower surface of following fabricated section can be connected with various working environments by the card extender of processing different size; When disturbing source produces vibration, four vertical piezoelectric sensors and four horizontal piezoelectric sensors produce voltage signal, this voltage signal is converted into three microvibration force signals and three microvibration torque signals by the data acquisition and processing (DAP) system, can accurately analyze the vibration characteristics of disturbing source based on this.
The present invention compared with prior art has the following advantages:
(1) the present invention is by the reasonable Arrangement of 8 common piezoelectric sensors, thereby make the moving signal of perturbation of six-freedom degree can utilize existing one-way piezoelectric force transducer to measure, overcome the problem that lacks high precision three-dimensional sensor, made measuring accuracy improve greatly.
(2) measurement mechanism of the present invention separates with measured test specimen, need optional equipment and sensor be installed on test specimen, does not influence the dynamic perfromance of test specimen, does not damage the test specimen structure, and test finishes the back test specimen can also normal use.
(3) the present invention has realized that by rationally regulating the pretightning force of bolt the amplification of signal also can have than the accurate measurement under the actual motion condition in big quality disturbance source, has improved measuring reliability.
(4) the present invention has improved the adaptability of measuring system because himself miniature portable has enlarged usable range.
Description of drawings
Fig. 1 is the structural representation of the embodiment of the invention 1;
Fig. 2 is the structural representation of mounting means;
Fig. 3 is the structural representation of following fabricated section.
Embodiment
As shown in Figure 1, the present invention is by mounting means 1, down fabricated section 2, coupling bolt 3, four vertical piezoelectric sensors 4, four horizontal piezoelectric sensors 5, four lateral register baffle plates 6, four horizontal hold-down bolts 7, four vertical positioning baffles 8, four vertical hold-down bolts 9, and data acquisition and processing (DAP) system 10 forms; Mounting means 1 is connected in aggregates with following fabricated section 2 by coupling bolt 3.Four vertical piezoelectric sensors 4 are positioned at the upper surface of fabricated section 2 down along vertical cube to symmetry respectively, and four vertical bolts 9 drive vertical positioning baffles 8 and compress four vertical piezoelectric sensors 4, are used to measure the oscillatory torque of the vibration force of Z direction and X, Y direction; Four horizontal piezoelectric sensors 5 are installed on the inner horizontal direction of mounting means 1 along four sides of fabricated section, and install about the diagonal line symmetry in twos, and four cross bolts 7 drive located lateral baffle plates 6 and compress four horizontal piezoelectric sensors 5; The installation direction of four horizontal piezoelectric sensors 5 and Z axle are the spatial vertical relation, are used for the vibration force of measured X, Y direction and the oscillatory torque of Z direction; The output of four vertical piezoelectric sensors 4 and four horizontal piezoelectric sensors 5 links to each other with data acquisition and processing (DAP) system 10 by signal transmssion line; Disturbing source is installed in the upper surface of mounting means 1, and the lower surface of following fabricated section 2 can be connected with various working environments by the card extender of processing different size; When disturbing source produces vibration, four vertical piezoelectric sensors 4 and four horizontal piezoelectric sensors 5 produce voltage signal, this voltage signal is converted into three microvibration force signals and three microvibration torque signals by data acquisition and processing (DAP) system 10, can accurately analyze the vibration characteristics of disturbing source based on this.
During installation, four vertical bolts 9 and four cross bolts 7 must be tightened in the scope that intensity allows as far as possible, to improve the measuring accuracy of piezoelectric sensor.
As shown in Figure 2, mounting means 1 material is an aluminium, and external structure is that xsect is foursquare rectangular parallelepiped, and xsect of lower surface mill off is foursquare rectangular parallelepiped; Four sides of mounting means 1 are got through two holes 11,12 respectively, be threaded hole 11 wherein than large through-hole, lateral pickup 5 is by this threaded hole, and laterally hold-down bolt 7 matches two holes 11,12 that located lateral baffle plate 6 is got through by four sides of above-mentioned mounting means 1 with threaded hole 11.
