A coupling correction method for calibration of a multi-component force measurement system

Abstract

The application belongs to the field of aero-engine performance test, and particularly relates to a coupling correction method for calibration of a multi-component force measurement system. X Y Z The method comprises the following steps: step one, when the multi-component force measurement system is calibrated, standard forces f X Y Z in X, Y and Z directions are respectively applied to the tail of a simulation test piece, and voltage output values V1, V2, V3, V4, V5 and V6 corresponding to axial force components F1 and F2, lateral force component F3 and vertical force components F4, F5 and F6 are recorded; step two, load states borne by each force component corresponding to the nozzle position are obtained; and step three, inter-plane coupling force correction is performed based on the load states borne by each force component corresponding to the nozzle position. After the coupling correction, the calibration accuracy of the multi-component force measurement system is improved from ±2% when no coupling correction is performed to better than ±1.5%.

Description

Technical Field

[0001] This application belongs to the field of aero-engine performance testing, and specifically relates to a coupling correction method for the calibration of a multi-component force measurement system. Background Technology

[0002] Vector multi-component thrust test benches are typically suspended structures, with the moving frame suspended from the fixed frame by three vertical force-measuring components, such as... Figure 1 As shown, the force measuring assembly F4 is positioned in front, followed by F5 and F6, symmetrically located on both sides of the test bench axis. Each force measuring assembly consists of a force sensor and flexible elements at both ends. The F4, F5, and F6 force measuring assemblies constrain the vertical movement, pitch rotation, and roll rotation of the moving frame, and are used to measure the engine's vertical force, pitch moment, and roll moment. The F1 and F2 force measuring assemblies are symmetrically located on both sides of the test bench axis, and are on the same horizontal plane as the test specimen axis, connecting the moving frame to the fixed frame. They constrain the axial movement and yaw rotation of the moving frame, and measure the axial thrust and yaw moment of the test specimen. These two force measuring assemblies also consist of a force sensor and flexible elements at both ends. Arranging F1 and F2 on the same horizontal plane as the test specimen axis reduces the output of the F4, F5, and F6 force measuring assemblies caused by the axial thrust of the test specimen, improving the accuracy of vertical force measurement. Force measuring component F3 is on the same side as F1, close to force measuring component F1, and connects the moving frame and the fixed frame laterally to constrain the lateral movement of the moving frame and measure the lateral force of the engine.

[0003] For ease of expression, the X-axis is defined as positive (forward) along the axis of the test bench; the Z-axis is positive (downward) along the vertical direction; and the Y-axis is determined by a right-handed rectangular coordinate system. The formulas for calculating forces in each direction under ideal conditions are derived from the equilibrium equations:

[0004] Axial force: F x =F1+F2 (1)

[0005] Vertical force: F z =F4+F5+F6 (2)

[0006] Lateral force: F y =F3 (3)

[0007] Before using a multi-force measurement system, calibration is required. However, due to limitations of the calibration device, currently only individual force calibration in a single direction is possible. Because of the interdimensional coupling in a multi-force measurement system, each sensor will produce an output response to loads in any direction. Therefore, decoupling of the interdimensional coupling forces is necessary. In practice, there are two main methods:

[0008] (1) Non-decoupling

[0009] For multi-component force measurement benches and multi-component force function verification benches modified from axial force measurement benches, the accuracy requirements for vertical force and lateral force measurement are relatively low. The influence of load in one direction on the other two directions during calibration is not considered. It is assumed that the load in one direction is borne entirely by the force sensor in that direction during calibration. The output of each force sensor is fitted with the standard force value function according to the calibration results. The force value in each direction is calculated according to formulas (1), (2), and (3). The calibration accuracy of this method is ±2%.

[0010] (2) Complete decoupling

[0011] Taking into full account the impact of a load in one direction on the other two directions during calibration, decoupling can be expressed by the following formula:

[0012]

[0013] Due to the effects of the test specimen structure, moving frame, stationary frame, and connecting flexible components, its matrix coefficients are not constants, meaning the input-output relationship represented by the calibration matrix is ​​actually nonlinear. For multivariate linear equation systems, iterative methods can be used to solve them. Specifically, based on multivariate linear regression theory, ordinary least squares and total least squares methods are used to decouple the thrust measurement equations. There are also decoupling coefficient matrices and decoupling accuracy expressions based on SVD, minimum singular value methods, and the Euler-Lagrange approximation method.

[0014] This decoupling method is complex, and its actual implementation in the experimental field is time-consuming and difficult to operate.

