Three-direction in-situ calibration device and method suitable for attitude and orbit control engine space layout

Abstract

The invention relates to the technical field of solid rocket engine testing and testing, in particular to a three-direction in-situ calibration device and method suitable for attitude and orbit control engine spatial layout, and the three-direction in-situ calibration device comprises a calibration system, a test bed and a loading device, and the test bed is provided with a multi-component force combination sensor; the loading device is used for carrying out force source loading on three shaft ends of the multi-component force combination sensor on the test bench through the transmission assembly. And the calibration system is used for sequentially controlling the loading device to perform force source loading calibration on each shaft end of the multi-component combined sensor according to calibration force values in a preset calibration force value sequence, acquiring a calibration coefficient and a test error of the thrust test system according to a loading calibration result, and calibrating the multi-component combined sensor. According to the invention, the test precision of the solid attitude and orbit control engine multi-component force test system is improved.

Description

Technical Field

[0001] The present invention relates to the field of solid rocket engine experiment and testing technology, and in particular to a three-directional in-situ calibration device and method suitable for the spatial layout of an attitude and orbit control engine. Background Art

[0002] During the multi-component force test of the solid attitude and orbit control engine, the uncertainty of the test system is closely related to the output accuracy of the dynamic frame of the force measuring unit. Before conducting the multi-component force test, the performance of the combined multi-dimensional force sensor must be evaluated first, mainly including the linearity, dynamic characteristics and coupling coefficient of the sensor, to determine whether its uncertainty meets the test requirements.

[0003] At present, the calibration of combined multi-dimensional force sensors adopts the static single-direction point measurement method, and then uses the standard calculation formula to calculate the sensitivity and linear coefficient of the sensor, and it is still impossible to calibrate the dynamic characteristics before the test. With the high requirements of the thrust following control test accuracy of the solid attitude and orbit control engine, it is necessary to comprehensively calibrate the dynamic comprehensive performance of the dynamic frame of the multi-dimensional force measurement unit to adapt to the high-frequency dynamic force test of the solid attitude and orbit control engine. Therefore, the existing calibration cannot guarantee the test accuracy of the thrust test system.

[0004] Therefore, it is necessary to provide a three-directional in-situ calibration device and method suitable for the spatial layout of attitude and orbit control engines to solve the above problems. Summary of the invention

[0005] The present invention provides a three-direction in-situ calibration device and method suitable for the spatial layout of an attitude and orbit control engine, so as to solve the problem that the existing calibration cannot guarantee the test accuracy of a thrust test system.

[0006] The three-direction in-situ calibration device of the present invention, which is applicable to the spatial layout of an attitude and orbit control engine, adopts the following technical scheme, including: A test bench is provided with a multi-component force combination sensor, wherein three axial end directions of the multi-component force combination sensor are an X direction and a Y direction which are mutually perpendicular in a horizontal direction, and a Z direction which is perpendicular to the X direction and the Y direction, and the axial end in the Z direction is vertically upward; A loading device, used to load the three shaft ends of the multi-component force combination sensor on the test bench with force sources through a transmission assembly; And a calibration system, which is used to control the loading device to perform force source loading calibration on each shaft end of the multi-component force combination sensor in sequence according to the calibration force values ​​in the preset calibration force value sequence, obtain the calibration coefficient and test error of the thrust test system according to the loading calibration results, and calibrate the multi-component force combination sensor.

[0007] Preferably, the loading device comprises: three driving mechanisms, each driving mechanism comprises: a servo motor, the output end of the servo motor is connected to the force source adjustment component through a reduction mechanism, the output end of the force source adjustment component is connected in sequence through a pulley cable transmission component, a standard sensor and an axial end corresponding to the multi-component force combination sensor; Among them, the standard sensor is used to collect the actual force values ​​corresponding to the multi-component force combination sensor in three directions when the driving mechanism loads the multi-component force combination sensor with a force source.

