CN112033298B - Spacecraft cabin body weight deformation measurement method based on motionless datum points - Google Patents
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Abstract
The invention discloses a spacecraft cabin body weight deformation measuring method based on an motionless datum point, belongs to the field of large-size measurement, and relates to a spacecraft cabin body weight deformation measuring method based on the motionless datum point. According to the method, firstly, immovable reference points and key points are arranged on a cabin body, a vertical station is used as an approximate zero gravity station, a laser tracker is used as the key points to perform global assignment, the immovable reference points are used as constraints to realize coordinate system matching with a horizontal station, coordinates of the key points on the cabin body after deformation are obtained through station transfer measurement, then, a geometric displacement vector of any key point is solved, and the gravity deformation of the cabin body is determined. Compared with the traditional method, the method provided by the invention can eliminate the influence of the forming error of the spacecraft cabin, effectively solve the three-dimensional deformation at any key point on the cabin, provide the premise and basis for the deviation correction of the local measurement reference of the large spacecraft cabin, the theoretical calculation of the gravity deformation and the like, and have important application prospects.
Description
Technical Field
The invention belongs to the field of large-size thin-wall part measurement, and relates to a spacecraft cabin body weight deformation measurement method based on an immobile datum point.
Background
In recent years, the important space missions of space station construction, lunar exploration engineering, planetary exploration and the like which are gradually developed in China put more stringent requirements on performance indexes such as size, precision and the like of a large-scale spacecraft. The large spacecraft cabin provides the overall configuration for the spacecraft and is a key component for ensuring the service performance of the large spacecraft, so the manufacturing precision and reliability of the large spacecraft cabin directly influence the service performance of the spacecraft. However, most of the large spacecraft cabins are aluminum alloy thin-wall cylindrical components, have the characteristics of large size, small wall thickness, low rigidity, large weight and the like, and are very susceptible to the influence of self gravity during horizontal processing to generate irregular deformation of dozens of times of manufacturing tolerance, which brings a serious challenge to high-quality manufacturing of the spacecraft cabins. Therefore, the gravity deformation of the spacecraft cabin body needs to be measured, and guidance is provided for reference deviation correction, machining quality detection and the like, so that the requirement of the manufacturing precision index of the spacecraft cabin body is met.
At present, a sectional forming mode is generally adopted for manufacturing a large-scale spacecraft cabin thin-wall part, and the characteristics of overlarge size and weak rigidity inevitably cause forming errors in the manufacturing process. The superposition of the forming error and the gravity deformation error causes that the digital model is difficult to be matched with an actual workpiece, and the gravity deformation is difficult to be measured independently, so that the traditional deformation measurement method based on the comparison of measured data and the digital model or a drawing can not meet the measurement requirement of the weight deformation of the large-scale spacecraft cabin.
Aiming at indirect measurement of the gravity deformation of a large-scale component, a method for measuring the gravity deformation of a large-scale parabolic antenna in patent No. CN 201511009750.6 by Wangjingqing et al of Shanghai astronomical platform of Chinese academy of sciences, a method for indirectly measuring the main surface shape deviation and the position of an auxiliary surface of the antenna by processing two paths of radio power signals by using a very long baseline interferometer formed by an additional reference antenna and a measured antenna is disclosed. However, another reference antenna is additionally introduced in the method, so that the implementation cost is high; and the geometric deformation caused by gravity is indirectly solved through electric signal processing, and the calculation is relatively complex.
Aiming at direct measurement of the gravity deformation of a spacecraft, Yangzhou et al of Beijing satellite environmental engineering institute, in a patent of a compensation method for the assembly precision of the spacecraft influenced by gravity and temperature, and a patent number CN 201410514480.3, a method for acquiring the attitude angle of a cubic mirror through a theodolite measurement network is disclosed. However, the method needs at least 4 theodolites and a counterweight block with the same quality as the tested device, and is difficult to implement and has a plurality of interference factors.
