Method and device for measuring quality characteristics of rigid body and storage medium

Abstract

The invention relates to the technical field of rigid body quality characteristic measurement, and discloses a rigid body quality characteristic measurement method and device and a storage medium, and the method comprises the steps: obtaining the six-dimensional acceleration of a to-be-measured body at a position A; measuring a first transfer function; obtaining three groups of exciting force sets based on the first transfer function and three preset target accelerations; equivalently obtaining a first force equivalent formula at the position of the comprehensive mass center based on the three groups of exciting force sets; determining the mass of the to-be-measured body based on any exciting force set; based on the three exciting force sets and a first force equivalent formula, comprehensive centroid coordinates are determined; solving based on the comprehensive centroid coordinate and the centroid coordinate of the comprehensive test platform to obtain the centroid coordinate of the to-be-tested body; and determining the rotational inertia of the to-be-measured body in the own centroid coordinate system based on the comprehensive centroid and the coordinates of the point A. The mass, the mass center and the rotational inertia of the rigid body can be efficiently and accurately measured at the same time through simple measurement without replacing measurement equipment.

Description

Technical Field

[0001] The present invention relates to the field of rigid body measurement technology, and in particular to a method, a device and a storage medium for measuring rigid body mass characteristics. Background Art

[0002] Mass characteristic parameters such as mass, center of mass, moment of inertia are important parameters for product evaluation and engineering applications. Among them, moment of inertia is a measure of the inertia of a rigid body during rotation. Any problem involving rotation is inseparable from moment of inertia. To accurately control the movement of a workpiece, it is necessary to understand the mass characteristic parameters of the aircraft. The accuracy of parameters such as mass, center of mass, moment of inertia directly affects the accuracy of the motion trajectory and attitude control of related equipment, so it is very important to measure the mass, center of mass and moment of inertia of some industrial products.

[0003] At present, in the process of measuring the center of mass and moment of inertia of the workpiece in the X, Y, and Z directions, frequent lifting, leveling, loading and unloading are required. These manual operation steps are many, large errors are generated, and time-consuming and labor-intensive, and the stability of the measured workpiece cannot be guaranteed. Therefore, it is necessary to perform integrated measurement of mass, center of mass, and moment of inertia. In the prior art, the following technical solutions have been published for integrated measurement methods and devices: Chinese Patent Application Publication No. CN202021140691 discloses a fully automatic mass center of mass and moment of inertia comprehensive test bench. Although the test system realizes integrated measurement, it still needs to adjust the installation direction of the workpiece when measuring the center of mass and moment of inertia in the two lateral directions of the workpiece; Chinese Patent Application Publication No. CN202222885822 discloses a center of mass-moment of inertia parameter measurement device, which also realizes integrated measurement, but during the measurement process, it is still necessary to switch the measurement state by lifting and lowering, which is inconvenient and easy to produce errors, affecting the accuracy. Summary of the invention

[0004] Based on this, it is necessary to propose a method, device and storage medium for measuring rigid body mass characteristics in order to address the technical problems of poor measurement effect and low accuracy of rigid body mass characteristics in the prior art.

[0005] In a first aspect, a method for measuring mass characteristics of a rigid body is provided, the method comprising:

[0006] Obtaining the six-dimensional acceleration of the object to be measured at position A, wherein the six-dimensional acceleration includes translational acceleration along the X-axis, translational acceleration along the Y-axis, translational acceleration along the Z-axis, rotational acceleration around the X-axis, rotational acceleration around the Y-axis, and rotational acceleration around the Z-axis;

[0007] Drive each leg and measure the first transfer function of the six-dimensional acceleration of point A relative to the motor excitation force;

[0008] Based on the first transfer function and the three preset target accelerations, the driving platform is translated along the three-axis directions of the generalized coordinate system, so as to obtain three sets of excitation force sets through the force sensor, and based on the three sets of excitation force sets being equivalent to the integrated center of mass position of the comprehensive test platform and the object to be tested, the first force equivalent formula corresponding to each of the three-axis directions is obtained, wherein each set of excitation force sets includes the true values ​​of 8 excitation forces;

