Swing test bench measurement and control method, device, upper computer measurement and control system and storage medium

Abstract

The present invention discloses a control method, device, upper computer control system and storage medium for a swing test bench. The control method for the swing test bench includes: receiving the initial platform table inclination angle and the initial platform table rotation direction of the swing test bench set through the upper computer control system, and determining the initial X-axis angle and the initial Y-axis angle of the swing test bench according to the initial platform table inclination angle and the initial platform table rotation direction; after controlling the swing test bench to perform corresponding operations according to the initial X-axis angle and the initial Y-axis angle, obtaining the actual X-axis angle and the actual Y-axis angle; calculating the actual platform table inclination angle and the actual platform table rotation direction according to the actual X-axis angle and the actual Y-axis angle. The flexible test of the swing test bench is realized, the requirements of various test equipment are met, and the applicable range of the swing test bench is wider.

Description

Technical Field

[0001] The present invention relates to the technical field of measurement and control of a swing test bench, and particularly to a method and device for measuring and controlling a swing test bench, a host computer measurement and control system, and a storage medium. Background Art

[0002] An inclination and swing test bench is used to determine the adaptability of a device to be used, stored, and transported in an inclined and swinging environment. The swing test bench can perform regular swing motions separately or in combination in the head, transverse, and longitudinal directions, and can also perform synchronous composite swing, inclination tests, or asynchronous combined swing and inclination motions.

[0003] Currently, on the market, a swing test bench issues control instructions through a host computer measurement and control system to drive the corresponding actuators of the swing test bench. The swing test bench feeds back motion data to the host computer measurement and control system, and the host computer measurement and control system displays the angle state of the test bench tabletop. However, most swing test benches control and feedback only the angle states in the X-axis and Y-axis directions respectively, and cannot meet the test requirements for measuring and controlling the angle and rotation direction of the test bench tabletop platform in the market. For example, for a certain automobile fuel tank, it is necessary to detect the pressure situation when the fuel tank is tilted to a specific angle in each rotation direction, and a conventional swing test bench cannot meet this function. Summary of the Invention

[0004] The present invention provides a method and device for measuring and controlling a swing test bench, a host computer measurement and control system, and a storage medium to solve the problem that the swing test bench cannot arbitrarily adjust the angle and rotation direction of the test bench tabletop platform according to test requirements.

[0005] According to an aspect of the present invention, there is provided a method for measuring and controlling a swing test bench, the method for measuring and controlling a swing test bench including:

[0006] Receiving the initial platform tabletop inclination angle and the initial platform tabletop rotation direction of the swing test bench set through the host computer measurement and control system, and determining the initial X-axis direction angle and the initial Y-axis direction angle of the swing test bench according to the initial platform tabletop inclination angle and the initial platform tabletop rotation direction;

[0007] After controlling the swing test bench to perform corresponding operations according to the initial X-axis direction angle and the initial Y-axis direction angle, obtaining the actual X-axis direction angle and the actual Y-axis direction angle;

[0008] Calculating the actual platform tabletop inclination angle and the actual platform tabletop rotation direction according to the actual X-axis direction angle and the actual Y-axis direction angle.

[0009] Optionally, the determining the initial X-axis direction angle and the initial Y-axis direction angle of the swing test bench according to the initial platform tabletop inclination angle and the initial platform tabletop rotation direction includes:

[0010] Determine the initial X-axis angle and the initial Y-axis angle of the swing test bench according to the following formula (1) and formula (2), specifically as follows:

[0011]

[0012]

[0013] where α is the initial inclination angle of the platform tabletop; β is the initial rotation direction of the platform tabletop; θ is the initial X-axis angle; is the initial Y-axis angle.

[0014] Optionally, the swing test bench measurement and control method further includes:

[0015] When the initial rotation direction of the platform tabletop is counterclockwise rotation and the rotation angle is less than 90 degrees, determine the initial X-axis angle θ and the initial Y-axis angle of the swing test bench Specifically as follows:

[0016]

[0017]

[0018] When the initial rotation direction of the platform tabletop is counterclockwise rotation and the rotation angle is 90 degrees, determine that the initial X-axis angle θ of the swing test bench is -α degrees, and the initial Y-axis angle is 0 degrees;

[0019] When the initial rotation direction of the platform tabletop is counterclockwise rotation and the rotation angle is greater than 90 degrees and less than or equal to 180 degrees, determine the initial X-axis angle θ and the initial Y-axis angle of the swing test bench Specifically as follows:

[0020]

[0021]

[0022] When the initial rotation direction of the platform tabletop is counterclockwise rotation and the rotation angle is greater than 180 degrees and less than 270 degrees, determine the initial X-axis angle θ and the initial Y-axis angle of the swing test bench Specifically as follows:

[0023]

[0024]

[0025] When the rotation direction of the initial platform tabletop is counterclockwise and the rotation angle is 270 degrees, determine that the initial X-axis angle θ of the swing test bench is α degrees, and the initial Y-axis angle is 0 degrees;

[0026] When the rotation direction of the initial platform tabletop is counterclockwise and the rotation angle is greater than 270 degrees and less than 360 degrees, then determine the initial X-axis angle θ and the initial Y-axis angle of the swing test bench Specifically:

[0027]

[0028]

[0029] Optionally, after controlling the swing test bench to perform corresponding operations according to the initial X-axis angle and the initial Y-axis angle, obtain the actual X-axis angle and the actual Y-axis angle, including:

[0030] Input the initial X-axis angle and the initial Y-axis angle into the swing test bench so that the actuator of the swing test bench performs corresponding actions;

[0031] The angle sensors on the swing test bench collect the actual X-axis angle and the actual Y-axis angle, and feedback the actual X-axis angle and the actual Y-axis angle to the upper computer measurement and control system.