Disclosure of Invention
Aiming at the engineering problems in the prior art, the invention provides the spacecraft cabin body weight deformation measuring method based on the motionless reference point, and the method takes the measured data of the key points under the station with approximate zero gravity as the reference value of the non-deformed state of the spacecraft cabin body, can eliminate the influence of the forming error of the spacecraft cabin body and effectively solve the geometric displacement vector of any key point on the spacecraft cabin body. The problems of difficult reference matching, poor accuracy and the like of the traditional method are solved, and the three-dimensional deformation of any key point on the spacecraft cabin body is solved effectively.
The invention adopts the technical scheme that the method is a spacecraft cabin weight deformation measuring method based on an immovable reference point, and is characterized in that a laser tracker is taken as measuring equipment, firstly, the immovable reference point and key points are distributed on a spacecraft cabin, and actually measured data of the key points under a vertical station are taken as reference data of the undeformed spacecraft cabin; then horizontally mounting the spacecraft cabin, and realizing the matching of the coordinate systems of the horizontal station and the vertical station by taking the fixed reference point as constraint; finally, coordinates of the key points after the spacecraft cabin body is deformed are obtained through station transfer measurement, and geometric displacement vectors of the key points before and after the spacecraft cabin body is deformed are solved, so that the gravity deformation of the spacecraft cabin body is determined; the method comprises the following specific steps:
firstly, constructing a spacecraft cabin coordinate system and assigning key points
Firstly, respectively arranging P at a semi-closed conical surface at one end of a spacecraft cabin body and the edge of a cylindrical surface of the spacecraft cabin body connected with the conical surface, wherein P is more than or equal to 6 target balls as motionless reference points, the target balls at the edge of the cylindrical surface of the spacecraft cabin body connected with the conical surface and the conical surface are respectively not coplanar, and N target balls are reasonably arranged at key features on the cylindrical surface of the spacecraft cabin body and serve as key points Q; hoisting the spacecraft cabin 2 to a vertical station, connecting the upper part of the spacecraft cabin 2 with a gantry crane 6 in a workshop through a nylon flexible cable 5, placing the lower part of the spacecraft cabin 2 on a damping shock absorber 7, and taking the vertical station as an approximate zero-gravity station, wherein the nylon flexible cable 5 is in a tensioning state; then inversely installing the No. 1 laser tracker 1 on a tool of a gantry crane 6, measuring three-dimensional coordinates of all the motionless reference points, and establishing a spacecraft cabin coordinate system O-XYZ attached to the motionless reference points;
then, the laser trackers 2 and 3, 4 are mounted on a heavy tripod 8 with an extension bar, respectively arranged at S1、S2In the station, measuring through a plurality of stations to obtain coordinates Q of all key points on the cylindrical surface of the spacecraft cabinV' and stationary reference point coordinate P at cylindrical edge of spacecraft cabin connected with conical surfaceV'；
And finally, constructing a coordinate system registration model with the fixed reference point as a constraint under each station:
in the formula, i is the number of the motionless reference points, m represents the number of the motionless reference points measured under a certain station position, and m is more than or equal to 3;
representing the coordinate of the ith fixed reference point in a spacecraft cabin coordinate system;
representing the coordinates of the motionless reference point at the current station; r is a radical ofTurning the matrix, T is a translation vector;
solving a coordinate system registration model, registering the coordinates of the measured key points under the local station positions to a spacecraft cabin coordinate system, and thus finishing the assignment Q of all the key points under the spacecraft cabin coordinate systemV：
QV＝RQV'+T (2)
Wherein Q isV' represents the coordinates of all key points at the current station;
secondly, the horizontal installation of the spacecraft is matched with the immobile datum point
Horizontally mounting the spacecraft cabin body, so that one end of the semi-closed conical surface of the spacecraft cabin body is fixedly connected to a positioner flange 9, and placing the lower part of the spacecraft cabin body 2 on a supporting wheel set 10; reasonably arranging a laser tracker station S near the cabin body of the horizontal spacecraftH1So that the measuring field can cover as many immobile reference points as possible, and the three-dimensional coordinates P of n, n is more than or equal to 3 immobile reference points are measured again at the station position of the laser trackerHThe coordinate system registration model with n motionless reference points as constraints is as follows:
