Satellite vibration test ramp vibration response collection and conversion method and system

Abstract

The application provides a satellite vibration test inclined plane vibration response acquisition and conversion method and system, comprising: obtaining the angle relationship between the inclined plane and the satellite coordinate system; arranging three-direction acceleration sensors on the inclined plane; performing a sine sweep vibration test on the satellite, and the sensors acquire vibration response spectrum in three orthogonal directions of the measurement coordinate system; rotating the measurement coordinate system to form a new coordinate system, and converting the three-direction vibration response spectrum to the coordinate system; performing a second rotation on the new coordinate system formed by the rotation, converting the converted three-direction vibration response spectrum to the coordinate system, and obtaining the three-direction vibration response spectrum converted to the satellite coordinate system. The application can be used for vibration response acquisition and conversion processing of a large component on a satellite vibration test inclined plane. The application is economical and simple, directly installs sensors on the inclined plane without using a wedge-shaped block for conversion, can obtain the vibration response of the inclined plane in the satellite coordinate system, and achieves the same effect as using the wedge-shaped block for conversion.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of satellite sinusoidal sweep vibration test data acquisition and processing, in particular, to a satellite vibration test inclined plane vibration response acquisition and conversion method and system. BACKGROUND

[0002] The sinusoidal sweep vibration test (referred to as vibration test) is a mechanical environment simulation test required in the satellite development process, and the purpose is to test the ability of the satellite to work normally under the low-frequency vibration environment in the launch process. During the test, the vibration response of the concerned parts on the satellite needs to be acquired and processed to master the mechanical environment of each part. When acquiring and processing the vibration response, the measurement axis of the acceleration sensor arranged on the satellite is usually required to be parallel to each axis of the satellite coordinate system to obtain the vibration response of each part in the satellite coordinate system. To achieve this purpose, for the inclined plane (i.e. the normal line is not parallel to any axis of the satellite coordinate system) on the satellite, a wedge-shaped block is usually used to connect the sensor to correct the angle between the inclined plane and the satellite coordinate system, so that the measurement axis of the sensor is parallel to each axis of the satellite coordinate system. This method requires that the wedge-shaped block of the corresponding angle be processed in advance according to the angle relationship of each inclined plane in the satellite coordinate system; when installing the sensor, the wedge-shaped block is first installed on the corresponding inclined plane, and then the sensor is installed on the wedge-shaped block. Whether it is to process the wedge-shaped block or to connect and install the sensor, it is time-consuming and laborious, which causes certain troubles for the vibration response acquisition and processing on the inclined plane.

[0003] In view of the defects in the prior art, the present application provides an economical and simple satellite vibration test inclined plane vibration response acquisition and conversion method. This method directly installs the sensor on the inclined plane without using the wedge-shaped block for connection, and can obtain the vibration response of the inclined plane in the satellite coordinate system, achieving the same effect as using the wedge-shaped block for connection.

[0004] Search for "data acquisition and conversion method", Chinese patent, patent application number CN201310624704.1. "A kind of intelligent substation metering system data acquisition and conversion method", the patent is a kind of intelligent substation metering system data acquisition and conversion method, its characterized in that, include the following steps: (1) according to the real-time acquisition of a group of data to be measured according to the set protocol type;(2) set T as the cache time, the data to be measured in the state of change is cached, and after the cache time T, send data;(3) extract the data of interest in the data sent by the step 2), update the storage to the set database, for one or more other protocol type processes according to the needs of calling, completely different from the invention content of this patent. Chinese patent, patent application number CN201710144300.0 "a kind of method for realizing virtual verification system data acquisition", the patent is a kind of method for realizing virtual verification system data acquisition, its characterized in that, the method includes: S1, read the user's operation, select the data type for this data acquisition, is register acquisition, variable acquisition or memory data acquisition;S2, for the data acquisition type of this time, read the user's trigger mode configuration information, judge is time trigger, or address trigger;S3, according to the data acquisition type and data acquisition trigger form that have been read, read the user's data acquisition information, and generate special command word;S4, the generated command word is transmitted to GDB module through specific command pipeline;S5, GDB module parses command word, and encapsulates into special data structure that virtual verification system can identify;S6, through the event mechanism of virtual verification system, data acquisition instance is injected into the system;S7, complete the injection of a data acquisition instance, completely different from the invention content of this patent. Wang Shengzhi in the paper "the fast acquisition and conversion method of curve graph data" (see "Journal of Fushun Petroleum College", 2002, 200204) introduces the use of scanner and AutoCAD software cooperation, in AutoCAD environment, through the establishment of engineering design curve graph data method by writing AutoLISP program. Solve the problem of how to convert the existing experience or experimental curve graph into computer-recognizable data file when using computer-aided engineering design. The data acquisition and conversion method in the paper is completely different from the invention.

[0005] At present, no similar description or report has been found, and no similar information has been collected at home and abroad. SUMMARY

[0006] In view of the defects in the prior art, the purpose of the present application is to provide a satellite vibration test inclined plane vibration response acquisition and conversion method and system.

[0007] According to the satellite vibration test inclined plane vibration response acquisition and conversion method provided by the present application, the method comprises the following steps:

[0008] Step S1: obtaining the angle relationship between the slope on which the vibration response monitoring is needed to be performed on the satellite and the satellite coordinate system;

[0009] Step S2: arranging three-direction acceleration sensors on the slope, and obtaining the angle relationship of the measuring coordinate system axes according to the angle relationship between the slope and the satellite coordinate system;

[0010] Step S3: performing a sine sweep vibration test on the satellite, and the sensors collect the vibration response spectrum in three orthogonal directions of the measuring coordinate system;

[0011] Step S4: rotating the measuring coordinate system to form a new coordinate system, and converting the three-direction vibration response spectrum obtained in the measuring coordinate system to the new coordinate system;

[0012] Step S5: performing a second rotation on the new coordinate system formed by the rotation, converting the three-direction vibration response spectrum after the first conversion to the coordinate system after the second conversion, and obtaining the three-direction vibration response spectrum converted to the satellite coordinate system for the vibration response collection and conversion processing on the slope of the satellite component vibration test.

[0013] Preferably, in the step S1:

[0014] For the slope on which the vibration response monitoring is needed to be performed on the satellite, the normal line of the slope and the satellite coordinate system have an included angle, and the normal line is not parallel to any axis of the satellite coordinate system. The included angle between the normal line of the slope and each axis of the satellite coordinate system is obtained through physical measurement or by referring to the design scheme.

[0015] Let the satellite coordinate system be O L X L Y L Z L , and the included angles between the normal line of the slope and O L X L , O L Y L , and O L Z L axis are α, β, and γ, respectively.

[0016] In the step S2:

[0017] The acceleration sensors are arranged on the slope to simultaneously obtain the vibration responses in three orthogonal directions. When the sensors are installed, a wedge-shaped block for correcting the included angle between the slope and the satellite coordinate system is not used for connection, so that one measurement axis of the sensor is perpendicular to the slope and parallel to the normal line of the slope, and one measurement axis is parallel to the plane formed by any two axes of the satellite coordinate system.