[0032] Optionally, calculate the actual platform tabletop tilt angle and the actual platform tabletop rotation direction according to the actual X-axis angle and the actual Y-axis angle, including:

[0033] Calculate the actual platform tabletop tilt angle and the actual platform tabletop rotation direction according to the following formula (3) and formula (4), specifically:

[0034]

[0035]

[0036] Among them, α1 is the actual platform tabletop tilt angle; β1 is the actual platform tabletop rotation direction; θ1 is the actual X-axis angle; is the actual Y-axis angle.

[0037] Optionally, the swing test bench measurement and control method further includes:

[0038] When the actual X-axis angle θ1 is 0 degrees, and the actual Y-axis angle is greater than 0 degrees, then determine that the actual platform tabletop tilt angle α1 is equal to the actual Y-axis angle The rotation direction β1 of the actual platform tabletop is counterclockwise rotation and the rotation angle is 180 degrees;

[0039] When the actual X-axis angle θ1 is 0 degree, and the actual Y-axis angle is less than or equal to 0 degree, then it is determined that the actual platform tabletop tilt angle α1 is equal to the actual Y-axis angle The rotation direction β1 of the actual platform tabletop is counterclockwise rotation and the rotation angle is 0 degree;

[0040] When the actual X-axis angle θ1 is greater than 0 degree, then the actual platform tabletop tilt angle α1 and the rotation direction β1 of the actual platform tabletop are determined, specifically:

[0041]

[0042]

[0043] When the actual X-axis angle θ1 is less than 0 degree, then the actual platform tabletop tilt angle α1 and the rotation direction β1 of the actual platform tabletop are determined, specifically:

[0044]

[0045]

[0046] Optionally, the control and measurement method of the swing test bench further includes:

[0047] Display the calculated actual platform tabletop tilt angle and the rotation direction of the actual platform tabletop on the display screen of the upper computer control and measurement system.

[0048] According to another aspect of the present invention, there is provided a control and measurement device for a swing test bench, and the control and measurement device for the swing test bench includes:

[0049] An initial angle determination module, configured to receive the initial platform tabletop tilt angle and the initial platform tabletop rotation direction of the swing test bench set by the upper computer control and measurement system, and determine the initial X-axis angle and the initial Y-axis angle of the swing test bench according to the initial platform tabletop tilt angle and the initial platform tabletop rotation direction;

[0050] An actual angle determination module, configured to obtain the actual X-axis angle and the actual Y-axis angle after controlling the swing test bench to perform corresponding operations according to the initial X-axis angle and the initial Y-axis angle;

[0051] A tabletop data determination module, configured to calculate the actual platform tabletop tilt angle and the rotation direction of the actual platform tabletop according to the actual X-axis angle and the actual Y-axis angle.

[0052] According to another aspect of the present invention, there is provided a host computer measurement and control system, and the host computer measurement and control system includes:

[0053] at least one processor; and

[0054] a memory communicatively connected to the at least one processor; wherein,

[0055] the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the measurement and control method of the swing test bench according to any embodiment of the present invention.

[0056] According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement the measurement and control method of the swing test bench according to any embodiment of the present invention when executed.

[0057] The technical solution of the embodiment of the present invention receives the initial platform table inclination angle and the initial platform table rotation direction of the swing test bench set through the host computer measurement and control system, and determines the initial X-axis angle and the initial Y-axis angle of the swing test bench according to the initial platform table inclination angle and the initial platform table rotation direction; after controlling the swing test bench to perform corresponding operations according to the initial X-axis angle and the initial Y-axis angle, the actual X-axis angle and the actual Y-axis angle are obtained; the actual platform table inclination angle and the actual platform table rotation direction are calculated according to the actual X-axis angle and the actual Y-axis angle. It solves the problem that the swing test bench cannot arbitrarily adjust the platform angle and the platform rotation direction of the swing test bench according to the test requirements, and achieves the beneficial effects of flexible testing of the swing test bench, meeting the requirements of various test equipment, and wider application range of the swing test bench.

[0058] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other drawings based on these drawings without creative efforts.