As shown in Figure 3, following fabricated section 2 materials are aluminium, its external structure is that xsect is foursquare rectangular parallelepiped, the stretched xsect of upper surface is foursquare rectangular parallelepiped, pass through coupling bolt 3 installations up and down with mounting means 1, horizontal direction leaves the 1mm-2mm space, and the upper surface of following fabricated section 2 mills two holes 21,22 symmetrically, at relatively large hole 21 places concentric position thread milling through hole 22; Vertical sensor 4 can be by above-mentioned than macropore 21, and vertical hold-down bolt 9 matches with threaded hole 22, two holes 21,22 that the upper surface of vertical positioning baffle 8 by following fabricated section 2 mills symmetrically.
Four vertical piezoelectric sensors 4 and four horizontal piezoelectric sensors 5 are piezo ceramic element.Four vertical piezoelectric sensors 4 are distributed in down on the upper surface of fabricated section 2 symmetrically, can measure the oscillatory torque of the vibration force of Z direction and X, Y direction; Four horizontal piezoelectric sensors 5 are installed on the side surface of mounting means 1 periphery and the projection square parts of following fabricated section 2, and in twos about the installation of diagonal line symmetry, can measured X, the vibration force of Y direction and the oscillatory torque of Z direction.
Disturbing source is installed in the upper surface of mounting means 1, and the lower surface of following fabricated section 2 can be connected with various working environments by the card extender of processing different size.Whether the signal of checking four vertical piezoelectric sensors 4, four horizontal piezoelectric sensors 5 is normal, move the microvibration source afterwards, make it produce vibration, thereby the voltage signal that makes four vertical piezoelectric sensors 4, four horizontal piezoelectric sensor 5 outputs is converted into three microvibration force signals and three microvibration torque signals of X, Y, three directions of Z by data acquisition and processing (DAP) system 10, can accurately analyze the vibration characteristics in microvibration source based on this.Owing to what obtain by data acquisition processing system 10 is the voltage signal of piezoelectric force transducer, voltage signal to be converted to force signal, also need sensor is demarcated, obtain corresponding sensitivity coefficient, can obtain the force signal of useful load after itself and voltage signal are multiplied each other.
What wherein obtain by data acquisition processing system 10 is the voltage signal of piezoelectric force transducer, piezoelectric sensor is the sensor that utilizes the piezoelectric effect that produces behind some dielectric medium stress to make, it can only be used for kinetic measurement, 4 piezoelectric sensor series connection of each passage are used in the experiment, sensitivity coefficient is 412mv/N, the voltage signal of each passage is input to data acquisition system (DAS) 10, utilize the center equivalence frequency response function matrix method of inverting to obtain the demarcation matrix H (ω) of test macro in the processing procedure, pass through formula W again
6 * 8(ω) T
8 * n(ω)=F
6 * n(ω) obtain the disturbing force of equivalent center, W is the contrary of system's frequency response function matrix in the formula; T is the response signal of eight force transducers; F is an equivalent load.
The ultimate principle that test macro is demarcated is the frequency response function matrix method of inverting, and its hypothesis is that system is linear, and the response of system is produced by load to be measured fully, and the application point of load is known.
Generally speaking, real system is continuous structure particularly, and its number of degrees of freedom, N is very big, and the response that can not record on all degree of freedom is used for finding the solution the load that structure is subjected to.Generally, because charge number P to be determined generally can be very not big, so wish to determine load to be determined with few response data of trying one's best, the partial response by structure just comes measuring load.Suppose that charge number undetermined is P, the measuring point of response is counted L, and all less than total number of degrees of freedom, N of system, the structural frequency response function can be expressed as for both:
X(ω)
L×1＝H(ω)
L×PF(ω)
P×1 (4.1)
If charge number P undetermined counts L with the measuring point of response and equates in the formula (4.1.1), i.e. L=P, then frequency response function matrix H (ω) is a square formation, so the vectorial F of loading spectrum (ω) can be tried to achieve by following formula:
F(ω)＝H
-1(ω)X(ω) (4.2)
If to count L unequal for charge number P undetermined and the measuring point of response in the formula (4.1.1), L 〉=P normally, then frequency response function matrix H (ω) is a square formation no longer just, so must ask generalized inverse to frequency response function, like this, the formula of Load Identification is:
F(ω)＝[H
H(ω)H(ω)]
-1H
H(ω)X(ω) (4.3)
In the formula, the conjugate transpose of subscript H representing matrix.