[0008] Preferably, the pulley cable transmission assembly includes: a pulley block and a steel cable, one end of the steel cable is connected to the output end of the force source adjustment assembly, the other end of the steel cable is connected to one end of the standard sensor after being guided by the pulley of the pulley block, and the other end of the standard sensor is connected to the shaft end corresponding to the multi-component force combination sensor.

[0009] Preferably, the other end of the standard sensor is connected to the corresponding shaft end of the multi-component force combination sensor through a force source push rod.

[0010] Preferably, the calibration system is used to obtain a force-voltage curve based on the real-time force value and voltage value when the real-time force value during loading calibration is equal to the calibration force value, and determine the uncertainty according to the method of measuring uncertainty of solid rocket engines, use the uncertainty as the test error, and use the slope of the force-voltage curve as the calibration coefficient to calibrate the multi-component force combination sensor.

[0011] Preferably, the force source adjustment component adopts a subdivision spring, one end of which is connected to the output end of the reduction mechanism, and the other end of which is connected to a connecting screw, wherein the connecting screw is horizontally arranged through a guide bracket, and the end of the connecting screw facing away from the subdivision spring is connected to a steel cable.

[0012] Preferably, the standard sensor adopts an S-type standard sensor.

[0013] A three-direction in-situ calibration method applicable to the spatial layout of an attitude and orbit control engine comprises: Manual calibration: Connect the steel cable to the standard sensor and pre-tighten the steel cable so that the force value of the standard sensor is displayed between 50N and 200N. Controlling the loading device in sequence to input the maximum calibration force value in the preset calibration force value sequence to the three shaft ends of the multi-component force combination sensor, and controlling the loading device to return to the origin protection position; When the loading in manual calibration satisfies linearity, perform automatic calibration: According to the calibration force range, number of steps and number of return strokes, the automatic loading calibration of the three shaft ends of the multi-component force combination sensor is performed respectively; After the loading calibration of each axis end of the multi-component force combination sensor, the uncertainty is obtained according to the loading calibration results and the measurement uncertainty method of the solid rocket engine. The uncertainty is used as the test error, and the slope of the force-voltage curve is used as the calibration coefficient to calibrate the multi-component force combination sensor.

[0014] The beneficial effects of the present invention are: 1. By setting up a loading device, the loading device is used to load the three shaft ends of the multi-component force combination sensor through a transmission assembly. During loading, the loading device is controlled in sequence according to the calibration force value in the preset calibration force value sequence to perform force source loading calibration on each shaft end of the multi-component force combination sensor, so as to determine the calibration coefficient and test error of the thrust test system, and calibrate the multi-component force combination sensor to eliminate the error of the thrust test system, thereby improving the test accuracy of the multi-component force test system of the solid attitude and orbit control engine.

[0015] 2. The three-direction in-situ calibration device of the present invention can evaluate the linearity, dynamic characteristics and coupling coefficient of the multi-component force combination sensor in the thrust test system of the solid attitude and orbit control engine, and determine the test uncertainty of the test system. The pulley guide device can ensure that the force adding device can apply horizontal and stable force to the dynamic frame of the force measuring unit in three directions. The control system and the data acquisition system cooperate to realize the one-button in-situ calibration function, which greatly improves the use efficiency and test accuracy.

[0016] 3. The three-direction in-situ calibration device of the present invention is easy to install, has a high degree of integration with the multi-component force test bench, does not require disassembly, has a high degree of automation, is easy to operate, and uses tension to apply force to the multi-component force combination sensor of the thrust test system. The linear accuracy of the tension output of the S-type standard sensor is higher than that of the pressure method, which greatly reduces the space occupied during in-situ calibration and facilitates the overall movement of the test bench. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a structural schematic diagram of a three-direction in-situ calibration device suitable for the spatial layout of an attitude and orbit control engine of the present invention; Figure 2 It is a structural schematic diagram of a driving mechanism in a three-direction in-situ calibration device suitable for the spatial layout of an attitude and orbit control engine according to the present invention; Figure 3 for Figure 1 A top view of Figure 4 It is a control block diagram of a three-direction in-situ calibration device suitable for the spatial layout of an attitude and orbit control engine of the present invention; Figure 5 This is a flow chart for calculating the uncertainty of the present invention.

