CN107356361A - A kind of measuring method of six-dimensional space power - Google Patents
A kind of measuring method of six-dimensional space power Download PDFInfo
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- CN107356361A CN107356361A CN201710528994.8A CN201710528994A CN107356361A CN 107356361 A CN107356361 A CN 107356361A CN 201710528994 A CN201710528994 A CN 201710528994A CN 107356361 A CN107356361 A CN 107356361A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000005259 measurement Methods 0.000 claims abstract description 16
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- 210000001015 abdomen Anatomy 0.000 claims description 3
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- 230000001235 sensitizing effect Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
- G01L5/167—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using piezoelectric means
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Abstract
A kind of measuring method of six-dimensional space power, for measuring the six-dimensional space power of aircraft model, use the support of double tails and bracing cable combination.Model is considered as in actual measurement process fixed, according to statics balance principle, establish the mathematical modeling of the model suffered six-dimensional force in space, force component of the model by active force is measured with the unidirectional force piezoelectric transducer that lower bracing cable connects by the triaxial pressure sensor on the tail supporting rod and upper bracing cable, by solving the mathematical modeling of the foundation, realize and the model is measured by six-dimensional force.The measuring method of six-dimensional space power provided by the present invention has had the advantages of small and rigid support system stability of bracing cable support interference is good concurrently, solves big vibration of long and narrow, the big quality module in independent tail supporting way, unstability problem.After adding bracing cable Auxiliary support, the rigidity of test system is improved, reduces the pressure of tail support stiffness design aspect, reduces the size design of tail support.
Description
Technical field
The invention belongs to sensor and observation and control technology field, is related to a kind of six-dimensional space power available for aircraft model
Measuring method.
Background technology
In aviation field, it is necessary to according to the stress of aircraft model, design, aircraft model is improved.Therefore to boat
Pocket model, which carries out six-dimensional space power measurement tool, to have very important significance.Traditional metering system is using such as to aircraft model
The supporting way of the forms such as belly stay, back up, shoe, is measured by strain transducer.Different journeys be present in this supporting way
The support interferences of degree, the precision and accuracy of measurement data are had a strong impact on.Therefore reduce or amendment support interferences problem can
The effective precision and accuracy for improving measurement aircraft model stress.The essence of bracing cable measuring method utilizes each rope
The pose of length control measurand and the power suffered by using the tension force calculating measurand on all ropes.Although bracing cable measures
Can solve support interferences this problems well, but the suspension centre that pure bracing cable is supported on model destroys the outer of model
Shape, it is also difficult to avoid the sensitizing range of body-shedding vortex, easily wave in test, influence measuring accuracy.Tail support and open
Line support combinations are got up, and propose a kind of combination of double tail supports and bracing cable support, it is small and rigid to have bracing cable support interference concurrently
The advantages of support system stability is good, it can effectively solve the problem that long and narrow, big quality aircraft model in independent tail supporting way
Big vibration, unstability problem.
The content of the invention
It is an object of the invention to provide a kind of six-dimensional space force measuring method available for aircraft model, using double tails
Support and the combination measurement method of bracing cable support, have the advantages of small and rigid support system stability of bracing cable support interference is good concurrently,
Solve big vibration of long and narrow, the big quality model in independent tail supporting way, unstability problem.
Technical scheme：
A kind of measuring method of six-dimensional space power, the six-dimensional space power available for aircraft model measure, and use double tail branch
Support and bracing cable combination；Aircraft model is considered as in measurement process fixed, according to statics balance principle, established
The mathematical modeling of aircraft model stress, two three-dimensional force transducers being separately mounted in double tail support bars and measurement
Two unidirectional force snesors of upper and lower bracing cable tension force, for measure aircraft model by force component, by the empirical value of measurement
The mathematical modeling established is substituted into, solves the value of six-dimensional space power suffered by aircraft model.