[0015] Therefore, it is desirable to have a technical solution to overcome or at least mitigate one of the aforementioned defects of the prior art. Summary of the Invention

[0016] The purpose of this application is to provide a coupling correction method for calibrating a multi-component force measurement system to solve at least one problem existing in the prior art.

[0017] The technical solution of this application is:

[0018] A coupling correction method for calibrating a multi-component force measurement system includes:

[0019] Step 1: During the calibration of the multi-component force measurement system, standard forces f in the X, Y, and Z directions are applied to the tail of the simulated test piece, respectively. X f Y f Z And record the voltage output values ​​V1, V2, V3, V4, V5, and V6 of the axial force measuring components F1 and F2, the lateral force measuring component F3, and the vertical force measuring components F4, F5, and F6;

[0020] Step two, obtaining the load state of each force measuring assembly corresponding to the nozzle position;

[0021] Step three, based on the load state of each force measuring assembly corresponding to the nozzle position, the inter-floor coupling force is corrected.

[0022] In at least one embodiment of the present application, in step two, the load state of each force measuring assembly corresponding to the nozzle position includes:

[0023] When the nozzle is located at the center of the horizontal position circle, only the axial force exists;

[0024] When the nozzle is located in a quadrant, the vertical force measuring assembly is subjected to tension, and the lateral force measuring assembly is subjected to pressure;

[0025] When the nozzle is located in a quadrant, the vertical force measuring assembly is subjected to tension, and the lateral force measuring assembly is subjected to tension;

[0026] When the nozzle is located in a quadrant, the vertical force measuring assembly is subjected to tension, and the lateral force measuring assembly is subjected to tension;

[0027] When the nozzle is located in a quadrant, the vertical force measuring assembly is subjected to tension, and the lateral force measuring assembly is subjected to tension.

[0028] In at least one embodiment of the present application, in step three, the inter-floor coupling force is corrected based on the load state of each force measuring assembly corresponding to the nozzle position, including:

[0029] For the axial force measuring assembly F1 and the axial force measuring assembly F2:

[0030] The standard force f in the Z direction Z The output of the axial force measuring assembly F1 and the axial force measuring assembly F2 is slightly affected, and no correction is performed;

[0031] The standard force f in the Y direction Y The output of the axial force measuring assembly (F1+F2) is slightly affected, and no correction is performed.

[0032] In at least one embodiment of the present application, in step three, the inter-floor coupling force is corrected based on the load state of each force measuring assembly corresponding to the nozzle position, including:

[0033] For the lateral force measuring assembly F3:

[0034] The standard force f in the X direction X The output of the lateral force measuring assembly F3 is slightly affected, and no correction is performed;

[0035] The standard force f in the Z direction Z The output of the lateral force measuring assembly F3 is greatly affected, and needs to be corrected, specifically:

[0036] When the nozzle is located in the first quadrant, a correction term of the output of the lateral force component F3 caused by the tension of the vertical force component is introduced when the tension of the lateral force component F3 is calculated;

[0037] When the nozzle is located in the second quadrant, a correction term of the output of the lateral force component F3 caused by the tension of the vertical force component is introduced when the tension of the lateral force component F3 is calculated;

[0038] When the nozzle is located in the third quadrant, a correction term of the output of the lateral force component F3 caused by the pressure of the vertical force component is introduced when the tension of the lateral force component F3 is calculated;

[0039] When the nozzle is located in the fourth quadrant, a correction term of the output of the lateral force component F3 caused by the pressure of the vertical force component is introduced when the pressure of the lateral force component F3 is calculated.

[0040] In at least one embodiment of the present application, the standard force f Z in the Z direction is represented by V4, and f Z is calculated when the lateral force is affected. Z When the calibration is performed, V4 and V3 have a linear function relationship.

[0041] In at least one embodiment of the present application, in step three, the inter-dimension coupling force correction is performed based on the load state of each force component corresponding to the nozzle position, including:

[0042] For the vertical force component F4:

[0043] The standard force f X in the X direction has little effect on the output of the vertical force component F4, and no correction is performed.

[0044] The standard force f Y in the Y direction has little effect on the output of the vertical force component F4, and no correction is performed.

[0045] In at least one embodiment of the present application, in step three, the inter-dimension coupling force correction is performed based on the load state of each force component corresponding to the nozzle position, including:

[0046] For the vertical force component F5 and the vertical force component F6:

[0047] The standard force f X in the X direction has little effect on the output of the vertical force component F5 and the vertical force component F6, and no correction is performed.