[0060] Figure 1It is a flowchart of a method for controlling and measuring a swing test bench according to Embodiment 1 of the present invention;

[0061] Figure 2 It is a schematic diagram of the definition of the control and measurement parameters involved in the method for controlling and measuring a swing test bench applicable to Embodiment 1 of the present invention;

[0062] Figure 3 It is a schematic diagram of the working principle of the swing test bench applicable to Embodiment 1 of the present invention;

[0063] Figure 4 It is a flowchart of a method for controlling and measuring a swing test bench according to Embodiment 2 of the present invention;

[0064] Figure 5 It is a schematic diagram of the structure of a device for controlling and measuring a swing test bench according to Embodiment 3 of the present invention;

[0065] Figure 6 It is a schematic diagram of the structure of the upper computer control and measurement system for implementing the method for controlling and measuring a swing test bench of the embodiment of the present invention. Detailed implementation manners

[0066] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0067] It should be noted that the terms "initial", "actual", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0068] Embodiment 1

[0069] Figure 1FIG. 0 is a flowchart of a measurement and control method for a swing test bench according to Embodiment 1 of the present invention. This embodiment is applicable to the situation of measuring and controlling any tilt angle and rotation direction of the platform surface of the swing test bench. The measurement and control method of the swing test bench can be executed by a measurement and control device of the swing test bench. The measurement and control device of the swing test bench can be implemented in the form of hardware and / or software, and the measurement and control device of the swing test bench can be configured in the upper computer measurement and control system. As Figure 1 shown, the measurement and control method of the swing test bench includes:

[0070] S110. Receive the initial platform surface tilt angle and the initial platform surface rotation direction of the swing test bench set through the upper computer measurement and control system, and determine the initial X-axis angle and the initial Y-axis angle of the swing test bench according to the initial platform surface tilt angle and the initial platform surface rotation direction.

[0071] Among them, the swing test bench can be used for the tilt and swing test platforms of ships, seaplanes, and offshore oil exploration platforms, and can also be used for test equipment such as automobile fuel tanks that have requirements for test angles and directions. Optionally, the swing test bench is a two-axis swing test bench or a three-axis swing test bench.

[0072] It can be understood that when the swing test bench is a three-axis swing test bench, the three-axis swing test bench needs to consider the rotation angle of the X axis, the rotation angle of the Y axis, and the rotation angle of the Z axis. Since the rotation angle of the Z axis is only related to the rotation direction β of the platform surface of the swing test bench, that is, when the swing test bench is a three-axis swing test bench, on the basis of the measurement and control of the two-axis swing test bench, the rotation direction β of the platform surface of the swing test bench is added with the rotation angle of the Z axis. That is to say, when the swing test bench is a three-axis swing test bench, the measurement and control method of the swing test bench provided in this embodiment is also applicable.

[0073] Figure 2 FIG. is a schematic diagram of the definition of the measurement and control parameters involved in the measurement and control method of the swing test bench provided by the embodiment of the present invention. Refer to Figure 2 , the initial platform surface tilt angle α is the initial angle between the platform surface 10 of the swing test bench and the reference horizontal plane, and the initial platform surface rotation direction β is the initial included angle between the positive direction of the Y axis and the rotation direction when the platform surface 10 of the swing test bench is in the counterclockwise direction.

[0074] The initial platform surface tilt angle and the initial platform surface rotation direction can be set through the upper computer in the upper computer measurement and control system. The initial platform surface tilt angle and the initial platform surface rotation direction can be set as single-point test parameters or program test parameters. The initial platform surface tilt angle and the initial platform surface rotation direction can be set to any platform surface tilt angle and / or any platform surface rotation direction according to the actual test requirements. This embodiment does not impose any restrictions on their specific values.

[0075] Exemplarily, the initial platform table tilt angle and the initial platform table rotation direction can be set as single-point test parameters. For example, the initial platform table tilt angle is 35 degrees, and the initial platform table rotation direction β is 120 degrees, with a transition time of 5 s, that is, the platform table moves to the 120-degree direction and tilts 35 degrees in 5 s. The initial platform table tilt angle and the initial platform table rotation direction can also be set as programmed test parameters, and the programmed test can set multiple single-point tests and cycle. For example, in the first step, the platform table moves to the 45-degree direction in 5 s and tilts 20 degrees; in the second step, the platform table moves to the 120-degree direction in 3 s and tilts 30 degrees; in the third step, the platform table moves to the 200-degree direction in 4 s and tilts 25 degrees... Then, after executing the set number of cycles, the platform table will execute according to the set steps and cycle the corresponding number of times to complete the setting of the initial platform table tilt angle and the initial platform table rotation direction.

[0076] Since the initial platform table tilt angle and the initial platform table rotation direction can be set at any platform table tilt angle and / or any platform table rotation direction, based on the conventional rocking test bench, the technical solution of this embodiment realizes the test of the rocking test bench at any platform table tilt angle and / or any platform table rotation direction.

[0077] On the above basis, Figure 3 is the working principle block diagram of the rocking test bench provided by the embodiment of the present invention. Refer to Figure 3 , the upper computer in the upper computer measurement and control system sets the initial platform table tilt angle and the initial platform table rotation direction. The upper computer solves the initial X-axis angle and the initial Y-axis angle of the rocking test bench according to the initial platform table tilt angle and the initial platform table rotation direction. The controller in the upper computer measurement and control system outputs the corresponding control instructions for the rocking test bench according to the initial X-axis angle and the initial Y-axis angle, and the actuator of the rocking test bench receives the control instructions and completes the corresponding actions corresponding to the control instructions.