It is preferred that the measuring method of measurement model six-dimensional space power, using the support of double tails and bracing cable combination,
It is each to draw 1 in the back of the model and belly i.e. while the afterbody of the model realizes support using two rigid rods
Bracing cable, realize the fixation to the model.It is each in two rigid supporting rods of the model afterbody to lay a three axis force sensing
Device, described two three-dimensional force transducers can measure the rigid supporting rod edge of model afterbody twoThe component in direction.Institute
The one end for stating two unidirectional force snesors is respectively and fixedly installed in the model, and the other end is connected with the upper and lower bracing cable, institute
Tension value suffered by the upper and lower bracing cable can be measured respectively by stating two unidirectional force snesors.Described two three axis forces are sensed
Six force value that device is measured are updated to institute along two force value in upper and lower bracing cable direction respectively with what two unidirectional force snesors were measured
In the mathematical modeling for stating model stress, value of the model by six-dimensional space power can be solved
It is preferred that the sensor is piezoelectric force transducer.
It is preferred that the detailed process of the model stress mathematical modeling is established such as according to statics balance principle
Under：
Rectangular coordinate system in space is established in the center of gravity of the model, the direction piezoelectric transducer being connected with upper bracing cable can
Measure the line tension F along upper bracing cable direction1, the unidirectional force snesor being connected with lower bracing cable can be measured along lower bracing cable direction
Line tension F2；Two three-dimensional force transducers installed in tail support bar can measure and export rigid rod bolster model
Three component F being rigidly connected along reference axisx1、Fy1、Fz1With Fx2、Fy2、Fz2.Model is considered as it is fixed, according to static(al)
Equilibrium principle is learned, establishes equation 1 of the model by six-dimensional force：
In formula 1, matrix
In matrix A, xi,yi,zi(i=1-2) coordinate of the unidirectional force snesor in the reference frame established is represented
(unidirectional force snesor is regarded as particle, xi,yi,zi(i=1-2) seat that this particle is fastened in built space coordinates is represented
Mark, wherein yi=zi=0 (i=1-2))；xwi,ywi,zwi(i=1-2) represent that three-dimensional force transducer is being established at tail support
Coordinate in reference frame.
The force value F that each sensor is measured1、F2、Fx1、Fy1、Fz1With Fx2、Fy2、Fz2, equation 1 is substituted into, model can be achieved
The solution of suffered six-dimensional space power.
As arbitrary way, bracing cable also can have angle theta with face XOY, can increase the quantity of bracing cable, increase the model
Static stiffness, specifically can combine measurement range consider.Angle theta be present or increase the later six-dimensional force computation model of bracing cable quantity
It is similar to the above, change matrix A.
Beneficial effects of the present invention：The accurate measurement to six-dimensional space power suffered by the aircraft model is realized, is had concurrently
The advantages of bracing cable support interference small and rigid support system stability is good, solves long and narrow, big quality aircraft model in list
Big vibration, unstability problem during only tail supporting way.After adding bracing cable Auxiliary support, in terms of tail support can reduce rigidity Design
Pressure, reduce the size design of tail support, while improve measurement accuracy of the model by six-dimensional force.
Brief description of the drawings
Fig. 1 is metering system schematic diagram of the aircraft model under the measuring method.
Fig. 2 is force analysis figure of the aircraft model under the support of double tails and upper and lower bracing cable support.
In figure：1 aircraft model；Bracing cable on 2；3 first unidirectional force snesors；
4 first unidirectional force snesors；5 times bracing cables；6 first triaxial pressure sensors；
7 second triaxial pressure sensors；8 first afterbody rigid supporting rods；9 second afterbody rigid supporting rods；
F1Represent the line tension for the upper bracing cable that unidirectional force snesor 1 is measured；
F2Represent the line tension for the lower bracing cable that unidirectional force snesor 2 is measured；
Fx1、Fy1、Fz1Represent the institute's stress value for the tail support rigid rod 1 that three-dimensional force transducer 1 is measured；
Fx2、Fy2、Fz2Represent the institute's stress value for the tail support rigid rod 2 that three-dimensional force transducer 2 is measured.
Embodiment
In order to which technical characteristic, purpose and the effect of the present invention is more clearly understood, now control illustrates this hair
Bright embodiment.Wherein, identical part uses identical label.
