Interference machine assembly balancing method

Abstract

The invention provides a balancing method for a jammer assembly. The balancing method comprises the following steps: firstly, determining the model and precision requirement of the jammer assembly to be trimmed; analyzing the property and influence mechanism of the interference source; recording mass distribution and position information data of the parts of the interfering machine assembly in an initial state; constructing a mathematical model according to the interference source property, the influence mechanism and the measured data; calculating a plurality of groups of counter weight mass and counter weight position combined numerical values needing to be added or parameter values needing to be adjusted; according to a calculation result, carrying out primary trimming; and finally, detecting whether balance is reached or not, if not, selecting the optimal combination value from the multiple groups of combination values, and balancing again to complete the precision requirement. According to the invention, through measurement and calculation, the imbalance point of the interference unit assembly can be found out, and a proper amount of mass is added or removed on the imbalance point, so that the mass distribution of the interference unit assembly is adjusted, and the interference unit assembly is in a balanced state; and adjustment can be carried out in time according to the trimming parameters, and the trimming precision is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of mass balancing, and in particular relates to a jammer assembly balancing method. Background Art

[0002] Each jammer assembly has individual differences due to cables and other reasons, resulting in uneven mass distribution and large mass deviation, so balancing is required to achieve energy or signal balance. This balance is achieved by adjusting various parameters inside the jammer assembly to eliminate or minimize the impact of external interference factors on the normal operation of the system. The balancing process must ensure that the jammer assembly can maintain efficient and stable operation in various working environments.

[0003] At present, in the process of balancing the jammer assembly, it is usually necessary to manually adjust the balancing structure and constantly adjust it to achieve mass balance. The process is cumbersome and complicated. The balancing situation is checked visually or mechanically, resulting in large errors and unsatisfactory balancing effects. Summary of the invention

[0004] The purpose of the present invention is to solve the problems of low efficiency and low balancing accuracy caused by manually balancing a jammer assembly in the prior art, and to provide a jammer assembly balancing method to simplify the balancing process and improve the balancing efficiency and accuracy.

[0005] To achieve the above purpose, the technical solution provided by the present invention is:

[0006] A jammer assembly balancing method comprises the following steps:

[0007] Step 1: Determine the model and accuracy requirements of the jammer assembly to be trimmed;

[0008] Step 2: Identify the interference source and analyze its nature and impact mechanism;

[0009] Step 3: Analyze the structure of the jammer assembly, identify the key components that affect the balance state of the jammer assembly and determine the areas that need to adjust the mass; measure the parts of the jammer assembly and record the mass distribution and position information data in the initial state;

[0010] Step 4: Based on the nature of the interference source, the impact mechanism and the data obtained in step 3, a mathematical model is constructed to describe the dynamic behavior of the jammer assembly;

[0011] Step 5: According to the design parameters and performance requirements of the jammer assembly, use the constructed mathematical model to calculate the combined values ​​of the multiple sets of counterweight masses and counterweight positions that need to be added or the parameter values ​​that need to be adjusted;

[0012] Step 6: Select a set of values ​​from the combined values ​​to perform initial trim on the jammer combination;

[0013] Step 7: Perform a comprehensive inspection on the jammer assembly after the initial balancing to verify whether it is balanced; if it is not balanced, use the optimization algorithm to process the combination values ​​to obtain the optimal combination of counterweight mass and counterweight position, and perform balancing again to meet the balancing accuracy requirements.

[0014] Furthermore, in step 4, the mathematical model constructed is a lever system, including a counterweight and a jammer assembly, with the center of mass position with the required accuracy as the fulcrum of the lever, and the principle of moment balance is used to calculate the functional relationship between the mass of the counterweight and its center of mass position, expressed as;

[0015]

[0016] in, It represents the distance between the center of mass position (x, y, z) of the whole machine without adding counterweight and the center of mass position (x0, y0, z0) with accuracy requirement, l represents the distance between the center of mass position of counterweight and the center of mass position with accuracy requirement, m represents the total mass of counterweight, and M0 represents the mass of the whole machine with adding counterweight.