in the formula, n represents the number of the motionless reference points measured under the current laser tracker station position;
representing the coordinate of the ith fixed datum point of the spacecraft cabin under the horizontal station under the current laser tracker station; solving the model to obtain the matching relation of the spacecraft cabin body under the vertical station and the horizontal station, namely a rotation matrix
And translation vector
Thirdly, the laser tracker is used for rotating station measurement and solving gravity deformation
Firstly, obtaining the coordinates of key points of a spacecraft cabin under a horizontal station in a spacecraft cabin coordinate system; measuring j key points with short distances under the station position of the laser tracker in the second step, and registering the coordinates of the key points to a spacecraft cabin coordinate system to obtain a formula (4):
in the formula, j is the number of the key point, and the value range is as follows: j ═ 1,2, …, s;
representing the coordinate of the jth key point in a spacecraft cabin coordinate system after the spacecraft cabin of the horizontal station is subjected to gravity deformation;
representing the coordinates of the key point under the current laser tracker station;
secondly, aiming at t key points which are far away from the current station position, a laser tracker station transfer measurement mode is adopted; reasonably arranging a second laser tracker station S near the t key pointsH2Measuring the non-collinear distribution of s ', s ' more than or equal to 3 key points from the s key points at will, measuring the coordinates of the t key points, and taking s ' common key points as a coordinate system registration model constrained as follows:
in the formula (I), the compound is shown in the specification,
representing the j-th keypoint at a second laser tracker site SH2Coordinates of the lower part;
then, registering the t key points to an spacecraft cabin coordinate system O-XYZ, wherein the formula is as follows:
in the formula, the value range of j is as follows: j ═ 1,2, …, t;
finally, solving the geometric displacement vector of the key point, and determining the gravity deformation of the spacecraft cabin body; in the process that the j key point is changed from the vertical station to the horizontal station of the spacecraft cabin, the geometric displacement vector relative to a spacecraft cabin coordinate system, which is generated due to the weight and force deformation of the spacecraft cabin, is as follows:
thus, the amount of gravitational deformation of the spacecraft hull at this point is:
and finally, all the gravity deformation values of the spacecraft cabin body are obtained in the same way.
The invention has the beneficial effects that: compared with the traditional gravity deformation measurement method based on a three-dimensional digital analogy or a drawing, the method takes the measured data of the key points under the approximate zero gravity station as the reference value of the undeformed state of the spacecraft cabin, can eliminate the influence of the forming error of the spacecraft cabin, and effectively solves the geometric displacement vector at any key point on the spacecraft cabin. The method overcomes the problems of difficult reference matching, poor accuracy and the like of the traditional method, thereby providing a premise and a basis for the deviation correction of the local measurement reference of the large-scale spacecraft cabin, the theoretical calculation of gravity deformation, the precision verification of simulation, the rigidity optimization design of the spacecraft cabin and the like, and having wide application prospect.
Drawings
FIG. 1 is a flow chart of a spacecraft cabin weight deformation measurement method based on an motionless reference point.
FIG. 2 is a schematic diagram of the construction and key point assignment of a spacecraft cabin coordinate system under a vertical station;wherein, the No. 1-1 laser tracker; 2-spacecraft cabin; 3-2 laser tracker; 4-3 laser tracker; 5-nylon flexible cable; 6-gantry crane; 7-damping shock absorbers; 8-heavy tripod with extension bar; s1-laser tracker station No. 1; s2-laser tracker station No. 2; s3-laser tracker station No. 3; p-motionless reference point; q-key point; and an O-XYZ-spacecraft cabin coordinate system.
FIG. 3 is a schematic view of a laser tracker rotating station measurement of a spacecraft cabin at a horizontal station; wherein, 2-spacecraft cabin body; 2.1-the actual contour of the spacecraft cabin after gravity deformation; 9-a positioner flange; 10-a support wheel set; sH1 Laser tracker station 1; sH2 Laser tracker station 2;
the theoretical position of the key point 1 when the spacecraft hull is undeformed;
actual position of the key point 1 after deformation of the spacecraft hull.