[0078] S120. After controlling the rocking test bench to perform corresponding operations according to the initial X-axis angle and the initial Y-axis angle, obtain the actual X-axis angle and the actual Y-axis angle.

[0079] Specifically, the actuator performs corresponding actions according to the control instructions corresponding to the rocking test bench output by the controller according to the initial X-axis angle θ and the initial Y-axis angle , and then controls the rocking test bench to perform corresponding operations. The actual X-axis angle θ1 and the actual Y-axis angle can be measured in real time by the angle sensor installed on the rocking test bench body, and the actual X-axis angle θ1 and the actual Y-axis angle are fed back to the upper computer measurement and control system.

[0080] Continue to see Figure 2 , the initial X-axis angle θ is the initial angle along the X-axis direction, and the initial Y-axis angle is the initial angle along the Y axis, and it can be known that the actual X axis angle θ1 is the actual rotation angle along the X axis, and the actual Y axis angle is the actual rotation angle along the Y axis.

[0081] S130, calculating an actual platform table top inclination angle and an actual platform table top rotation direction according to the actual X-axis angle and the actual Y-axis angle.

[0082] Among them, continue to see Figure 2 It can be seen that the actual platform table inclination angle α1 is the actual inclination angle between the rocking test bench platform table 10 and the reference horizontal plane, that is, the actual displayed inclination angle value calculated during the rocking test bench test, and the actual platform table rotation direction β1 is the actual rotation angle between the rocking test bench platform table 10 in the counterclockwise direction, the positive direction of the Y-axis and the rotation direction.

[0083] On the basis of the above, the host computer measurement and control system may further include a display screen, and the calculated actual platform table top inclination angle and the actual platform table top rotation direction may be displayed on the display screen of the host computer measurement and control system.

[0084] It can be understood that the display screen of the host computer measurement and control system can be a display screen that comes with the host computer measurement and control system, or a display screen that is separately connected to the host computer measurement and control system. The display screen can be a commonly used LCD display screen, LED display screen and other devices, and this embodiment does not impose any restrictions on this.

[0085] In this embodiment, the upper computer measurement and control system can not only control and display the initial X-axis angle and initial Y-axis angle of the swing test bench by setting any initial platform table inclination angle and initial platform table rotation direction, but also display the actual platform table inclination angle and actual platform table rotation direction, thereby meeting the test requirements of the swing test bench table angle and table platform rotation direction, making the current swing test bench have a wider range of applications.

[0086] The technical solution of the embodiment of the present invention is to receive the initial platform table inclination angle and the initial platform table rotation direction of the swing test bench set by the upper computer measurement and control system, and determine the initial X-axis angle and the initial Y-axis angle of the swing test bench according to the initial platform table inclination angle and the initial platform table rotation direction; after controlling the swing test bench to perform corresponding operations according to the initial X-axis angle and the initial Y-axis angle, obtain the actual X-axis angle and the actual Y-axis angle; calculate the actual platform table inclination angle and the actual platform table rotation direction according to the actual X-axis angle and the actual Y-axis angle. It solves the problem that the swing test bench cannot arbitrarily adjust the platform angle and the platform rotation direction of the swing test bench according to the test requirements, achieves the flexible test of the swing test bench, meets the requirements of various test equipment, and has the beneficial effect that the swing test bench has a wider application range.

[0087] Embodiment 2

[0088] Figure 4 It is a flowchart of a swing test bench measurement and control method provided by Embodiment 2 of the present invention. On the basis of the above embodiment, an optional implementation manner is provided. As Figure 4 shown, the swing test bench measurement and control method includes:

[0089] S410. Receive the initial platform table inclination angle and the initial platform table rotation direction of the swing test bench set by the upper computer measurement and control system.

[0090] S420. Determine the initial X-axis angle and the initial Y-axis angle of the swing test bench according to the initial platform table inclination angle and the initial platform table rotation direction.

[0091] Specifically, the process of solving the following formulas (1), (2), (3) and (4) is as follows:

[0092] The rotation matrix of the swing test bench platform table on the Y axis is:

[0093]

[0094] The rotation matrix of the swing test bench platform table on the X axis is:

[0095]

[0096] Then the rotation matrix R of the swing test bench platform table is:

[0097]

[0098] The normal vector of the swing test bench platform table is:

[0099]

[0100] On the above basis, the inclination angle α of the platform surface of the swing test bench is obtained, which is the included angle between the normal vector and the Z-axis:

[0101]

[0102] The rotation direction β of the platform surface of the swing test bench is obtained, which is the included angle between the projection of the normal line in the plane and the positive direction of the x-axis:

[0103]

[0104] From the above formulas (V) and (VI), by solving the equations, the initial X-axis direction angle and the initial Y-axis direction angle are obtained, that is, the following formulas (I) and (II) are obtained. Furthermore, according to formulas (I) and (II), the initial X-axis direction angle and the initial Y-axis direction angle of the swing test bench are determined, specifically as follows:

[0105]

[0106]

[0107] wherein, α is the initial inclination angle of the platform surface; β is the initial rotation direction of the platform surface; θ is the initial X-axis direction angle; is the initial Y-axis direction angle.

