CN106500940A - Six-degree of freedom vibration acceleration measurement device - Google Patents
Six-degree of freedom vibration acceleration measurement device Download PDFInfo
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- CN106500940A CN106500940A CN201610911247.8A CN201610911247A CN106500940A CN 106500940 A CN106500940 A CN 106500940A CN 201610911247 A CN201610911247 A CN 201610911247A CN 106500940 A CN106500940 A CN 106500940A
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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
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/18—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
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- Measurement Of Mechanical Vibrations Or Ultrasonic Waves (AREA)
Abstract
The present invention relates to a kind of six-degree of freedom vibration acceleration measurement device, for the measurement and structure multi-dimension vibration analysis of multi-dimensional vibration amount in complex vibration environment, the device has an integrated space adaptor, four three-dimensional acceleration transducers and a counterweight, four three-dimensional acceleration transducers are separately mounted in the vertical bifurcated beams and three horizontal bifurcated beams of space adaptor, wherein, a piece horizontal bifurcated beams rear portion elongated end installs a counterweight, for adjusting geometrical symmetry of the measurement apparatus with regard to vertical center axis, the vertical bifurcated beams lower end is fixed on base.Many advantages, such as six-degree of freedom vibration acceleration measurement device designed by the present invention has measurement frequency wide ranges, lightweight, install convenient and high certainty of measurement, has broad application prospects in engineering.
Description
Technical field
The present invention relates to a kind of acceleration of vibration measurement apparatus, especially a kind of six-degree of freedom vibration acceleration analysis dress
Put.
Background technology
At this stage, China all adopts one-dimensional mode of vibration to the vibration environment test of electronic product and main equipment.However,
Some have passed through the military equipment of one-dimensional vibration test according to standard, in outfield or the multi-dimensional complicated oscillation ring in stage of being on active service
Still failure occurs in border.In fact, the running environment of equipment usually contains multi-dimensional vibration component, only tried with multi axis vibration
Check system could more effectively simulator real kinetic environment, exposure device be difficult under single shaft excited vibration mode by
It was found that defect and hidden danger.The nineties in last century, have begun to both at home and abroad notice the true multi-dimensional vibration environment of simulation
Necessity, and set about multi-axes vibration test systematic research." method 527 " in American army mark MIL-STD-810G is proposed
A kind of multi-dimensional vibration test method.However, the identification of multi-dimensional vibration environmental characteristic and the analysis of response to multi-axis vibration feature are ground
Study carefully etc. and to be required to use multi-dimensional vibration acceleration transducer, for measuring multi-dimensional vibration signal.Therefore, a kind of structure letter is invented
The high six-degree of freedom vibration acceleration measurement device of single, certainty of measurement just seems very necessary.
Currently, can also be with measurement angle acceleration parameter, if entered using angular displacement sensor without ready-made fexible unit
Row measurement then has that volume is big, installation difficulty, frequency range, and, two subdifferentials are carried out by diagonal displacement
To ask angular acceleration to inevitably result from calculation error.In recent years, the continuous improvement of acceleration transducer technology and performance,
Condition is provided for sensor space array test engineering application.Existing research generally using six acceleration transducers,
The sensor array of nine acceleration transducers, 12 acceleration transducers and some other configurations is realizing six-degree of freedom vibration
Measurement.
Accordingly, it would be desirable to use for reference the correlation technique of gyro Inertial Measurement Unit navigation, sensor space array test technology is transported
Use in vibration environment, effectively the multidimensional linearly coupled under upper frequency and angular oscillation acceleration can be measured.That is, lead to
The space array technology of multiple three-dimensional acceleration transducers is crossed, a kind of simple structure, easy for installation, dynamic property is devised good
Acceleration measurement device, it is possible to achieve the measurement of multi-dimensional vibration environment and response to multi-axis vibration feature.
Content of the invention
The present invention is to provide for a kind of six-degree of freedom vibration acceleration measurement device, and the device is using one kind by a space
The six-degree of freedom vibration acceleration measurement device of adaptor, four three-dimensional acceleration transducers and a counterweight composition, is suitable for
The synchronism detection of three linear accelerations and three angular acceleration in multi-dimensional vibration environment, it is also possible to be applied to multi-dimensional vibration environment
The research of the aspects such as test, response to multi-axis vibration feature and multi-dimensional vibration Transmission Characteristics.
