Dynamic six-dimensional force flexible measurement platform and disturbance force prediction method

Abstract

The present invention provides a dynamic six-dimensional force flexible measurement platform, including multiple measurement modules and a flexible table. The measurement module includes a base, a mounting plate, a connecting block and a force sensor. The base is connected to the mounting plate through a connecting block. A force sensor is arranged between the mounting plate and the base. At least one force sensor is arranged between the connecting block and the mounting plate. The flexible table is respectively connected to the lower end of each measurement module. The dynamic six-dimensional force flexible measurement platform can accurately measure the dynamic disturbance force of a large-mass and large-volume vibration source, and takes into account the rigid-flexible coupling situation, greatly improving the measurement accuracy and reducing the possibility of resonance between the measurement equipment and the vibration source. Because force and acceleration sensors cannot be installed between the vibration source and the spacecraft, the force and acceleration between the vibration source and the spacecraft cannot be measured. The disturbance force prediction method proposed by the present invention realizes the prediction of the influence of the vibration source on the spacecraft in the real installation environment on the ground.

Description

Technical Field

[0001] The present invention relates to the technical field of sensor dynamic force measurement and prediction, and specifically provides a dynamic six-dimensional force flexible measurement platform and a disturbance force prediction method. Background Art

[0002] With the development of space exploration technology, spacecraft micro-vibration has received increasing attention. Space telescopes are very sensitive to micro-vibration sources such as nozzles, antenna pointing mechanisms, and mobile mirrors in spacecraft. In order to study the impact of micro-vibration disturbance forces on the system, it is necessary to measure the disturbance characteristics of the vibration source on the ground, and use this as a basis to evaluate the impact of the vibration source on the spacecraft. In addition, the volume and mass of the vibration source in the spacecraft are getting larger and larger, requiring the ground dynamic disturbance force measurement equipment to not only have high measurement accuracy, but also have a sufficiently large installation surface and load-bearing capacity. When the installation surface of the measuring equipment increases, its fundamental frequency will decrease. When the fundamental frequency of the measuring equipment is not high enough, it will resonate with the vibration source and amplify the disturbance force of the vibration source. At this time, the dynamic disturbance force measured is not the real disturbance force of the vibration source. Interference prediction based on this dynamic disturbance force will inevitably produce large errors.

[0003] Therefore, there is an urgent need for a dynamic six-dimensional force flexible measurement platform that can measure the dynamic disturbance force of large mass and large volume vibration sources and take the rigid-flexible coupling into account to improve the measurement accuracy.

[0004] In addition, a disturbance force prediction method is needed to predict and evaluate the impact of the disturbance force of the vibration source on the spacecraft. Summary of the invention

[0005] In order to solve the above problems, the present invention proposes a dynamic six-dimensional force flexible measurement platform considering rigid-flexible coupling, and based on this platform, proposes a method for predicting dynamic disturbance force in spacecraft. By measuring the dynamic disturbance force of the vibration source in the spacecraft on the ground, the influence of the vibration source on the spacecraft in the real installation environment is predicted.

[0006] A dynamic six-dimensional force flexible measurement platform provided by the present invention comprises: at least three measurement modules, all of which have the same structure, and comprise: a base, a mounting plate, at least four connecting blocks and at least eight unidirectional piezoelectric force sensors; the base is connected to the mounting plate via connecting blocks, the connecting blocks are evenly distributed on the side of the mounting plate, at least four unidirectional piezoelectric force sensors are arranged between the mounting plate and the base, and at least one unidirectional piezoelectric force sensor is arranged between each connecting block and the mounting plate; each measurement module has at least eight output signals;

[0007] The flexible table is connected to the lower end of each measuring module respectively, and is used to place the object to be measured.

[0008] Preferably, the base is an L-shaped structure, and threaded holes are provided on the base for fixing the base in the working area.