Above-mentioned scaling method is defined as the center equivalent load frequency response function matrix method of inverting, and this method at first will be demarcated load and will be transformed into the mounting disc centre of form, that is:
F
6×n(ω)＝C
6×nF′
n×n(ω) (4.4)
In the following formula, the number of times that loads during the n in the matrix subscript represents to test; F represents the load of equivalence to the centre of form, and dimension is 6 * n; The load of F ' expression actual loaded is a diagonal matrix, the F ' in the matrix
IiEqual the load value of the ii time loading; C represents the loading matrix of actual loaded and the transition matrix between the equivalent load matrix, and dimension is 6 * n.
Pass between equivalent load and the force sensor signals is:
W
6×8(ω)T
8×n(ω)＝F
6×n(ω) (4.5)
The number of times that loads during wherein the n in the matrix subscript represents to test; W is the contrary of system's frequency response function matrix; T is the response signal of eight force transducers, and dimension is 8 * n; F is the equivalent load that obtains in the formula (4.1.4).By in the formula (4.1.5) as can be known, there is the inverse time in T when response matrix, has:
W
6×8(ω)＝F
6×n(ω)T
-1 8×n(ω) (4.6)
The passage of considering response signal has only 8, and in order to improve measuring accuracy, the number of load(ing) point should be greater than the response channel number, i.e. n＞8, and at this moment response matrix T no longer is a square formation, but the matrix of a capable full rank is used the generalized inverse theory, has:
W
6×8(ω)＝F
6×n(ω)T
H(ω)[T(ω)T
H(ω)]
-1?(4.7)
With (4.1.4) formula substitution (4.1.7), have:
W
6×8(ω)＝C
6×nF′
n×n(ω)T
T(ω)[T(ω)T
T(ω)]
-1 (4.8)
In a word, can accurately measure the disturbing force in microvibration source, and the measuring reliability height.And because own vol is less, weight is lighter, can carry out the disturbing force test under multiple environment, has increased usable range.
The non-elaborated part of the present invention belongs to techniques well known.
Claims (5)
1. small-size portable high-accuracy disturbance measuring system, it is characterized in that comprising: mounting means (1), following fabricated section (2), coupling bolt (3), four vertical piezoelectric sensors (4), four horizontal piezoelectric sensors (5), four located lateral baffle plates (6), four horizontal hold-down bolts (7), four vertical positioning baffles (8), four vertical hold-down bolts (9), data acquisition and processing (DAP) system (10); Mounting means (1) is connected in aggregates with following fabricated section (2) by coupling bolt (3); Four vertical piezoelectric sensors (4) are along the upper surface of vertical cube fabricated section (2) under symmetry is positioned at respectively, four vertical bolts (9) drive vertical positioning baffle (8) and compress four vertical piezoelectric sensors (4), are used to measure the oscillatory torque of the vibration force of Z direction and X, Y direction; Four horizontal piezoelectric sensors (5) are installed on the inner horizontal direction of mounting means (1) along four sides of fabricated section, and install about the diagonal line symmetry in twos, four cross bolts (7) drive located lateral baffle plate (6) and compress four horizontal piezoelectric sensors (5); The installation direction of four horizontal piezoelectric sensors (5) and Z axle are the spatial vertical relation, are used for the vibration force of measured X, Y direction and the oscillatory torque of Z direction; The output of four vertical piezoelectric sensors (4) and four horizontal piezoelectric sensors (5) links to each other with data acquisition and processing (DAP) system (10) by signal transmssion line; Disturbing source is installed in the upper surface of mounting means (1), and the lower surface of following fabricated section (2) can be connected with various working environments by the card extender of processing different size; When disturbing source produces vibration, four vertical piezoelectric sensors (4) and four horizontal piezoelectric sensors (5) produce voltage signal, this voltage signal is converted into three microvibration force signals and three microvibration torque signals by data acquisition and processing (DAP) system (10), can accurately analyze the vibration characteristics of disturbing source based on this.
2. a kind of small-size portable high-accuracy disturbance measuring system according to claim 1 is characterized in that: described four vertical piezoelectric sensors (4) and four horizontal piezoelectric sensors (5) are piezo ceramic element.