For achieving the above object, the technical scheme is that：A kind of six-degree of freedom vibration acceleration measurement device, is used for
The measurement of multi-dimensional vibration amount and structure multi-dimension vibration analysis in complex vibration environment, the device have an integrated space
Adaptor, four three-dimensional acceleration transducers and a counterweight, four three-dimensional acceleration transducers are separately mounted to sky
Between adaptor vertical bifurcated beams and three horizontal bifurcated beams on, wherein, a horizontal bifurcated beams rear portion elongated end installs one
Counterweight, for adjusting geometrical symmetry of the measurement apparatus with regard to vertical center axis, the vertical bifurcated beams lower end is fixed on bottom
On seat.
The base is arranged on measured piece surface by glue or magnetic coupling, vertical bifurcated beams and horizontal bifurcated beams it
Between reinforced by gusset.
There is openwork part, for effectively reducing the weight of space adaptor in the horizontal bifurcated beams and vertical bifurcated beams
Amount.
Four three-dimensional acceleration transducers constitute array, it is ensured that installed in the orthogonality of the sensitive direction of same coordinate axess,
Three sensitive axes of three-dimensional acceleration transducer are parallel with the respective shaft in absolute coordinate system.
The counterweight is located at the Y-axis negative direction of measurement apparatus, make the weight of measurement apparatus simultaneously about OXZ planes and
OYZ plane symmetries.
The six-degree of freedom vibration acceleration measurement device is used for the six-degree of freedom vibration environment in 0-200Hz frequency ranges
Measurement.
The invention has the beneficial effects as follows：
Space array technology of the six-degree of freedom vibration acceleration measurement device by three-dimensional acceleration transducer, it is possible to achieve
Synchro measure to linear acceleration and angular acceleration in multi-dimensional vibration environment.By the method in the invention, weight is can be designed that
The big space adaptor of little, rigidity is measured, the vibration-testing frequency range of the measurement apparatus is which ensure that.Six-degree of freedom vibration accelerates
In degree measurement apparatus, four sensors are distributed in the side of device pedestal, and in the non-placement sensor of opposite side, this is easy to survey
Amount installation and movement of the device in actual vibration environment.Structural weak position in the adaptor of space is designed with gusset, this
The rigidity of space adaptor can be greatly improved.On the premise of adaptor rigidity is not affected, hollow out is carried out to space adaptor
Process, this can be effectively reduced the weight of adaptor.Mounting design counterweight in six-degree of freedom vibration acceleration measurement device
Part, which ensure that the weight of measurement apparatus in static state with regard to substantially symmetrical about its central axis, this improves vibration letter between different sensors
Number conforming simultaneously, also ensure that balanced capacity of the device in measurement process.
Six-degree of freedom vibration acceleration measurement device designed by the present invention has measurement frequency wide ranges, lightweight, peace
Many advantages, such as filling convenient and high certainty of measurement, has broad application prospects in engineering.
Description of the drawings
Fig. 1 is the three-dimensional model diagram of the six-degree of freedom vibration acceleration measurement device of the present invention；
Fig. 2A is six-degree of freedom vibration acceleration measurement device front view；
Fig. 2 B are six-degree of freedom vibration acceleration measurement device top view；
Fig. 3 is three-dimensional acceleration transducer space array conceptual scheme；
Fig. 4 A are space adaptor first-order modal and its vibration shape；
Fig. 4 B are space adaptor second-order modal and its vibration shape；
Fig. 4 C are three order mode state of space adaptor and its vibration shape；
Fig. 4 D are space adaptor quadravalence mode and its vibration shape
Fig. 5 is space adaptor acceleration transmissibility curve.
Specific embodiment
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
The six-degree of freedom vibration acceleration measurement device of the present invention, as shown in figure 1, shake for multidimensional in complex vibration environment
The measurement of momentum and the research of structure multi-dimension Vibration Analysis Technology.The agent structure of six-degree of freedom vibration acceleration measurement device
For an integrated space adaptor, four three-dimensional acceleration transducers and a counterweight are rigidly mounted at space switching
On head.The invention devises a kind of space adaptor with high vibration mode, it is ensured that device by dynamic optimization analytical technology
There is wider vibration measurement frequency range.Space adaptor carries out hollow out and local reinforcement is processed, and which greatly enhances switching
The weight of adaptor is also reduced while head mould state.All acceleration transducer is arranged in side (that is, the device pedestal in space
Side), and opposite side does not have placement sensor, and this is easy to installation and movement of the measurement apparatus in complex environment.Based on just
Body dynamics are theoretical, using the acceleration signal of three-dimensional sensor, and the conversion relation by space geometry structure, obtain multidimensional
Six-degree of freedom vibration acceleration at vibration environment measuring point.