[0017] Furthermore, in step 5, based on the analysis of the interference source, in order to reduce the error, the mass redundancy parameter ε is introduced, then the total mass of the whole machine with the counterweight added in the lever system is: M=M0+m+ε, where M represents the total mass of the whole machine with the counterweight added.

[0018] By limiting the total mass range of the whole machine with added counterweight, the range of counterweight mass m can be determined, and according to the formula The distance l between the center of mass position of the counterweight and the center of mass position with accuracy requirements is calculated, that is, the range of the counterweight position is determined, and the combined values ​​of multiple sets of counterweight masses and counterweight positions are obtained.

[0019] Further, in step 6, the counterweight is composed of a plurality of loads, and during balancing, the middle number of the combined values ​​of the counterweight mass and the counterweight position is selected to balance the jammer assembly.

[0020] Add counterweight mass at the counterweight position to change the center of mass position of the jammer assembly, or make adjustments step by step by changing the position of the parts. Repeat step 3 after each adjustment to ensure that the adjustment result meets expectations.

[0021] Furthermore, in step 7, under the constraints of the whole machine mass, counterweight mass, and counterweight position, the objective function is used to verify whether the jammer assembly is balanced. The objective function is expressed as:

[0022]

[0023] Where U represents the objective function, which is defined as the sum of the differences between the centroid positions of all parts and the centroid positions with the accuracy requirements, represents the Euclidean distance between the centroid position of the i-th component and the centroid position with the required accuracy, n represents the number of components, m i represents the mass of the i-th component, represents the centroid position of the ith component, Indicates the centroid position for the accuracy requirement.

[0024] When the minimum value of the objective function U is less than the set threshold, the jammer combination reaches a balanced state.

[0025] Furthermore, the constraints on the overall quality are:

[0026]

[0027] Among them, M max Indicates the maximum allowable mass of the entire machine.

[0028] Furthermore, in step 7, if the jammer assembly does not reach balance after the initial balancing, the combination value is processed using an optimization algorithm, and the objective function value is used as an evaluation criterion to obtain the optimal counterweight mass and counterweight position combination value.

[0029] Furthermore, based on the optimal value, the jammer assembly is re-balanced. During the balance, the mass distribution and position information data of the jammer assembly need to be measured again. After the balance, a comprehensive evaluation is required to ensure that the jammer assembly meets the accuracy requirements.

[0030] The advantages of the present invention are:

[0031] The present invention can find out the unbalanced point of the jammer assembly, that is, the position where the mass distribution is uneven, through measurement and calculation; add or remove an appropriate amount of mass at the unbalanced point to adjust the mass distribution of the jammer assembly to achieve a balanced state; and by verifying the balancing effect and analyzing the results, timely adjustments can be made according to the balancing parameters to improve the balancing accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The features and advantages of the present invention will become more readily understood through the following description with reference to the accompanying drawings, which are not drawn to scale and in which some features are exaggerated or minimized to show details of particular components:

[0033] Figure 1 is a flow chart of a balancing method in an embodiment of the present invention;

[0034] Figure 2 It is the simulation result of the mathematical model in the embodiment of the present invention. DETAILED DESCRIPTION

[0035] The present invention will be described in detail below with reference to the accompanying drawings by means of exemplary embodiments of the present invention. It should be noted that the following detailed description of the present invention is only for the purpose of illustration, and is not intended to limit the present invention.

