Spray pipe swing angle measuring method and device based on space swing angle algorithm

Abstract

The invention discloses a spray pipe swing angle measuring method and device based on a space swing angle algorithm, three groups of completely consistent measuring mechanisms are adopted, and a single group of measuring mechanism comprises a yaw angle measuring unit, a pitch angle measuring unit and a linear telescopic measuring unit. The measuring mechanism adopts a mode of combining an angle sensor and a linear displacement sensor, two of the three groups of measuring mechanisms are respectively arranged in a servo motion quadrant, and the other group of measuring mechanism is arranged in two servo quadrants with an included angle of 45 degrees. When the spray pipe swings, the three measuring units in the measuring mechanism can input the voltage of the linear displacement sensor and the voltage of the angle sensor respectively, and the measurement and control system converts the voltage of the linear displacement sensor into the length of the linear displacement sensor and converts the voltage of the angle sensor into the swing angle. The spatial swing and displacement of the nozzle support lug relative to the original point are calculated, so that the coordinates of the nozzle support lug are calculated, and the swing angle of the nozzle can be calculated through the coordinates of the three connecting support lugs.

Description

Technical Field

[0001] The invention belongs to the technical field of nozzle swing angle measurement, in particular to a nozzle swing angle measurement method and a measuring device based on a space swing angle algorithm. Background Art

[0002] With the continuous development of aircraft, the requirements for the flight accuracy of aircraft are becoming more and more stringent. As the actuator for adjusting the position and attitude of aircraft, the servo mechanism has an important influence and role. The load simulation equipment is used to perform ground simulation tests on the servo mechanism, simulating the influence of various external forces on the performance of the servo mechanism during the flight of the aircraft. Therefore, the measurement of the actual movement angle of the servo mechanism is also of great significance.

[0003] However, traditional load simulation equipment tests the motion angle of the servo mechanism mainly by using two sets of linear displacement sensors installed on opposite sides of the servo quadrant for measurement. This measurement has many problems:

[0004] 1. When the nozzle rolls around the central axis, the two sets of linear displacement sensors have the same extension or retraction movement, which will be detected as the nozzle swinging in the 45-degree direction, which is inconsistent with the actual situation;

[0005] 2. This test method can only be used when the nozzle center is fixed. When the nozzle center changes, the test results will not match the actual situation.

[0006] At present, since the nozzle of the flexible nozzle engine is installed on a flexible part, its swing center can change arbitrarily within a certain range. The traditional angle testing method cannot accurately measure the nozzle swing angle. Therefore, the present application provides a nozzle swing angle measurement method and measurement device based on a spatial swing angle algorithm to meet the high-precision angle test requirements of the flexible nozzle in the ground load simulation equipment test. Summary of the invention

[0007] Purpose of the invention: To provide a nozzle swing angle measurement method and device based on a spatial swing angle algorithm, so as to solve the problem in the prior art that the flexible nozzle engine is installed on a flexible part, and its swing center can change arbitrarily within a certain range, and the traditional angle testing method cannot accurately measure the nozzle swing angle.

[0008] Technical solution:

[0009] A nozzle swing angle measurement method based on a spatial swing angle algorithm, the method comprising the following steps:

[0010] Step 1: The nozzle and the measuring device are respectively mounted on the load platform, and a coordinate system with the swing center of the nozzle as the origin is established, wherein the measuring device comprises three groups of measuring mechanisms, the three groups of measuring mechanisms are distributed on the periphery of the nozzle and are respectively connected to the nozzle through three connecting lugs arranged on the nozzle, wherein two groups of the measuring mechanisms are distributed on the OX axis and the OY axis arranged at an angle of 90° in the spatial coordinate system, and the measuring mechanisms comprise a yaw angle measuring unit, a pitch angle measuring unit and a linear telescopic measuring unit, and the yaw angle measuring unit, the pitch angle measuring unit and the linear telescopic measuring unit respectively measure the yaw swing angle, the pitch swing angle and the linear displacement length of the nozzle;

[0011] Step 2: The yaw angle measurement unit, the pitch angle measurement unit and the linear telescopic measurement unit respectively collect the measured yaw swing angle data, pitch swing angle data and linear displacement length data of the nozzle and transmit them to the measurement and control system, and in the measurement and control system, the yaw swing angle data, pitch swing angle data and linear displacement length data obtained by each group of measuring mechanisms are used to generate a corresponding coordinate system conversion matrix;

[0012] Step 3: Generate the first coordinate change matrix R when the coordinate system swings around the OX axis x , when the coordinate system swings around the OY axis, a second coordinate change matrix R is generated y , after the coordinates of the three connecting ears are converted by the corresponding coordinate system conversion matrix, they are converted with the first coordinate change matrix and the second coordinate change matrix to generate three corresponding new coordinates;

[0013] Step 4: correspond the generated new coordinates to the plane equation, and calculate the swing angles of the nozzle around the X-axis and the Y-axis respectively through the normal vector of the equation. The plane equation is the plane equation of the plane where the three connecting ears are located.