[0009] A method for predicting disturbance force using a dynamic six-dimensional force flexible measurement platform comprises the following steps:

[0010] S1. Place the vibration source on the flexible table of the dynamic six-dimensional force flexible measurement platform, and establish the vibration source mathematical model as follows:

[0011]

[0012] S2. Establish the force F between the dynamic six-dimensional force flexible measurement platform and the vibration source P and the transfer function G of the dynamic disturbance force W P-V as follows:

[0013] W=G P-V F P ; (6)

[0014]

[0015] Among them, G V1 , G V2 is the associated force F P , dynamic disturbance force W and acceleration The transfer function, G P2 is the associated force F P and acceleration of the dynamic six-dimensional force flexible measurement platform The transfer function, G V1 , G V2 and G P2 All are unknown quantities;

[0016] S3. Establish the disturbance output Z of the spacecraft S With the force F P The transfer function G P-S as follows:

[0017] Z S =G P-S F P ; (14)

[0018] G P-S =G S1 (IG V2 G S2 ) -1 (IG V2 G P2 ); (15)

[0019] Among them, G S1 , G S2 is the force F between the associated spacecraft and the vibration sourceS , dynamic disturbance force W and the acceleration of the spacecraft The transfer function, G S1 , G S2 is an unknown quantity;

[0020] S4. Build a measuring platform, place the vibration source on the sensor device, the sensor device is used to measure the force and acceleration on the installation surface of the vibration source, and a force output device is set at the lower end of the measuring platform to apply force to the vibration source;

[0021] Get the unknown quantity G S1 , G S2 , G V2 and G P2 ;

[0022] S5. Use the dynamic six-dimensional force flexible measurement platform to measure the force F between the flexible table and the vibration source P , all unknowns in formulas (14) and (15) are known, and Z can be obtained S .

[0023] Preferably, G P2 The method of obtaining G is as follows: a dynamic force is applied to the mounting surface of the vibration source, and the sensor device measures the force and acceleration on the mounting surface of the vibration source, and G can be obtained. P2 .

[0024] Preferably, G S1 , G S2 How to obtain: According to G P2 How to obtain G S1 , G S2 .

[0025] Preferably, G V2 The method of obtaining G is as follows: suspend the vibration source on the measuring table to ensure that the dynamic disturbance force W of the vibration source is zero. At this time, by measuring the force and acceleration on the installation surface of the vibration source, G can be obtained according to formula (1). V2 .

[0026] Compared with the prior art, the present invention can achieve the following beneficial effects:

[0027] The dynamic six-dimensional force flexible measurement platform of the present invention can accurately measure the dynamic disturbance force of a large-mass and large-volume vibration source, and takes the rigid-flexible coupling into consideration, thereby greatly improving the measurement accuracy and reducing the possibility of resonance between the measurement equipment and the vibration source.

[0028] Since force and acceleration sensors cannot be installed between the vibration source and the spacecraft, the force and acceleration between the vibration source and the spacecraft cannot be measured. The disturbance force prediction method proposed in the present invention can predict the impact of the vibration source on the spacecraft in a real installation environment on the ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a structural schematic diagram of a dynamic six-dimensional force flexible measurement platform provided according to an embodiment of the present invention;

[0030] Figure 2 is a schematic diagram of the structure of a single measurement module provided according to an embodiment of the present invention;

[0031] Figure 3 is a bottom view of a dynamic six-dimensional force flexible measurement platform provided according to an embodiment of the present invention;

[0032] Figure 4 is a flow chart of a disturbance force prediction method provided by an embodiment of the present invention;

[0033] Figure 5 is a schematic diagram of a disturbance force prediction method provided according to an embodiment of the present invention;

[0034] Figure 6 is a schematic diagram of a first process of inputting a white noise disturbance force according to an embodiment of the present invention;

[0035] Figure 7 is a schematic diagram of a second white noise disturbance force input process according to an embodiment of the present invention;

[0036] Figure 8 2 is a schematic diagram of a third white noise disturbance force input process according to an embodiment of the present invention.

[0037] Reference numerals include:

[0038] Measurement module 1;

[0039] Base 11;

[0040] Mounting plate 12;

[0041] Connecting block 13;

[0042] One-way piezoelectric force sensor 14;

[0043] Flexible stage 2;

[0044] Vibration source 3;

[0045] Suspension device 4;

[0046] A first bracket 41;

[0047] Spring 42;

[0048] Soft rope 43;

[0049] Force output device 5;

[0050] A second bracket 51;

[0051] Vibrator 52;

[0052] Plastic long rod 53;

[0053] Stud 54;

[0054] Sensing device 6;

[0055] Six-dimensional force sensor 61;

[0056] force input tooling 62;

[0057] One-way acceleration sensor 63;

[0058] A first unidirectional acceleration sensor 631;

[0059] A second unidirectional acceleration sensor 632;

[0060] A third unidirectional acceleration sensor 633;

[0061] A fourth unidirectional acceleration sensor 634;

[0062] A fifth unidirectional acceleration sensor 635;

[0063] Sixth unidirectional acceleration sensor 636 . DETAILED DESCRIPTION

[0064] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the following description, the same modules are represented by the same reference numerals. In the case of the same reference numerals, their names and functions are also the same. Therefore, the detailed description thereof will not be repeated.