[0036] A balancing method for a jammer assembly, such as Figure 1 As shown, the following steps are included:

[0037] Step 1: Determine the model and accuracy requirements of the jammer assembly to be trimmed;

[0038] Step 2: Identify the interference source and analyze its nature and impact mechanism;

[0039] Step 3: Analyze the structure of the jammer assembly, identify the key components that affect the balance state of the jammer assembly and determine the areas that need to adjust the mass; measure the parts of the jammer assembly and record the mass distribution and position information data in the initial state;

[0040] Step 4: Based on the nature of the interference source, the impact mechanism and the data obtained in step 3, a mathematical model is constructed to describe the dynamic behavior of the jammer assembly;

[0041] Step 5: According to the design parameters and performance requirements of the jammer assembly, use the constructed mathematical model to calculate the combined values ​​of the multiple sets of counterweight masses and counterweight positions that need to be added or the parameter values ​​that need to be adjusted;

[0042] Step 6: Select a set of values ​​from the combined values ​​to perform initial trim on the jammer combination;

[0043] Step 7: Perform a comprehensive inspection on the jammer assembly after the initial balancing to verify whether it is balanced; if it is not balanced, use the optimization algorithm to process the combination values ​​to obtain the optimal combination of counterweight mass and counterweight position, and perform balancing again to meet the balancing accuracy requirements.

[0044] Next, each step of the above method in this embodiment will be described in more detail.

[0045] In step 1, it is necessary to ensure that the jammer assembly is in a stable and measurable environment to reduce external interference.

[0046] In step 2, before trimming, potential interference sources must first be identified and analyzed. This includes electromagnetic interference, mechanical vibration, thermal noise and other possible interference factors. By deeply understanding the nature and influence mechanism of the interference source, theoretical support is provided for the subsequent trimming of the jammer combination.

[0047] In step 3: analyze the structure of the jammer assembly to understand the functions, relationships and possible interactions of its internal components. Structural analysis helps to find the key points in the balancing process and determine which components have the greatest impact on the balance of the jammer assembly; understand the interaction between the components and how they jointly affect the balance of the jammer assembly; based on the above analysis, determine which positions or components can be adjusted to most effectively improve the balance of the jammer assembly.

[0048] In step 4, by analyzing the structural characteristics of the device and the influence of the interference source, the most appropriate balancing method (such as static balancing, dynamic balancing, etc.) can be selected. In the balancing method of the jammer assembly (such as some special configurations or designs in the aircraft), static balancing is mainly used in pre-flight preparation and inspection, reducing aerodynamic interference during flight, and meeting specific mission requirements. It plays an important role in ensuring the stability and safety of the assembly, optimizing the aerodynamic layout, and improving flight stability and accuracy. Therefore, when designing and using the jammer assembly, full attention should be paid to the application and effect of static balancing.

[0049] According to the characteristics of the jammer assembly and actual needs, the balancing method can be divided into multiple types, such as static balancing, dynamic balancing, automatic balancing, etc. Different balancing methods are suitable for different situations. Choosing a suitable balancing method is the key to ensuring the balancing effect. Among them, this embodiment adopts static balancing, as shown below:

[0050] According to the provided mass, center of mass conditions and the simulation results of the whole machine without counterweight load, such as Figure 2 As shown, it is used to demonstrate the simulation results of the mathematical model to help understand how the static balancing method affects the change of the center of mass position of the equipment.

[0051] The mathematical model constructed is a lever system. At two rigid points in the system space, the principle of moment balance is used to calculate the functional relationship between the mass of the counterweight and the position of its center of mass. All components are regarded as rigid bodies, and the entire lever system is regarded as a complete system. The center of mass position with precision requirements is used as the fulcrum of the lever. The lever system includes a combination of a counterweight and a jammer. The principle of moment balance: mg·l=M0g·L is used to calculate the functional relationship between the mass of the counterweight and the position of its center of mass, expressed as;

[0052]

[0053] in, It represents the distance between the center of mass position (x, y, z) of the whole machine without adding counterweight and the center of mass position (x0, y0, z0) with accuracy requirement, in mm, l represents the distance between the center of mass position of counterweight and the center of mass position with accuracy requirement, in mm, m represents the total mass of counterweight, in kg, M0 represents the mass of the whole machine without adding counterweight, in kg.