Detailed Description
The following detailed description of the invention refers to the accompanying drawings.
In the embodiment, a simulation method is adopted, a model of the large spacecraft cabin body is selected, the diameter is 4m, the height is 9m, the wall thickness is 12mm, and the density of the material used by the spacecraft cabin body is 2770kg/m3(ii) a The laser tracker used was a Leica AT960MR, which measures uncertainty of. + -. 15 μm +6 μm/m.
As shown in the attached figure 2, firstly, arranging a fixed reference point and a key point on a spacecraft cabin body, taking the spacecraft cabin body which is vertically installed as an approximate zero gravity station, measuring the fixed reference point and the key point by using a laser tracker, establishing a spacecraft cabin body coordinate system, and realizing global assignment of the key point; then, horizontally installing the spacecraft cabin, measuring the immobile reference points again, and matching spacecraft cabin coordinate systems of the vertical station and the horizontal station to the same reference; and finally, registering key points on the large-scale spacecraft cabin body to a spacecraft cabin body coordinate system through the station transfer measurement of the laser tracker, solving a key point geometric displacement vector, and determining the gravity deformation of the spacecraft cabin body. FIG. 1 is a flow chart of the method, which comprises the following specific steps:
firstly, constructing a spacecraft cabin coordinate system and assigning key points
Firstly, respectively arranging 6 and 10 non-coplanar target balls at the semi-closed conical surface at one end of a spacecraft cabin body 2 and the edge of a cylindrical surface of the spacecraft cabin body connected with the conical surface as a motionless reference point P; and 30 target balls are arranged at each key feature of the cylindrical surface of the spacecraft cabin as key points Q. And then hoisting the spacecraft cabin body 2 to a vertical station, connecting the upper part of the spacecraft cabin body with a gantry crane 6 in a workshop through a nylon flexible cable 5, and placing the lower part of the spacecraft cabin body on a damping shock absorber 4. Inversely installing the No. 1 laser tracker 1 at a proper position on a tool of a gantry crane 6 to serve as a 1 station S of the No. 1 laser tracker1And measuring the three-dimensional coordinates of all the motionless reference points. And establishing a spacecraft cabin coordinate system O-XYZ attached to the fixed datum point, as shown in the attached figure 2.
Then, the No. 2 and No. 3 laser trackers 3 and 4 are respectively installed on a heavy tripod 8 with an extension bar and are respectively placed at the laser tracker station S2、S3In position, measuring through a multi-point station to obtain coordinates Q of all key points on the cylindrical surface of the spacecraft cabinV' and the coordinates P of the stationary reference point at the cylindrical edge of the spacecraft cabin connected with the conical surfaceV'；
Finally, a coordinate system registration model which takes the fixed reference point as a constraint is constructed under each station, and the station S is used3For example, if a total of 3 stationary reference points are measured at the station, then:
in the formula (I), the compound is shown in the specification,
aircraft representing ith key pointCoordinates under a cabin coordinate system O-XYZ,
representing the key point at the station S3The coordinates of the following.
Solving to obtain:
then the station S3The measured key points are registered to a spacecraft cabin coordinate system in a conversion relationship of:
QV＝RQV'+T
in a similar way, the coordinates of the key points at all stations can be registered to the spacecraft cabin coordinate system, so that assignment of all the key points in the spacecraft cabin coordinate system is completed.