[0018] Let the coordinate system formed by the three measurement axes of the sensor be O M X M Y M Z Mwhere O M Z M The axis is perpendicular to the slope, O M X M The axis is parallel to O L X L Y L The plane, O M Y M The axis is determined according to the right-hand rule; obtained according to geometric relations, O M Z M The axis is perpendicular to O L X L , O L Y L , O L Z L The included angles of the axes are α, β, γ, respectively.

[0019] Preferably, in the step S3:

[0020] The satellite is subjected to a sinusoidal sweep vibration test, and during the test, a sensor is used to collect vibration response spectra in three orthogonal directions of a measurement coordinate system, the spectra being expressed in the form of real and imaginary parts, and being recorded as real and imaginary parts of the vibration response spectra in the measurement coordinate system O M X M Y M Z M The vibration response spectra in the x, y, and z directions are respectively

[0021]

[0022]

[0023]

[0024] In the formula, f is the sinusoidal sweep frequency, i is an imaginary number, is the real part of the spectrum, is the imaginary part of the spectrum;

[0025] In the measurement coordinate system O M X M Y M Z M The amplitude spectra in the x, y, and z directions are respectively

[0026]

[0027]

[0028]

[0029] The phase spectra in the x, y, and z directions are respectively

[0030]

[0031]

[0032]

[0033] Preferably, in the step S4:

[0034] The measurement coordinate system is rotated around an axis parallel to the plane formed by two axes in the satellite coordinate system, so that the axis perpendicular to the inclined plane is parallel to the satellite coordinate system axis after rotation, forming a new coordinate system;

[0035] The measurement coordinate system is O M X M Y M Z M , wherein O M Z M The axis is perpendicular to the inclined plane, O M X M The axis is parallel to O L X L Y L The plane, O M Y M The axis is determined according to the right-hand rule; O M Z M The axis is parallel to O L X L , O L Y L , O L Z L The included angle between the axes is α, β, γ, respectively;

[0036] The coordinate system O M X M Y M Z M is rotated around the O M X M axis by an angle γ, so that the O M Z M axis is parallel to the O L Z L axis after rotation, and the coordinate system formed after rotation is denoted as O M X M Y M′ Z M′ , then the O M Z M′ axis is parallel to the O L Z L axis;

[0037] In the new coordinate system, the three-direction vibration response spectrum obtained in the measurement coordinate system is converted and processed to obtain a first converted three-direction vibration response spectrum; wherein, OM X M The amplitude spectrum and phase spectrum of the vibration response are unchanged, O M Y M′ The amplitude spectrum and phase spectrum of the vibration response are respectively:

[0038]

[0039]

[0040] Wherein, A YM is the measurement coordinate system O M X M Y M Z M The amplitude spectrum in the y direction; A ZM is the measurement coordinate system O M X M Y M Z M The amplitude spectrum in the z direction; The phase spectrum in the y direction, φ ZM The phase spectrum in the z direction;

[0041] O M Z M′ The amplitude spectrum and phase spectrum of the vibration response are respectively:

[0042]

[0043]

[0044] O L Z L The amplitude spectrum and phase spectrum of the vibration response.

[0045] Preferably, in the step S5:

[0046] The new coordinate system formed by rotating the measurement coordinate system is rotated around its axis parallel to the axis of the satellite coordinate system, so that the other two axes are parallel to the axes of the satellite coordinate system, thereby forming a new coordinate system, and the coordinate system O M X M Y M′ Z M′ Rotated around the O M Z M′ axis by an angle θ, so that O M X M , O M Y M′ The axes after rotation are respectively parallel to O L X L , O L Y L The axes, and the coordinate system formed after rotation is OM X M″ Y M″ Z M′ , then the coordinate system O M X M″ Y M″ Z M′ is parallel to the satellite coordinate system O L X L Y L Z L ;

[0047] wherein the rotation angle θ satisfies:

[0048]

[0049]

[0050] The measurement coordinate system is O M X M Y M Z M , O M Z M axis and the O L X L , O L Y L , O L Z L axis respectively, the included angle is α, β, γ;

[0051] In the coordinate system of the second conversion, the three-direction vibration response spectrum after the first conversion is converted to obtain the three-direction vibration response spectrum after the first conversion, which is the three-direction vibration response spectrum converted to the satellite coordinate system;

[0052] wherein, O L X L , the amplitude spectrum and the phase spectrum of the vibration response are respectively:

[0053]

[0054]

[0055] wherein, A XM is the amplitude spectrum in the x direction of the measurement coordinate system O M X M Y M Z M ; is the phase spectrum in the x direction, A YM’ is the amplitude spectrum of the vibration response in the O M Y M′ direction, is the phase spectrum in the O M Y M′The amplitude spectrum and the phase spectrum of the vibration response to the vibration are respectively:

[0056] O L Y L The amplitude spectrum and the phase spectrum of the vibration response to the vibration are respectively:

[0057]

[0058]

[0059] O L Z L The amplitude spectrum and the phase spectrum of the vibration response to the vibration are respectively

[0060]

[0061]

[0062] Wherein, A ZM is the amplitude spectrum of the z direction under the measurement coordinate system O M X M Y M Z M The amplitude spectrum of the y direction under the measurement coordinate system O YM is the amplitude spectrum of the y direction under the measurement coordinate system O M X M Y M Z M The amplitude spectrum of the y direction under the measurement coordinate system O is the phase spectrum of the y direction, is the phase spectrum of the z direction;

[0063] The amplitude spectrum and the phase spectrum of the three-direction vibration response converted to the satellite coordinate system.

[0064] According to the satellite vibration test inclined plane vibration response acquisition and conversion system provided by the application, the following technical scheme is provided.

[0065] Module M1: obtaining the angle relationship between the inclined plane on which the vibration response monitoring of the satellite needs to be performed and the satellite coordinate system;

[0066] Module M2: arranging three-direction acceleration sensors on the inclined plane, and obtaining the angle relationship of the measurement coordinate system axes according to the angle relationship between the inclined plane and the satellite coordinate system;

[0067] Module M3: performing a sine sweep vibration test on the satellite, and the sensors collect the vibration response frequency spectrum in three orthogonal directions of the measurement coordinate system;

[0068] Module M4: rotating the measurement coordinate system to form a new coordinate system, and converting the three-direction vibration response frequency spectrum obtained under the measurement coordinate system to the new coordinate system;

[0069] Module M5: the second rotation is performed on the rotation to form a new coordinate system, the three-direction vibration response spectrum after the first conversion is converted to the coordinate system after the second conversion, and the three-direction vibration response spectrum converted to the satellite coordinate system is obtained for the vibration response collection and conversion processing on the inclined plane of the satellite component vibration test.

[0070] Preferably, in the module M1:

[0071] For the inclined plane on which the vibration response monitoring is required on the satellite, the normal line of the inclined plane and the satellite coordinate system have an included angle, and are not parallel to any axis in the satellite coordinate system. The included angle between the normal line of the inclined plane and each axis of the satellite coordinate system is obtained through physical measurement or by referring to the design scheme.

[0072] Let the satellite coordinate system be O L X L Y L Z L , the included angles of the normal line of the inclined plane and O L X L , O L Y L , O L Z L axes are α, β, and γ, respectively.

