CN102590551A - Method for simultaneously measuring three-dimensional torsion angle velocity of linear vibration table - Google Patents

Abstract

The invention discloses a method for simultaneously measuring a three-dimensional torsion angle velocity of a linear vibration table. In the traditional measuring method, the angle velocity is measured by measuring an angle, and the three-dimensional torsion angle velocity of the linear vibration table cannot be measured simultaneously. According to the measuring method disclosed by the invention, additional torsion angle velocities of the linear vibration table in three orthogonal directions at different linear vibration frequencies are simultaneously measured by using three fiber-optic gyroscopes. The measuring method comprises the following steps of: arranging the three fiber-optic gyroscopes in three orthogonal directions, meanwhile, fixing on a linear vibration table board and measuring output data of the three fiber-optic gyroscopes during the vibration of the linear vibration table by using the three fiber-optic gyroscopes, and respectively obtaining the torsion angle velocities of the linear vibration table in the corresponding directions. The measuring method disclosed by the invention can be used for rapidly, directly and accurately measuring the torsion angle velocities of the linear vibration table in the three orthogonal directions during vibration, is of great importance for instruction of linear vibration table development organizations, fills up a blank of simultaneously measuring the three-dimensional torsion angle velocity of the linear vibration table and is essential for development of aeronautics and astronautics.

Description

The method of the three-dimensional torsion angle speed of a kind of while slotted line shaking table

Technical field

The invention belongs to the automatization testing technique field, be specifically related to the method for the three-dimensional torsion angle speed of a kind of while slotted line shaking table.

Background technology

Have very big vibration environment in the inertial navigation system real work, inertial navigation system must adapt to the vibration of high-magnitude and the sustained acceleration of high-magnitude.The line shaking table can be simulated the vibration environment condition that is born in the inertia components and parts course of work, is used for the experiment sieving before inertia device gets into equipment.Desirable line shaking table should only wired vibration, and does not have angular oscillation, but actual line shaking table receives product that the restriction of center of gravity variation, stage body rigidity of material, stage body processing technology, line shaking table controller performance is installed, and unavoidably exists three-dimensional to reverse.This three-dimensional is reversed the line vibration performance that has limited the line shaking table.Comprise gyro and Jia Biao in the Inertial Measurement Unit; When Inertial Measurement Unit is positioned over the test of the enterprising column rule vibration performance of the bigger line vibration table surface of torsion angle speed ratio; The responsive size of gyro to torsion angle speed; The gyroscopic drift mutual superposition that causes with line vibration, obscure, be not sure of gyro line vibration performance and whether meet the demands.Therefore, before using the line shaking table environmental experiment and screening are carried out in combination to inertia measurement, must demarcate, make its torsion angle speed except that the line vibration as far as possible little the line shaking table.

The method commonly used of current calibration line shaking table is to adopt two-frequency laser interferometer, and the slotted line shaking table is the torsional displacement of estrade on all directions when vibration, is converted into the angle of reversing according to certain formula again.But this method will guarantee measuring reliability, and light path needs accurately to aim at, and is very high to the installation requirement of catoptron.These factors have restricted this method three-dimensional torsion angle speed of slotted line shaking table accurately and reliably.What the topmost shortcoming of this method was that sensor directly measures is angle, again according to the relation of angle and frequency, calculates the size of torsion angle speed, direct measured angular speed, and going back an important shortcoming is to measure the torsion angle speed of three-dimensional simultaneously.

Optical fibre gyro is the best sensor of measured angular speed, utilizes the Sagnac effect, directly measures the angular speed of carrier with respect to inertial space.Because its bandwidth very high (can reach 1MHz), very high precision (0.001 °/h), and do not need the external reference thing, can realize the autonomous measurement that shaking table is reversed.Zhejiang University has heightened awareness through for many years further investigation to fiber optic gyroscope performance.Line shaking table research institute has developed a line shaking table according to the requirement of Zhejiang University; The optical fibre gyro of Zhejiang University's development carries out 6g on this shaking table; During the vibration of the frequency sweep of 10-3kHz, vibration not have to influence to gyro basically, and the output of optical fibre gyro is the same basically when static when promptly vibrating.When using this optical fibre gyro on another one ordinary lines shaking table, to test, it is very big to measure in the line shaking table vibration processes torsion angle speed, reaches the magnitude of 50 °/s.

Invent a kind of fast directly reliably method to the assessing of the three-dimensional twisting property of shaking table, the product development of guide line shaking table research institute is had extremely important meaning.

Summary of the invention

The objective of the invention is deficiency, the method for the three-dimensional torsion angle speed of a kind of while slotted line shaking table is provided to prior art.