[0048] The standard force f Y in the Y direction has great effect on the output of the vertical force component F5 and the vertical force component F6, and correction is needed, which is specifically:

[0049] When the nozzle is located in the first quadrant, the correction term of the vertical force component F5 output by the lateral force component under the pressure is introduced when calculating the tension of the vertical force component F5, and the correction term of the vertical force component F6 output by the lateral force component under the tension is introduced when calculating the tension of the vertical force component F6.

[0050] When the nozzle is located in the second quadrant, the correction term of the vertical force component F5 output by the lateral force component under the tension is introduced when calculating the tension of the vertical force component F5, and the correction term of the vertical force component F6 output by the lateral force component under the tension is introduced when calculating the tension of the vertical force component F6.

[0051] When the nozzle is located in the third quadrant, the correction term of the vertical force component F5 output by the lateral force component under the tension is introduced when calculating the pressure of the vertical force component F5, and the correction term of the vertical force component F6 output by the lateral force component under the tension is introduced when calculating the pressure of the vertical force component F6.

[0052] When the nozzle is located in the fourth quadrant, the correction term of the vertical force component F5 output by the lateral force component under the pressure is introduced when calculating the pressure of the vertical force component F5, and the correction term of the vertical force component F6 output by the lateral force component under the pressure is introduced when calculating the pressure of the vertical force component F6.

[0053] In at least one embodiment of the present application, the influence of the standard force f Y in the Y direction is represented by V3, and f Y is calculated. Y When calibrating the influence of the vertical force, V3 and V5, V6 are linearly related.

[0054] The present application has at least the following beneficial technical effects:

[0055] The coupling correction method for calibrating the multi-component force measurement system of the present application uses algebraic method in the calibration data processing to complete the coupling correction in the calibration of the multi-component force, solves the problems of complex correction calculation process, large operation difficulty and long calibration time in the existing multi-component force calibration, and also ensures the calibration accuracy of the multi-component force measurement system. After the coupling correction, the calibration accuracy of the multi-component force measurement system is improved from ±2% without coupling correction to better than ±1.5%. BRIEF DESCRIPTION OF DRAWINGS

[0056] Figure 1 is a schematic diagram of a six-component force measurement system;

[0057] Figure 2 is a schematic diagram of the calibration of a multi-component force measurement system according to an embodiment of the present application;

[0058] Figure 3Figure 1 is a schematic view of a test piece nozzle rearward-looking position along the direction of travel according to an embodiment of the present application. DETAILED DESCRIPTION

[0059] In order to make the purposes, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the drawings in the embodiments of the present application. Identical or similar labels in the drawings represent identical or similar elements or elements with identical or similar functions throughout. The described embodiments are part of the embodiments of the present application, rather than all the embodiments. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation on the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application. The embodiments of the present application will be described in detail below with reference to the drawings.

[0060] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the scope of protection of the present application.

[0061] The drawings will be described below in conjunction with the Figures 2 to 3 The present application will be described in further detail.

[0062] The present application provides a coupling correction method for calibration of a multi-component force measurement system, comprising the following steps:

[0063] Step one, when calibrating the multi-component force measurement system, standard forces f X , f Y , f Z in X, Y, Z directions are respectively applied at the tail of the simulation test piece, and the corresponding voltage output values V1, V2, V3, V4, V5, V6 of the axial force measuring components F1, F2, the lateral force measuring component F3, and the vertical force measuring components F4, F5, F6 are recorded.

[0064] Step two, obtain the load state of each force measuring component corresponding to the nozzle position;

[0065] Step three, based on the load state of each force measuring component corresponding to the nozzle position, inter-bay coupling force correction is performed.

[0066] The coupling correction method for calibration of the multi-component force measurement system of the application first applies standard forces f X , f Y , f Z , f Y , f Z in X, Y and Z directions respectively at the tail of the simulation test piece during calibration of the multi-component force measurement system Figure 2 , and simultaneously records the voltage outputs V1, V2, V3, V4, V5 and V6 of the F1, F2, F3, F4, F5 and F6 measurement sensors. Due to the effects of the test piece structure, moving frame, static frame, connecting flexible member and the like, the standard forces in the three directions which theoretically do not affect each other also cause outputs on the force measurement components in other directions. The calibration results show that the axial force f X has little effect on the lateral force measurement components and vertical force measurement components, and can be ignored. The lateral force f Y has obvious effects on the axial force measurement components F1 and F2, but the effects on F1 and F2 are opposite, and F1+F2 can offset the effects; the vertical force measurement component F4 is far from the point of application of the calibration load, and the calibration shows that it is less affected by f Y , the vertical force measurement components F5 and F6 are close to the point of application of the calibration load, and are greatly affected by f Y , and need to be corrected. The vertical force f Z has little effect on the axial force measurement components F1 and F2, and can be ignored; the lateral force measurement component F3 is greatly affected by f Z , and needs to be corrected.