[0073] In the module M2:

[0074] The acceleration sensors for simultaneously acquiring the vibration responses in three orthogonal directions are arranged on the inclined plane. When the sensors are installed, the wedge-shaped block for correcting the included angle between the inclined plane and the satellite coordinate system is not used for connection, so that one measurement axis of the sensor is perpendicular to the inclined plane and parallel to the normal line of the inclined plane, and one measurement axis is parallel to the plane formed by any two axes in the satellite coordinate system.

[0075] Let the coordinate system formed by the three measurement axes of the sensor be O M X M Y M Z M , wherein O M Z M axis is perpendicular to the inclined plane, O M X M axis is parallel to O L X L Y L plane, and O M Y M axis is determined according to the right-hand rule; according to the geometric relationship, O M Z M axis is parallel to O L X L , O L Y L , and O L Z LThe included angles of the shafts are α, β and γ respectively.

[0076] Preferably, in the module M3:

[0077] The satellite is subjected to a sinusoidal sweep vibration test, and during the test, sensors are used to collect the vibration response spectrum in three orthogonal directions of the measurement coordinate system, which is expressed in the form of real and imaginary parts, and is recorded as O M X M Y M Z M The vibration response spectrum in the x, y and z directions is respectively

[0078]

[0079]

[0080]

[0081] In the formula, f is the sinusoidal sweep frequency, i is an imaginary number, is the real part spectrum, is the imaginary part spectrum;

[0082] In the measurement coordinate system O M X M Y M Z M The amplitude spectrum in the x, y and z directions is respectively

[0083]

[0084]

[0085]

[0086] The phase spectrum in the x, y and z directions is respectively

[0087]

[0088]

[0089]

[0090] Preferably, in the module M4:

[0091] The measurement coordinate system is rotated around the axis parallel to the plane formed by two axes in the satellite coordinate system, so that the axis perpendicular to the inclined plane is parallel to the satellite coordinate system axis after rotation, forming a new coordinate system;

[0092] The measurement coordinate system is O M X MY M Z M wherein O M Z M the axis is perpendicular to the slope, O M X M the axis is parallel to O L X L Y L the plane, O M Y M the axis is determined according to the right-hand rule; O M Z M the axis is perpendicular to O L X L , O L Y L , O L Z L the included angle of the axes is α, β, γ, respectively;

[0093] The coordinate system O M X M Y M Z M is rotated around the O M X M axis by an angle γ, so that the O M Z M axis is parallel to the O L Z L axis after rotation, and the coordinate system formed after rotation is denoted as O M X M Y M′ Z M′ , then the O M Z M′ axis is parallel to the O L Z L axis;

[0094] In the new coordinate system, the three-direction vibration response spectrum obtained in the measurement coordinate system is converted and processed to obtain a first converted three-direction vibration response spectrum; wherein, O M X M the amplitude spectrum and the phase spectrum of the three-direction vibration response are unchanged, O M Y M′ the amplitude spectrum and the phase spectrum of the three-direction vibration response are respectively:

[0095]

[0096]

[0097] wherein, A YM is the amplitude spectrum in the y direction of the measurement coordinate system O M X M Y M Z M ; AZM is a measurement coordinate system O M X M Y M Z M amplitude spectrum in the lower z direction; is a phase spectrum in the y direction, φ ZM is a phase spectrum in the z direction;

[0098] O M Z M′ amplitude spectrum and phase spectrum of the vibration response.

[0099]

[0100]

[0101] is a new coordinate system O L Z L amplitude spectrum and phase spectrum of the vibration response.

[0102] Preferably, in the module M5:

[0103] The new coordinate system formed by rotating the measurement coordinate system is rotated around its axis parallel to the axis of the satellite coordinate system, so that the other two axes are parallel to the axes of the satellite coordinate system, thereby forming a new coordinate system, and the coordinate system O M X M Y M′ Z M′ is rotated around the O M Z M′ axis by an angle θ, so that O M X M , O M Y M′ axis after rotation, respectively parallel to O L X L , O L Y L axis, and the coordinate system formed after rotation is denoted as O M X M″ Y M″ Z M′ , then the coordinate system O M X M″ Y M″ Z M′ is parallel to the satellite coordinate system O L X L Y L Z L ;

[0104] wherein the rotation angle θ satisfies:

[0105]

[0106]

[0107] The measurement coordinate system is O M X M Y M Z M , O M Z M The axis and O L X L , O L Y L , O L Z L The included angle of the axis is α, β, γ, respectively;

[0108] In the coordinate system of the second conversion, the three-dimensional vibration response spectrum after the first conversion is converted to obtain the three-dimensional vibration response spectrum after the first conversion, which is the three-dimensional vibration response spectrum converted to the satellite coordinate system;

[0109] Wherein, O L X L The amplitude spectrum and phase spectrum of the vibration response are respectively:

[0110]

[0111]

[0112] Wherein, A XM is the amplitude spectrum of the x direction in the measurement coordinate system O M X M Y M Z M is the phase spectrum of the x direction, A YM’ is the amplitude spectrum of the O M Y M′ vibration response, is the phase spectrum of the O M Y M′ vibration response;

[0113] O L Y L The amplitude spectrum and phase spectrum of the vibration response are respectively:

[0114]

[0115]

[0116] O L Z L The amplitude spectrum and phase spectrum of the vibration response are respectively

[0117] ​

[0118]

[0119] Wherein, A ZM is the measurement coordinate system O M X M Y M Z M amplitude spectrum in the lower Z direction; A YM is the measurement coordinate system O M X M Y M Z M amplitude spectrum in the lower y direction; is the phase spectrum in the y direction, is the phase spectrum in the z direction;

[0120] is the amplitude spectrum and the phase spectrum of the three-direction vibration response converted to the satellite coordinate system.

[0121] Compared with the prior art, the present application has the beneficial effects as follows:

[0122] 1. The present application is economical and simple, directly installs the sensor on the slope without using the wedge-shaped block for switching, can obtain the vibration response of the slope in the satellite coordinate system, and achieves the same effect as using the wedge-shaped block for switching; 2. The present application can be used for the vibration response collection and conversion processing of the slope on the vibration test of the large component on the satellite. BRIEF DESCRIPTION OF DRAWINGS

[0123] Other features, objects and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments with reference to the attached drawings:

[0124] Figure 1 is the step flow chart of the present application;

[0125] Figure 2 is the relationship between the sensor measurement coordinate system and the satellite coordinate system;

[0126] Figure 3 is the schematic diagram of the three-direction vibration response time domain signal converted from the measurement coordinate system O M X M Y M Z M to the coordinate system O M X M Y M′ Z M′ ;

[0127] Figure 4 is the relationship between the rotation angle θ and the included angles α, β and γ;

[0128] Figure 5Fig. 1 is a schematic diagram of a three-dimensional coordinate system O M X M Y M′ Z M′ Fig. 2 is a schematic diagram of a three-dimensional coordinate system O M X M″ Y M″ Z M′ Fig. 3 is a schematic diagram of a three-dimensional coordinate system O L X L Y L Z L Fig. 4 is a schematic diagram of a three-dimensional coordinate system O DETAILED DESCRIPTION

[0129] The present application will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present application. These are within the scope of the present application.