The present invention constitutes the scheme of space array using four three-dimensional acceleration transducers, reduces sensor in array
Number, it is ensured that installed in the orthogonality of the sensitive direction of same coordinate axess, also allow for the installation in small space.Six freely
The performance of degree acceleration of vibration measurement apparatus depends on the wherein geometry of space adaptor and performance parameter, in the structure of adaptor
The parameters such as its size, weight and rigidity should be considered in design.1) in terms of space switching area of bed, due to measuring point angular acceleration
It is that the relative distance conversion for having linear acceleration and the two positions at two sensing stations is obtained, in sensor resolution
In the case of constant, the size of adaptor is bigger (relative distance between i.e. two sensors is bigger), then the angle of device accelerates
Degree certainty of measurement is higher.However, being limited to the installing space of true multi-dimensional vibration environment, the size of measurement apparatus again can not mistake
Greatly.2) in terms of space adaptor rigidity, as three-dimensional acceleration transducer is installed in the end of adaptor, adaptor base position
Vibration is transmitted to four sensing stations by adaptor, and in vibration measurement frequency range, the vibration in adapter structure is passed
Pass characteristic and do not answer significant changes, this requires that the rigidity of space adaptor is sufficiently large, i.e. the first-order modal of adaptor should be greater than shaking
Three times of the dynamic measurement frequency upper limit.3), in terms of adaptor weight, six-degree of freedom vibration acceleration measurement device shakes installed in multidimensional
In rotating ring border, the weight of measurement apparatus is heavier, then the impact of its response to multi-axis vibration feature to original vibration environment is bigger.This
Outward, it is contemplated that the portability of measurement apparatus, the weight of six-degree of freedom vibration acceleration measurement device should not be excessive.4) six degree of freedom
In acceleration of vibration measurement apparatus, four three-dimensional acceleration transducers adopt business-like high-precision sensor product.Sensor
Selection answers emphasis to consider its acceleration resolution, and this is the size due to being limited to measurement apparatus, and measurement apparatus can be measured
Angular acceleration resolution be generally linear acceleration resolution 10%～20%, this for the less vibration environment of angular acceleration,
The angular acceleration power of test of measurement apparatus will be had a greatly reduced quality.
As shown in Figure 2 A and 2 B, four three-dimensional acceleration transducers (1a, 1b, 1c and 1d) are respectively mounted in a device
Vertically in bifurcated beams 2a and three horizontal bifurcated beams 2b, added by gusset 2c between the vertical bifurcated beams and horizontal bifurcated beams in device
Gu, the base 2d of device is arranged on measured piece surface by glue or magnetic coupling, and counterweight 3 is used for adjusting measurement apparatus pass
In the geometrical symmetry of vertical center axis, the mounting stability of device is improved.The device realizes that six-degree of freedom vibration acceleration is surveyed
The mode of amount is as follows：
(1) sensor array pattern
This project constitutes the scheme of array using four three-dimensional acceleration transducers, reduces the use of sensor in array
Number, it is ensured that installed in the orthogonality of the sensitive direction of same coordinate axess, in narrow and small vibration environment space also allow for installing.
In six degree of freedom acceleration measurement device, as shown in figure 3, wherein, O-XYZ characterizes actual quilt to the array approaches of acceleration transducer
Survey multi-dimensional vibration environment coordinate system (absolute coordinate system), Ai-aixaiyaizFor three-dimensional acceleration transducer coordinate system (relative coordinates
System).A1、A2、A3And A4Represent that four three-dimensional acceleration transducers, sensing station are respectively O ' apart from the distance of origin O or O '
A1=l1、O’A2=l2、O’A3=l3And OA4=l4, O ' O=h, three sensitive axes of three-dimensional acceleration transducer and absolute coordinate
Respective shaft in system is parallel.
