Inertia force compensation method and system for dynamic force measurement platform

Abstract

The invention relates to the technical field of dynamic force measurement, and particularly provides an inertia force compensation method and system for a dynamic force measurement platform, and the method comprises the steps: arranging a plurality of acceleration sensors on the measurement platform, so as to collect the acceleration information of the platform in the dynamic motion in real time; by combining the mass of the dynamic force measurement platform and the inertia moment data of the dynamic force measurement platform, the error of the platform caused by inertia is calculated and compensated, so that the precision of dynamic force measurement is improved. The method provided by the invention is particularly suitable for small-amplitude disturbance force and micro-vibration measurement scenes, and the interference of the inertia force of the platform on the measurement result can be remarkably reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of dynamic force measurement, and specifically provides an inertial force compensation method and system for a dynamic force measurement platform. Background Art

[0002] In high-precision engineering and technology fields such as aerospace, precision manufacturing, and optical instrument control, equipment generates tiny disturbance forces or micro-vibrations during operation. These micro-vibrations can significantly affect the proper functioning of the equipment and measurement accuracy. For example, on satellites or spacecraft, micro-vibrations can cause image blur, precision positioning errors, and even damage sensitive equipment structures. Therefore, accurately measuring and compensating for these disturbance forces is crucial to ensuring system performance and stability.

[0003] Current dynamic force measurement platforms are primarily used to detect disturbance forces at relatively high levels and are widely used in industrial testing, force control feedback systems for automated equipment, and operational status monitoring of large-scale mechanical equipment. Most of these measurement platforms rely on highly sensitive force sensors to capture the dynamic forces of the equipment. However, when measuring higher dynamic forces, the platform's inherent inertial force is small and negligible, so traditional platform designs typically do not consider the impact of inertial forces. However, when used to measure very small disturbance forces, these inertial forces are often similar in magnitude to the micro-vibrations being measured, and the impact of inertial forces becomes very significant.

[0004] In micro-vibration measurements, the inertial force of the dynamic force measurement platform can mask or even interfere with the measurement signal. For example, when the platform structure is larger, its mass and inertia also increase, resulting in significant inertial forces generated by the platform during movement. These inertial forces may reach the same order of magnitude as the measured signal in the measurement of small disturbance forces. The inertial force of the platform itself is superimposed on the measurement signal, resulting in significant deviations in the measurement results and an inability to accurately reflect the disturbance to be measured. In existing measurement technologies, the following methods are usually adopted to reduce interference, but the effect is limited: 1) Low-pass filtering: Filtering technology can reduce high-frequency noise, but it is difficult to completely eliminate the inertial force interference with a complex spectrum. Especially when the frequency of the inertial force overlaps with the frequency of the micro-vibration signal to be measured, the filtering effect is not ideal.

[0005] 2) Improving Structural Rigidity: Improving the structural rigidity of the platform can reduce its dynamic motion. However, increasing rigidity usually increases the mass of the dynamic force measurement platform, exacerbating the inertial effect of the platform. This, in turn, makes the inertial force problem more prominent and makes it unable to meet the high-precision requirements of micro-vibration measurement.

[0006] 3) Increasing the number of sensors: Improving measurement stability by increasing the number of sensors and redundancy usually significantly increases system cost and complexity, and cannot effectively eliminate the interference of inertial force.

[0007] Due to the extremely high precision requirements for micro-vibration measurement, effective compensation for inertial forces using traditional methods alone is difficult. Most dynamic force measurement platforms and micro-vibration measurement technologies currently on the market lack dynamic compensation for inertial forces, making them incapable of meeting the requirements for high-precision, small-amplitude disturbance force measurements. Inertial force interference has become a key unresolved issue in micro-vibration measurement, severely limiting the accuracy and application scope of measurement platforms. Summary of the Invention

[0008] To solve the above problems, the present invention provides an inertial force compensation method and system for a dynamic force measurement platform, which can effectively deal with the problem of inertial force interference during the measurement of small disturbance forces, realize high-precision measurement of small-scale disturbance forces, and is suitable for high-precision micro-vibration measurement applications.