[0019] In the figure: 1. driving mechanism; 2. steel cable; 3. first fixed pulley; 4. second fixed pulley; 5. third fixed pulley; 6. standard force sensor; 7. gantry bracket; 8. multi-component force combination sensor; 9. test bench; 10. cast iron platform; 1-1. servo motor; 1-2. speed reduction mechanism; 1-3. force source adjustment component; 1-4. connecting screw. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] An embodiment of a three-direction in-situ calibration device for the spatial layout of an attitude and orbit control engine according to the present invention is as follows: Figure 1 As shown, it includes: a calibration system and a test bench 9 and a loading device 1 arranged on a cast iron platform 10, a multi-component force combination sensor 8 is arranged on the test bench 9, and the three axial ends of the multi-component force combination sensor 8 are in the X direction and the Y direction which are perpendicular to each other in the horizontal plane, and in the Z direction which is perpendicular to the X direction and the Y direction, and the axial end in the Z direction is vertically facing upward; the loading device 1 is used to perform force source loading on the three axial ends of the multi-component force combination sensor 8 on the test bench 9 respectively through a transmission component; the calibration system is used to control the loading device in sequence according to the calibration force values ​​in a preset calibration force value sequence to perform force source loading calibration on each axial end of the multi-component force combination sensor 8, obtain the calibration coefficient and test error of the thrust test system according to the loading calibration results, and calibrate the multi-component force combination sensor 8.

[0022] Specifically, the loading device 1 includes: three driving mechanisms 1, such as Figure 2As shown, each driving mechanism 1 includes: three servo motors 1-1 arranged in parallel, the output end of the servo motor 1-1 is connected to the force source adjustment component 1-3 through the reduction mechanism 1-2, and the output end of the force source adjustment component 1-3 is connected to the corresponding shaft end of the multi-component force combination sensor 8 through the pulley cable transmission component and the standard sensor 6 in turn; wherein the standard sensor 6 is used to collect the actual force values ​​corresponding to the multi-component force combination sensor 8 in three directions when the loading device loads the multi-component force combination sensor 8 with the force source; the loading stroke of the loading device 1 is provided with an in-situ signal, a front limit, and a rear limit switch. wherein the pulley cable transmission component includes: a pulley block and a steel cable 2, one end of the steel cable 2 is connected to the output end of the force source adjustment component 1-3, the other end of the steel cable 2 is connected to one end of the standard sensor 6 after being guided by the pulley of the pulley block, and the other end of the standard sensor 6 is connected to the corresponding shaft end of the multi-component force combination sensor 8; special nut sleeve devices are installed at both ends of the steel cable 2, and the steel cable 2 and the nut sleeve device can rotate smoothly, so that the wire rope does not rotate during the installation of the nut sleeve device.

[0023] like Figure 1 , Figure 2 and Figure 3 As shown, in this embodiment, the three driving mechanisms 1 are driving mechanisms for the three axial end directions of the multi-component force combination sensor 8 in the X direction, the Y direction and the Z direction, wherein the steel cable 2 connected to the output end of the driving mechanism 1 in the Y direction is connected to the axial end of the multi-component force combination sensor 8 in the Y direction after being guided by the fixed pulley on the horizontal plane and the fixed pulley on the top of the test bench 9; the steel cable 2 connected to the output end of the driving mechanism 1 in the X direction is guided by the first fixed pulley 3 and the second fixed pulley 4 on the horizontal plane, so that the direction of the steel cable 2 is consistent with the driving mechanism 1 in the X direction The direction of the output end of the test bench 9 is perpendicular to that of the output end, and then guided by the third fixed pulley 5 on the top of the test bench 9 and connected to the shaft end of the multi-component force combination sensor 8 in the X direction. The steel cable 2 connected to the output end of the driving mechanism 1 in the Z direction is guided by two fixed pulleys arranged on the horizontal plane. The direction of the steel cable 2 is perpendicular to the direction of the output end of the driving mechanism 1 in the Z direction, and then guided to the vertical direction by the fixed pulley on the top of the test bench 9 and the fixed pulley on the gantry bracket 7 installed on the test bench 8, and then connected to the shaft end in the Z direction of the multi-component force combination sensor 8.