As shown in figure 1, a kind of measuring method of six-dimensional space power, for measuring the space suffered by long and narrow, big mass objects 1
Six-dimensional force, it is characterised in that：Use upper bracing cable 2, the afterbody rigid supporting rod 8 of lower bracing cable 5 and first, the second afterbody rigid supporting rod
9 combinations.The object model is considered as in actual measurement process fixed, according to statics balance principle, established
The mathematical modeling of the model suffered six-dimensional force in space, pass through in the first afterbody rigid supporting rod 8
What the second triaxial pressure sensor 7 and upper bracing cable 2 in one triaxial pressure sensor 6, the second afterbody rigid supporting rod 9 connected
First unidirectional force snesor 3 and the second unidirectional force snesor 4 of lower bracing cable 5 connection measure power of the model by active force
Component, by solving the mathematical modeling of the foundation, realize and the model is measured by the solution of six-dimensional force.
As shown in Fig. 2 force analysis of the model under the support of double tails and upper and lower bracing cable support, in the center of gravity of the model
Place establishes rectangular coordinate system in space, and the unidirectional force snesor 1 can measure the line tension F along upper bracing cable direction1, the list
The line tension F along lower bracing cable direction can be measured to force snesor 22, the three-dimensional force transducer 1 can measure and export tail
Three component Fs of the portion's rigid supporting rod 1 along change in coordinate axis directionx1、Fy1、Fz1, the three-dimensional force transducer 2 can measure and export
Three component Fs of the afterbody rigid supporting rod 2 along change in coordinate axis directionx2、Fy2、Fz2.Model is considered as it is fixed, then according to static(al)
Equilibrium principle is learned, establishes equation 1 of the model by six-dimensional force：
In formula 1, matrix
In matrix A, x1,2Represent that bracing cable counter-force application point is in the coordinate in reference frame；xwi,ywi,zwi(i=1-2)
Represent that active force is in the coordinate value of the rectangular coordinate system in space at tail support.
The force value F that each sensor is measured1、F2、Fx1、Fy1、Fz1With Fx2、Fy2、Fz2And each measured parameter value, substitute into
Equation 1, model can be achieved and solved by six-dimensional force.
As arbitrary way, bracing cable also can have angle theta with face XOY, can also increase the quantity of bracing cable, increase the mould
The Static stiffness of type, the range that can specifically combine measurement consider.Angle theta be present or increase the later six-dimensional force mathematical modulo of bracing cable quantity
Type is similar to the above, it is only necessary to changes matrix A.It is also within the scope of the present invention with upper type.
The schematical embodiment of the present invention is the foregoing is only, is not limited to the scope of the present invention.It is any
Those skilled in the art, equivalent variations, modification and the combination made on the premise of the design of the present invention and principle is not departed from,
The scope of protection of the invention all should be belonged to.
Claims (3)
1. a kind of measuring method of six-dimensional space power, the six-dimensional space power for aircraft model measures, using the support of double tails and
Bracing cable combination；Characterized in that, aircraft model is considered as in measurement process it is fixed, it is former according to statics balance
Reason, the mathematical modeling of aircraft model stress is established, support is realized using two rigid rods in the afterbody of aircraft model
While, in the back of aircraft model and belly, 1 bracing cable is respectively drawn, realizes the fixation to aircraft model；Airborne vehicle mould
A three-dimensional force transducer is respectively laid in two rigid supporting rods of type afterbody, for measuring the rigid supporting rod edge of model afterbody twoThe component in direction；One end of two unidirectional force snesors is respectively and fixedly installed in aircraft model, the other end point
It is not connected with upper and lower bracing cable, two unidirectional force snesors are used to measure the tension value suffered by upper and lower bracing cable；By two three-dimensionals
Six force value that force snesor is measured and two unidirectional force snesors measure respectively along two force value generations in upper and lower bracing cable direction
Enter into the mathematical modeling of aircraft model stress, solve value of the model by six-dimensional space power；
The mathematical modeling of aircraft model stress is established according to statics balance principle, step is as follows：
Rectangular coordinate system in space is established in the center of gravity of aircraft model, the direction piezoelectric transducer being connected with upper bracing cable is used to survey
Line tension F of the amount along upper bracing cable direction1, the unidirectional force snesor being connected with lower bracing cable is for measuring the line along lower bracing cable direction
Power F2；It is used to measure installed in two three-dimensional force transducers of tail support bar and exports being rigidly connected for rigid rod bolster model
Along three component F of reference axisx1、Fy1、Fz1With Fx2、Fy2、Fz2；Aircraft model is considered as fixed, put down according to statics
Weigh principle, establishes equation (1) of the model by six-dimensional force：
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In formula (1), matrix
In matrix A, xi,yi,zi, i=1-2, represent coordinate of the unidirectional force snesor in the reference frame established, i.e. handle
Unidirectional force snesor is as particle, xi,yi,ziRepresent the coordinate that this particle is fastened in built space coordinates, wherein yi=zi=
0)；xwi,ywi,zwiRepresent coordinate of the three-dimensional force transducer in the reference frame established at tail support；
The force value F that each sensor is measured1、F2、Fx1、Fy1、Fz1With Fx2、Fy2、Fz2, equation (1) is substituted into, draws airborne vehicle mould
Six-dimensional space power suffered by type.