[0130] Example 1:

[0131] According to the satellite vibration test inclined plane vibration response acquisition and conversion method provided by the present application, as shown in Figures 1-5 Fig. 1, comprising:

[0132] Step S1: obtaining the angle relationship between the inclined plane on which the vibration response of the satellite needs to be monitored and the satellite coordinate system;

[0133] Step S2: arranging three-axis acceleration sensors on the inclined plane, and obtaining the angle relationship of the measurement coordinate system axis according to the angle relationship between the inclined plane and the satellite coordinate system;

[0134] Step S3: performing a sine sweep vibration test on the satellite, and the sensor acquires the vibration response spectrum in three orthogonal directions of the measurement coordinate system;

[0135] Step S4: rotating the measurement coordinate system to form a new coordinate system, and converting the three-axis vibration response spectrum obtained in the measurement coordinate system to the new coordinate system;

[0136] Step S5: performing a second rotation on the new coordinate system formed by the rotation, converting the three-axis vibration response spectrum after the first conversion to the coordinate system after the second conversion, and obtaining the three-axis vibration response spectrum converted to the satellite coordinate system for the vibration response acquisition and conversion processing of the inclined plane on which the satellite component vibration test is performed.

[0137] Specifically, in the step S1:

[0138] For the inclined plane on the satellite which needs to be monitored for the vibration response, the normal line of the inclined plane has an angle with the satellite coordinate system and is not parallel to any axis in the satellite coordinate system. The angle between the normal line of the inclined plane and the axes of the satellite coordinate system is obtained through physical measurement or by referring to the design scheme.

[0139] Let the satellite coordinate system be O L X L Y L Z L , the angle between the normal line of the inclined plane and the axes of the satellite coordinate system be α, β and γ respectively. L X L , O L Y L , O L Z L

[0140] In the step S2:

[0141] The acceleration sensor which can simultaneously obtain the vibration response in three orthogonal directions is arranged on the inclined plane. When the sensor is installed, the wedge-shaped block for correcting the angle between the inclined plane and the satellite coordinate system is not used for connection, so that one measurement axis of the sensor is perpendicular to the inclined plane and parallel to the normal line of the inclined plane, and one measurement axis is parallel to the plane formed by any two axes in the satellite coordinate system.

[0142] Let the coordinate system formed by the three measurement axes of the sensor be O M X M Y M Z M , wherein the axis O M Z M is perpendicular to the inclined plane, the axis O M X M is parallel to the plane O L X L Y L , and the axis O M Y M is determined according to the right-hand rule. According to the geometric relationship, the angles between the axis O M Z M and the axes O L X L , O L Y L , O L Z L are α, β and γ respectively.

[0143] Specifically, in the step S3:

[0144] The satellite is subjected to the sine sweep vibration test. During the test, the vibration response spectrum in three orthogonal directions of the measurement coordinate system O M X M ​Y M Z M The vibration response spectrum in the x, y, z directions is respectively

[0145]

[0146]

[0147]

[0148] In the formula, f is the sine scanning frequency, i is an imaginary number, is the real part spectrum, is the imaginary part spectrum;

[0149] In the measurement coordinate system O M X M Y M Z M The amplitude spectrum in the x, y, z directions is respectively

[0150]

[0151]

[0152]

[0153] The phase spectrum in the x, y, z directions is respectively

[0154]

[0155]

[0156]

[0157] Specifically, in the step S4:

[0158] The measurement coordinate system is rotated around an axis parallel to the plane formed by two axes in the satellite coordinate system, so that the axis perpendicular to the inclined plane is parallel to the satellite coordinate system axis after rotation, forming a new coordinate system;

[0159] The measurement coordinate system is O M X M Y M Z M , wherein O M Z M The axis is perpendicular to the inclined plane, O M X M The axis is parallel to O L X L Y L The plane, O M Y MThe axes are determined according to the right-hand rule; O M Z M The axes are determined according to the right-hand rule; O L X L , O L Y L , O L Z L The included angles of the axes are α, β, γ, respectively;

[0160] The coordinate system O M X M Y M Z M is rotated around the O M X M axis by an angle γ, so that the O M Z M axis is parallel to the O L Z L axis after rotation, and the coordinate system formed after rotation is denoted as O M X M Y M′ Z M′ , then the O M Z M′ axis is parallel to the O L Z L axis;

[0161] In the new coordinate system, the three-direction vibration response spectrum obtained in the measurement coordinate system is converted to obtain a first converted three-direction vibration response spectrum; wherein, O M X M The amplitude spectrum and the phase spectrum of the x-direction vibration response are unchanged, O M Y M′ The amplitude spectrum and the phase spectrum of the y-direction vibration response are respectively:

[0162]

[0163]

[0164] Wherein, A YM is the amplitude spectrum in the y direction of the measurement coordinate system O M X M Y M Z M ; A ZM is the amplitude spectrum in the z direction of the measurement coordinate system O M X M Y M Z M ; is the phase spectrum in the y direction, and φ ZM is the phase spectrum in the z direction;

[0165] O M ZM′ The amplitude spectrum and phase spectrum of the vibration response are:

[0166]

[0167]

[0168] O L Z L The amplitude spectrum and phase spectrum of the vibration response are:

[0169] Specifically, in the step S5:

[0170] The new coordinate system formed by rotating the measurement coordinate system is rotated about its axis parallel to the axis of the satellite coordinate system, so that the other two axes are parallel to the axes of the satellite coordinate system, thereby forming a new coordinate system, and the coordinate system O M X M Y M′ Z M′ is rotated about the O M Z M′ axis by an angle θ, so that O M X M , O M Y M′ are parallel to O L X L , O L Y L respectively after rotation, and the coordinate system formed after rotation is denoted as O M X M″ Y M″ Z M′ , then the coordinate system O M X M″ Y M″ Z M′ is parallel to the satellite coordinate system O L X L Y L Z L ;

[0171] wherein the rotation angle θ satisfies:

[0172]

[0173]

[0174] The measurement coordinate system is O M X M Y M Z M , and the O M Z M axis is parallel to the O L X L , O L YL 、O L Z L The included angle of the axis is α, β, γ, respectively;

[0175] In the coordinate system of the second conversion, the three-direction vibration response spectrum after the first conversion is converted to obtain the three-direction vibration response spectrum after the first conversion, which is the three-direction vibration response spectrum converted to the satellite coordinate system;

[0176] Wherein, O L X L The amplitude spectrum and phase spectrum of the three-direction vibration response are respectively:

[0177]

[0178]

[0179] Wherein, A XM is the amplitude spectrum of the x direction in the measurement coordinate system O M X M Y M Z M is the phase spectrum of the x direction, A YM’ is the amplitude spectrum of the O M Y M′ Z is the phase spectrum of the O M Y M′ Z

[0180] O L Y L The amplitude spectrum and phase spectrum of the three-direction vibration response are respectively:

[0181]

[0182]

[0183] O L Z L The amplitude spectrum and phase spectrum of the three-direction vibration response are respectively

[0184]

[0185]

[0186] Wherein, A ZM is the amplitude spectrum of the z direction in the measurement coordinate system O M X M Y M Z M YM is the phase spectrum of the z direction in the measurement coordinate system O M X​​M Y M Z M a magnitude spectrum in the y direction; a phase spectrum in the y direction, a phase spectrum in the z direction;

[0187] a magnitude spectrum and a phase spectrum of the three-direction vibration response converted to the satellite coordinate system.