[0067] The coupling correction method for calibration of the multi-component force measurement system of the application determines the correction according to the structure of the multi-component force measurement system and the size and regularity of the outputs of the force measurement components during calibration, and determines the different spatial positions of the axisymmetric vector nozzle for correction.

[0068] In the preferred embodiment of the application, the correction is performed by analyzing the size and regularity of the outputs of the force measurement components during calibration. The specific correction process is as follows:

[0069] First, the azimuth angle of the nozzle deflection in the test is obtained, as well as the load (tension, compression) state of each force measurement component corresponding to the nozzle position. The nozzle position is shown in Figure 3 , and the relationship between the nozzle position and the output of the force measurement component is:

[0070] When the nozzle is located at the center of the horizontal position circle, only the axial force exists; the standard forces f Z and f Y have little effect on the output of (F1+F2), and therefore no correction is performed;

[0071] When the nozzle is located in the first quadrant, the vertical force measuring component is under tension, and the lateral force measuring component is under pressure; the standard force f Z and f Y mutually affect each other and need to be corrected;

[0072] When the nozzle is located in the second quadrant, the vertical force measuring component is under tension, and the lateral force measuring component is under tension; the standard force f Z and f Y mutually affect each other and need to be corrected;

[0073] When the nozzle is located in the third quadrant, the vertical force measuring component is under pressure, and the lateral force measuring component is under tension; the standard force f Z and f Y mutually affect each other and need to be corrected;

[0074] When the nozzle is located in the fourth quadrant, the vertical force measuring component is under pressure, and the lateral force measuring component is under pressure; the standard force f Z and f Y mutually affect each other and need to be corrected.

[0075] Then, based on the load state of each force measuring component corresponding to the nozzle position, the inter-floor coupling force correction is carried out, including:

[0076] For the axial force measuring components F1 and F2:

[0077] The standard force f Z The output of the axial force measuring components F1 and F2 is little affected, and no correction is made;

[0078] The standard force f Y The output of the axial force measuring component (F1+F2) is little affected, and no correction is made.

[0079] For the lateral force measuring component F3:

[0080] The standard force f X The output of the lateral force measuring component F3 is little affected, and no correction is made;

[0081] The standard force f Z The output of the lateral force measuring component F3 is greatly affected, and needs to be corrected, specifically:

[0082] When the nozzle is located in the first quadrant, a correction term of the output of the lateral force measuring component F3 caused by the tension of the vertical force measuring component is introduced when calculating the pressure of the lateral force measuring component F3;

[0083] When the nozzle is located in the second quadrant, a correction term of the output of the lateral force measuring component F3 caused by the tension of the vertical force measuring component is introduced when calculating the tension of the lateral force measuring component F3;

[0084] When the nozzle is located in the three quadrants, the lateral force component F3 is calculated to be in tension, and a correction term of the lateral force component F3 output when the vertical force component is in compression is introduced;

[0085] When the nozzle is located in the four quadrants, the lateral force component F3 is calculated to be in compression, and a correction term of the lateral force component F3 output when the vertical force component is in compression is introduced.

[0086] In the preferred embodiment of the present application, the vertical force component F4 is far away from other force components, and is less affected by the calibration load in other two directions, and the output is stable, and the standard force f Z in the Z direction is preferably used to represent the influence of V4, and f Z is calculated. Z When the lateral force is affected, f Z is used, and a linear function relationship between V4 and V3 is used for calibration. In this embodiment, the influence of f Z can be represented by the output of V4, and f Z is calculated. Z When the lateral force is affected, f X is used, and a linear function relationship between V4 and V3 is used for calibration, that is, when f Y is applied, the lateral force component F3 is subjected to a coupling force, and V3 is output, and a relationship function V3=k4*V4 is established, and according to the position of the nozzle, the output values of V4 and V3 under tension and compression load are selected for calculation.

[0087] For the vertical force component F4:

[0088] The standard force f X in the X direction has little influence on the output of the vertical force component F4, and no correction is made.