[0065] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and do not constitute a limitation of the present invention.

[0066] Figure 1 The structure of a dynamic six-dimensional force flexible measurement platform provided according to an embodiment of the present invention is shown.

[0067] Figure 2 The structure of a single measurement module provided according to an embodiment of the present invention is shown.

[0068] Figure 3 The bottom view structure of a dynamic six-dimensional force flexible measurement platform provided according to an embodiment of the present invention is shown.

[0069] like Figure 1 , Figure 2 and Figure 3As shown, in order to meet the requirements of installing large mass and large volume vibration sources, the dynamic six-dimensional force flexible measurement platform proposed in the embodiment of the present invention includes: three measurement modules 1 and a flexible table 2. In the case of special needs, the number of measurement modules 1 can be increased. The structure of each measurement module 1 is the same. The measurement module 1 includes a base 11, a mounting plate 12, four connecting blocks 13 and eight unidirectional piezoelectric force sensors 14. In the case of special needs, the number of connecting blocks 13 and unidirectional piezoelectric force sensors 14 can be increased. The base 11 can adopt an L-shaped structure. A threaded hole is provided on the base 11 for fixing the base 11 in the working area. The base 11 is connected to the mounting plate 12 through four connecting blocks 13. The four connecting blocks 13 are evenly distributed on the side positions of the mounting plate 12. Four unidirectional piezoelectric force sensors 14 are arranged between the mounting plate 12 and the base 11, and a unidirectional piezoelectric force sensor 14 is arranged between each connecting block 13 and the mounting plate 12.

[0070] The flexible table 2 is connected to the lower end of each measuring module 1 respectively. The three measuring modules 1 are evenly connected to the three sides of the flexible table 2 respectively. The connection method can be a bayonet or a threaded connection. The flexible table 2 is used to place the object to be measured. Figure 1 A vibration source 3 is arranged on the middle flexible platform 2. In this embodiment, the vibration source 3 is a momentum wheel.

[0071] Each measurement module 1 has eight output signals, and the dynamic six-dimensional force flexible measurement platform has a total of 24 output signals; the calibration and measurement methods of the dynamic six-dimensional force flexible measurement platform of the present invention are the same as the calibration and measurement methods of the traditional measurement platform, which are not within the protection scope of this invention and will not be repeated here.

[0072] Figure 4 The flowchart of the disturbance force prediction method provided according to an embodiment of the present invention is shown.

[0073] Figure 5 The principle of the disturbance force prediction method provided according to an embodiment of the present invention is shown.

[0074] like Figure 4 and Figure 5 As shown, in a real space environment, it is impossible to install force and acceleration sensors between the real vibration source and the spacecraft. Here, the real vibration source refers to the nozzle, antenna pointing mechanism, moving mirror and other micro-vibration sources in the actual spacecraft. Therefore, the force and acceleration between the real vibration source and the spacecraft cannot be measured. The disturbance force prediction method proposed in the present invention can predict the impact of the real vibration source on the spacecraft in a real installation environment on the ground. Figure 5 In the figure, box a shows the principle diagram of the dynamic six-dimensional force flexible measurement platform for measuring the disturbance force, and box b shows the principle diagram of the prediction of the disturbance force of the spacecraft by the real vibration source. Among them, the force F between the vibration source 3 and the dynamic six-dimensional force flexible measurement platform is Pand acceleration The force F between the real vibration source and the spacecraft can be measured. S and acceleration The dynamic disturbance force W of the vibration source 3 cannot be measured. The force F can be measured by the dynamic six-dimensional force flexible measurement platform. P Obtained indirectly and used to predict the disturbance output Z of the real vibration source on the spacecraft S .

[0075] The disturbing force prediction method provided by the embodiment of the present invention comprises the following steps:

[0076] S1. Place the vibration source 3 on the flexible platform 2 of the dynamic six-dimensional force flexible measurement platform, and establish the vibration source mathematical model as follows:

[0077]

[0078] Among them, G V1 , G V2 is the associated force F P , dynamic disturbance force W and acceleration The transfer function of .