[0054] In step 5, without adding counterweight load, the center of mass position of the whole machine without counterweight is calculated by Creo software simulation, and it is compared with the center of mass position with accuracy requirements. According to the distance formula between two points in space, And x0 = -16.84, y0 = 3.11, z0 = 3.81, we get L = 17.54 mm, that is, the deviation between the center of mass position of the whole machine and the center of mass position with accuracy requirement in the initial state. Set M0 = 3.13, and 3.03 ≤ M0 + m ≤ 3.70, then 0.27 ≤ m ≤ 0.67. Based on formula (1), we get the value range of l.

[0055] The mass M of the whole machine without adding counterweight load is limited by the following factors:

[0056] Equipment design parameters: The value of M is first affected by the design parameters of the equipment itself, including the material, size, weight, etc. of each component of the equipment;

[0057] Changes in the manufacturing process: During the manufacturing process, due to slight differences in materials, processes and other factors, the quality of the equipment actually manufactured may deviate from the design value. Therefore, the determination of M also needs to take these changes in actual manufacturing into account;

[0058] System stability requirements: The value of M is also affected by the system stability requirements. In order to ensure that the device remains stable during operation, M needs to be set within a reasonable range.

[0059] The total mass of the counterweight m is affected by the following factors:

[0060] Unbalance calculation: The value of m is mainly calculated based on the unbalance of the system. Through measurement and calculation, it can be determined how much mass needs to be added or removed from the system to achieve a balanced state. This mass is m.

[0061] Balancing accuracy requirements: The value of m is also affected by the balancing accuracy requirements. Different application scenarios have different requirements for balancing accuracy, so the value of m will also be adjusted according to these requirements.

[0062] Equipment structure and space limitations: The structure and space limitations inside the equipment will also affect the value of m. For example, if the space inside the equipment is limited, the weight of the load that can be added will also be limited.

[0063] In summary, the formulation of M and m is affected by many factors, including equipment design parameters, changes in the manufacturing process, system stability requirements, unbalance calculation, balancing accuracy requirements, equipment structure and space limitations, etc. When formulating these values, these factors need to be considered comprehensively to ensure the accuracy and effectiveness of the balancing results.

[0064] By limiting the total mass range of the whole machine with added counterweight, the range of the total mass m of the counterweight can be determined, and the range of the distance l between the center of mass position of the counterweight and the center of mass position with accuracy requirements can be calculated according to formula (1), that is, the range of the counterweight position is determined, and multiple sets of combined values ​​of counterweight mass and counterweight position can be obtained.

[0065] In step 6, the counterweight is composed of a plurality of loads. When balancing, the counterweight mass and counterweight position of the middle value in the combination value are selected to balance the jammer assembly.

[0066] Add counterweight mass at the counterweight position to change the center of mass position of the jammer assembly, or make adjustments step by step by changing the position of the parts. Repeat step 3 after each adjustment to ensure that the adjustment result meets expectations.

[0067] In this embodiment, when adding a counterweight load and after adjustment, based on the analysis of the interference source, in order to reduce the error, the mass redundancy parameter ε=0.1 is introduced, and the total mass of the whole machine with the counterweight added in the lever system is M=M0+m+ε. If M=3.50kg is selected, that is, m=0.37kg, and based on L=17.54mm and M0=3.13kg, l=148.37mm is obtained by formula (1). Knowing the value of l, the position where the center of mass of the counterweight should be located can be determined.

[0068] In this embodiment, the X-axis center of mass is adjusted by changing the thickness of the counterweight combination. Increasing the thickness can cause the center of mass to shift in the negative X direction, and vice versa. The center of mass position in the YOZ plane can be adjusted by changing the installation angle θ.