[0024] Among them, the force source adjustment component 1-3 adopts a subdivision spring, one end of which is connected to the output end of the reduction mechanism 1-2, and the other end of which is connected to the connecting screw 1-4, wherein the connecting screw 1-4 is horizontally arranged through a guide bracket, and the end of the connecting screw 1-4 facing away from the subdivision spring is connected to the steel cable 2.

[0025] The standard sensor 6 adopts an S-type standard sensor, and the other end of the standard sensor 6 is connected to the corresponding shaft end of the multi-component force combination sensor 8 through a force source push rod.

[0026] Specifically, the calibration system is used to obtain the force-voltage curve according to the real-time force value and voltage value when the real-time force value during loading calibration is equal to the calibration force value, and determine the uncertainty according to the method of measuring uncertainty of solid rocket engines, and use the uncertainty as the test error and the slope of the force-voltage curve as the calibration coefficient to calibrate the multi-component force combination sensor 8.

[0027] It should be noted that a horizontally arranged flange is connected to the bottom of the gantry bracket 7, the center position of the flange should correspond to the center position of the load-bearing surface of the multi-component force combination sensor 8, and the flange is perpendicular to the Z-direction calibration force to ensure that no component force is generated during the Z-direction calibration process, wherein the Z-direction standard sensor 6 passes through the center hole of the flange and is connected to the Z-direction axial end of the multi-component force combination sensor 8; a pulley steering device is installed on the gantry bracket 7, which is used to redirect the vertical pulling force into a horizontal force during the Z-direction calibration process, and the three-direction driving mechanism 1 is used to load and calibrate to complete the in-situ calibration in the X, Y and Z directions.

[0028] A three-direction in-situ calibration method applicable to the spatial layout of an attitude and orbit control engine comprises: Step 1: Manual calibration: Connect the steel cable 2 and the standard sensor 6, and pre-tighten the steel cable 2 so that the force value of the standard sensor 6 is displayed between 20N and 100N; sequentially control the loading device to input the maximum calibration force value in the preset calibration force value sequence to the three shaft ends of the multi-component force combination sensor 8, and control the loading device to return to the origin protection position; Step 2: Automatic calibration: When the loading in the manual calibration satisfies linearity, the automatic loading calibration of the three axial ends of the multi-component force combination sensor 8 is performed according to the calibration force value range, the number of steps and the number of return strokes; after the loading calibration of each axial end of the multi-component force combination sensor 8, the uncertainty is obtained according to the loading calibration result and the method of measuring uncertainty of the solid rocket engine, the uncertainty is used as the test error, and the slope of the force-voltage curve is used as the calibration coefficient to calibrate the multi-component force combination sensor 8.

[0029] It should be noted that, specifically, the in-situ calibration software is embedded in the thrust test system software of the solid attitude and orbit control engine. Entering the software operation interface is divided into two windows: manual calibration and automatic calibration. The manual calibration has a real-time display curve window of the force value, with front limit, rear limit, and in-situ indicator light display, target force value, real-time force value, deviation force value display box, target force value input box, start, stop, and return to zero control buttons. Click the "target force value" input bar, the input cursor appears in the input box, and then click the small keyboard on the right to enter the loading force value; the "actual force value" is displayed as the real-time force value of the standard force sensor; after the target force value is set, click the "start" button to manually load the force source, and the real-time force value curve of the standard force sensor during the force source loading process is displayed on the left; it stops automatically when the set target force value is reached. "Stop" button function: the function of stopping at any time during the loading process can be realized. "Force source protection position" button function: the selected axis force source can be returned to the zero position, and it stops automatically after reaching it, and the zero position indicator turns red. The automatic calibration interface has calibration point number and cycle number input boxes, which can be used to directly input the number of steps and return strokes to be calibrated. The X, Y, and Z axis drop-down selection boxes are used to select the axis to be calibrated. The data read button is used to read the existing calibration data, and the data save button is used to save the calibration data.