[0079] S2. Establish the force F between the dynamic six-dimensional force flexible measurement platform and the vibration source P and the transfer function G of the dynamic disturbance force W P-V The process is as follows:

[0080] Obtain the disturbance output Z of the dynamic six-dimensional force flexible measurement platform P and acceleration as follows:

[0081] Z P =G P1 F P ; (2)

[0082]

[0083] Among them, G P1 is the associated force F P and the disturbance output Z of the dynamic six-dimensional force flexible measurement platform P The transfer function, G P2 is the associated force F P and acceleration of the dynamic six-dimensional force flexible measurement platform The transfer function of .

[0084] According to formula (1) and formula (3), we can get F P The relationship between and W is as follows:

[0085]

[0086] Among them, G V1 , G V2 is the associated force F P , dynamic disturbance force W and acceleration The transfer function of .

[0087] Rearranging formula (4) yields the following formula:

[0088]

[0089] That is, the force F between the dynamic six-dimensional force flexible measurement platform and the vibration source P and the transfer function G of the dynamic disturbance force W P-V as follows:

[0090] W=G P-V F P ; (6)

[0091]

[0092] From formula (6) and formula (7), we can know that if the position quantity G V1 , G V2 and G P2 The force F measured by the dynamic six-dimensional force flexible measurement platform can be obtained. P The disturbance force W of the vibration source 3 is calculated, and this model also takes into account the existence of rigid-flexible coupling during measurement. The disturbance force W of the vibration source 3 can be used to predict the disturbance output of the real vibration source on the spacecraft. V1 It is best to obtain the vibration source 3 when it is in motion. The vibration source 3 of this embodiment adopts a momentum wheel. V1 Taking the gyroscopic effect into account when acquiring data under the rotation of the momentum wheel greatly improves the measurement accuracy, but increases the difficulty of operation.

[0093] S3. Establish the disturbance output Z of the spacecraft S With the force F P The transfer function G P-S The process is as follows:

[0094] According to formulas (1), (2) and (3), the force F between the spacecraft and the real vibration source can be obtained by analogy: S , disturbance output Z S , acceleration The expression is as follows:

[0095]

[0096] Z S =G S1 F S ; (9)

[0097]

[0098] Among them, the disturbance output Z S is the target quantity, G S1 and G S2 Similar to G P1 and G P2 , are transfer functions, G S1 , G S2 is the force F between the associated spacecraft and the real vibration source S , dynamic disturbance force W and the acceleration of the spacecraft The transfer function, G S1 , G S2 Is an unknown quantity.

[0099] According to formula (8) and formula (10), we can get F S The relationship between and W is as follows:

[0100]

[0101] The following formula is obtained by rearranging formula (11):

[0102] F S =(IG V2 G S2 ) -1 G V1 W; (12)

[0103] Substituting formula (12) into formula (9) yields:

[0104]

[0105] That is, the disturbance output Z between the spacecraft and the real vibration source S and the force F P The transfer function G P-S as follows:

[0106] Z S =G P-S F P ; (14)

[0107] G P-S =G S1 (IG V2 G S2 ) -1 (IG V2 G P2 ); (15)

[0108] Formula (14) shows that the force F between the vibration source 3 and the dynamic six-dimensional force flexible measurement platform can be measured. PTo predict the disturbance Z of the real vibration source to the spacecraft S , transfer function G P-S The unknown quantity that needs to be obtained is G S1 , G S2 , G V2 and G P2 , but the G required to measure W before V1 It is not necessary to obtain it at this time, which reduces the difficulty of operation.

[0109] S4. Build a measuring platform, place the vibration source 3 on the sensor device 6, the sensor device 6 is used to measure the force and acceleration between the vibration source 3 and the mounting surface of the flexible platform 2, and a force output device 5 is set at the lower end of the measuring platform to apply force to the vibration source 3.

[0110] Get the unknown quantity G S1 , G S2 and G P2 The process is as follows:

[0111] G S1 , G S2 and G P2 The acquisition method is the same as that of G. P2 Taking the acquisition method of as an example, an appropriate dynamic force is applied to the flexible stage 2. The dynamic force is used to calibrate the transfer function and convert the displacement of the flexible stage 2 into acceleration. From formula (3), it can be seen that the dynamic force F used for calibration b and the acceleration of the mounting surface are all 6×1 vectors, then G P2 is a 6×6 vector. S1 , G S2 and G P2 It can be obtained through simulation or experimental methods. S1 , G S2 and G P2 For the specific steps, please refer to G V2 's experimental steps.