[0069] In step 7, under the constraints of the whole machine mass, counterweight mass, and counterweight position, the objective function is used to verify whether the jammer assembly is balanced. The objective function is expressed as:

[0070]

[0071] Among them, U represents the objective function, which is defined as the sum of the differences between the centroid positions of all components and the centroid positions of the accuracy requirements, that is, it refers to a quantitative indicator, which measures the total deviation between the centroid position distribution of all components under the current configuration of the system and the centroid position of the accuracy requirements. This sum is obtained by quantifying the distance calculated by the difference between the centroid position of each component and the centroid position of the accuracy requirements, and adding up these quantified values. represents the Euclidean distance between the centroid position of the i-th component and the centroid position with the required accuracy, n represents the number of components, m i represents the mass of the i-th component, represents the centroid position of the ith component, Indicates the centroid position of the accuracy requirement;

[0072] When the jammer assembly is in a balanced state, it means that the contributions of the center of mass positions of all components to the overall imbalance cancel each other out, minimizing the overall imbalance. However, in actual situations, since the mass, shape, and position of the components may vary, it may be impossible to completely eliminate the imbalance (i.e., achieve absolute balance). Therefore, "balance" is usually defined as a state in which the imbalance is small enough that it does not significantly affect the performance, stability, or safety of the system.

[0073] In the objective function, if the centroid positions of all parts are exactly the same as the centroid positions required by the accuracy (i.e. For all i), the imbalance U will be 0, but this is usually an ideal situation. In practical applications, a threshold of imbalance is set. When U is less than the threshold, we believe that the system has reached an acceptable equilibrium state.

[0074] The jammer assembly is in an unbalanced state: The unbalanced state refers to the situation where the center of mass position distribution of the components in the system leads to a large overall imbalance. This may be caused by uneven mass distribution of components, improper position arrangement, or insufficient / excessive addition of counterweight loads. In the objective function, the larger the value of the imbalance U, the higher the degree of imbalance of the system.

[0075] Quantifying the imbalance: The objective function quantifies the imbalance by calculating the sum of the "imbalance contribution" of each component (i.e., the product of its mass and the distance from the center of mass to the required accuracy). This quantification method takes into account the dual effects of the mass and position of the component on the imbalance. Specifically, components with larger mass or components that are farther from the target center of mass will make a greater contribution to the imbalance.

[0076] Minimize the imbalance: The goal of the optimization process is to adjust the mass and position of the counterweight (subject to various constraints) to minimize the value of the objective function U, that is, to minimize the imbalance of the system. This usually involves an iterative process in which the optimization algorithm tries different counterweight load configurations and calculates the imbalance under each configuration until a configuration that satisfies all constraints and minimizes the imbalance is found.

[0077] When the minimum value of the objective function U is less than the set threshold, the jammer combination reaches a balanced state.

[0078] The constraints on the overall quality are:

[0079]

[0080] Among them, M max Indicates the maximum permissible mass of the entire machine.

[0081] Counterweight load mass constraint: m j represents the mass of the jth load, m min represents the minimum value of m obtained in step 5, m max represents the maximum value of m obtained in step 5.

[0082] Counterweight position constraint: The geometric shape range is within the range of l calculated by formula (1). The geometric shape is divided into a cuboid or a cylinder. In this embodiment, the counterweight position is limited to the range of the cylinder. The bottom center (x c ,y c ), with radius r and height h, we have (x j -x c ) 2 +(y j -y c ) 2 ≤r 2 , and z min ≤z j ≤z max , weight load coordinate (x j ,y j ,z j ) satisfies the above conditions, z min represents the minimum vertical coordinate of the counterweight position within the range l obtained in formula (1), z max It represents the maximum vertical coordinate of the counterweight position within the range l obtained in formula (1).

[0083] If the jammer combination fails to reach balance after the initial balancing, the combination value is processed using an optimization algorithm, such as the gradient descent method and the genetic algorithm. The objective function value of formula (2) is used as the evaluation criterion to obtain the optimal combination of counterweight mass and counterweight position.

[0084] This embodiment takes the genetic algorithm as an example, and the simplified optimization steps are:

[0085] Step 7-1, initialization of the population: randomly generate a certain number of candidate solutions (i.e., the mass and position combinations of the above-mentioned counterweight loads), each candidate solution represents a potential balancing solution:

[0086] Step 7-2, evaluate fitness: For each candidate solution, calculate its objective function value (i.e., imbalance U) and evaluate its fitness accordingly;

[0087] Step 7-3, selection operation: select excellent candidate solutions as parents according to fitness to generate the next generation.