[0009] Determine the mass of the object to be measured based on any one of the three sets of excitation force sets;

[0010] Based on the three sets of excitation force sets and the first force equivalent formula, the comprehensive center of mass coordinates are determined, and the center of mass coordinates of the object to be tested are obtained by solving the comprehensive center of mass coordinates and the center of mass coordinates of the comprehensive test platform;

[0011] Based on the integrated center of mass and the coordinates of point A, determine a relationship equation between the acceleration of the integrated center of mass and the acceleration of the coordinates of point A, and based on the relationship equation, determine a second transfer function of the acceleration of the integrated center of mass relative to the motor excitation force;

[0012] The integrated test platform is driven to rotate around the X, Y, and Z axes of the integrated mass center coordinate system respectively, the real value of the excitation force is recorded by a force sensor, and the excitation force is equivalent to the integrated mass center position to obtain three second force equivalent formulas, and the moment of inertia matrix is ​​solved based on the three second force equivalent formulas to determine the moment of inertia matrix;

[0013] Based on the moment of inertia matrix, the moment of inertia of the object to be measured in its own center of mass coordinate system is determined.

[0014] In a second aspect, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned method for measuring rigid body mass characteristics when executing the computer program.

[0015] In a third aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned method for measuring the mass characteristics of a rigid body are implemented.

[0016] The method for measuring the mass characteristics of a rigid body proposed in the present invention obtains the six-dimensional acceleration of the object to be measured at point A, wherein the six-dimensional acceleration includes translational acceleration along the X-axis, translational acceleration along the Y-axis, translational acceleration along the Z-axis, rotational acceleration around the X-axis, rotational acceleration around the Y-axis and rotational acceleration around the Z-axis, then drives each leg to measure the first transfer function of the six-dimensional acceleration of point A relative to the motor excitation force, and then based on the first transfer function and the preset three target accelerations, drives the platform to translate along the three-axis directions of the generalized coordinate system, thereby obtaining three groups of excitation force sets through force sensors, and based on the three groups of excitation force sets being equivalent to the comprehensive test platform and the comprehensive center of mass position of the object to be measured, obtaining the first force equivalent formula corresponding to each of the three-axis directions, wherein each group of excitation force sets includes the true values ​​of 8 excitation forces, thereby determining the object to be measured based on any one of the three groups of excitation force sets. The mass of the object to be measured is determined, and then based on the three sets of excitation force sets and the first force equivalent formula, the comprehensive center of mass coordinates are determined, and the center of mass coordinates of the comprehensive center of mass coordinates and the center of mass coordinates of the comprehensive test platform are solved to obtain the center of mass coordinates of the object to be measured, and then based on the comprehensive center of mass and the coordinates of point A, the relationship equation between the acceleration of the comprehensive center of mass and the acceleration of the coordinates of point A is determined, and based on the relationship equation, the second transfer function of the acceleration of the comprehensive center of mass relative to the motor excitation force is determined, and then the comprehensive test platform is driven to rotate around the X, Y, and Z axes of the comprehensive center of mass coordinate system respectively, and the real value of the excitation force is recorded by the force sensor, and the excitation force is equivalent to the position of the comprehensive center of mass according to the second transfer function, and three second force equivalent formulas are obtained. The moment of inertia matrix is ​​solved based on the three second force equivalent formulas to determine the moment of inertia matrix, and finally based on the moment of inertia matrix, the moment of inertia of the object to be measured in its own center of mass coordinate system is determined. The present invention can simultaneously and efficiently and accurately measure the mass, center of mass and moment of inertia of a rigid body by simple measurement without changing the measuring equipment. 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] in:

[0019] Figure 1 A diagram of an application environment of a method for measuring mass characteristics of a rigid body in one embodiment;

[0020] Figure 2 A schematic diagram of a comprehensive test platform for measuring a rigid body mass characteristic method in one embodiment;

[0021] Figure 3 is a structural block diagram of a computer device in one embodiment;

[0022] Figure 4 It is a structural block diagram of a computer device in another embodiment. DETAILED DESCRIPTION

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by technicians in the technical field of the present application; the terms used in the specification of the application herein are only for the purpose of describing specific embodiments and are not intended to limit the present application; the terms "including" and "having" and any variations thereof in the specification and claims of the present application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of the present application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0024] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0025] 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 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.