[0089] The standard force f Y in the Y direction has little influence on the output of the vertical force component F4, and no correction is made.

[0090] For the vertical force component F5 and the vertical force component F6:

[0091] The standard force f X in the X direction has little influence on the output of the vertical force component F5 and the vertical force component F6, and no correction is made.

[0092] The standard force f Y in the Y direction has great influence on the output of the vertical force component F5 and the vertical force component F6, and correction is needed, and the specific correction is as follows:

[0093] When the nozzle is located in the one quadrant, the vertical force component F5 is calculated to be in tension, and a correction term of the vertical force component F5 output when the lateral force component is in compression is introduced, and the vertical force component F6 is calculated to be in tension, and a correction term of the vertical force component F6 output when the lateral force component is in compression is introduced.

[0094] When the nozzle is located in the second quadrant, when calculating the tension on the vertical force measuring component F5, a correction term is introduced from the output of the vertical force measuring component F5 generated by the tension on the lateral force measuring component. When calculating the tension on the vertical force measuring component F6, a correction term is introduced from the output of the vertical force measuring component F6 generated by the tension on the lateral force measuring component.

[0095] When the nozzle is located in the third quadrant, when calculating the pressure on the vertical force measuring component F5, a correction term is introduced from the output of the vertical force measuring component F5 generated by the tension of the lateral force measuring component. When calculating the pressure on the vertical force measuring component F6, a correction term is introduced from the output of the vertical force measuring component F6 generated by the tension of the lateral force measuring component.

[0096] When the nozzle is located in the fourth quadrant, when calculating the pressure on the vertical force measuring component F5, a correction term is introduced from the output of the vertical force measuring component F5 generated by the pressure on the lateral force measuring component. When calculating the pressure on the vertical force measuring component F6, a correction term is introduced from the output of the vertical force measuring component F6 generated by the pressure on the lateral force measuring component.

[0097] In a preferred embodiment of this application, the standard force f in the Y direction Y The effect is represented by V3, and f is calculated. Y When considering the influence of vertical force, use f Y The linear functional relationship between V3 and V5, V6 established during calibration. In this embodiment, f y The effect can be represented by V3, and f can be calculated. Y When considering the influence of vertical forces, use f. Y During calibration, V3, V5, and V6 are linearly related (F4 force measuring component distance from lateral calibration load). Y The point of application is far away, and it is affected by f Y The impact is minor and no correction is needed, that is, when f is applied... Y Under load, vertical force measuring components F5 and F6 are subjected to coupled forces, outputting V5 and V6. The relationship functions V5 = k5 * V3 and V6 = k6 * V3 are established. Based on the nozzle position, the corresponding output values ​​of V3 and V5, V6 under tensile and compressive loads are selected during calculation.

[0098] The coupling correction method for multi-component force measurement system calibration proposed in this application uses an algebraic method to complete the coupling correction during multi-component force calibration. This solves the problems of complex calculation process, high operational difficulty, and long calibration time in existing multi-component force calibration methods, while also ensuring the calibration accuracy of the multi-component force measurement system. After coupling correction, the calibration accuracy of the multi-component force measurement system is better than ±1.5%.