[0088] Step 7-4, crossover and mutation: Combine the genetic information of the parents through the crossover operation, and introduce new genetic mutations through the mutation operation to generate new candidate solutions.

[0089] Step 7-5, iterative update: repeat steps 7-2 to 7-4 until the termination condition is met (the maximum number of iterations is reached and the objective function value is less than a preset threshold).

[0090] Step 7-6, output result: output the optimal solution or optimal solution set finally obtained, that is, the optimal counterweight load mass and position combination value.

[0091] Based on the optimal value, the jammer assembly is re-balanced. During the trimming, the mass distribution and position information data of the jammer assembly need to be measured again. After the trimming, a comprehensive evaluation is required to ensure that the jammer assembly meets the accuracy requirements.

[0092] Achieve energy or signal balance in the jammer assembly. This balance is achieved by adjusting various parameters inside the jammer assembly (parameters include: counterweight mass: mass added or reduced at a specific position to change the mass distribution of the device. Counterweight position: the specific position of the counterweight on the device, which affects the center of mass position and stability of the device. Component position: the position of certain movable components inside the device, and the balance state of the device is changed by adjusting the position of these components.), in some cases, other methods need to be combined to achieve a better balance effect, such as: dynamic balancing: real-time adjustment during the operation of the device to cope with dynamically changing imbalance factors. Software compensation: compensate sensor data through software algorithms to correct errors caused by imbalance.) to eliminate or minimize the impact of external interference factors on the normal operation of the system. The balancing process must ensure that the device can maintain efficient and stable operation under various working environments.

[0093] The following design principles should be noted when balancing the jammer assembly:

[0094] (1) The number of counterweight load combinations should be as small as possible. Due to the uncertainty of the product's center of mass during the early design, the loads used for center of mass balancing are usually in the form of combinations. Combinations of counterweight loads not only have better flexibility, but also better interchangeability than single counterweight loads. However, too many counterweight loads will also reduce the reliability of the device, and the assembly work will be time-consuming and labor-intensive.

[0095] (2) Under the premise of meeting the weight requirements of the whole machine, the weight of the load should be as light as possible; reducing the weight of the product will also reduce the production cost and avoid unnecessary waste;

[0096] (3) The installation method is simple and convenient. On the one hand, the simple and quick installation method can effectively save the time of assembling the whole machine. On the other hand, especially when doing the center of mass test, the center of mass data of different machines may be different. If necessary, the weight load of different sizes will be replaced to balance the center of mass of a single product. Therefore, the simple installation method can save a lot of unnecessary time for assembly and testing.

[0097] (4) Good interchangeability: The counterweight load is assembled outside the equipment, which will greatly improve the interchangeability of the counterweight load;

[0098] (5) The strength meets the requirements of the use environment, the manufacturing cost is low, the shape is simple and conformal (common shape) design is adopted as much as possible.

[0099] Through measurement and calculation, this embodiment can find the unbalanced point of the jammer assembly, that is, the position where the mass distribution is uneven; add or remove an appropriate amount of mass at the unbalanced point to adjust the mass distribution of the jammer assembly to achieve a balanced state; by verifying the balancing effect and analyzing the results, timely adjustments can be made according to the balancing parameters to improve the balancing accuracy.

[0100] Finally, it should be noted that the features mentioned and / or shown in the above description of the exemplary embodiments of the present invention may be combined in the same or similar manner into one or more other embodiments, combined with the features in other embodiments or substituted for the corresponding features in other implementations. The technical solutions obtained by these combinations or substitutions shall also be deemed to be included in the protection scope of the present invention.