(2) decoupling of vibration parameters
The acceleration signal measured in 12 sensitive axes of acceleration transducer is represented with A, if l1=l2=l3=l4
=l.Known to the Triaxiality and six degrees of freedom acceleration signal of the origin O (measured point i.e. in vibration environment) of hypothesis absolute coordinate system
In the case of, by rigid body kinematics theoretical knowledge, in six degree of freedom acceleration measurement device, four three-dimensional acceleration transducers adds
Rate signal AiCan be expressed as
In formula, AiFor i-th three-dimensional sensor along X, Y and Z axis acceleration signal vector, θiFor the quick of i-th sensor
The direction matrix of sense axle；Linear acceleration vector for absolute coordinate system origin O；Ω andRespectively absolute coordinate system origin O
Moving angular displacement and angular velocity antisymmetric matrix；LiThe locus that installs in absolute coordinate system for i-th sensor to
Amount.Specifically
Three-dimensional acceleration transducer signals vector, installation site vector and sensitive direction matrix are as shown in table 1.
1 sensor mounting location of table and sensitive direction
Assume h=l/2, by LiMeasured point O is obtained after formula (1) is substituted into i to add along the linear acceleration and three-dimensional of X, Y and Z axis
Relation between velocity transducer output signal is：
Relations of the measured point O between the angular acceleration and three-dimensional acceleration sensor outputs signals of X, Y and Z axis be：
From formula (3) and formula (4), by detecting four three-dimensional acceleration on six-degree of freedom vibration acceleration measurement device
The signal of sensor, can convert and obtain three linear accelerations at multi-dimensional vibration environment measured point and three angular acceleration.
(3) static analysis
The geometry of designed space adaptor is asymmetric with regard to OXZ planes as shown in Figure 3, in order to eliminate structure
Unsymmetry the static stability of six-degree of freedom vibration acceleration measurement device and dynamic equalization are impacted, in measurement
The Y-axis negative direction of device installs counterweight, makes the weight of measurement apparatus simultaneously about OXZ planes and OYZ plane symmetries.Counterweight
The selection of shape and weight is determined by static(al) simulation analysis.
(4) dynamic analysis
The measurement frequency scope of six-degree of freedom vibration acceleration measurement device to depend mainly on the size of measurement apparatus hollow
Between adaptor rigidity, adaptor rigidity is bigger, then the vibration-testing frequency band of measurement apparatus is wider.The present invention is imitative using finite element
True software, carries out model analyses to space adaptor, and analysis result shows, the vibration shape such as Fig. 4 A of the single order mode of oscillation of adaptor
Shown, the curvature movement of predominantly horizontal bifurcated beams, natural frequency is 642Hz, the vibration shape of second order vibration mode as shown in Figure 4 B,
Predominantly adaptor horizontal bifurcated beams antisymmetry curvature movement planar, natural frequency is 710Hz, and three ranks vibrate mould
The vibration shape of state as shown in Figure 4 C, predominantly adaptor horizontal bifurcated beams planar symmetric curvature motion, natural frequency
For 744Hz, the vibration shape of quadravalence mode of oscillation as shown in Figure 4 D, the curvature movement of predominantly horizontal bifurcated beams, natural frequency is
899Hz.
Further, by the frequency analyses module in the soft true software of finite element, analysis vibration adds in six-degree of freedom vibration
The transfer characteristic of velocity measuring device.Hammered into shape using power, in base (the i.e. multi-dimensional vibration of six-degree of freedom vibration acceleration measurement device
Environmental monitoring sites position) upper applying hammer force, (three-dimensional sensor is located for measurement apparatus base and horizontal bifurcated beam end respectively
Position) acceleration signal, and analyze the transmission characteristic of acceleration at two measuring points, transport result is as shown in Figure 5.Can by figure
Know, in 0-200Hz frequency ranges, acceleration transmissibility be close to the vibration at 1, i.e. measured point almost have no loss or enlargedly
Transmission three-dimensional acceleration transducer position.And from the beginning of 200Hz, the acceleration transmissibility of measurement apparatus becomes larger, i.e., tested
After the transmission of the measured device of actual signal at point place, distortion amplitudes become greatly.In a word, the six degree of freedom designed by the present invention shakes
Dynamic acceleration measurement device is applied to the measurement of the six-degree of freedom vibration environment in 0-200Hz frequency ranges.