[0009] In a first aspect, the present invention provides an inertial force compensation method for a dynamic force measurement platform, comprising: Pre-configuring multiple acceleration detection components at preset positions of the dynamic force measurement platform; Using the multiple acceleration detection components to collect acceleration data of the dynamic force measurement platform in three-dimensional directions in real time; determining the inertial force and inertial moment of the dynamic force measurement platform according to the mass of the dynamic force measurement platform and the inertia moment of the dynamic force measurement platform in combination with the acceleration data; Performing frequency domain conversion on the measurement signal of the dynamic force measurement platform to obtain a frequency domain calibration matrix; The output of the acceleration detection component is calibrated using the frequency domain calibration matrix, and the inertial force of the dynamic force measurement platform is compensated based on the calibration result to obtain a true disturbance signal.

[0010] As a preferred solution, the acceleration detection component uses an acceleration sensor, and multiple acceleration detection components are pre-configured at preset positions on the dynamic force measurement platform, including: Four acceleration sensors are installed on the dynamic force measurement platform to obtain the motion state of the dynamic force measurement platform in three-dimensional space. The specific layout positions of the four acceleration sensors are the four corners of the dynamic force measurement platform. They are installed on the support structure of the dynamic force measurement platform in a uniformly distributed manner. Each acceleration sensor is responsible for recording the acceleration changes in different directions, so that the movement of the dynamic force measurement platform in the three directions of X, Y and Z can be fully monitored.

[0011] As a preferred solution, the use of the multiple acceleration detection components to collect acceleration data of the dynamic force measurement platform in three-dimensional directions in real time includes: After the dynamic measurement begins, the acceleration data of the dynamic force measurement platform in three directions is collected in real time through the acceleration sensor. The acceleration data output by the acceleration sensor is transmitted to the data acquisition unit through the signal amplifier. The acquisition frequency and time window of the acceleration data are adjusted according to the frequency characteristics of the signal to be measured and the measurement accuracy requirements.

[0012] As a preferred solution, determining the inertial force and inertial moment of the dynamic force measurement platform according to the mass of the dynamic force measurement platform and the inertia moment of the dynamic force measurement platform in combination with the acceleration data includes: The mass of the dynamic force measurement platform is determined in advance by modeling or experiment and the moment of inertia of the dynamic force measurement platform , combined with the mass of the dynamic force measurement platform and the moment of inertia of the dynamic force measurement platform , using the acceleration data to calculate the inertial force and inertial moment of the dynamic force measurement platform , the specific calculation formula is as follows:

[0013] in, represents the mass of the dynamic force measurement platform, represents the moment of inertia of the dynamic force measurement platform, represents the vertical acceleration of the dynamic force measurement platform, and represent the angular acceleration of the dynamic force measurement platform in the X and Y directions, respectively.

[0014] As a preferred solution, performing frequency domain conversion on the measurement signal of the dynamic force measurement platform to obtain a frequency domain calibration matrix includes: Converting the time domain measurement signal collected by the force sensor to the dynamic force measurement platform into the frequency domain through Fourier transform to obtain the amplitude and phase information of the time domain measurement signal; Based on calibration tests, using known calibration forces and the moment of inertia calculated from the acceleration data , establish the calibration matrix , the calibration matrix For dynamically correcting the inertial force error in the measurement signal, the calibration matrix The calculation formula is:

[0015] in, The output signal of the force sensor in the calibration state is corrected through the calibration matrix to compensate for the influence of inertial force on the measurement data.

[0016] As a preferred solution, the method of calibrating the output of the acceleration detection component using the frequency domain calibration matrix and compensating the inertial force of the dynamic force measurement platform based on the calibration result to obtain a true disturbance signal includes: In the actual measurement process, the inertia moment calculated by the acceleration sensor is Deducted from the real-time measurement signal of the platform to eliminate the influence of inertial force on the measurement signal. The compensation process is expressed as:

[0017] in: It represents the real disturbance force after inertia force compensation; To measure the output signal of the force sensor in real time; is the inertia moment calculated in dynamic measurement.