[0030] Principle of attitude and orbit control engine thrust vector test: First, enter the data acquisition interface of the thrust test system, select the manual calibration window, click the home button, and adjust the pull rods of the force source loading device in each direction to the home position. Then install the fixed pulley, connect one end of the three steel cables 2 of different lengths of X, Y, and Z to the shaft end of the multi-component force combination sensor 8 through the S-shaped standard sensor, and connect the other end to the force source loading device through the connecting threaded rod 1-4. By adjusting the nut sleeves at both ends of the steel cable 2 and observing the force value display in the manual calibration window of the thrust test system, the preload force of the steel cable 2 is optimal when it is between 50N and 200N. Use the manual calibration window to load the maximum calibration force in the preset calibration force sequence in three directions and return it to zero. Observe whether the loading linearity is good, that is, observe whether the force curve on the manual loading interface has jumps or steps. If so, adjust the steel cable 2 or check whether the fixed pulley is assembled in place until there are no jumps or steps in the force curves in the three directions. Then enter the automatic calibration interface for automatic calibration. In the automatic calibration interface, select the range, loading steps and loading return number to be calibrated, select the shaft end to be loaded and calibrated, and click Start to enter the automatic calibration program. After the calibration is completed, the uncertainty of the calibration axis end direction is automatically calculated according to the measurement uncertainty method of the solid rocket engine. The uncertainty is used as the test error, and the slope of the force-voltage curve in the loading calibration result is automatically written into the test program as the calibration coefficient to realize the calibration of the axis end of the multi-component force combination sensor 8. Then, the in-situ calibration is performed in the X, Y, and Z directions in turn. After the calibration is completed, you only need to remove the steel cables 2 in the three directions so that the multi-component force combination sensor 8 has no constraint force in the X and Y directions, and you can quickly enter the attitude and orbit control engine thrust vector test.

[0031] The in-situ calibration of the thrust test system is completed through the in-situ calibration control software, such as Figure 4 and 5As shown, its main functions are the force source loading control when the three axial force values ​​of the multi-component force combination sensor X, Y, and Z are calibrated in situ, the data collection and processing of the standard sensor and the multi-component force combination sensor, and the uncertainty calculation and analysis function of the thrust test system. Through the Ethernet communication between the upper control and acquisition software and the lower computer control software (PLC control software), the control source outputs according to the specified requirements; the program arranges the calibration force values ​​in the input calibration force value sequence into multiple calibration force value steps, and issues control instructions to the drive mechanism. The force source controller of the drive mechanism controls the speed of the servo motor 1-1 to adjust the loading time and loading accuracy. The servo motor 1-1 outputs torque to the subdivided spring with preload through the reducer 1-2, and the force value loading of the test system can be completed. When the feedback value collected from the standard sensor 6 reaches the preset value, the servo motor 1-1 stops working. At this time, the data acquisition system takes a point for the value of the multi-component force sensor. After taking the point, the control system automatically enters the next force value loading process. According to the standard method of QJ 1275A-2014 "Representation and evaluation of measurement uncertainty of solid rocket motors", three return trips are automatically loaded and data and curves are recorded. According to the uncertainty type A evaluation in the standard, the least square method is used to calculate the uncertainty of the test system.

[0032] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A three-direction in-situ calibration device suitable for the spatial layout of an attitude and orbit control engine, characterized in that: include: A test bench (9) is provided with a multi-component force combination sensor (8), wherein three axial end directions of the multi-component force combination sensor (8) are an X direction and a Y direction which are mutually perpendicular in a horizontal direction, and a Z direction which is perpendicular to the X direction and the Y direction, and the axial end in the Z direction is vertically facing upward; A loading device, used for respectively performing force source loading on three shaft ends of a multi-component force combination sensor (8) on a test bench (9) through a transmission assembly; And a calibration system, which is used to control the loading device to perform force source loading calibration on each shaft end of the multi-component force combination sensor (8) in sequence according to the calibration force values ​​in the preset calibration force value sequence, obtain the calibration coefficient and test error of the thrust test system according to the loading calibration result, and calibrate the multi-component force combination sensor (8).