[0026] The method for measuring the mass characteristics of a rigid body provided by the embodiment of the present invention can be applied in the following aspects: Figure 1In an application environment, the client 110 communicates with the server 120 through a network. The server 120 can receive the six-dimensional acceleration of the object to be tested at A through the client 110, wherein the six-dimensional acceleration includes the translational acceleration along the X-axis, the translational acceleration along the Y-axis, the translational acceleration along the Z-axis, the rotational acceleration around the X-axis, the rotational acceleration around the Y-axis, and the rotational acceleration around the Z-axis, and then drive each leg to measure the first transfer function of the six-dimensional acceleration of point A relative to the motor excitation force, and then based on the first transfer function and the preset three target accelerations, drive the platform to translate along the 3-axis direction of the generalized coordinate system, thereby obtaining three sets of excitation force sets through the force sensor, and based on the three sets of excitation force sets equivalent to the comprehensive test platform and the comprehensive center of mass position of the object to be tested, obtain the first force equivalent formula corresponding to each of the 3-axis directions, wherein each set of excitation force sets includes the true values ​​of 8 excitation forces, and then based on any one of the three sets of excitation force sets, determine The mass of the body to be measured, thereby determining the comprehensive center of mass coordinates based on the three sets of excitation force sets and the first force equivalent formula, solving based on the comprehensive center of mass coordinates and the center of mass coordinates of the comprehensive test platform, obtaining the center of mass coordinates of the body to be measured, then determining the relationship equation between the acceleration of the comprehensive center of mass and the acceleration of the point A coordinates based on the comprehensive center of mass and the coordinates of point A, determining the second transfer function of the acceleration of the comprehensive center of mass relative to the motor excitation force based on the relationship equation, and then driving the comprehensive test platform to rotate around the X, Y, and Z axes of the comprehensive center of mass coordinate system respectively, recording the true value of the excitation force through the force sensor, and equivalent the excitation force to the comprehensive center of mass position, obtaining three second force equivalent formulas, solving the moment of inertia matrix based on the three second force equivalent formulas, determining the moment of inertia matrix, and finally determining the moment of inertia of the body to be measured in its own center of mass coordinate system based on the moment of inertia matrix. The present invention can simultaneously and efficiently and accurately measure the mass, center of mass, and moment of inertia of a rigid body by simple measurement without changing the measuring equipment. Among them, the client 110 can be but is not limited to various personal computers, laptops, smart phones, tablet computers, and portable wearable devices. The server 120 can be implemented by an independent server or a server cluster composed of multiple servers. The present invention is described in detail below through specific embodiments.

[0027] refer to Figure 2The schematic diagram of the comprehensive test platform shown in the figure, the comprehensive test platform includes a test platform, various supporting components, four supporting legs, eight force sensors, and three acceleration sensors. The supporting components are used to support the test platform. Four supporting legs are installed on the bottom surface of the test platform according to preset positions. The first supporting leg is provided with a voice coil motor driven in the X direction, a voice coil motor driven in the Y direction, and a voice coil motor driven in the Z direction. The second supporting leg is provided with a voice coil motor driven in the Z direction. The third supporting leg is provided with a voice coil motor driven in the X direction, a voice coil motor driven in the Y direction, and a voice coil motor driven in the Z direction. The fourth supporting leg is provided with a voice coil motor driven in the Z direction. The movers of each of the voice coil motors are connected to the test platform. The force sensor is fixed between the movers of the voice coil motor and the test platform. The object to be tested is fixed on the test platform. An acceleration sensor is installed at A on the object to be tested. A refers to a preset position.