[0018] In a second aspect, the present invention provides an inertial force compensation system for a dynamic force measurement platform, which is applied to the inertial force compensation method for the dynamic force measurement platform described above, comprising: Multiple acceleration sensors for collecting acceleration data of the dynamic force measurement platform during dynamic motion; a plurality of force sensors for collecting time domain measurement signals of the dynamic force measurement platform; a data acquisition unit, configured to receive the acceleration data and the time domain measurement signal; a signal processing unit, configured to process the acceleration data and perform frequency domain calibration; a data compensation module, which calculates the inertial force and compensates the measurement signal in real time based on the mass of the dynamic force measurement platform and the moment of inertia of the dynamic force measurement platform; The output signals of the acceleration sensor and the force sensor are connected to the data acquisition unit and transmitted to the signal processing unit in real time. The frequency domain calibration and inertial force compensation algorithm are integrated in the signal processing unit to automatically process inertial interference and output the compensated disturbance force signal in real time. Before the system starts measurement, it is calibrated with a known calibration force to generate a calibration matrix. During the measurement process, inertial force compensation is performed in real time to ensure that the measurement data accurately reflects the disturbance force state of the platform.

[0019] As a preferred solution, the multiple acceleration sensors are four acceleration sensors, and four acceleration sensors are installed on the dynamic force measurement platform to obtain the motion state of the dynamic force measurement platform in three-dimensional space. The specific layout positions of the four acceleration sensors are the four corners of the dynamic force measurement platform, and they are installed on the support structure of the dynamic force measurement platform in a uniformly distributed manner. Each acceleration sensor is responsible for recording the acceleration changes in different directions.

[0020] Compared with the prior art, the present invention can achieve the following beneficial effects: This paper proposes a method and system for compensating inertial forces for a dynamic force measurement platform. By deploying multiple accelerometers on the measurement platform to collect real-time acceleration information of the platform during dynamic motion, the system combines the platform's mass and moment of inertia data to calculate and compensate for the platform's inertial errors, thereby improving the accuracy of dynamic force measurements. This method is particularly suitable for measuring small-amplitude disturbance forces and micro-vibrations, significantly reducing the interference of the platform's inertial forces on measurement results. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 1 is a flow chart of an inertial force compensation method for a dynamic force measurement platform provided in an embodiment of the present invention; Figure 2 Schematic diagram of the connection relationship between various components in the inertial force compensation method of the dynamic force measurement platform provided according to an embodiment of the present invention.

[0022] Reference numerals: Personal computer 1 , first acceleration sensor 2 , second acceleration sensor 3 , calibration device 4 , third acceleration sensor 5 , fourth acceleration sensor 6 , signal amplifier 7 , first force sensor 8 , second force sensor 9 , third force sensor 10 , fourth force sensor 11 , data acquisition unit 12 . DETAILED DESCRIPTION

[0023] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the following description, identical modules are denoted by identical reference numerals. In the case of identical reference numerals, their names and functions are also identical. Therefore, their detailed description will not be repeated.

[0024] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and do not constitute a limitation of the present invention.

[0025] Combine Figure 1As shown, an embodiment of the present invention provides an inertial force compensation method for a dynamic force measurement platform, comprising: S101, pre-configuring a plurality of acceleration detection components at preset positions of a dynamic force measurement platform; S102, using the multiple acceleration detection components to collect acceleration data of the dynamic force measurement platform in three-dimensional directions in real time; S103, determining the inertial force and inertial moment of the dynamic force measurement platform according to the mass and the inertia moment of the dynamic force measurement platform in combination with the acceleration data; S104, performing frequency domain conversion on the measurement signal of the dynamic force measurement platform to obtain a frequency domain calibration matrix; S105 , calibrating the output of the acceleration detection component using the frequency domain calibration matrix, and compensating for the inertial force of the dynamic force measurement platform based on the calibration result to obtain a true disturbance signal.