[0108] In this embodiment, the initial X-axis direction angle θ and the initial Y-axis direction angle range from 0 to 90 degrees. The negative angles can be solved by segments according to the quadrant where the initial rotation direction β of the platform surface is located. The specific determination process of the initial X-axis direction angle θ and the initial Y-axis direction angle is as follows:

[0109] When the initial rotation direction of the platform surface is counterclockwise rotation and the rotation angle is less than 90 degrees, the initial X-axis direction angle θ and the initial Y-axis direction angle of the swing test bench are determined Specifically as follows:

[0110]

[0111]

[0112] When the initial rotation direction of the platform surface is counterclockwise rotation and the rotation angle is 90 degrees, the initial X-axis direction angle θ of the swing test bench is determined to be -α degrees, and the initial Y-axis direction angle is 0 degrees;

[0113] When the rotation direction of the initial platform tabletop is counterclockwise and the rotation angle is greater than 90 degrees and less than or equal to 180 degrees, determine the initial X-axis angle θ and the initial Y-axis angle of the rocking test bench Specifically:

[0114]

[0115]

[0116] When the rotation direction of the initial platform tabletop is counterclockwise and the rotation angle is greater than 180 degrees and less than 270 degrees, determine the initial X-axis angle θ and the initial Y-axis angle of the rocking test bench Specifically:

[0117]

[0118]

[0119] When the rotation direction of the initial platform tabletop is counterclockwise and the rotation angle is 270 degrees, determine that the initial X-axis angle θ of the rocking test bench is α degrees, and the initial Y-axis angle is 0 degrees;

[0120] When the rotation direction of the initial platform tabletop is counterclockwise and the rotation angle is greater than 270 degrees and less than 360 degrees, determine the initial X-axis angle θ and the initial Y-axis angle of the rocking test bench Specifically:

[0121]

[0122]

[0123] S430. Input the initial X-axis angle and the initial Y-axis angle into the rocking test bench so that the actuator of the rocking test bench performs corresponding actions.

[0124] S440. The angle sensors on the rocking test bench collect the actual X-axis angle and the actual Y-axis angle, and feedback the actual X-axis angle and the actual Y-axis angle to the upper computer measurement and control system.

[0125] S450. Calculate the actual platform tabletop tilt angle and the actual platform tabletop rotation direction according to the actual X-axis angle and the actual Y-axis angle.

[0126] On this basis, the actual X-axis angle θ1 and the actual Y-axis angle Substitute the above formulas (V) and (VI) to obtain the actual tilt angle α1 of the platform tabletop and the actual rotation direction β1 of the platform tabletop, that is, the following formulas (III) and (IV). Furthermore, calculate the actual tilt angle of the platform tabletop and the actual rotation direction of the platform tabletop according to the following formulas (III) and (IV), specifically as follows:

[0127]

[0128]

[0129] Among them, α1 is the actual tilt angle of the platform tabletop; β1 is the actual rotation direction of the platform tabletop; θ1 is the actual X-axis direction angle; is the actual Y-axis direction angle.

[0130] It can be understood that considering that the denominator of the fraction cannot be zero, the singular points need to be calculated separately during the solution process of formulas (III) and (IV). The singular points are the points where the actual X-axis direction angle θ1 is 0°, 90°, 180°, and 270°. Further, since the solution value of the rotation direction β of the platform tabletop is between ±90° and can be adjusted according to the quadrant using the periodicity of trigonometric functions, the specific determination process of the actual tilt angle of the platform tabletop and the actual rotation direction of the platform tabletop is as follows:

[0131] When the actual X-axis direction angle θ1 is 0° and the actual Y-axis direction angle is greater than 0°, it is determined that the actual tilt angle α1 of the platform tabletop is equal to the actual Y-axis direction angle The actual rotation direction β1 of the platform tabletop is counterclockwise rotation and the rotation angle is 180°;

[0132] When the actual X-axis direction angle θ1 is 0° and the actual Y-axis direction angle is less than or equal to 0°, it is determined that the actual tilt angle α1 of the platform tabletop is equal to the actual Y-axis direction angle The actual rotation direction β1 of the platform tabletop is counterclockwise rotation and the rotation angle is 0°;

[0133] When the actual X-axis direction angle θ1 is greater than 0°, determine the actual tilt angle α1 of the platform tabletop and the actual rotation direction β1 of the platform tabletop, specifically as follows:

[0134]

[0135]

[0136] When the actual X-axis direction angle θ1 is less than 0°, determine the actual tilt angle α1 of the platform tabletop and the actual rotation direction β1 of the platform tabletop, specifically as follows:

[0137]

[0138]

[0139] S460. Display the calculated actual tilt angle of the platform tabletop and the actual rotation direction of the platform tabletop on the display screen of the host computer measurement and control system.