[0028] The method for measuring the mass characteristics of a rigid body comprises:

[0029] Step S101: obtaining the six-dimensional acceleration of the object to be measured at location A, wherein the six-dimensional acceleration includes translational acceleration along the X-axis, translational acceleration along the Y-axis, translational acceleration along the Z-axis, rotational acceleration around the X-axis, rotational acceleration around the Y-axis, and rotational acceleration around the Z-axis;

[0030] In this embodiment, first, the rigid body to be tested (the object to be tested) is fixed on the surface of the upper platform by a tooling, and a certain position A is selected to paste the acceleration sensor to obtain the six-dimensional acceleration of the position, which are the translational acceleration along the X-axis, the translational acceleration along the Y-axis, the translational acceleration along the Z-axis, the rotational acceleration around the X-axis, the rotational acceleration around the Y-axis and the rotational acceleration around the Z-axis.

[0031] Step S102: driving each leg to measure a first transfer function of the six-dimensional acceleration of point A relative to the motor excitation force;

[0032] In this embodiment, each leg is driven separately to measure the first transfer function H of the acceleration of point A at a certain frequency relative to the motor excitation force. A , the specific expression is: A A =H A *F, where F represents the initial excitation force when driving a leg alone, A A It is a multidimensional matrix composed of the six-dimensional acceleration corresponding to point A when each leg is driven separately;

[0033] Step S103: Based on the first transfer function and the three preset target accelerations, the driving platform is translated along the three-axis directions of the generalized coordinate system, so as to obtain three sets of excitation force sets through the force sensor, and based on the three sets of excitation force sets being equivalent to the integrated center of mass position of the comprehensive test platform and the object to be tested, the first force equivalent formula corresponding to each of the three-axis directions is obtained, wherein each set of excitation force sets includes eight true values ​​of the excitation forces;

[0034] Among them, the three target accelerations are the accelerations in the X, Y, and Z axis directions of the generalized coordinate system.

[0035] In this embodiment, the platform is driven to translate along the three axes of the generalized coordinate system respectively, and the three sets of excitation force sets corresponding to the three axes are recorded by force sensors. Each set of excitation force sets has eight real values ​​of excitation force F_real, and the excitation force is equivalent to the six-dimensional force and moment at the position of the integrated center of mass of the object to be measured and the upper platform (hereinafter referred to as the integrated center of mass). The first force equivalent formula is as follows:

[0036] F_centroid=JF_real

[0037]

[0038] Among them, fx, fy, fz, mx, my and mz are the six-dimensional forces and moments at the integrated center of mass, x 1-x ,y 1-x 、z 1-x Indicates the 3D coordinates of the point where the first leg applies force to the motor, x 1-y ,y 1-y 、z 1-y Indicates the 3D coordinates of the point where the first leg applies force to the motor, 1-z ,y 1-z 、z 1-z Indicates the 3D coordinates of the point where the first leg applies force to the motor, x 2-z ,y 2-z 、z 2-z Indicates the 3D coordinates of the point where the second leg applies force to the motor, x 3-x ,y 3-x 、z 3-x Indicates the 3D coordinates of the point where the third leg applies force to the motor, x 3-y ,y 3-y 、z 3-y Indicates the 3D coordinates of the point where the third leg applies force to the motor, 3-z ,y 3-z 、z 3-z Indicates the 3D coordinates of the point where the third leg applies force to the motor, x 4-z ,y 4-z 、z 4-zIndicates the 3D coordinates of the point where the fourth leg applies force to the motor.

[0039] Step S104: determining the mass of the object to be measured based on any one of the three sets of excitation force sets;

[0040] In this embodiment, when the motor drives the platform and the rigid body A to be tested x =[a x ; 0; 0; 0; 0; 0], the target accelerates along a x Indicates that only translational motion along the X direction exists. At this time, the outrigger driving force (i.e., a set of excitation forces) is F_x = H A -1 A x . The real value of the driving force of the outrigger F_real x =[f 1-x f 1-y f 1-z f 2-z f 3-x f 3-y f 3-z f 4-z ] is equivalent to the integrated center of mass, and the six-dimensional force at the integrated center of mass is F_centroid x =JF_real x Since the platform moves only along the X-axis, the center of mass is only subject to X-direction force. Theoretically, the matrix should only have the first row F_centroid x (1) The quality of the test object and the integrated test platform is determined by Get the mass of the object to be measured; m d =m all -m p , where m p It is a known comprehensive test platform.