[0026] In some embodiments, the acceleration detection component uses an acceleration sensor, and the plurality of acceleration detection components are pre-configured at preset positions on the dynamic force measurement platform, including: Four acceleration sensors are installed on the dynamic force measurement platform to obtain the motion state of the dynamic force measurement platform in three-dimensional space. The specific layout positions of the four acceleration sensors are the four corners of the dynamic force measurement platform. They are installed on the support structure of the dynamic force measurement platform in a uniformly distributed manner. Each acceleration sensor is responsible for recording the acceleration changes in different directions, so that the movement of the dynamic force measurement platform in the three directions of X, Y and Z can be fully monitored.

[0027] In some embodiments, the use of the multiple acceleration detection components to collect acceleration data of the dynamic force measurement platform in three-dimensional directions in real time includes: After the dynamic measurement begins, the acceleration data of the dynamic force measurement platform in three directions is collected in real time through the acceleration sensor. The acceleration data output by the acceleration sensor is transmitted to the data acquisition unit through the signal amplifier. The acquisition frequency and time window of the acceleration data are adjusted according to the frequency characteristics of the signal to be measured and the measurement accuracy requirements.

[0028] In some embodiments, determining the inertial force and inertial moment of the dynamic force measurement platform according to the mass of the dynamic force measurement platform and the inertia moment of the dynamic force measurement platform in combination with the acceleration data includes: The mass of the dynamic force measurement platform is determined in advance by modeling or experiment and the moment of inertia of the dynamic force measurement platform , combined with the mass of the dynamic force measurement platform and the moment of inertia of the dynamic force measurement platform , using the acceleration data to calculate the inertial force and inertial moment of the dynamic force measurement platform , the specific calculation formula is as follows:

[0029] in, represents the mass of the dynamic force measurement platform, represents the moment of inertia of the dynamic force measurement platform, represents the vertical acceleration of the dynamic force measurement platform, and represent the angular acceleration of the dynamic force measurement platform in the X and Y directions, respectively.

[0030] In some embodiments, performing frequency domain conversion on the measurement signal of the dynamic force measurement platform to obtain a frequency domain calibration matrix includes: Converting the time domain measurement signal collected by the force sensor to the dynamic force measurement platform into the frequency domain through Fourier transform to obtain the amplitude and phase information of the time domain measurement signal; Based on calibration tests, using known calibration forces and the moment of inertia calculated from the acceleration data , establish the calibration matrix , the calibration matrix For dynamically correcting the inertial force error in the measurement signal, the calibration matrix The calculation formula is:

[0031] in, The output signal of the force sensor in the calibration state is corrected through the calibration matrix to compensate for the influence of inertial force on the measurement data.

[0032] In some embodiments, calibrating the output of the acceleration detection component using the frequency domain calibration matrix and compensating the inertial force of the dynamic force measurement platform based on the calibration result to obtain a true disturbance signal includes: In the actual measurement process, the inertia moment calculated by the acceleration sensor is Deducted from the real-time measurement signal of the platform to eliminate the influence of inertial force on the measurement signal. The compensation process is expressed as:

[0033] in: It represents the real disturbance force after inertia force compensation; To measure the output signal of the force sensor in real time; is the inertia moment calculated in dynamic measurement.

[0034] This paper proposes an inertial force compensation system for a dynamic force measurement platform. By arranging multiple accelerometers on the measurement platform to collect real-time acceleration information of the platform during dynamic motion, the system combines the platform's mass and moment of inertia data to calculate and compensate for the platform's inertial errors, thereby improving the accuracy of dynamic force measurements. This method is particularly suitable for measuring small-amplitude disturbance forces and micro-vibrations, significantly reducing the interference of the platform's inertial forces on the measurement results.