[0188] The present application can also be used for collecting and converting the vibration response on the vibration test slope of the large components on the satellite.

[0189] Example 2:

[0190] Embodiment 2 is a preferred example of Embodiment 1, which more specifically illustrates the present application.

[0191] Those skilled in the art can understand that the satellite vibration test slope vibration response collecting and converting method provided by the present application is a specific embodiment of a satellite vibration test slope vibration response collecting and converting system, that is, the satellite vibration test slope vibration response collecting and converting system can be realized by executing the steps of the satellite vibration test slope vibration response collecting and converting method.

[0192] According to the satellite vibration test slope vibration response collecting and converting system provided by the present application, comprising:

[0193] Module M1: obtaining the angle relationship between the slope on the satellite requiring vibration response monitoring and the satellite coordinate system;

[0194] Module M2: arranging three-direction acceleration sensors on the slope, and obtaining the angle relationship of the measurement coordinate system axes according to the angle relationship between the slope and the satellite coordinate system;

[0195] Module M3: performing a sine sweep vibration test on the satellite, and the sensors collect the vibration response frequency spectrum in three orthogonal directions of the measurement coordinate system;

[0196] Module M4: rotating the measurement coordinate system to form a new coordinate system, and converting the three-direction vibration response frequency spectrum obtained in the measurement coordinate system to the new coordinate system;

[0197] Module M5: performing a second rotation on the new coordinate system formed by the rotation, converting the three-direction vibration response frequency spectrum after the first conversion to the coordinate system after the second conversion, and obtaining the three-direction vibration response frequency spectrum converted to the satellite coordinate system for vibration response collecting and converting processing on the vibration test slope of the components on the satellite.

[0198] Specifically, in the module M1:

[0199] For the inclined plane on the satellite which needs to be monitored for the vibration response, the normal line of the inclined plane has an angle with the satellite coordinate system and is not parallel to any axis in the satellite coordinate system. The angle between the normal line of the inclined plane and the axes of the satellite coordinate system is obtained through physical measurement or by referring to the design scheme;

[0200] Let the satellite coordinate system be O L X L Y L Z L , the angle between the normal line of the inclined plane and the axes of the satellite coordinate system be α, β and γ respectively. L X L , O L Y L , O L Z L

[0201] In the module M2, the following steps are included:

[0202] The acceleration sensor which can simultaneously obtain the vibration response in three orthogonal directions is arranged on the inclined plane. When the sensor is installed, the wedge-shaped block for correcting the angle between the inclined plane and the satellite coordinate system is not used for connection, so that one measurement axis of the sensor is perpendicular to the inclined plane and parallel to the normal line of the inclined plane, and one measurement axis is parallel to the plane formed by any two axes in the satellite coordinate system.

[0203] Let the coordinate system formed by the three measurement axes of the sensor be O M X M Y M Z M , wherein the O M Z M axis is perpendicular to the inclined plane, the O M X M axis is parallel to the O L X L Y L plane, and the O M Y M axis is determined according to the right-hand rule; according to the geometric relationship, the angle between the O M Z M axis and the O L X L , O L Y L , O L Z L axes is α, β and γ respectively.

[0204] Specifically, in the module M3, the following steps are included:

[0205] The satellite is subjected to the sine sweep vibration test. During the test, the vibration response spectrum in three orthogonal directions of the measurement coordinate system is collected by using the sensor, the spectrum is expressed in the form of real part spectrum and imaginary part spectrum, and is recorded as O M X M ​Y M Z M The vibration response spectrum in the x, y, z directions is respectively

[0206]

[0207]

[0208]

[0209] In the formula, f is the sine scanning frequency, i is an imaginary number, is the real part spectrum, is the imaginary part spectrum;

[0210] In the measurement coordinate system O M X M Y M Z M The amplitude spectrum in the x, y, z directions is respectively

[0211]

[0212]

[0213]

[0214] The phase spectrum in the x, y, z directions is respectively

[0215]

[0216]

[0217]

[0218] Specifically, in the module M4:

[0219] The measurement coordinate system is rotated around the axis parallel to the plane formed by two axes in the satellite coordinate system, so that the axis perpendicular to the inclined plane is parallel to the satellite coordinate system axis after rotation, forming a new coordinate system;

[0220] The measurement coordinate system is O M X M Y M Z M , wherein O M Z M The axis is perpendicular to the inclined plane, O M X M The axis is parallel to O L X L Y L The plane, O M Y MThe axes are determined according to the right-hand rule; O M Z M The axes are determined according to the right-hand rule; O L X L , O L Y L , O L Z L The included angles of the axes are α, β, γ, respectively;

[0221] The coordinate system O M X M Y M Z M is rotated around the O M X M axis by an angle γ, so that the O M Z M axis is parallel to the O L Z L axis after rotation, and the coordinate system formed after rotation is denoted as O M X M Y M′ Z M′ , then the O M Z M′ axis is parallel to the O L Z L axis;

[0222] In the new coordinate system, the three-direction vibration response spectrum obtained in the measurement coordinate system is converted to obtain a first converted three-direction vibration response spectrum; wherein, the amplitude spectrum and the phase spectrum of the x-direction vibration response are unchanged, the amplitude spectrum and the phase spectrum of the y-direction vibration response are respectively: M X M M Y M′

[0223]

[0224]

[0225] Wherein, A YM is the amplitude spectrum in the y direction of the measurement coordinate system O M X M Y M Z M ; A ZM is the amplitude spectrum in the z direction of the measurement coordinate system O M X M Y M Z M ; is the phase spectrum in the y direction, and φ ZM is the phase spectrum in the z direction;

[0226] O M Z​​M′ The amplitude spectrum and phase spectrum of the vibration response are respectively:

[0227]

[0228]

[0229] O L Z L The amplitude spectrum and phase spectrum of the vibration response are respectively:

[0230] Specifically, in the module M5:

[0231] The new coordinate system formed by rotating the measurement coordinate system is rotated around its axis parallel to the axis of the satellite coordinate system, so that the other two axes are parallel to the axes of the satellite coordinate system, thereby forming a new coordinate system, and the coordinate system O M X M Y M′ Z M′ is rotated around the O M Z M′ axis by an angle θ, so that O M X M , O M Y M′ axis after rotation respectively parallel to O L X L , O L Y L axis, and the coordinate system formed after rotation is denoted as O M X M″ Y M″ Z M′ , then the coordinate system O M X M″ Y M″ Z M′ is parallel to the satellite coordinate system O L X L Y L Z L ;

[0232] Wherein, the rotation angle θ satisfies:

[0233]

[0234]

[0235] The measurement coordinate system is O M X M Y M Z M , and the O M Z M axis is parallel to the O L X L , O L YL O L Z L The included angles of the axes are α, β, and γ, respectively;

[0236] In the second transformed coordinate system, the triaxial vibration response spectrum after the first transformation is transformed to obtain the triaxial vibration response spectrum after the first transformation. This spectrum is the triaxial vibration response spectrum transformed to the satellite coordinate system.