2. The three-direction in-situ calibration device for the spatial layout of an attitude and orbit control engine according to claim 1, characterized in that: The loading device comprises: three driving mechanisms (1), each driving mechanism (1) comprising: a servo motor (1-1), the output end of the servo motor (1-1) being connected to a force source adjustment component (1-3) via a speed reduction mechanism (1-2), the output end of the force source adjustment component (1-3) being connected in sequence to a corresponding shaft end of a multi-component force combination sensor (8) via a pulley cable transmission component, a standard sensor (6); The standard sensor (6) is used to collect actual force values ​​corresponding to the multi-component force combination sensor (8) in three directions when the driving mechanism (1) loads the multi-component force combination sensor (8) with a force source.

3. The three-direction in-situ calibration device for the spatial layout of an attitude and orbit control engine according to claim 2, characterized in that: The pulley cable transmission assembly comprises: a pulley block and a steel cable (2), one end of the steel cable (2) is connected to the output end of the force source adjustment assembly (1-3), the other end of the steel cable (2) is connected to one end of a standard sensor (6) after being guided by a pulley of the pulley block, and the other end of the standard sensor (6) is connected to the corresponding shaft end of the multi-component force combination sensor (8).

4. The three-direction in-situ calibration device for the spatial layout of an attitude and orbit control engine according to claim 3, characterized in that: The other end of the standard sensor (6) is connected to the corresponding shaft end of the multi-component force combination sensor (8) via a force source push rod.

5. The three-direction in-situ calibration device for the spatial layout of an attitude and orbit control engine according to claim 3, characterized in that: The calibration system is used to obtain a force-voltage curve according to the real-time force value and voltage value when the real-time force value during loading calibration is equal to the calibration force value, and to determine the uncertainty according to the method of measuring uncertainty of solid rocket motors, and to use the uncertainty as the test error and the slope of the force-voltage curve as the calibration coefficient to calibrate the multi-component force combination sensor (8).

6. The three-direction in-situ calibration device for the spatial layout of an attitude and orbit control engine according to claim 3, characterized in that: The force source adjustment component (1-3) adopts a subdivision spring, one end of which is connected to the output end of the speed reduction mechanism (1-2), and the other end of which is connected to a connecting screw (1-4), wherein the connecting screw (1-4) is horizontally arranged through a guide bracket, and the end of the connecting screw (1-4) facing away from the subdivision spring is connected to a steel cable (2).

7. The three-direction in-situ calibration device for the spatial layout of an attitude and orbit control engine according to claim 2, characterized in that: The standard sensor (6) adopts an S-type standard sensor.

8. A three-direction in-situ calibration method for the spatial layout of an attitude and orbit control engine, characterized in that: include: Manual calibration: Connect the steel cable (2) and the standard sensor (6), and pre-tighten the steel cable (2) so that the force value displayed by the standard sensor (6) is between 20N and 100N; sequentially controlling the loading device to input the maximum calibration force value in a preset calibration force value sequence to the three shaft ends of the multi-component force combination sensor (8), and controlling the loading device to return to the origin protection position; When the loading in manual calibration satisfies linearity, perform automatic calibration: Automatically calibrating the loading of the three shaft ends of the multi-component force combination sensor (8) according to the calibrated force value range, the number of steps and the number of returns; After each shaft end of the multi-component force combination sensor (8) is loaded and calibrated, the uncertainty is obtained according to the loading calibration result and a method for measuring uncertainty of a solid rocket engine, the uncertainty is used as a test error, and the slope of the force-voltage curve is used as a calibration coefficient to calibrate the multi-component force combination sensor (8).

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