Secondly, the horizontal installation of the spacecraft is matched with the immobile datum point
Referring to the attached figure 3, the spacecraft cabin body 2 is horizontally installed, so that the semi-closed conical surface of the spacecraft cabin body is fixedly connected with a positioner flange 7, and the lower part of the spacecraft cabin body is placed on a supporting wheel set 8. Reasonably arranging a laser tracker station S near the cabin body of the horizontal spacecraftH1The measuring view field can cover as many immobile reference points as possible, and the three-dimensional coordinates of 10 immobile reference points are measured at the station, so that the matching relationship of the spacecraft cabin body at the vertical station and the horizontal station is obtained, namely:
in the formula (I), the compound is shown in the specification,
representing the ith stationary reference point at station position SH1Coordinates of the lower part; solving to obtain:
thirdly, the laser tracker is used for rotating station measurement and solving gravity deformation
As shown in figure 3, at laser tracker station SH1Measuring the distance to the laser tracker<Coordinates Q of 21 keypoints of 6mH', and register it to the spacecraft capsule coordinate system:
for station with laser tracker SH1Is a distance of>The remaining 9 key points of 6m, around which the laser tracker stations S are arrangedH2And then, measuring 3 key points which are not in collinear distribution from the 21 key points randomly, then:
in the formula (I), the compound is shown in the specification,
representing the jth key point at the laser tracker station SH2Coordinates of the lower part; solving to obtain:
therefore, the conversion relation of registering the 9 key points to the spacecraft cabin coordinate system is as follows:
the actual contour line of the spacecraft cabin 2 in the horizontal station state caused by gravity deformation is 2.1 in the attached drawing 3. The actual coordinates of the key points marked in the figure under the spacecraft cabin coordinate system are
(1283.91,1543.71, -8326.60) and the theoretical coordinate of the key point at the near zero gravity station, i.e., the vertical station, is
(1283.60,1544.90, -8326.50), the geometric displacement vector of the key point generated by the weight deformation of the spacecraft cabin is as follows:
thus, the amount of gravitational deformation of the spacecraft tank 2 at this point is:
similarly, the gravity deformation value of the spacecraft cabin 2 can be obtained, and the actual contour 2.1 of the spacecraft cabin after gravity deformation as shown in fig. 3 can be obtained.
Compared with the traditional gravity deformation measurement method based on a three-dimensional digital analogy or a drawing, the method takes the measured data of key points under an approximate zero gravity station as the reference value of the undeformed state of the spacecraft cabin, can eliminate the influence of the forming error of the spacecraft cabin, effectively solves the geometric displacement vector at any key point on the spacecraft cabin, overcomes the problems of difficult reference matching, poor accuracy and the like of the traditional method, thereby providing the premise and basis for the deviation correction of local measurement reference of the large spacecraft cabin, the theoretical calculation of gravity deformation, the precision verification of simulation, the rigidity optimization design of the spacecraft cabin and the like, and having wide application prospect.
Claims (1)
1. A spacecraft cabin body weight deformation measurement method based on an immovable datum point is characterized in that a laser tracker is used as measurement equipment, firstly, the immovable datum point and a key point are distributed on a spacecraft cabin body, and actually measured data of the key point under a vertical station is used as reference data of the non-deformation of the spacecraft cabin body; then horizontally mounting the spacecraft cabin, and realizing the matching of the coordinate systems of the horizontal station and the vertical station by taking the fixed reference point as constraint; finally, coordinates of the key points after the spacecraft cabin body is deformed are obtained through station transfer measurement, and geometric displacement vectors of the key points before and after the spacecraft cabin body is deformed are solved, so that the gravity deformation of the spacecraft cabin body is determined;
the method comprises the following specific steps:
firstly, constructing a spacecraft cabin coordinate system and assigning key points
Firstly, respectively arranging P at a semi-closed conical surface at one end of a spacecraft cabin body and the edge of a cylindrical surface of the spacecraft cabin body connected with the conical surface, wherein P is more than or equal to 6 target balls as motionless reference points, the target balls at the edge of the cylindrical surface of the spacecraft cabin body connected with the conical surface and the conical surface are respectively not coplanar, and N target balls are reasonably arranged at key features on the cylindrical surface of the spacecraft cabin body and serve as key points Q; hoisting the spacecraft cabin body (2) to a vertical station, connecting the upper part of the spacecraft cabin body (2) with a gantry crane (6) in a workshop through a nylon flexible cable (5), placing the lower part of the spacecraft cabin body (2) on a damping shock absorber (7) in a tensioning state, and taking the vertical station as an approximate zero-gravity station; then, inversely installing the No. 1 laser tracker (1) on a tool of a gantry crane (6), measuring three-dimensional coordinates of all the motionless reference points, and establishing a spacecraft cabin coordinate system O-XYZ attached to the motionless reference points;