[0035] Combine Figure 2 The following describes in detail the specific implementation process based on this technical solution, showing how to use acceleration sensors to compensate for inertial force in a dynamic force measurement platform: 1. Installation and arrangement of acceleration sensors In the attached Figure 2 The four corners of the dynamic force measurement platform shown are equidistantly installed with four acceleration sensors, namely the first acceleration sensor 2, the second acceleration sensor 3, the third acceleration sensor 5, and the fourth acceleration sensor 6, to ensure that the acceleration data of the dynamic force measurement platform in three axes can be obtained. The specific arrangement is as follows: 1) Each accelerometer is evenly installed at the four corners of the dynamic force measurement platform to ensure that the platform's movement in the X, Y, and Z directions can be fully monitored; 2) The acceleration sensor signal is connected to the data acquisition unit 12 through the signal amplifier 7 to transmit the acceleration information in real time, and the data is visualized and post-processed through the personal computer 1; 3) The sampling frequency of the accelerometer is set to a high frequency that meets the dynamic measurement requirements in order to accurately capture the rapid motion changes of the dynamic force measurement platform.

[0036] 2. Acceleration data collection and inertial force calculation The dynamic force measurement platform is stimulated by the calibration device 4. During the dynamic measurement process, the output signal of each acceleration sensor is collected in real time, and the acceleration data of the platform in the X, Y and Z directions are recorded. The calculation method of inertial force and inertial moment is as follows: 1) Quality of the dynamic force measurement platform and the moment of inertia of the dynamic force measurement platform Determined in advance through simulation modeling or experiments; 2) Real-time acceleration signal collected by the acceleration sensor ; 3) Calculate the inertial force of the dynamic force measurement platform in the Z direction as According to the positional relationship of the four acceleration sensors, the angular acceleration data of the dynamic force measurement platform in the X and Y directions are calculated. and ; 4) Using dynamic force to measure the platform's moment of inertia and angular acceleration data and , calculate the platform's moment of inertia and , obtain the platform's moment of inertia .

[0037] The calculation results are the inertial force and torque generated by the dynamic force measurement platform in the current dynamic motion state, which can be used to compensate for inertial interference in the measurement signal.

[0038] 3. Frequency domain calibration and signal processing The force sensor signal output by the dynamic force measurement platform is converted to the frequency domain to eliminate signal interference caused by the platform's natural frequency. The calibration process includes the following steps: 1) Convert the time domain signals collected by the first force sensor 8, the second force sensor 9, the third force sensor 10, and the fourth force sensor 11 into the frequency domain through Fourier transform to obtain the amplitude and phase of each frequency component; 2) Using a known calibration force The inertia moment calculated from the acceleration sensor signal , establish the calibration matrix according to formula (2) , the moment of inertia Used to correct the deviation in the measurement signal caused by inertial force; 4. Inertia force compensation and real disturbance force calculation In the actual measurement process, the moment of inertia Subtract from the measurement signal of the dynamic force measurement platform and apply the calibration matrix The measured signal is dynamically corrected and the real disturbance force is calculated according to formula (3).

[0039] Through the above compensation process, the interference of the platform's own inertial force on the measurement results is eliminated, thereby obtaining high-precision measurement data of the dynamic force measurement platform in a micro-vibration state.

[0040] Through this embodiment, the dynamic force measurement platform can achieve dynamic compensation of inertial force, significantly improve the accuracy of micro-vibration and small-amplitude disturbance force measurement, and provide reliable technical support for small-force-level disturbance force detection in aerospace, precision manufacturing and other fields.

[0041] Accordingly, an embodiment of the present invention provides an inertial force compensation system for a dynamic force measurement platform, which is applied to the inertial force compensation method for the dynamic force measurement platform described above, and includes: Multiple acceleration sensors for collecting acceleration data of the dynamic force measurement platform during dynamic motion; a plurality of force sensors for collecting time domain measurement signals of the dynamic force measurement platform; a data acquisition unit, configured to receive the acceleration data and the time domain measurement signal; a signal processing unit, configured to process the acceleration data and perform frequency domain calibration; a data compensation module, which calculates the inertial force and compensates the measurement signal in real time based on the mass of the dynamic force measurement platform and the moment of inertia of the dynamic force measurement platform; The output signals of the acceleration sensor and the force sensor are connected to the data acquisition unit and transmitted to the signal processing unit in real time. The frequency domain calibration and inertial force compensation algorithm are integrated in the signal processing unit to automatically process inertial interference and output the compensated disturbance force signal in real time. Before the system starts measurement, it is calibrated with a known calibration force to generate a calibration matrix. During the measurement process, inertial force compensation is performed in real time to ensure that the measurement data accurately reflects the disturbance force state of the platform.