[0140] The technical solution of this embodiment, through the arbitrary selection and setting of the initial tilt angle of the platform tabletop and the initial rotation direction of the platform tabletop of the swing test bench by the host computer measurement and control system, realizes the test of the swing test bench at any tilt angle and rotation direction on the basis of the conventional swing test bench, improving the flexibility of the swing test bench test; at the same time, after determining the initial X-axis angle and the initial Y-axis angle of the swing test bench and controlling the swing test bench to perform corresponding operations, the actual X-axis angle and the actual Y-axis angle are obtained, and then the actual tilt angle of the platform tabletop and the actual rotation direction of the platform tabletop are calculated to display the actual tilt angle of the platform tabletop and the actual rotation direction of the platform tabletop on the display screen of the host computer measurement and control system, satisfying the visualization of the swing test bench test process and making the current swing test bench have a wider application range.

[0141] Embodiment III

[0142] Figure 5 It is a schematic structural diagram of a swing test bench measurement and control device provided by Embodiment III of the present invention. As Figure 5 shown, the swing test bench measurement and control device includes:

[0143] An initial angle determination module 510, configured to receive the initial tilt angle of the platform tabletop and the initial rotation direction of the swing test bench set by the host computer measurement and control system, and determine the initial X-axis angle and the initial Y-axis angle of the swing test bench according to the initial tilt angle of the platform tabletop and the initial rotation direction of the platform tabletop;

[0144] An actual angle determination module 520, configured to obtain the actual X-axis angle and the actual Y-axis angle after controlling the swing test bench to perform corresponding operations according to the initial X-axis angle and the initial Y-axis angle;

[0145] A tabletop data determination module 530, configured to calculate the actual tilt angle of the platform tabletop and the actual rotation direction of the platform tabletop according to the actual X-axis angle and the actual Y-axis angle.

[0146] Optionally, the determining the initial X-axis angle and the initial Y-axis angle of the swing test bench according to the initial tilt angle of the platform tabletop and the initial rotation direction of the platform tabletop includes:

[0147] Determine the initial X-axis angle and the initial Y-axis angle of the swing test bench according to the following formulas (1) and (2), specifically as follows:

[0148]

[0149]

[0150] where α is the initial inclination angle of the platform tabletop; β is the initial rotation direction of the platform tabletop; θ is the initial X-axis angle; is the initial Y-axis angle.

[0151] Optionally, the swing test bench measurement and control device further includes:

[0152] When the initial rotation direction of the platform tabletop is counterclockwise rotation and the rotation angle is less than 90 degrees, determine the initial X-axis angle θ and the initial Y-axis angle of the swing test bench Specifically as follows:

[0153]

[0154]

[0155] When the initial rotation direction of the platform tabletop is counterclockwise rotation and the rotation angle is 90 degrees, determine that the initial X-axis angle θ of the swing test bench is -α degrees, and the initial Y-axis angle is 0 degrees;

[0156] When the initial rotation direction of the platform tabletop is counterclockwise rotation and the rotation angle is greater than 90 degrees and less than or equal to 180 degrees, determine the initial X-axis angle θ and the initial Y-axis angle of the swing test bench Specifically as follows:

[0157]

[0158]

[0159] When the initial rotation direction of the platform tabletop is counterclockwise rotation and the rotation angle is greater than 180 degrees and less than 270 degrees, determine the initial X-axis angle θ and the initial Y-axis angle of the swing test bench Specifically as follows:

[0160]

[0161]

[0162] When the rotation direction of the initial platform tabletop is counterclockwise and the rotation angle is 270 degrees, determine that the initial X-axis angle θ of the swing test bench is α degrees, and the initial Y-axis angle is 0 degrees;

[0163] When the rotation direction of the initial platform tabletop is counterclockwise and the rotation angle is greater than 270 degrees and less than 360 degrees, then determine the initial X-axis angle θ and the initial Y-axis angle of the swing test bench Specifically:

[0164]

[0165]

[0166] Optionally, the actual angle determination module 520 includes:

[0167] Input the initial X-axis angle and the initial Y-axis angle into the swing test bench, so that the actuator of the swing test bench performs corresponding actions;

[0168] The angle sensors on the swing test bench collect the actual X-axis angle and the actual Y-axis angle, and feedback the actual X-axis angle and the actual Y-axis angle to the upper computer measurement and control system.

[0169] Optionally, the tabletop data determination module 530 is specifically used for:

[0170] Calculate the actual platform tabletop tilt angle and the actual platform tabletop rotation direction according to the following formula (3) and formula (4), specifically:

[0171]

[0172]

[0173] Among them, α1 is the actual platform tabletop tilt angle; β1 is the actual platform tabletop rotation direction; θ1 is the actual X-axis angle; is the actual Y-axis angle.