then, the No. 2 and No. 3 laser trackers (3, 4) are mounted on a heavy tripod (8) with an extension bar and are respectively arranged on (S)1、S2) In the station, measuring through a plurality of stations to obtain coordinates Q of all key points on the cylindrical surface of the spacecraft cabinV' and stationary reference point coordinate P at cylindrical edge of spacecraft cabin connected with conical surfaceV'；
And finally, constructing a coordinate system registration model with the fixed reference point as a constraint under each station:
in the formula, i is the number of the motionless reference points, m represents the number of the motionless reference points measured under a certain station position, and m is more than or equal to 3;
representing the coordinate of the ith fixed reference point in a spacecraft cabin coordinate system;
representing the coordinates of the motionless reference point at the current station; r is a rotation matrix and T is a translation vector;
solving a coordinate system registration model, registering the coordinates of the measured key points under the local station positions to a spacecraft cabin coordinate system, and thus finishing the assignment Q of all the key points under the spacecraft cabin coordinate systemV：
QV＝RQV'+T (2)
Wherein Q isV' represents the coordinates of all key points at the current station;
secondly, the horizontal installation of the spacecraft is matched with the immobile datum point
Horizontally mounting the spacecraft cabin body, enabling one end of a semi-closed conical surface of the spacecraft cabin body to be fixedly connected to a positioner flange (9), and placing the lower part of the spacecraft cabin body (2) on a supporting wheel set (10); reasonably arranging a laser tracker station S near the cabin body of the horizontal spacecraftH1So that the measuring field can cover as many immobile reference points as possible, and the three-dimensional coordinates P of n, n is more than or equal to 3 immobile reference points are measured again at the station position of the laser trackerHThe coordinate system registration model with n motionless reference points as constraints is as follows:
in the formula, n represents the number of the motionless reference points measured under the current laser tracker station position;
representing horizontal station lower spacecraft cabinCoordinates of the ith fixed reference point of the body under the current laser tracker station position; solving the model to obtain the matching relation of the spacecraft cabin body under the vertical station and the horizontal station, namely a rotation matrix
And translation vector
Thirdly, the laser tracker is used for rotating station measurement and solving gravity deformation
Firstly, obtaining the coordinates of key points of a spacecraft cabin under a horizontal station in a spacecraft cabin coordinate system; measuring j key points with short distances under the station position of the laser tracker in the second step, and registering the coordinates of the key points to a spacecraft cabin coordinate system to obtain a formula (4):
in the formula, j is the number of the key point, and the value range is as follows: j ═ 1,2, …, q;
representing the coordinate of the jth key point in a spacecraft cabin coordinate system after the spacecraft cabin of the horizontal station is subjected to gravity deformation;
representing the coordinates of the key point under the current laser tracker station;
secondly, aiming at q key points which are far away from the current station position, a mode of converting the laser tracker into the station for measurement is adopted; reasonably arranging a second laser tracker station S near the q key pointsH2Randomly measuring q ' and q ' which are non-collinearly distributed from the q key points, measuring the coordinates of the q key points, and taking a coordinate system registration model with the q ' non-common key points as constraint as：
In the formula (I), the compound is shown in the specification,
representing the coordinates of the jth key point under the second laser tracker station;
then, registering the q key points to an spacecraft cabin coordinate system O-XYZ, wherein the formula is as follows:
in the formula, the value range of j is as follows: j ═ 1,2, …, q;
finally, solving the geometric displacement vector of the key point, and determining the gravity deformation of the spacecraft cabin body; in the process that the j key point is changed from the vertical station to the horizontal station of the spacecraft cabin, the geometric displacement vector relative to a spacecraft cabin coordinate system, which is generated due to the weight and force deformation of the spacecraft cabin, is as follows:
thus, the amount of gravitational deformation of the spacecraft hull at this point is:
and finally, all the gravity deformation values of the spacecraft cabin body are obtained in the same way.
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