[0041] Step S105: Determine the comprehensive center of mass coordinates based on the three sets of excitation force sets and the first force equivalent formula, and solve based on the comprehensive center of mass coordinates and the center of mass coordinates of the comprehensive test platform to obtain the center of mass coordinates of the object to be tested;

[0042] In this embodiment, the six-dimensional force at the integrated center of mass corresponding to each of the three sets of excitation force sets is calculated by using the three sets of excitation force sets and the first force equivalent formula. The integrated center of mass coordinates are determined based on the six-dimensional forces at each integrated center of mass, and the center of mass coordinates of the integrated center of mass and the integrated test platform are solved to obtain the center of mass coordinates of the object to be tested. For example, the six-dimensional force at the integrated center of mass F_centroid x The moment of force is F_centroid x The last 3 lines of mx x(x-direction moment, the subscript x means that the center of mass is only subjected to the x-direction force), my x (y-direction moment), mz x The value (z-direction moment) is 0. According to the first force equivalent formula, the following three equations can be obtained:

[0043]

[0044] By rearranging the above equation, we can get Therefore, the comprehensive centroid coordinates

[0045] in

[0046] By driving the platform along the Y axis and Z axis respectively, we can also obtain the two sets of the above formulas P y , Q y , P z and Q z , then from P x , P y , P z Select 3 equations to combine into a valid P and corresponding Q to solve the comprehensive centroid.

[0047] For example, when the integrated test platform and the object under test are connected together with Ax=[1,0,0,0,0,0] T When the target acceleration moves in the X direction, the acceleration unit is mm / s 2 , we can get a set

[0048]

[0049] Similarly, when the integrated test platform and the object under test are connected together with Ay=[0,1,0,0,0,0] T When the target acceleration moves in the Y direction,

[0050]

[0051] When the platform and the object to be tested are at Az = [0,0,1,0,0,0] T When the target acceleration moves in the Z direction,

[0052]

[0053] To ensure |P|≠0, there are 8 combinations of matrix P: one of which is P x (2,:) means P x All elements in the second row of , and the same goes for the others. At this time, |P|=-139.622≠0, the corresponding The other 7 Ps can be

[0054] Since the mass of the measuring platform m p , measure the center of mass of the platform is known, the center of mass position of the object to be measured is

[0055] Step S106: Based on the integrated center of mass and the coordinates of point A, determine a relationship equation between the acceleration of the integrated center of mass and the acceleration of the coordinates of point A, and based on the relationship equation, determine a second transfer function of the acceleration of the integrated center of mass relative to the motor excitation force;

[0056] In this embodiment, according to the measured six-dimensional acceleration of point A, and equivalent to the comprehensive center of mass point O, in the case of micro-vibration and small displacement, the displacement relationship between the two points O and A in the rigid body satisfies the following formula:

[0057]

[0058] Where X O , Y O , Z O is the coordinate of point O, X A , Y A , Z A are the coordinates of point A, UX, UY, and UZ represent the translational displacement in the X direction, the translational displacement in the Y direction, and the translational displacement in the Z direction respectively; RX, RY, and RZ represent the rotational displacement in the X direction, the rotational displacement in the Y direction, and the rotational displacement in the Z direction respectively.

[0059] By taking the second-order derivative on both sides of the above equation, we can get the acceleration relationship between the two points O and A in the rigid body, that is, the relationship equation is: A O =R A A A

[0060] in, A A is the acceleration of point A and A O The acceleration at point O.

[0061] The second transfer function H of the acceleration at point O relative to the motor excitation force can be obtained O =R A H A .