[0042] Specifically, during the system integration process, the acceleration sensor, force sensor, signal amplifier, and data acquisition unit are integrated to form a complete real-time measurement system. The system integration is specifically implemented as follows: The output signals of the acceleration sensor and the force sensor are connected to the data acquisition unit, and the signals are collected in real time through the data acquisition unit; The frequency domain calibration module and inertial force compensation algorithm are integrated into the signal processing unit to ensure real-time correction and compensation of inertial interference in the measurement data during the measurement process; The system is preliminarily calibrated before dynamic measurement begins to ensure that the calibration matrix During the measurement process, inertia force compensation is automatically performed to ensure the real-time and accuracy of the measurement data.

[0043] In some embodiments, the multiple acceleration sensors are four acceleration sensors, and four acceleration sensors are installed on the dynamic force measurement platform to obtain the motion state of the dynamic force measurement platform in three-dimensional space. The specific layout positions of the four acceleration sensors are the four corners of the dynamic force measurement platform, and they are installed on the support structure of the dynamic force measurement platform in a uniformly distributed manner. Each acceleration sensor is responsible for recording the acceleration changes in different directions.

[0044] This paper proposes an inertial force compensation system for a dynamic force measurement platform. By arranging multiple accelerometers on the measurement platform to collect real-time acceleration information of the platform during dynamic motion, the system combines the platform's mass and moment of inertia data to calculate and compensate for the platform's inertial errors, thereby improving the accuracy of dynamic force measurements. This method is particularly suitable for measuring small-amplitude disturbance forces and micro-vibrations, significantly reducing the interference of the platform's inertial forces on the measurement results.

[0045] Although the embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art may make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

[0046] The above specific embodiments of the present invention do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A method for compensating inertial force of a dynamic force measurement platform, characterized in that: include: Pre-configuring multiple acceleration detection components at preset positions of the dynamic force measurement platform; Using the multiple acceleration detection components to collect acceleration data of the dynamic force measurement platform in three-dimensional directions in real time; determining the inertial force and inertial moment of the dynamic force measurement platform according to the mass of the dynamic force measurement platform and the inertia moment of the dynamic force measurement platform in combination with the acceleration data; Performing frequency domain conversion on the measurement signal of the dynamic force measurement platform to obtain a frequency domain calibration matrix; The output of the acceleration detection component is calibrated using the frequency domain calibration matrix, and the inertial force of the dynamic force measurement platform is compensated based on the calibration result to obtain a true disturbance signal.

2. The inertial force compensation method of a dynamic force measurement platform according to claim 1, characterized in that: The acceleration detection component adopts an acceleration sensor, and a plurality of acceleration detection components are pre-configured at preset positions of the dynamic force measurement platform, including: Four acceleration sensors are installed on the dynamic force measurement platform to obtain the motion state of the dynamic force measurement platform in three-dimensional space. The specific layout positions of the four acceleration sensors are the four corners of the dynamic force measurement platform. They are installed on the support structure of the dynamic force measurement platform in a uniformly distributed manner. Each acceleration sensor is responsible for recording the acceleration changes in different directions, so that the movement of the dynamic force measurement platform in the three directions of X, Y and Z can be fully monitored.

3. The inertial force compensation method of a dynamic force measurement platform according to claim 2, characterized in that: The method of using the multiple acceleration detection components to collect acceleration data of the dynamic force measurement platform in three-dimensional directions in real time includes: After the dynamic measurement begins, the acceleration data of the dynamic force measurement platform in three directions is collected in real time through the acceleration sensor. The acceleration data output by the acceleration sensor is transmitted to the data acquisition unit through the signal amplifier. The acquisition frequency and time window of the acceleration data are adjusted according to the frequency characteristics of the signal to be measured and the measurement accuracy requirements.