[0014] In a further embodiment, of the three groups of measuring mechanisms located in the coordinate system in step 1, the remaining group of measuring mechanisms is combined with the two groups of measuring mechanisms located on the OX axis and the OY axis at an angle of 90° to each other at 45° in the opposite direction, and the remaining group of measuring mechanisms is respectively at an angle of 135° with the two groups of measuring mechanisms located on the OX axis and the OY axis.

[0015] In a further embodiment, the linear telescopic measurement unit includes a linear displacement sensor, the length of the linear displacement sensor is L, the angle is θ, and k is the length of the projection of the line connecting the swing center of the sensor lower support ear and the swing center of PG of the linear displacement sensor;

[0016] In the coordinate system (0xyz), the coordinates of the three connecting ears of the nozzle are (x0, y0, z0), where: x0 = -L*cosθ; y0 = 0; z0 = L*sinθ;

[0017] The coordinates of the measuring mechanism on the OX axis in the coordinate system (0xyz) are transformed into the coordinate system (OXYZ), and the transformation matrix R1 is obtained as follows:

[0018]

[0019] The coordinates of the measuring mechanism coordinate system (0xyz) on the OY axis are transformed into the coordinate system (OXYZ), and the transformation matrix R2 is obtained as follows:

[0020]

[0021] The coordinates of the measuring mechanism in the coordinate system (0xyz) in the 45° direction are transformed into the coordinate system (OXYZ), and the transformation matrix R3 is expressed as follows:

[0022]

[0023] In a further embodiment, when the coordinates swing around the x-axis, the swing angle is angle a, and the first coordinate change matrix is ​​expressed as follows:

[0024]

[0025] When the coordinate swings around the y-axis, the swing angle is angle b, and the second coordinate change matrix is ​​expressed as follows:

[0026]

[0027] After the coordinate system (0xyz) of the measuring mechanism on the OX axis is swung by an angle a around the x axis and an angle b around the y axis, the coordinates (x1, y1, z1) in the coordinate system (OXYZ) are expressed as follows:

[0028] (x0cosb+z0sinb+k, y0cosa+x0sinasinb-z0sinacosb, y0sina-x0sinbocosa+z0cosacosb);

[0029] After the coordinate system (0xyz) of the measuring mechanism on the OY axis swings around the x-axis by an angle a and around the y-axis by an angle b, the coordinates (x2, y2, z2) in the coordinate system (OXYZ) are expressed as follows: (y0cosa+x0sinasinb-z0sinacosb, -x0cosb-z0sinb-k, y0sina-x0sinbcosa+z0cosacosb);

[0030] After the coordinate system (0xyz) of the measuring mechanism on the 45° direction axis swings around the x-axis by an angle a and around the y-axis by an angle b, the coordinates (x3, y3, z3) in the coordinate system (OXYZ) are:

[0031] In a further embodiment, the equation of the plane where the three connecting ears are located is as follows:

[0032] Ax+By+Cz=0;

[0033] in:

[0034] A=(y2-y1)*(z3-z1)-(y3-y1)*(z2-z1);

[0035] B = (z2-z1)*(x3-x1)-(z3-z1)*(x2-x1);

[0036] C=(x2-x1)*(y3-y1)-(x3-x1)*(y2-y1);

[0037] D is a constant;

[0038] Swing angle around the Y axis:

[0039]

[0040] Swing angle around X axis:

[0041]

[0042] A nozzle swing angle measuring device based on a spatial swing angle algorithm, the measuring device comprising three groups of measuring mechanisms, all of which are electrically connected to a measurement and control system, the measuring mechanisms comprising a yaw angle measuring unit, a pitch angle measuring unit and a linear telescopic measuring unit;

[0043] The yaw angle measuring unit is mounted on the load platform, the yaw angle measuring unit is connected to the pitch angle measuring unit, the pitch angle measuring unit is connected to one end of the linear telescopic measuring unit, and the other end of the linear telescopic measuring unit is connected to the connecting lug.