[0099] The above merely provides the specific implementation of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A coupling correction method for calibrating a multi-component force measurement system, characterized in that, include: Step 1: During the calibration of the multi-component force measurement system, standard forces f in the X, Y, and Z directions are applied to the tail of the simulated test piece, respectively. X f Y f Z And record the voltage output values ​​V1, V2, V3, V4, V5, and V6 of the axial force measuring components F1 and F2, the lateral force measuring component F3, and the vertical force measuring components F4, F5, and F6; Step 2: Obtain the load status of each force measuring component corresponding to the nozzle position; Step 3: Based on the load state borne by each force measuring component corresponding to the nozzle position, perform interdimensional coupling force correction; In step two, the load states borne by each force-measuring component corresponding to the nozzle position include: When the nozzle is at the center of a horizontal position, there is only axial force; When the nozzle is in the first quadrant, the vertical force measuring component is subjected to tension, and the lateral force measuring component is subjected to compression. When the nozzle is located in the second quadrant, the vertical force measuring component is under tension, and the lateral force measuring component is under tension. When the nozzle is located in the third quadrant, the vertical force measuring component is subjected to pressure, and the lateral force measuring component is subjected to tension. When the nozzle is located in the fourth quadrant, the vertical force measuring component is under pressure, and the lateral force measuring component is under pressure. In step three, the interdimensional coupling force correction based on the load state borne by each force measuring component corresponding to the nozzle position includes: For axial force measuring components F1 and F2: The standard force f in the Z direction Z The impact on the output of axial force measuring components F1 and F2 is small, so no correction is made. Standard force f in the Y direction Y The impact on the output of the axial force measuring component (F1+F2) is small, so no correction is made. In step three, the interdimensional coupling force correction based on the load state borne by each force measuring component corresponding to the nozzle position includes: For the lateral force measuring component F3: Standard force f in the X direction X The impact on the output of the lateral force measuring component F3 is small, so no correction is required. The standard force f in the Z direction Z The output of the lateral force measuring component F3 is significantly affected and requires correction, specifically: When the nozzle is located in the first quadrant, when calculating the pressure on the lateral force measuring component F3, a correction term is introduced from the output of the lateral force measuring component F3 when the vertical force measuring component is under tension. When the nozzle is located in the second quadrant, when calculating the tensile force on the lateral force measuring component F3, a correction term is introduced from the output of the lateral force measuring component F3 when the vertical force measuring component is under tension. When the nozzle is located in the third quadrant, when calculating the tensile force on the lateral force measuring component F3, a correction term is introduced from the output of the lateral force measuring component F3 when the vertical force measuring component is under pressure. When the nozzle is located in the fourth quadrant, when calculating the pressure on the lateral force measuring component F3, a correction term is introduced based on the output of the lateral force measuring component F3 generated when the vertical force measuring component is under pressure.

2. The coupling correction method for calibrating a multi-component force measurement system according to claim 1, characterized in that, The standard force f in the Z direction Z The effect is represented by V4, and f is calculated. Z When considering the influence of lateral forces, f is used. Z The linear function relationship between V4 and V3 during calibration.

3. The coupling correction method for calibrating a multi-component force measurement system according to claim 1, characterized in that, In step three, the interdimensional coupling force correction based on the load state borne by each force measuring component corresponding to the nozzle position includes: For vertical force measuring component F4: Standard force f in the X direction X The impact on the output of the vertical force measuring component F4 is small, so no correction is made. Standard force f in the Y direction Y The impact on the output of the vertical force measuring component F4 is small, so no correction is required.

4. The coupling correction method for calibrating a multi-component force measurement system according to claim 1, characterized in that, In step three, the interdimensional coupling force correction based on the load state borne by each force measuring component corresponding to the nozzle position includes: For vertical force measuring components F5 and F6: Standard force f in the X direction X The impact on the output of vertical force measuring components F5 and F6 is small, so no correction is made. Standard force f in the Y direction Y The vertical force measuring components F5 and F6 have a significant impact on their output and require correction. Specifically: When the nozzle is located in the first quadrant, when calculating the tension of the vertical force measuring component F5, a correction term is introduced from the output of the vertical force measuring component F5, which is generated by the pressure of the lateral force measuring component. When calculating the tension of the vertical force measuring component F6, a correction term is introduced from the output of the vertical force measuring component F6, which is generated by the pressure of the lateral force measuring component. When the nozzle is located in the second quadrant, when calculating the tension on the vertical force measuring component F5, a correction term is introduced from the output of the vertical force measuring component F5 generated by the tension on the lateral force measuring component. When calculating the tension on the vertical force measuring component F6, a correction term is introduced from the output of the vertical force measuring component F6 generated by the tension on the lateral force measuring component. When the nozzle is located in the third quadrant, when calculating the pressure on the vertical force measuring component F5, a correction term is introduced from the output of the vertical force measuring component F5 generated by the tension of the lateral force measuring component. When calculating the pressure on the vertical force measuring component F6, a correction term is introduced from the output of the vertical force measuring component F6 generated by the tension of the lateral force measuring component. When the nozzle is located in the fourth quadrant, when calculating the pressure on the vertical force measuring component F5, a correction term is introduced from the output of the vertical force measuring component F5 generated by the pressure on the lateral force measuring component. When calculating the pressure on the vertical force measuring component F6, a correction term is introduced from the output of the vertical force measuring component F6 generated by the pressure on the lateral force measuring component.

5. The coupling correction method for calibrating a multi-component force measurement system according to claim 4, characterized in that, Standard force f in the Y direction Y The effect is represented by V3, and f is calculated. Y When considering the influence of vertical force, use f Y The linear function relationship between V3, V5, and V6 during calibration.

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