[0174] Optionally, the swing test bench measurement and control device further includes:

[0175] When the actual X-axis angle θ1 is 0 degrees, and the actual Y-axis angle is greater than 0 degrees, then determine that the actual platform tabletop tilt angle α1 is equal to the actual Y-axis angle The actual platform tabletop rotation direction β1 is counterclockwise and the rotation angle is 180 degrees;

[0176] When the actual X - axis angle θ1 is 0 degree, and the actual Y - axis angle is less than or equal to 0 degree, then it is determined that the actual platform table inclination angle α1 is equal to the actual Y - axis angle and the actual platform table rotation direction β1 is counter - clockwise rotation and the rotation angle is 0 degree;

[0177] When the actual X - axis angle θ1 is greater than 0 degree, then the actual platform table inclination angle α1 and the actual platform table rotation direction β1 are determined, specifically:

[0178]

[0179]

[0180] When the actual X - axis angle θ1 is less than 0 degree, then the actual platform table inclination angle α1 and the actual platform table rotation direction β1 are determined, specifically:

[0181]

[0182]

[0183] Optionally, the swing test bench measurement and control device further includes:

[0184] a display module, configured to display the calculated actual platform table inclination angle and the actual platform table rotation direction on the display screen of the upper computer measurement and control system.

[0185] The swing test bench measurement and control device provided by the embodiments of the present invention can execute the swing test bench measurement and control method provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the swing test bench measurement and control method.

[0186] Embodiment 4

[0187] Figure 6 FIG. shows a schematic structural diagram of an upper computer measurement and control system 610 that can be used to implement the embodiments of the present invention. The upper computer measurement and control system is intended to represent various forms of digital computers, such as, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The upper computer measurement and control system can also represent various forms of mobile devices, such as, personal digital processors, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present invention described herein and / or claimed.

[0188] AsFigure 6 As shown, the host computer measurement and control system 610 includes at least one processor 611 and a memory communicatively connected to the at least one processor 611, such as a read-only memory (ROM) 612, a random access memory (RAM) 613, etc. Among them, the memory stores a computer program executable by the at least one processor. The processor 611 can execute various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 612 or the computer program loaded from the storage unit 618 into the random access memory (RAM) 613. In the RAM 613, various programs and data required for the operation of the host computer measurement and control system 610 can also be stored. The processor 611, the ROM 612, and the RAM 613 are connected to each other via a bus 614. The input / output (I / O) interface 615 is also connected to the bus 614.

[0189] Multiple components in the host computer measurement and control system 610 are connected to the I / O interface 615, including: an input unit 616, such as a keyboard, a mouse, etc.; an output unit 617, such as various types of displays, speakers, etc.; a storage unit 618, such as a disk, an optical disc, etc.; and a communication unit 619, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 619 allows the host computer measurement and control system 610 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0190] The processor 611 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 611 include but are not limited to a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 611 executes the various methods and processes described above, such as the measurement and control method of the swing test bench.

[0191] In some embodiments, the measurement and control method of the swing test bench can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as the storage unit 618. In some embodiments, part or all of the computer program can be loaded and / or installed onto the host computer measurement and control system 610 via the ROM 612 and / or the communication unit 619. When the computer program is loaded into the RAM 613 and executed by the processor 611, one or more steps of the measurement and control method of the swing test bench described above can be executed. Alternatively, in other embodiments, the processor 611 can be configured to execute the measurement and control method of the swing test bench by any other appropriate means (for example, by means of firmware).

[0192] The various embodiments of the systems and techniques described above in this specification can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on a chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which may be a special-purpose or general-purpose programmable processor that receives data and instructions from, and transmits data and instructions to, a storage system, at least one input device, and at least one output device.

[0193] The computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer programs may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

[0194] In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium may be a machine-readable signal medium. A more specific example of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0195] To provide interaction with a user, the systems and techniques described herein can be implemented on a host computer measurement and control system that has: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the host computer measurement and control system. Other kinds of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, speech input, or tactile input).

[0196] The systems and techniques described herein can be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0197] A computing system can include a client and a server. The client and the server are generally remote from each other and typically interact through a communication network. The client-server relationship is created by computer programs that run on the respective computers and have a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0198] It should be understood that various forms of the processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is made herein.

[0199] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A control and measurement method for a swing test bench, characterized in that, it includes: Receiving the initial platform table inclination angle and the initial platform table rotation direction of the swing test bench set by the upper computer control and measurement system, and determining the initial X-axis angle and the initial Y-axis angle of the swing test bench according to the initial platform table inclination angle and the initial platform table rotation direction; After controlling the swing test bench to perform corresponding operations according to the initial X-axis angle and the initial Y-axis angle, obtaining the actual X-axis angle and the actual Y-axis angle; Calculating the actual platform table inclination angle and the actual platform table rotation direction according to the actual X-axis angle and the actual Y-axis angle; Among them, calculating the actual platform table inclination angle and the actual platform table rotation direction according to the actual X-axis angle and the actual Y-axis angle includes: Calculating the actual platform table inclination angle and the actual platform table rotation direction according to the following formula (3) and formula (4), specifically: Among them, α1 is the inclination angle of the actual platform tabletop; β1 is the rotation direction of the actual platform tabletop; θ1 is the actual X-axis direction angle; is the actual Y-axis direction angle.