(5) process technology
6061 duralumin of material selection of space adaptor.In order to ensure the geometry of six-degree of freedom vibration acceleration measurement device
Size and dynamic property stability, adaptor not should be assembly parts, and should be by the high accuracy such as wire cutting processing mode institute
The integral piece of formation.Hollow-out parts on the overall structure framework of adaptor and adaptor in horizontal bifurcated beams and vertical bifurcated beams
By linear cutter mode, between horizontal bifurcated beams and vertical bifurcated beams, the gusset of corner is by machining center process for position
Into.Space switching head surface deburring, right-angle side chamfering.
Claims (6)
1. a kind of six-degree of freedom vibration acceleration measurement device, the measurement and knot for multi-dimensional vibration amount in complex vibration environment
Structure multi-dimensional vibration is analyzed, it is characterised in that：The device has an integrated space adaptor, four three-dimensional acceleration sensings
Device and a counterweight（3）, four three-dimensional acceleration transducers are separately mounted to the vertical bifurcated beams of space adaptor
（2a）With three horizontal bifurcated beams（2b）On, wherein, horizontal bifurcated beams（2b）Rear portion elongated end installs a counterweight
（3）, for adjusting geometrical symmetry of the measurement apparatus with regard to vertical center axis, the vertical bifurcated beams（2a）Lower end is fixed on bottom
Seat（2d）On.
2. six-degree of freedom vibration acceleration measurement device according to claim 1, it is characterised in that：The base（2d）Logical
Glue or magnetic coupling are crossed installed in measured piece surface, vertical bifurcated beams（2a）With horizontal bifurcated beams（2b）Between pass through gusset
（2c）Reinforce.
3. six-degree of freedom vibration acceleration measurement device according to claim 1, it is characterised in that：The horizontal bifurcated beams
（2b）In vertical bifurcated beams（2a）There is openwork part, for effectively reducing the weight of space adaptor.
4. six-degree of freedom vibration acceleration measurement device according to claim 1, it is characterised in that：Four three-dimensionals add
Velocity sensor constitutes array, it is ensured that installed in the orthogonality of the sensitive direction of same coordinate axess, three-dimensional acceleration transducer
Three sensitive axes are parallel with the respective shaft in absolute coordinate system.
5. six-degree of freedom vibration acceleration measurement device according to claim 1, it is characterised in that：The counterweight（3）
It is located at measurement apparatusYAxle negative direction, make the weight of measurement apparatus simultaneously aboutOXZPlane andOYZPlane symmetry.
6. according to the arbitrary described six-degree of freedom vibration acceleration measurement device of claim 1-5, it is characterised in that：Described six certainly
The measurement for being used for the six-degree of freedom vibration environment in 0-200Hz frequency ranges by degree acceleration of vibration measurement apparatus.
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Cited By (5)
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| CN107991049A (en) * | 2017-11-23 | 2018-05-04 | 武汉理工大学 | Six-degree of freedom vibration test method and device based on acceleration transducer |
| CN111458093A (en) * | 2020-04-10 | 2020-07-28 | 航天科工防御技术研究试验中心 | Angular vibration direct measurement device for multi-degree-of-freedom vibration test |
| RU2729175C1 (en) * | 2019-10-02 | 2020-08-04 | Акционерное общество "Научно-исследовательский институт электронных приборов" | Method for vibration testing of articles |
| CN113203580A (en) * | 2021-05-10 | 2021-08-03 | 徐工集团工程机械有限公司 | Engineering vehicle stability evaluation method, device and system and engineering vehicle |
| WO2022054309A1 (en) * | 2020-09-08 | 2022-03-17 | 株式会社日立製作所 | Test jig and test method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107991049A (en) * | 2017-11-23 | 2018-05-04 | 武汉理工大学 | Six-degree of freedom vibration test method and device based on acceleration transducer |
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| CN111458093A (en) * | 2020-04-10 | 2020-07-28 | 航天科工防御技术研究试验中心 | Angular vibration direct measurement device for multi-degree-of-freedom vibration test |
| WO2022054309A1 (en) * | 2020-09-08 | 2022-03-17 | 株式会社日立製作所 | Test jig and test method |
| CN113203580A (en) * | 2021-05-10 | 2021-08-03 | 徐工集团工程机械有限公司 | Engineering vehicle stability evaluation method, device and system and engineering vehicle |
| CN113203580B (en) * | 2021-05-10 | 2024-03-29 | 江苏徐工国重实验室科技有限公司 | Engineering vehicle stability evaluation method, device and system and engineering vehicle |
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