3. a kind of small-size portable high-accuracy disturbance measuring system according to claim 1 is characterized in that: the external structure of described mounting means (1) is that xsect is foursquare rectangular parallelepiped, and xsect of lower surface mill off is foursquare rectangular parallelepiped; Four sides of mounting means (1) are got through two holes respectively, be threaded hole wherein than large through-hole, lateral pickup (5) is by this threaded hole, and laterally hold-down bolt (7) matches two holes that located lateral baffle plate (6) is got through by four sides of above-mentioned mounting means (1) with this threaded hole.
4. a kind of small-size portable high-accuracy disturbance measuring system according to claim 1, it is characterized in that: the described external structure of fabricated section (2) down is that xsect is foursquare rectangular parallelepiped, the stretched xsect of upper surface is foursquare rectangular parallelepiped, install by coupling bolt (3) with mounting means (1), horizontal direction leaves the space; The upper surface of following fabricated section (2) mills two holes symmetrically, and one of them is relatively large, than macropore place concentric position thread milling through hole; Vertical sensor (4) can be by above-mentioned than macropore, and vertical hold-down bolt (9) matches with above-mentioned threaded hole, vertical positioning baffle (8) by under the upper surface of fabricated section (2) two holes of milling symmetrically.
5. a kind of small-size portable high-accuracy disturbance measuring system according to claim 1, it is characterized in that: described four vertical bolts (9) and four cross bolts (7) must be tightened in the scope that intensity allows as far as possible, to improve the measuring accuracy of piezoelectric sensor.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103323097A (en) * | 2013-06-19 | 2013-09-25 | 北京航空航天大学 | Ultra-low frequency high-accuracy micro-vibration measuring system |
| CN103472669A (en) * | 2013-09-26 | 2013-12-25 | 北京空间飞行器总体设计部 | Camera shutter micro-vibration physical simulation testing processing system and testing method thereof |
| CN103674224A (en) * | 2013-09-26 | 2014-03-26 | 北京空间飞行器总体设计部 | SADA (Solar Array Drive Assembly) micro vibration testing method |
| CN104457966A (en) * | 2014-12-05 | 2015-03-25 | 北京航空航天大学 | Piezoelectric type decoupling micro-vibration measurement system |
| CN106768288A (en) * | 2016-12-05 | 2017-05-31 | 北京航空航天大学 | A kind of high precision high rigidity heavy load piezoelectric type decouples microvibration measuring system |
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| CN101246063A (en) * | 2008-03-21 | 2008-08-20 | 北京航空航天大学 | Spacecraft spacing tiny perturbation load measuring system |
| CN101592518A (en) * | 2009-06-24 | 2009-12-02 | 北京航空航天大学 | A kind of high-precision microvibration measuring system |
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| US5675087A (en) * | 1994-02-15 | 1997-10-07 | The Babcock & Wilcox Company | Fastener characterization with an electromagnetic acoustic transducer |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103323097A (en) * | 2013-06-19 | 2013-09-25 | 北京航空航天大学 | Ultra-low frequency high-accuracy micro-vibration measuring system |
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| CN103472669A (en) * | 2013-09-26 | 2013-12-25 | 北京空间飞行器总体设计部 | Camera shutter micro-vibration physical simulation testing processing system and testing method thereof |
| CN103674224A (en) * | 2013-09-26 | 2014-03-26 | 北京空间飞行器总体设计部 | SADA (Solar Array Drive Assembly) micro vibration testing method |
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| CN103674224B (en) * | 2013-09-26 | 2016-03-16 | 北京空间飞行器总体设计部 | The micro-method for testing vibration of a kind of solar wing driving mechanism |
| CN104457966A (en) * | 2014-12-05 | 2015-03-25 | 北京航空航天大学 | Piezoelectric type decoupling micro-vibration measurement system |
| CN104457966B (en) * | 2014-12-05 | 2017-10-24 | 北京航空航天大学 | A kind of piezoelectric type decouples microvibration measuring system |
| CN106768288A (en) * | 2016-12-05 | 2017-05-31 | 北京航空航天大学 | A kind of high precision high rigidity heavy load piezoelectric type decouples microvibration measuring system |
| CN106768288B (en) * | 2016-12-05 | 2019-05-03 | 北京航空航天大学 | A kind of high precision high rigidity heavy load piezoelectric type decoupling microvibration measuring system |
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Open date: 20101110 |