[0112] Get the unknown quantity G V2 The specific experimental process is as follows:

[0113] From formula (1), we can see that when the vibration source 3 is not working and the dynamic disturbance force W disappears, that is, when the momentum wheel stops rotating, G V2 The process of obtaining is relatively simple, namely:

[0114]

[0115] Figure 6 The first white noise disturbance force input process provided according to an embodiment of the present invention is shown.

[0116] Figure 7 The second white noise disturbance force input process provided according to an embodiment of the present invention is shown.

[0117] Figure 8 The third white noise disturbance force input process provided according to an embodiment of the present invention is shown.

[0118] like Figure 6 , Figure 7 , Figure 8 As shown, at this time, the transfer function G can be obtained by simply measuring the force and acceleration between the vibration source 3 and the flexible platform 2. V2 , the test is carried out in a hanging manner, that is, the boundary conditions of unconstrained displacement and force are adopted, a force output device 5 is set at the lower end of the measuring platform, and the vibration source 3 on the measuring platform is suspended on the flexible rope 43 of the suspension device 4, and the flexible rope 43 is fixed to the first bracket 41 through the spring 42, so as to ensure that the dynamic disturbance force W of the vibration source is zero at this time, and the fundamental frequency of the vibration source 3 is less than 3Hz at this time. In order to ensure the effective input of the dynamic six-dimensional force used for calibration, the force output device 5 fixes the exciter 52 through the second bracket 51, and the exciter 52 is connected to the plastic long rod 53, and the end of the plastic long rod 53 is passed The plastic long rod 53 is connected to the force input fixture 62 through the stud 54, and the function of the exciter 52 is to make the force transmitted to the force input fixture 62 unidirectional; in order to detect the magnitude of the force and acceleration of the installation surface of the vibration source 3, a six-dimensional force sensor 61 and six unidirectional acceleration sensors 63 are installed, including the first unidirectional acceleration sensor 631, the second unidirectional acceleration sensor 632, the third unidirectional acceleration sensor 633, the fourth unidirectional acceleration sensor 634, the fifth unidirectional acceleration sensor 635, and the sixth unidirectional acceleration sensor 636. All the devices and components of the measuring platform belong to the existing devices and components, and their detailed structures are not repeated here.

[0119] The white noise disturbance force of unit intensity is input to the vibration source 3 through the force input tooling 62 by the force output device 5. At this time, the installation surface of the vibration source 3 will produce corresponding force and acceleration. After the six-dimensional force sensor 61 and the six unidirectional acceleration sensors 63 collect enough signals, the transfer function G can be obtained. V2 .

[0120] During the experiment, a total of 6 white noise disturbance forces were input. The 6 inputs covered the six-dimensional force and torque. Every two force inputs were at one point, and a total of three points were used for input. The magnitudes of the two forces input at the same point were different. The outputs of the six-dimensional force sensor 61 and the six unidirectional acceleration sensors 63 were collected each time. Figure 4 , Figure 5 , Figure 6 As shown, six white noise disturbance forces w are input to three different points on the force input tooling 62, and the input forces at the three points are converted to six-dimensional forces and moments at the center of the vibration source 3, including Fx 、M x 、F y 、M y 、F z and M z .

[0121] Among them, the input white noise disturbance force w and the acceleration of the installation surface of the vibration source at this time Functional relationship as follows:

[0122]

[0123] The input white noise disturbance force w and the dynamic force F on the mounting surface of the vibration source b The functional relationship G F as follows:

[0124] F b =G F w; (18)

[0125] Then G V2 It can be expressed as:

[0126]

[0127] The dynamic force and acceleration in formula (19) are obtained by collecting the six-dimensional force sensor 61 and the six unidirectional acceleration sensors 63. as follows:

[0128] F b =[F 1 F 2 F 3 F 4 F 5 F 6 ];(20)

[0129]

[0130] Among them, F bi (i=1, 2, ..., 6) is the six-dimensional force on the mounting surface measured by the six-dimensional force sensor 61, which can be expressed as:

[0131] F bi =[F xi F yi F zi M xi M yi M zi ] T ;(twenty two)

[0132] The six-dimensional acceleration on the mounting surface measured by six unidirectional acceleration sensors can be expressed as:

[0133]

[0134] Among them, a 1i 、a 2i 、a 3i 、a 4i 、a 5i 、a 6i (i=1,2,…,6) are 6 groups of unidirectional accelerations measured by unidirectional acceleration sensor 1 631, unidirectional acceleration sensor 2 632, unidirectional acceleration sensor 3 633, unidirectional acceleration sensor 4 634, unidirectional acceleration sensor 5 635 and unidirectional acceleration sensor 6 636. Each group of unidirectional accelerations can be used to calculate the acceleration on the mounting surface of the vibration source 3 each time the white noise disturbance force w is input. l represents the distance between two unidirectional acceleration sensors, and the subscript represents the sensor number.

[0135] Substituting formulas (20), (21), and (22) into formula (19) yields G V2 , G S1 , G S2 and G P2 G V2 The experimental method is used to obtain it. The principles and methods of obtaining it are basically the same and will not be elaborated here.

[0136] S5. Place the vibration source 3 on the dynamic six-dimensional force flexible measurement platform, and use the dynamic six-dimensional force flexible measurement platform to measure the force F between the flexible platform 2 and the vibration source 3 P , all unknowns in formulas (14) and (15) are known, and Z can be obtained S , that is, the disturbance effect of the real vibration source on the spacecraft is predicted by formulas (14) and (15) which are both known quantities.

[0137] Although the embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. Those skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

[0138] The above specific implementations of the present invention do not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A method for predicting disturbance force of a dynamic six-dimensional force flexible measurement platform, characterized in that: Dynamic six-dimensional force flexible measurement platform includes: At least three measuring modules, the structures of the measuring modules are the same, and they include: a base, a mounting plate, at least four connecting blocks and at least eight unidirectional piezoelectric force sensors; the base is connected to the mounting plate through the connecting blocks, the connecting blocks are evenly distributed on the side of the mounting plate, at least four unidirectional piezoelectric force sensors are arranged between the mounting plate and the base, and at least one unidirectional piezoelectric force sensor is arranged between each connecting block and the mounting plate; each measuring module has at least eight output signals; A flexible table, which is respectively connected to the lower end of each of the measuring modules, and the flexible table is used to place the object to be measured; The prediction method includes the following steps: S1. Place the vibration source on the flexible table of the dynamic six-dimensional force flexible measurement platform, and establish the vibration source mathematical model as follows: ；(1) S2. Establishing the force between the dynamic six-dimensional force flexible measurement platform and the vibration source F P and dynamic disturbance forces W The transfer function G P-V as follows: ； (6) ； (7) in, G V1 , G V2 It is the associated force F P , dynamic disturbance force W and acceleration The transfer function of G P2 It is the associated force F P and the acceleration of the dynamic six-dimensional force flexible measurement platform The transfer function of G V1 , G V2 and G P2 All are unknown quantities; S3. Establish the disturbance output of the spacecraft Z S With force F P The transfer function G P-S as follows: ； (14) ；(15) in, G S1 , G S2 is the force between the spacecraft and the vibration source F S , dynamic disturbance force W and the spacecraft's acceleration The transfer function of G S1 , G S2 is an unknown quantity; S4, build a measuring platform, place the vibration source on the sensor device, the sensor device is used to measure the force and acceleration on the installation surface of the vibration source, and a force output device is provided at the lower end of the measuring platform to apply force to the vibration source; Get unknown quantity G S1 , G S2 , G V2 and G P2 ; S5. Place the vibration source on the dynamic six-dimensional force flexible measurement platform and measure the force between the flexible platform and the vibration source. F P , all unknown quantities in formulas (14) and (15) are known, and we can obtain Z S .

2. The method for predicting disturbance force according to claim 1, characterized in that: G P2 The method of obtaining is as follows: a dynamic force is applied to the mounting surface of the vibration source, and the sensor device measures the force and acceleration on the mounting surface of the vibration source, and the G P2 .

3. The disturbance force prediction method according to claim 1, characterized in that: G S1 , G S2 How to obtain: Based on G P2 How to obtain the prediction G S1 , G S2 .

4. The disturbance force prediction method according to claim 1, characterized in that: G V2 The acquisition method is: suspend the vibration source on the measuring platform to ensure that the dynamic disturbance force of the vibration source is W is zero. At this time, by measuring the force and acceleration on the installation surface of the vibration source, we can obtain G V2 .

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