[0062] Step S107: driving the integrated test platform to rotate around the X, Y, and Z axes of the integrated mass center coordinate system respectively, recording the true value of the excitation force through the force sensor, and equating the excitation force to the integrated mass center position according to the second transfer function, obtaining three second force equivalent formulas, solving the moment of inertia matrix based on the three second force equivalent formulas, and determining the moment of inertia matrix;

[0063] Specifically, the integrated test platform is driven to rotate around the X, Y, and Z axes of the integrated mass center coordinate system, and the true value of the excitation force is recorded by the force sensor. The excitation force is then equivalent to the integrated mass center position to obtain three second force equivalent formulas. rx =[0 0 0 a rx 0 0]' target acceleration rotates around the X axis, and the outrigger driving force F_rx=H O - 1 A rx , the true value of the force F_rx real =[f 1-x f 1-y f 1-z f 2-z f 3-x f 3-y f 3-z f 4-z ]'Equivalent to the comprehensive center of mass, the second force equivalent formula F_rx is obtained centroid =JF_rx real =MA rx , the moment of inertia matrix in the mass matrix M At this time, only three items can be solved, including, F_rx centroid (4) represents F_rx centroid The 4th row element of .

[0064] Similarly, when the integrated test platform is A ry =[0 0 0 0 a ry 0]' the target acceleration rotates around the Y axis, and can be obtained Among them, F_ry centroid is the equivalent six-dimensional force of the eight excitation forces at the integrated center of mass when the platform rotates around the Y axis. rz =[0 0 0 0 0 a rz ]' The target acceleration rotates around the Z axis, and can be obtained Among them, F_rz centroid It is the equivalent six-dimensional force of the eight excitation forces at the integrated center of mass when rotating around the Z axis.

[0065] Thus, each item of the total moment of inertia of the platform and the object to be measured is obtained and combined into the moment of inertia matrix

[0066] It should be noted that the composition of the mass matrix is Among them I 3×3is the desired moment of inertia, so the moment of inertia can be obtained by calculating the mass matrix. In the medium and high frequency bands far away from the natural frequency of the system, the relationship between the disturbance force and acceleration at the center of mass is F=MA. The moment of inertia matrix is ​​located at the intersection of the last 3 rows and last 3 columns of the mass matrix. When the device under test and the platform are driven to rotate with single degree of freedom around the three axes of the center of mass coordinate system, each value in the matrix can be calculated through the relationship between the force and acceleration at the center of mass, thereby obtaining the moment of inertia I 3×3 .

[0067] Step S108: Based on the moment of inertia matrix, determine the moment of inertia of the object to be measured in its own center of mass coordinate system.

[0068] In this embodiment, the moment of inertia of the object to be measured is m_m is the moment of inertia of the integrated test platform and the object under test in the center of mass coordinate system of the device under test all_m The moment of inertia I of the measuring platform in the center of mass coordinate system of the measured body p_m The coordinates of the comprehensive center of mass and the center of mass of the device to be tested in the generalized coordinate system are known, and the difference between the two is the coordinate P of the comprehensive center of mass in the center of mass coordinate system of the device to be tested. all_m , m all To combine the center of mass and the total mass of the device under test, according to the parallel axis theorem of moment of inertia, we can get:

[0069]

[0070] Similarly, the moment of inertia of the measuring platform in the center of mass coordinate system of the measured body is:

[0071]

[0072] in, mp To measure the platform quality, I p_p To measure the moment of inertia of the platform relative to the center of mass coordinate system of the platform itself, P p_m is the coordinate of the center of mass of the platform in the center of mass coordinate system of the object to be measured.

[0073] The measurement platform is known, and the relevant parameters can be obtained by direct measurement or simple calculation. Therefore, the moment of inertia of the object to be measured in its own center of mass coordinate system is:

[0074] I m_m =I all_m -I p_m

[0075] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 3As shown. The computer device includes a processor, a memory, a network interface and a database connected via a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile and / or volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external client via a network connection. When the computer program is executed by the processor, it implements the functions or steps of a service-side method for measuring rigid body mass characteristics.