[0237] Among them, O L X L The amplitude spectrum and phase spectrum of the vibration response are as follows:

[0238]

[0239]

[0240] Among them, A XM It is the measurement coordinate system O M X M Y M Z M The amplitude spectrum in the lower x-direction; Let A be the phase spectrum in the x-direction. YM’ For O M Y M′ The amplitude spectrum of the vibration response, For O M Y M′ Phase spectrum of the vibration response;

[0241] O L Y L The amplitude spectrum and phase spectrum of the vibration response are as follows:

[0242]

[0243]

[0244] O L Z L The amplitude spectrum and phase spectrum of the vibration response are respectively

[0245]

[0246]

[0247] Among them, A ZM It is the measurement coordinate system O M X M Y M Z M Amplitude spectrum in the lower z-direction; A YM It is the measurement coordinate system O M XM Y M Z M amplitude spectrum in the lower y direction; phase spectrum in the y direction, phase spectrum in the z direction;

[0248] amplitude spectrum and phase spectrum of the three-direction vibration response converted to the satellite coordinate system.

[0249] Example 3:

[0250] Embodiment 3 is a preferred example of Embodiment 1, to more specifically illustrate the present application.

[0251] The present application provides a method for collecting and converting vibration response on a satellite vibration test slope. The method obtains the vibration response of the slope in the satellite coordinate system by obtaining the angle relationship between the slope and the satellite coordinate system, directly installing sensors, collecting three-direction vibration response, and implementing conversion processing, so as to achieve the same effect as using a wedge-shaped block for conversion. The method is economical and simple, and directly installs sensors on the slope without using a wedge-shaped block for conversion. At the same time, the present application can also be used for collecting and converting vibration response on a vibration test slope of a large component on a satellite.

[0252] In the present embodiment, the method for collecting and converting vibration response on a satellite vibration test slope provided by the present application includes the following steps:

[0253] Step 1: For a slope on a satellite that needs to monitor vibration response, the normal line of the slope has a certain angle with the satellite coordinate system (i.e. not parallel to any axis in the satellite coordinate system), and by physical measurement or by referring to the design scheme, the angle between the normal line of the slope and each axis of the satellite coordinate system is obtained, i.e. the angle relationship between the slope and the satellite coordinate system. Let the satellite coordinate system be O L X L Y L Z L , the angle between the normal line of the slope and O L X L , O L Y L , O L Z L axis are α, β, γ respectively.

[0254] Step 2: Arrange an acceleration sensor on the slope that can simultaneously obtain the vibration response in three orthogonal directions. When installing the sensor, do not use a wedge-shaped block for conversion to correct the angle between the slope and the satellite coordinate system, but need to make one measurement axis of the sensor perpendicular to the slope (i.e. parallel to the normal line of the slope), and one measurement axis parallel to the plane formed by any two axes in the satellite coordinate system. Let the coordinate system formed by the three measurement axes of the sensor be O MX M Y M Z M where O M Z M the axis is perpendicular to the slope, O M X M the axis is parallel to O L X L Y L the plane, O M Y M the axis is determined according to the right-hand rule. According to the geometric relationship, O M Z M the axis is perpendicular to the slope, O L X L , O L Y L , O L Z L the included angle between the axis and O Figure 2 .

[0255] Step 3: Perform a sinusoidal sweep vibration test on the satellite, and use a sensor to collect the vibration response spectrum in three orthogonal directions of the measurement coordinate system during the test. The spectrum is generally expressed in the form of real and imaginary parts, and is recorded as the vibration response spectrum in three directions of the measurement coordinate system O M X M Y M Z M the vibration response spectrum in three directions of the measurement coordinate system O

[0256]

[0257]

[0258]

[0259] where f is the sinusoidal sweep frequency, i is an imaginary number, is the real part spectrum, is the imaginary part spectrum. Then the amplitude spectrum in three directions of the measurement coordinate system O M X M Y M Z M the vibration response spectrum in three directions of the measurement coordinate system O

[0260]

[0261]

[0262]

[0263] the phase spectrum in three directions of the measurement coordinate system O

[0264]

[0265]

[0266]

[0267] Step 4: Rotate the measurement coordinate system around its axis which is parallel to the plane formed by two axes in the satellite coordinate system, so that the axis perpendicular to the inclined plane is parallel to the axis of the satellite coordinate system after rotation, thereby forming a new coordinate system. That is, rotate the measurement coordinate system O M X M Y M Z M around the O M X M axis by an angle of γ, so that the O M Z M axis is parallel to the O L Z L axis after rotation. Denote the coordinate system formed after rotation as O M X M Y M′ Z M′ , then the O M Z M′ axis is parallel to the O L Z L axis.

[0268] In the new coordinate system, the three-direction vibration response spectrum obtained in the measurement coordinate system is converted and processed to obtain the three-direction vibration response spectrum after the first conversion. Since direct synthesis processing cannot be performed in the frequency domain, conversion to the time domain is required for related derivation. According to the three-direction vibration response spectrum, the three-direction vibration response time domain signals corresponding to the sine scanning frequency f are respectively

[0269]

[0270]

[0271]

[0272] The three-direction vibration response time domain signals are converted from the measurement coordinate system O M X M Y M Z M to the coordinate system O M X M Y M′ Z M′ . The schematic diagram is shown in Figure 3 . In the coordinate system O M X M Y M′ Z M′ , the OM X M The vibration response time domain signal, frequency domain amplitude spectrum and phase spectrum of y M (t), z M (t) at O M Y M′ The sum of components of y M′ (t) is

[0273]

[0274] In the formula, respectively, O M Y M′ The amplitude spectrum and phase spectrum of the vibration response of y, specifically,

[0275]

[0276]

[0277] Similarly, z M (t), z M (t) at O M Z M′ The sum of components of z M′ (t) is

[0278]

[0279] In the formula, respectively, O M Z M′ The amplitude spectrum and phase spectrum of the vibration response of z, and also O L Z L The amplitude spectrum and phase spectrum of the vibration response of z, specifically,

[0280]

[0281]

[0282] Step 5: Rotate the coordinate system formed in step 4 around its axis parallel to the axis of the satellite coordinate system, so that the other two axes are parallel to the axes of the satellite coordinate system, thereby forming a new coordinate system. That is, the coordinate system O M X M Y M′ Z M′ Rotating the O M Z M′ axis by an angle of θ, so that O M X M , O M Y M′ The rotated O L X L , OL Y L axis. The coordinate system formed after rotation is O M X M″ Y M″ Z M′ , the coordinate system O M X M″ Y M″ Z M′ is parallel to the satellite coordinate system O L X L Y L Z L . The relationship between the rotation angle θ and the included angles α, β, γ is shown in Figure 4 According to the geometric relationship, we have

[0283]

[0284]