4. The inertial force compensation method of a dynamic force measurement platform according to claim 3, characterized in that: The determining the inertial force and inertial moment of the dynamic force measurement platform according to the mass of the dynamic force measurement platform and the inertia moment of the dynamic force measurement platform in combination with the acceleration data comprises: The mass of the dynamic force measurement platform is determined in advance by modeling or experiment and the moment of inertia of the dynamic force measurement platform , combined with the mass of the dynamic force measurement platform and the moment of inertia of the dynamic force measurement platform , using the acceleration data to calculate the inertial force and inertial moment of the dynamic force measurement platform , the specific calculation formula is as follows: in, represents the mass of the dynamic force measurement platform, represents the moment of inertia of the dynamic force measurement platform, represents the vertical acceleration of the dynamic force measurement platform, and represent the angular acceleration of the dynamic force measurement platform in the X and Y directions, respectively.

5. The inertial force compensation method of a dynamic force measurement platform according to claim 4, characterized in that: The performing frequency domain conversion on the measurement signal of the dynamic force measurement platform to obtain a frequency domain calibration matrix includes: Converting the time domain measurement signal collected by the force sensor to the dynamic force measurement platform into the frequency domain through Fourier transform to obtain the amplitude and phase information of the time domain measurement signal; Based on calibration tests, using known calibration forces and the moment of inertia calculated from the acceleration data , establish the calibration matrix , the calibration matrix For dynamically correcting the inertial force error in the measurement signal, the calibration matrix The calculation formula is: in, The output signal of the force sensor in the calibration state is corrected through the calibration matrix to compensate for the influence of inertial force on the measurement data.

6. The inertial force compensation method of a dynamic force measurement platform according to claim 5, characterized in that: The method of calibrating the output of the acceleration detection component by using the frequency domain calibration matrix and compensating the inertial force of the dynamic force measurement platform based on the calibration result to obtain a true disturbance signal includes: In the actual measurement process, the inertia moment calculated by the acceleration sensor is Deducted from the real-time measurement signal of the platform to eliminate the influence of inertial force on the measurement signal. The compensation process is expressed as: in: It represents the real disturbance force after inertia force compensation; To measure the output signal of the force sensor in real time; is the inertia moment calculated in dynamic measurement.

7. An inertial force compensation system for a dynamic force measurement platform, applied to the inertial force compensation method for a dynamic force measurement platform according to any one of claims 1 to 6, characterized in that: include: Multiple acceleration sensors for collecting acceleration data of the dynamic force measurement platform during dynamic motion; a plurality of force sensors for collecting time domain measurement signals of the dynamic force measurement platform; a data acquisition unit, configured to receive the acceleration data and the time domain measurement signal; a signal processing unit, configured to process the acceleration data and perform frequency domain calibration; a data compensation module, which calculates the inertial force and compensates the measurement signal in real time based on the mass of the dynamic force measurement platform and the moment of inertia of the dynamic force measurement platform; The output signals of the acceleration sensor and the force sensor are connected to the data acquisition unit and transmitted to the signal processing unit in real time. The frequency domain calibration and inertial force compensation algorithm are integrated in the signal processing unit to automatically process inertial interference and output the compensated disturbance force signal in real time. Before the system starts measurement, it is calibrated with a known calibration force to generate a calibration matrix. During the measurement process, inertial force compensation is performed in real time to ensure that the measurement data accurately reflects the disturbance force state of the platform.

8. The inertial force compensation system for a dynamic force measurement platform according to claim 7, wherein: The multiple acceleration sensors are four acceleration sensors, which are installed on the dynamic force measurement platform to obtain the motion state of the dynamic force measurement platform in three-dimensional space. The specific layout positions of the four acceleration sensors are the four corners of the dynamic force measurement platform, and they are installed on the support structure of the dynamic force measurement platform in a uniformly distributed manner. Each acceleration sensor is responsible for recording the acceleration changes in different directions.

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