[0076] In one embodiment, a computer device is provided. The computer device may be a client, and its internal structure diagram may be as follows: Figure 4 As shown. The computer device includes a processor, a memory, a network interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external server through a network connection. When the computer program is executed by the processor, it realizes the functions or steps of the client side of a method for measuring the mass characteristics of a rigid body.

[0077] In one embodiment, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method for measuring the mass characteristics of a rigid body when executing the computer program.

[0078] In one embodiment, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the computer program implements the steps of the method for measuring the mass characteristics of a rigid body.

[0079] It should be noted that the above functions or steps that can be implemented by the computer-readable storage medium or computer device can refer to the relevant descriptions on the server side and the client side in the aforementioned method embodiment. To avoid repetition, they will not be described one by one here.

[0080] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0081] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0082] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A method for measuring the mass characteristics of a rigid body, characterized in that: Applied to a comprehensive test platform, the comprehensive test platform includes a test platform, various supporting components, four legs, eight force sensors, and three acceleration sensors. The supporting components are used to support the test platform. Four legs are installed on the bottom surface of the test platform according to preset positions. The first leg is provided with a voice coil motor driven in the X direction, a voice coil motor driven in the Y direction, and a voice coil motor driven in the Z direction. The second leg is provided with a voice coil motor driven in the Z direction. The third leg is provided with a voice coil motor driven in the X direction, a voice coil motor driven in the Y direction, and a voice coil motor driven in the Z direction. The fourth leg is provided with a voice coil motor driven in the Z direction. The movers of the voice coil motors are connected to the test platform. The force sensor is fixed between the movers of the voice coil motors and the test platform. The object to be tested is fixed on the test platform. An acceleration sensor is installed at A on the object to be tested. A refers to a preset position. The method for measuring the mass characteristics of a rigid body comprises: Obtaining the six-dimensional acceleration of the object to be measured at position A, wherein the six-dimensional acceleration includes translational acceleration along the X-axis, translational acceleration along the Y-axis, translational acceleration along the Z-axis, rotational acceleration around the X-axis, rotational acceleration around the Y-axis, and rotational acceleration around the Z-axis; Drive each leg and measure the first transfer function of the six-dimensional acceleration of point A relative to the motor excitation force; Based on the first transfer function and the three preset target accelerations, the driving platform is translated along the three-axis directions of the generalized coordinate system, so as to obtain three sets of excitation force sets through the force sensor, and based on the three sets of excitation force sets being equivalent to the integrated center of mass position of the comprehensive test platform and the object to be tested, the first force equivalent formula corresponding to each of the three-axis directions is obtained, wherein each set of excitation force sets includes the true values ​​of 8 excitation forces; Determine the mass of the object to be measured based on any one of the three sets of excitation force sets; Based on the three sets of excitation force sets and the first force equivalent formula, the comprehensive center of mass coordinates are determined, and the center of mass coordinates of the object to be tested are obtained by solving the comprehensive center of mass coordinates and the center of mass coordinates of the comprehensive test platform; Based on the integrated center of mass and the coordinates of point A, determine a relationship equation between the acceleration of the integrated center of mass and the acceleration of the coordinates of point A, and based on the relationship equation, determine a second transfer function of the acceleration of the integrated center of mass relative to the motor excitation force; The integrated test platform is driven to rotate around the X, Y, and Z axes of the integrated mass center coordinate system respectively, the real value of the excitation force is recorded by the force sensor, and the excitation force is equivalent to the integrated mass center position according to the second transfer function, and three second force equivalent formulas are obtained. The moment of inertia matrix is ​​solved based on the three second force equivalent formulas to determine the moment of inertia matrix; Based on the moment of inertia matrix, the moment of inertia of the object to be measured in its own center of mass coordinate system is determined.

2. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method for measuring the mass characteristics of a rigid body as claimed in claim 1 are implemented.

3. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method for measuring the mass characteristics of a rigid body as claimed in claim 1 are implemented.

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