[0285] In the new coordinate system, the three-direction vibration response spectrum after the first conversion is converted and processed to obtain the three-direction vibration response spectrum after the first conversion, which is the final three-direction vibration response spectrum converted to the satellite coordinate system. The three-direction vibration response time-domain signal after the first conversion is converted from the coordinate system O M X M Y M′ Z M′ to the coordinate system O M X M″ Y M″ Z M′ (i.e. the coordinate system O L X L Y L Z L ). The schematic diagram is shown in Figure 5 In the coordinate system O L X L Y L Z L , the sum of the components of x M (t) and y M′ (t) in the O L X L direction is z L (t), which is

[0286]

[0287] In the formula, are the amplitude spectrum and phase spectrum of the O L Z L direction vibration response, respectively, which are specifically

[0288]

[0289]

[0290] x M (t), y M′ (t) is the component of O L Y L The sum of the components of y L (t) is

[0291]

[0292] In the formula, respectively, O L Y L The amplitude spectrum and phase spectrum of the vibration response, specifically,

[0293]

[0294]

[0295] O M Z M′ Since the rotation is not rotated, the time-domain signal, the frequency-domain amplitude spectrum and the phase spectrum of the vibration response are unchanged, i.e., O L Z L Since the rotation is not rotated, the time-domain signal, the frequency-domain amplitude spectrum and the phase spectrum of the vibration response are unchanged, i.e., O L Z L The amplitude spectrum and phase spectrum of the vibration response, respectively,

[0296]

[0297]

[0298] In summary, That is, the amplitude spectrum and phase spectrum of the three-direction vibration response converted to the satellite coordinate system are obtained.

[0299] Those skilled in the art know that, in addition to implementing the system, device and each module thereof provided by the present application in the form of pure computer readable program code, the same program can be realized by logically programming the method steps to make the system, device and each module thereof provided by the present application in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers and embedded microcontrollers. Therefore, the system, device and each module thereof provided by the present application can be considered as a hardware component, and the modules included therein for realizing various programs can also be considered as structures within the hardware component; the modules for realizing various functions can also be considered as both software programs for realizing methods and structures within hardware components.

[0300] The specific embodiments of the present application are described above. It needs to be understood that the present application is not limited to the specific embodiments described above, and various changes or modifications can be made by those skilled in the art within the scope of the claims, which does not affect the essential content of the present application. The embodiments of the present application and the features in the embodiments can be combined with each other at will without conflict.

Claims

1. A method for collecting and converting vibration response on a satellite vibration test ramp, characterized in that, The method comprises the following steps: Step S1: obtaining the angle relationship between the slope on which the vibration response of a satellite needs to be monitored and the satellite coordinate system; Step S2: arranging three-axis acceleration sensors on the slope, and obtaining the angle relationship between the axes of the measurement coordinate system according to the angle relationship between the slope and the satellite coordinate system; Step S3: performing a sine sweep vibration test on the satellite, and collecting the vibration response spectrum of the three orthogonal directions of the measurement coordinate system by the sensors; Step S4: rotating the measurement coordinate system to form a new coordinate system, and converting the three-axis vibration response spectrum obtained in the measurement coordinate system into the new coordinate system; Step S5: performing a second rotation on the new coordinate system formed by the rotation, converting the three-axis vibration response spectrum converted for the first time into the coordinate system converted for the second time, and obtaining the three-axis vibration response spectrum converted into the satellite coordinate system for the vibration response collection and conversion processing on the slope for the vibration test of the satellite components.

2. The vibration response collection and conversion method on the slope for the vibration test of a satellite according to claim 1, characterized in that: in the step S1: for the slope on which the vibration response of the satellite needs to be monitored, the normal line of the slope and the satellite coordinate system have an included angle, and the normal line of the slope is not parallel to any axis of the satellite coordinate system; the included angle between the normal line of the slope and the axes of the satellite coordinate system is obtained through physical measurement or by referring to the design scheme; The coordinate system of the satellite is recorded as The angle between the normal line of the inclined surface and the axis of the satellite is recorded as 、 、 、 、 ;​ in the step S2: the acceleration sensors for simultaneously collecting the vibration responses of the three orthogonal directions are arranged on the slope; when the sensors are installed, a wedge-shaped block for correcting the included angle between the slope and the satellite coordinate system is not used for connection, so that one measurement axis of the sensor is perpendicular to the slope and parallel to the normal line of the slope, and one measurement axis is parallel to the plane formed by any two axes of the satellite coordinate system; The coordinate system formed by the three measurement axes of the sensor is wherein the axis is perpendicular to the inclined plane, the axis is parallel to the plane, the axis is determined according to the right-hand rule; according to the geometric relationship, the axis is perpendicular to , , the included angle between the axis and , , .

3. The method of claim 1, wherein the method further comprises: in the step S3: The satellite is subjected to a sine sweep vibration test, and during the test, a sensor is used to collect vibration response spectra in three orthogonal directions of a measurement coordinate system, which are expressed in the form of real and imaginary parts and recorded in the measurement coordinate system Down , , The vibration response spectra in three directions are wherein is the sine scan frequency, is imaginary, , , is the real spectrum, , , is the imaginary spectrum, In the measurement coordinate system Down , , The amplitude spectrum in three directions is （1） （2） （3） , , The phase spectrum in three directions is respectively （4） （5） （6）。 4. The method of claim 2, wherein the method further comprises: in the step S4: the measurement coordinate system is rotated about the axis parallel to the plane formed by two axes of the satellite coordinate system, so that the axis perpendicular to the slope is parallel to the axes of the satellite coordinate system after the rotation, and a new coordinate system is formed; The measurement coordinate system is wherein the axis is perpendicular to the slope, the axis is parallel to the plane, the axis is determined according to the right-hand rule; the axis is perpendicular to , , the included angle between the axis and , , ; The coordinate system is established Rotating the axis by an angle , so that the axis is parallel to the axis after rotation, and the coordinate system formed after rotation is , then the axis is parallel to the axis; In the new coordinate system, the three-direction vibration response frequency spectrum obtained in the measurement coordinate system is converted to obtain a first converted three-direction vibration response frequency spectrum; wherein, The amplitude spectrum and the phase spectrum of the vibration response are unchanged, The amplitude spectrum and the phase spectrum of the vibration response are respectively: （7） （8） in, It is a measurement coordinate system Down Amplitude spectrum in the direction; It is a measurement coordinate system Down Amplitude spectrum in the direction; for Phase spectrum in the direction, for Phase spectrum in the direction; The amplitude spectrum and phase spectrum of the vibration response are respectively: （9） （10） , For The amplitude spectrum and phase spectrum of the vibration response.