2. The control and measurement method for a swing test bench according to claim 1, characterized in that, The determining the initial X-axis angle and the initial Y-axis angle of the swing test bench according to the initial platform table inclination angle and the initial platform table rotation direction includes: Determining the initial X-axis angle and the initial Y-axis angle of the swing test bench according to the following formula (1) and formula (2), specifically: Wherein, α is the inclination angle of the initial platform tabletop; β is the rotation direction of the initial platform tabletop; θ is the initial X-axis direction angle; is the initial Y-axis direction angle.

3. The control and measurement method for a swing test bench according to claim 2, characterized in that, The control and measurement method for the swing test bench further includes: When the rotation direction of the initial platform tabletop is counterclockwise and the rotation angle is less than 90 degrees, the initial X-axis angle θ and the initial Y-axis angle of the swing test bench are determined Specifically: When the rotation direction of the initial platform tabletop is counterclockwise and the rotation angle is 90 degrees, it is determined that the initial X-axis angle θ of the rocking test bench is -α degrees, and the initial Y-axis angle is 0 degrees; When the rotation direction of the initial platform tabletop is counterclockwise and the rotation angle is greater than 90 degrees and less than or equal to 180 degrees, the initial X-axis angle θ and the initial Y-axis angle of the rocking test bench are determined Specifically: When the rotation direction of the initial platform tabletop is counterclockwise and the rotation angle is greater than 180 degrees and less than 270 degrees, the initial X-axis angle θ and the initial Y-axis angle of the rocking test bench are determined Specifically: When the rotation direction of the initial platform tabletop is counterclockwise and the rotation angle is 270 degrees, determine that the initial X-axis angle θ of the rocking test bench is α degrees, and the initial Y-axis angle is 0 degrees; When the rotation direction of the initial platform tabletop is counterclockwise and the rotation angle is greater than 270 degrees and less than 360 degrees, the initial X-axis angle θ and the initial Y-axis angle of the swing test bench are determined Specifically:

4. The control and measurement method for a swing test bench according to claim 1, characterized in that, After controlling the swing test bench to perform corresponding operations according to the initial X-axis angle and the initial Y-axis angle, obtaining the actual X-axis angle and the actual Y-axis angle includes: Inputting the initial X-axis angle and the initial Y-axis angle into the swing test bench so that the actuator of the swing test bench performs corresponding actions; The angle sensors on the swing test bench collect the actual X-axis angle and the actual Y-axis angle, and feedback the actual X-axis angle and the actual Y-axis angle to the upper computer control and measurement system.

5. The control and measurement method for a swing test bench according to claim 1, characterized in that, The control and measurement method for the swing test bench further includes: When the actual X-axis angle θ1 is 0 degree and the actual Y-axis angle is greater than 0 degree, it is determined that the actual platform table inclination angle α1 is equal to the actual Y-axis angle the actual platform table rotation direction β1 is counterclockwise rotation and the rotation angle is 180 degrees; When the actual X-axis angle θ1 is 0 degrees and the actual Y-axis angle is less than or equal to 0 degrees, it is determined that the actual platform table tilt angle α1 is equal to the actual Y-axis angle and the actual platform table rotation direction β1 is counterclockwise rotation with a rotation angle of 0 degrees; When the actual X-axis angle θ1 is greater than 0 degrees, determining the actual platform table inclination angle α1 and the actual platform table rotation direction β1, specifically: When the actual X-axis angle θ1 is less than 0 degrees, determining the actual platform table inclination angle α1 and the actual platform table rotation direction β1, specifically:

6. The control and measurement method for a swing test bench according to claim 1, characterized in that, The control and measurement method for the swing test bench further includes: Displaying the calculated actual platform table inclination angle and the actual platform table rotation direction on the display screen of the upper computer control and measurement system.

7. A control and measurement device for a swing test bench, characterized in that, it includes: An initial angle determination module, configured to receive the initial platform table inclination angle and the initial platform table rotation direction of a swing test bench set by a host computer measurement and control system, and determine the initial X-axis angle and the initial Y-axis angle of the swing test bench according to the initial platform table inclination angle and the initial platform table rotation direction; An actual angle determination module, configured to obtain the actual X-axis angle and the actual Y-axis angle after controlling the swing test bench to perform corresponding operations according to the initial X-axis angle and the initial Y-axis angle; A table data determination module, configured to calculate the actual platform table inclination angle and the actual platform table rotation direction according to the actual X-axis angle and the actual Y-axis angle; Wherein, calculating the actual platform table inclination angle and the actual platform table rotation direction according to the actual X-axis angle and the actual Y-axis angle includes: Calculating the actual platform table inclination angle and the actual platform table rotation direction according to the following formulas (3) and (4), specifically: Among them, α1 is the inclination angle of the actual platform tabletop; β1 is the rotation direction of the actual platform tabletop; θ1 is the actual X-axis direction angle; is the actual Y-axis direction angle.

8. A host computer measurement and control system, characterized in that, the host computer measurement and control system includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the swing test bench measurement and control method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, the computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the swing test bench measurement and control method according to any one of claims 1-6 when executed by a processor.

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