2. measuring method according to claim 1, it is characterised in that bracing cable has angle theta with face XOY, increases bracing cable
Quantity, increase the Static stiffness of aircraft model, with reference to the range of measurement, angle theta be present or increase the later 6 DOF of bracing cable quantity
Power computation model is identical with the measurement direction described in claim 1, changes matrix A.
3. measuring method according to claim 1 or 2, it is characterised in that described three-dimensional force transducer and unidirectional force pass
Sensor is piezoelectric force transducer.
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| CN201710528994.8A CN107356361B (en) | 2017-07-03 | 2017-07-03 | A kind of measurement method of six-dimensional space power |
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| CN201710528994.8A CN107356361B (en) | 2017-07-03 | 2017-07-03 | A kind of measurement method of six-dimensional space power |
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| CN107356361B CN107356361B (en) | 2019-08-13 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108414184A (en) * | 2018-03-16 | 2018-08-17 | 大连理工大学 | A kind of model supporting device and method based on the support of double tails and bracing cable support |
| CN110501107A (en) * | 2019-07-03 | 2019-11-26 | 上海卫星工程研究所 | A kind of spacecraft spin load computing ballance correction measurement method based on sextuple force tester |
| CN111024275A (en) * | 2019-12-23 | 2020-04-17 | 大连理工大学 | Shear type unidirectional force piezoelectric sensor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101149300A (en) * | 2007-11-01 | 2008-03-26 | 大连理工大学 | Piezoelectric six-dimensional large force sensor |
| CN101419101A (en) * | 2008-11-26 | 2009-04-29 | 大连理工大学 | Multi-point partial pre-fastening method with adjustable load sharing mechanism |
| CN101567222A (en) * | 2009-06-05 | 2009-10-28 | 中国科学院长春光学精密机械与物理研究所 | Automatic adjustment positioning device in a six-dimensional space |
| CN201903415U (en) * | 2010-12-03 | 2011-07-20 | 西安金和光学科技有限公司 | Six-dimension force sensing device |
-
2017
- 2017-07-03 CN CN201710528994.8A patent/CN107356361B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101149300A (en) * | 2007-11-01 | 2008-03-26 | 大连理工大学 | Piezoelectric six-dimensional large force sensor |
| CN101419101A (en) * | 2008-11-26 | 2009-04-29 | 大连理工大学 | Multi-point partial pre-fastening method with adjustable load sharing mechanism |
| CN101567222A (en) * | 2009-06-05 | 2009-10-28 | 中国科学院长春光学精密机械与物理研究所 | Automatic adjustment positioning device in a six-dimensional space |
| CN201903415U (en) * | 2010-12-03 | 2011-07-20 | 西安金和光学科技有限公司 | Six-dimension force sensing device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108414184A (en) * | 2018-03-16 | 2018-08-17 | 大连理工大学 | A kind of model supporting device and method based on the support of double tails and bracing cable support |
| CN110501107A (en) * | 2019-07-03 | 2019-11-26 | 上海卫星工程研究所 | A kind of spacecraft spin load computing ballance correction measurement method based on sextuple force tester |
| CN111024275A (en) * | 2019-12-23 | 2020-04-17 | 大连理工大学 | Shear type unidirectional force piezoelectric sensor |
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|---|---|
| CN107356361B (en) | 2019-08-13 |
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