5. The method of claim 4, wherein the method further comprises: in the step S5: The new coordinate system formed by rotating the measuring coordinate system is rotated around an axis parallel to the axis of the satellite coordinate system among its axes, so that the other two axes are parallel to the axes of the satellite coordinate system, thereby forming a new coordinate system, and the coordinate system is rotated around the axis by an angle , so that the axes after rotation are respectively parallel to the , axes of the satellite coordinate system, and the coordinate system formed after rotation is denoted as , then the coordinate system is parallel to the satellite coordinate system ; wherein the rotation angle satisfies: （11） （12） The measurement coordinate system is , , , , , , , ; the three-axis vibration response spectrum converted for the first time is converted in the coordinate system converted for the second time, and the three-axis vibration response spectrum converted for the first time is obtained, which is the three-axis vibration response spectrum converted into the satellite coordinate system; wherein, The amplitude spectrum and phase spectrum of the vibration response are respectively: （13） （14） wherein is a measurement coordinate system down amplitude spectrum in the direction; is phase spectrum in the direction, is amplitude spectrum of the vibration response, is phase spectrum of the vibration response; The amplitude spectrum and phase spectrum of the vibration response are respectively: （15） （16） The amplitude spectrum and phase spectrum of the vibration response are respectively （17） （18） wherein is the measurement coordinate system below is the amplitude spectrum in the direction is the measurement coordinate system below is the amplitude spectrum in the direction is the phase spectrum in the direction is the phase spectrum in the direction is the phase spectrum in the direction is the phase spectrum in the direction 、 、 , , , are the amplitude spectrum and phase spectrum of the three-directional vibration response converted to the satellite coordinate system.

6. A system for collecting and converting vibration response on a satellite vibration test ramp, comprising: The method comprises the following steps: Module M1: obtaining the angle relationship between the slope on which the vibration response of a satellite needs to be monitored and the satellite coordinate system; Module M2: arranging three-axis acceleration sensors on the slope, and obtaining the angle relationship between the axes of the measurement coordinate system according to the angle relationship between the slope and the satellite coordinate system; Module M3: performing a sine sweep vibration test on the satellite, and collecting the vibration response spectrum of the three orthogonal directions of the measurement coordinate system by the sensors; Module M4: rotating the measurement coordinate system to form a new coordinate system, and converting the three-axis vibration response spectrum obtained in the measurement coordinate system into the new coordinate system; Module M5: performing a second rotation on the new coordinate system formed by the rotation, converting the three-axis vibration response spectrum converted for the first time into the coordinate system converted for the second time, and obtaining the three-axis vibration response spectrum converted into the satellite coordinate system for the vibration response collection and conversion processing on the slope for the vibration test of the satellite components.

7. The system according to claim 6, wherein: in the module M1: for the slope on which the vibration response of the satellite needs to be monitored, the normal line of the slope and the satellite coordinate system have an angle, and are not parallel to any axis in the satellite coordinate system, the angle between the normal line of the slope and the axes in the satellite coordinate system is obtained through physical measurement or by referring to the design scheme; The coordinate system of the satellite is recorded as The angle between the normal line of the inclined surface and the axis of the satellite is recorded as 、 、 The angle between the normal line of the inclined surface and the axis of the satellite is recorded as 、 、 ; in the module M2: the acceleration sensors for simultaneously obtaining the vibration responses in three orthogonal directions are arranged on the slope, and when the sensors are installed, the wedge-shaped block for correcting the angle between the slope and the satellite coordinate system is not used for connection, so that one measurement axis of the sensor is perpendicular to the slope and parallel to the normal line of the slope, and one measurement axis is parallel to the plane formed by any two axes in the satellite coordinate system; The coordinate system formed by the three measurement axes of the sensor is wherein the axis is perpendicular to the inclined plane, the axis is parallel to the plane, the axis is determined according to the right-hand rule; according to the geometric relationship, the axis is perpendicular to , , the included angle between the axis and , , is respectively 8. The system for collecting and converting vibration response on a satellite vibration test ramp according to claim 6, wherein, in the module M3: The satellite is subjected to a sine sweep vibration test, and during the test, a sensor is used to collect vibration response spectra in three orthogonal directions of a measurement coordinate system, which are expressed in the form of real and imaginary parts and recorded in the measurement coordinate system Down , , The vibration response spectra in three directions are wherein is the sine scan frequency, is imaginary, , , is the real spectrum, , , is the imaginary spectrum, In the measurement coordinate system Down , , The amplitude spectrum in three directions is （1） （2） （3） , , The phase spectrum in three directions is （4） （5） （6）。 9. The system for collecting and converting vibration response on a satellite vibration test ramp according to claim 7, wherein, in the module M4: the measurement coordinate system is rotated around the axis parallel to the plane formed by two axes in the satellite coordinate system among the axes of the measurement coordinate system, so that the axis perpendicular to the slope is parallel to the axes in the satellite coordinate system after rotation, and a new coordinate system is formed; The measurement coordinate system is wherein the axis is perpendicular to the slope, the axis is parallel to the plane, the axis is determined according to the right-hand rule; the axis is perpendicular to , , the included angle between the axis and , , ; The coordinate system is established Rotating axis by an angle , so that axis is parallel to axis after rotation, and the coordinate system formed after rotation is , then axis is parallel to axis; In the new coordinate system, the three-direction vibration response frequency spectrum obtained in the measurement coordinate system is converted to obtain a first converted three-direction vibration response frequency spectrum; wherein, The amplitude spectrum and the phase spectrum of the vibration response are unchanged, The amplitude spectrum and the phase spectrum of the vibration response are respectively: （7） （8） wherein is the measurement coordinate system below is the amplitude spectrum in the direction is the measurement coordinate system below is the amplitude spectrum in the direction is the phase spectrum in the direction is the phase spectrum in the direction is the phase spectrum in the direction is the phase spectrum in the direction The amplitude spectrum and phase spectrum of the vibration response are respectively: （9） （10） 、 For The amplitude spectrum and phase spectrum of the vibration response.

10. The system for collecting and converting vibration response on a satellite vibration test ramp according to claim 9, wherein, in the module M5: The new coordinate system formed by rotating the measuring coordinate system is rotated around an axis parallel to the axis of the satellite coordinate system among its axes, so that the other two axes are parallel to the axes of the satellite coordinate system, thereby forming a new coordinate system, and the coordinate system is rotated around the axis by an angle , so that the axes after rotation are respectively parallel to the axes of the satellite coordinate system , , and the coordinate system formed after rotation is denoted as . Then the coordinate system is parallel to the satellite coordinate system . wherein the rotation angle satisfies: （11） （12） The measurement coordinate system is , , , , , , , ; in the coordinate system after the second conversion, the three-direction vibration response spectrum after the first conversion is converted and processed, and the three-direction vibration response spectrum after the first conversion is obtained, which is the three-direction vibration response spectrum converted to the satellite coordinate system. wherein, The amplitude spectrum and phase spectrum of the vibration response are respectively: （13） （14） wherein is a measurement coordinate system down amplitude spectrum in the direction; is phase spectrum in the direction, is amplitude spectrum of the vibration response, is phase spectrum of the vibration response; The amplitude spectrum and phase spectrum of the vibration response are respectively: （15） （16） The amplitude spectrum and phase spectrum of the vibration response are respectively （17） （18） wherein is the amplitude spectrum in the direction below is the amplitude spectrum in the direction is the amplitude spectrum in the direction below is the amplitude spectrum in the direction is the phase spectrum in the direction is the phase spectrum in the direction is the phase spectrum in the direction is the phase spectrum in the direction 、 、 , , , are the amplitude spectrum and phase spectrum of the three-directional vibration response converted to the satellite coordinate system.

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