Claims

1. A jammer assembly balancing method, characterized in that: The following steps are involved: Step 1: Determine the model and accuracy requirements of the jammer assembly to be trimmed; Step 2: Identify the interference source and analyze its nature and impact mechanism; Step 3: Analyze the structure of the jammer assembly, identify the key components that affect the balance state of the jammer assembly and determine the areas that need to adjust the mass; measure the parts of the jammer assembly and record the mass distribution and position information data in the initial state; Step 4: Based on the nature of the interference source, the impact mechanism and the data obtained in step 3, a mathematical model is constructed to describe the dynamic behavior of the jammer assembly; Step 5: According to the design parameters and performance requirements of the jammer assembly, use the constructed mathematical model to calculate the combined values ​​of the multiple sets of counterweight masses and counterweight positions that need to be added or the parameter values ​​that need to be adjusted; Step 6: Select a set of values ​​from the combined values ​​to perform initial trim on the jammer combination; Step 7: Perform a comprehensive test on the jammer assembly after initial balancing to verify whether it is balanced; If balance is not achieved, the combined values ​​are processed using an optimization algorithm to obtain the optimal combination of counterweight mass and counterweight position, and then balance is performed again to meet the balancing accuracy requirements.

2. According to claim 1, a jammer assembly balancing method is characterized in that: In step 4, the mathematical model constructed is a lever system, including a counterweight and a jammer assembly, with the center of mass position with the required accuracy as the fulcrum of the lever. The functional relationship between the mass of the counterweight and its center of mass position is calculated using the principle of moment balance, expressed as; in, It represents the distance between the center of mass position (x, y, z) of the whole machine without adding counterweight and the center of mass position (x0, y0, z0) with accuracy requirement, l represents the distance between the center of mass position of counterweight and the center of mass position with accuracy requirement, m represents the total mass of counterweight, and M0 represents the mass of the whole machine with adding counterweight.

3. According to claim 2, a jammer assembly balancing method is characterized in that: In step 5, based on the analysis of the interference source, in order to reduce the error, the mass redundancy parameter ε is introduced, then the total mass of the whole machine with the counterweight added in the lever system is: M = M0 + m + ε, where M represents the total mass of the whole machine with the counterweight added; By limiting the total mass range of the whole machine with added counterweight, the range of counterweight mass m can be determined, and according to the formula The distance l between the center of mass position of the counterweight and the center of mass position with accuracy requirements is calculated, that is, the range of the counterweight position is determined, and the combined values ​​of multiple groups of counterweight masses and counterweight positions are obtained.

4. A jammer assembly balancing method according to claim 3, characterized in that: In step 6, the counterweight is composed of a plurality of loads, and when balancing, the middle number of the combined values ​​of the counterweight mass and the counterweight position is selected to balance the jammer assembly; Add counterweight mass at the counterweight position to change the center of mass position of the jammer assembly, or make adjustments step by step by changing the position of the parts. Repeat step 3 after each adjustment to ensure that the adjustment result meets expectations.

5. According to claim 1, a jammer assembly balancing method is characterized in that: In step 7, under the constraints of the whole machine mass, counterweight mass, and counterweight position, the objective function is used to verify whether the jammer assembly is balanced. The objective function is expressed as: Where U represents the objective function, which is defined as the sum of the differences between the centroid positions of all parts and the centroid positions with the accuracy requirements, represents the Euclidean distance between the centroid position of the i-th component and the centroid position with the required accuracy, n represents the number of components, m i represents the mass of the i-th component, represents the centroid position of the ith component, The centroid position indicating the accuracy requirement; When the minimum value of the objective function U is less than the set threshold, the jammer combination reaches a balanced state.

6. A jammer assembly balancing method according to claim 5, characterized in that: The constraints on the overall quality are: Among them, M max Indicates the maximum allowable mass of the entire machine.

7. A jammer assembly balancing method according to claim 5, characterized in that: In step 7, if the jammer assembly does not reach balance after the initial balancing, the combination value is processed using an optimization algorithm, and the objective function value is used as an evaluation criterion to obtain the optimal counterweight mass and counterweight position combination value.

8. A jammer assembly balancing method according to claim 7, characterized in that: Based on the optimal value, the jammer assembly is re-balanced. During the trimming, the mass distribution and position information data of the jammer assembly need to be measured again. After the trimming, a comprehensive evaluation is required to ensure that the jammer assembly meets the accuracy requirements.

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