This method is the torsion angle speed on three orthogonal directionss in the slotted line shaking table vibration processes directly; This measuring method through with three optical fibre gyros respectively towards three directions of quadrature; Be installed to the real-time measurement that realizes on the line vibration table surface torsion angle speed on three orthogonal directionss of line vibration table surface, measuring method implementation step of the present invention is following:

Step (1). three optical fibre gyros are fixed on the online vibration table surface through frock; The sensitive direction of first optical fibre gyro is parallel with line vibration table surface direction of vibration; The sensitive direction of second optical fibre gyro is vertical with the line vibration table, and the 3rd optical fibre gyro is perpendicular to the direction of vibration of line shaking table and be parallel to the table top of line shaking table;

Step (2). start line shaking table vibration source; The control line vibration table surface begins vibration with the mode of vibration that requires; Measure the output of first optical fibre gyro, second optical fibre gyro, the 3rd optical fibre gyro; T is after the time, and the line vibration table surface stops vibration, obtains torsion angle speed ω 1, ω 2, ω 3 on the sensitive direction of first optical fibre gyro, second optical fibre gyro, the 3rd optical fibre gyro respectively;

Described time T is greater than 1 second;

In the mode of vibration and time of vibration of described line shaking table, mode of vibration involving vibrations frequency and vibration level can be selected according to the measurement requirement of line shaking table;

In the described step (1), the sensitive direction of first optical fibre gyro, second optical fibre gyro, the 3rd optical fibre gyro is mutually orthogonal.

The inventive method beneficial effect:

The present invention provides the method that can measure the three-dimensional torsion angle speed of line shaking table simultaneously, and than traditional line shaking table torsion angle speed measurement method, precision is higher, bandwidth is bigger, operation is quicker, and measurement result is more reliable.Use the inventive method to carry out the assessment of shaking table twisting property, research institute has extremely important meaning to the guide line shaking table.The inventive method has been filled up the blank of the three-dimensional torsion angle speed of measuring vibrations platform simultaneously through three optical fibre gyros are installed on the line shaking table along three directions of quadrature respectively, and is significant for aerospace development.

Description of drawings

Fig. 1 is the torsion angle speed measurement method synoptic diagram of slotted line shaking table on three orthogonal directionss among the present invention;

Among the figure: 1. first optical fibre gyro; 2. second optical fibre gyro; 3. the 3rd optical fibre gyro; 4. line shaking table pedestal; 5. line vibration table surface; 6. vibrating isolation foundation; 7. line shaking table vibration source.

Embodiment

Below in conjunction with shown in the accompanying drawing content of the present invention being described further.

As shown in Figure 1, be the method synoptic diagram of the torsion angle speed of slotted line shaking table on three orthogonal directionss, with three optical fibre gyros respectively towards three directions of quadrature; Be installed on the line vibration table surface 5; The three-dimensional torsion angle speed of three optical fibre gyro while slotted line shaking tables, wherein first optical fibre gyro 1 is parallel with the shaking table direction of vibration, and second optical fibre gyro 2 is vertical with vibration table surface; The 3rd optical fibre gyro 3 is vertical simultaneously parallel with vibration table surface with the shaking table direction of vibration; Shaking table pedestal 4 be positioned at line vibration table surface 5 under, shaking table pedestal 4 is positioned on the vibrating isolation foundation 6, vibrating isolation foundation 6 plays the effect of isolating exterior ambient vibration.

Step (1). as shown in Figure 1; Three optical fibre gyros are fixed on the online vibration table surface 5 through frock; The sensitive direction of first optical fibre gyro 1 is parallel with line vibration table surface 5 direction of vibration; The sensitive direction of second optical fibre gyro 2 is vertical with line vibration table 5, and the 3rd optical fibre gyro 3 is perpendicular to the direction of vibration of line shaking table and be parallel to line vibration table surface 5;

Step (2). start line shaking table vibration source 7; Control line vibration table surface 5 begins vibration with the mode of vibration that requires; Measure the output of first optical fibre gyro 1, second optical fibre gyro 2, the 3rd optical fibre gyro 3; T is after the time, and line vibration table surface 5 stops vibration, obtains torsion angle speed ω 1, ω 2, ω 3 on the sensitive direction of first optical fibre gyro 1, second optical fibre gyro 2, the 3rd optical fibre gyro 3 respectively;

Described time T is greater than 1 second;

In the mode of vibration and time of vibration of described line shaking table, mode of vibration involving vibrations frequency and vibration level can be selected according to the measurement requirement of line shaking table.

In the described step (1), the sensitive direction of first optical fibre gyro 1, second optical fibre gyro 2, the 3rd optical fibre gyro 3 is mutually orthogonal.

Claims (1)

1. method of the three-dimensional torsion angle speed of slotted line shaking table simultaneously is characterized in that following steps:

Step (1). three optical fibre gyros are fixed on the online vibration table surface through frock; The sensitive direction of first optical fibre gyro is parallel with line vibration table surface direction of vibration; The sensitive direction of second optical fibre gyro is vertical with the line vibration table, and the 3rd optical fibre gyro is perpendicular to the direction of vibration of line shaking table and be parallel to the table top of line shaking table;

Step (2). start line shaking table vibration source; The control line vibration table surface begins vibration with the mode of vibration that requires; Measure the output of first optical fibre gyro, second optical fibre gyro, the 3rd optical fibre gyro; T is after the time, and the line vibration table surface stops vibration, obtains torsion angle speed ω 1, ω 2, ω 3 on the sensitive direction of first optical fibre gyro, second optical fibre gyro, the 3rd optical fibre gyro respectively;

Described time T is greater than 1 second;

In the mode of vibration and time of vibration of described line shaking table, mode of vibration involving vibrations frequency and vibration level can be selected according to the measurement requirement of line shaking table;

In the described step (1), the sensitive direction of first optical fibre gyro, second optical fibre gyro, the 3rd optical fibre gyro is mutually orthogonal.

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