[0044] In a further embodiment, the yaw angle measurement unit comprises a yaw mounting assembly, two yaw angle sensors and two yaw connecting shafts, the yaw mounting assembly comprises an adapter plate, a mounting plate and two mounting supports, the mounting plate is connected to the adapter plate by bolts, and the two mounting supports are fixed to the mounting plate by bolts;

[0045] A first deep groove ball bearing is arranged in the mounting support, an outer ring of the first deep groove ball bearing is positioned on the mounting support through a yaw end cover, and the yaw end cover is fixed to the mounting support through bolts;

[0046] The yaw connecting shaft passes through the bearing hole of the first deep groove ball bearing and is positioned by the inner ring of the first deep groove ball bearing;

[0047] The yaw angle sensor is fixed to the yaw end cover via a connecting bolt, the yaw angle sensor shaft penetrates into the hole of the yaw connecting shaft, and the yaw angle sensor is connected to the yaw connecting shaft via a first set screw.

[0048] In a further embodiment, the pitch angle measurement unit includes two sets of pitch installation components, two pitch angle sensors and two pitch rotation axes, the pitch installation components include a pitch connection frame, a pitch end cover and a second deep groove ball bearing, the pitch connection frame is connected and positioned with the yaw connection axis by screws, the second deep groove ball bearing is installed in the pitch connection frame, the bearing outer ring of the second deep groove ball bearing is positioned on the pitch connection frame by the pitch end cover, and the pitch end cover is fixed to the pitch connection frame by bolts;

[0049] The pitch rotation axis passes through the bearing hole of the second deep groove ball bearing and is positioned by the bearing inner ring of the second deep groove ball bearing;

[0050] The pitch angle sensor is fixed to the pitch end cover by connecting bolts, the pitch angle sensor shaft penetrates into the hole of the pitch rotation axis, and the pitch angle sensor is connected to the pitch rotation axis by a second set screw.

[0051] In a further embodiment, the linear telescopic measurement unit further comprises a sensor lower lug provided at one end of the linear sensor, the sensor lower lug being screwed into the linear displacement sensor and fastened by a nut;

[0052] The pitch rotation axis passes through the lower support ear of the sensor and is fastened to the pitch rotation axis by a third set screw. The other end of the linear displacement sensor is connected to the connecting support ear by a pin.

[0053] The beneficial effects of the present invention are as follows: by adopting a spatial coordinate system and three groups of measuring mechanisms, and each group of measuring mechanisms includes a yaw angle measuring unit, a pitch angle measuring unit and a linear telescopic measuring unit, the three measuring units cooperate with each other, and the spatial coordinates of the three connecting ears can be calculated, and the three-point plane equation of the nozzle can be fitted to accurately calculate the spatial swing angle of the nozzle; the measurement method can effectively calculate the swing angle when the spatial swing center changes, and the swing angle when the nozzle rolls around the central axis. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 The present invention is a schematic diagram of the operation of a measuring device in a measuring method based on a spatial swing angle algorithm.

[0055] Figure 2 It is a schematic diagram of the structure of the measuring mechanism of the present invention.

[0056] Figure 3 It is a two-dimensional cross-sectional view of the yaw angle measurement unit of the present invention.

[0057] Figure 4 It is a two-dimensional cross-sectional view of the pitch angle measurement unit of the present invention.

[0058] Figure 5 It is a two-dimensional cross-sectional view of the linear telescopic measuring unit of the present invention.

[0059] Figure 6 Schematic diagram of the coordinate system of the algorithm of the present invention.

[0060] The accompanying drawings are marked as: measuring mechanism 1, measurement and control system 2, yaw angle measurement unit 3, pitch angle measurement unit 4, linear telescopic measurement unit 5, adapter plate 6, mounting plate 7, mounting support 8, yaw connecting shaft 9, yaw end cover 10, yaw angle sensor 11, first set screw 12, first deep groove ball bearing 13, pitch connecting frame 14, pitch end cover 15, pitch rotation shaft 16, pitch angle sensor 17, second set screw 18, second deep groove ball bearing 19, sensor lower lug 20, third set screw 21, linear displacement sensor 22, connecting lug 23. DETAILED DESCRIPTION

[0061] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present invention. However, it is apparent to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features well known in the art are not described.

[0062] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0063] Reference Figure 1 and Figure 6 , is a nozzle swing angle measurement method based on a spatial swing angle algorithm disclosed in the present invention; the method comprises the following steps:

[0064] Step 1: The nozzle and the measuring device are respectively mounted on the load platform, and a coordinate system with the center of the nozzle as the origin is established, wherein the measuring device comprises three groups of measuring mechanisms 1, the three groups of measuring mechanisms 1 are distributed on the periphery of the nozzle and are respectively connected to the nozzle through three connecting ears 23 provided on the nozzle, the three connecting ears 23 are located at three positions on the nozzle, and the three connecting ears 23 are preferably located in the same cross section of the nozzle, wherein two groups of the measuring mechanisms 1 are distributed on the OX axis and the OY axis which are arranged at an angle of 90° in the spatial coordinate system, the remaining group of the measuring mechanisms 1 is combined with the two groups of the measuring mechanisms 1 which are located on the OX axis and the OY axis which are arranged at an angle of 90° to form a 45° opposite direction, and the remaining group of the measuring mechanisms 1 is arranged at an angle of 90° to form a 45° opposite direction ... The measuring mechanism 1 is respectively at an angle of 135° with the two groups of measuring mechanisms 1 located on the OX axis and the OY axis. The above angle setting is a preferred solution to facilitate installation in actual application, so a 45° direction is adopted. The remaining group of measuring mechanisms 1 can also be located at any angle position except the two groups of measuring mechanisms 1 on the OX axis and the OY axis. The remaining group of measuring mechanisms 1 at any angle position is still applicable to this algorithm. The measuring mechanism 1 includes a yaw angle measuring unit 3, a pitch angle measuring unit 4 and a linear telescopic measuring unit 5. The yaw angle measuring unit 3, the pitch angle measuring unit 4 and the linear telescopic measuring unit 5 respectively measure the yaw swing angle, the pitch swing angle and the linear displacement length of the nozzle;

[0065] Step 2: The yaw angle measurement unit 3, the pitch angle measurement unit 4 and the linear telescopic measurement unit 5 respectively collect the measured yaw swing angle data, pitch swing angle data and linear displacement length data of the nozzle and transmit them to the measurement and control system 2, and in the measurement and control system 2, the yaw swing angle data, pitch swing angle data and linear displacement length data obtained by each group of measuring mechanisms 1 are used to generate a corresponding coordinate system conversion matrix;

[0066] The linear telescopic measurement unit 5 includes a linear displacement sensor 22, the length of the linear displacement sensor 22 is L, the angle is θ, and k is the length of the projection of the swing center distance PG of the sensor lower support ear 20 of the linear displacement sensor 22 to the swing center connection line;

[0067] In the coordinate system (0xyz), the coordinates of the three connecting lugs 23 of the nozzle are (x0, y0, z0), where: x0 = -L*cosθ; y0 = 0; z0 = L*sinθ;

[0068] The coordinates of the measuring mechanism 1 on the OX axis in the coordinate system (0xyz) are transformed into the coordinate system (OXYZ), and the transformation matrix R1 is expressed as follows:

[0069]

[0070] The coordinates of the measuring mechanism 1 on the OY axis in the coordinate system (0xyz) are transformed into the coordinate system (OXYZ), and the transformation matrix R2 is obtained as follows:

[0071]

[0072] The coordinates in the coordinate system (0xyz) of the measuring mechanism 1 in the 45° direction are transformed into the coordinate system (OXYZ), and the transformation matrix R3 is obtained as follows:

[0073]

[0074] Step 3: When the coordinate system swings around the OX axis, a first coordinate change matrix Rx is generated, and when the coordinate system swings around the OY axis, a second coordinate change matrix Ry is generated. The coordinates of the three connecting ears 23 are respectively converted by the corresponding coordinate system conversion matrix, and then converted to the first coordinate change matrix and the second coordinate change matrix to generate three corresponding new coordinates;

[0075] When the coordinates swing around the x-axis, the swing angle is angle a, and the first coordinate change matrix is ​​expressed as follows:

[0076]

[0077] When the coordinate swings around the y-axis, the swing angle is angle b, and the second coordinate change matrix is ​​expressed as follows:

[0078]

[0079] After the coordinate system (0xyz) of the measuring mechanism 1 on the OX axis is swung by an angle a around the x axis and an angle b around the y axis, the coordinates (x1, y1, z1) in the coordinate system (OXYZ) are expressed as follows:

[0080] (x0cosb+z0sinb+k, y0cosa+x0sinasinb-z0sinacosb, y0sina-x0sinbcosa+z0cosacosb);

[0081] After the coordinate system (0xyz) of the measuring mechanism 1 on the OY axis is swung by an angle a around the x axis and an angle b around the y axis, the coordinates (x2, y2, z2) in the coordinate system (OXYZ) are expressed as follows:

[0082] (y0cosa+x0sinasinb-z0sinacosb,-x0cosb-z0sinb-k,y0sina-x0sinbcosa+z0cosacosb);

[0083] After the coordinate system (0xyz) of the measuring mechanism 1 on the 45° direction axis swings by an angle a around the x-axis and by an angle b around the y-axis, the coordinates (x3, y3, z3) in the coordinate system (OXYZ) are:

[0084]

[0085] Step 4: Correspond the generated new coordinates to the plane equation, and calculate the swing angles of the nozzle around the X-axis and the Y-axis respectively through the normal vector of the equation, and the plane equation is the plane equation of the plane where the three connecting ears 23 are located;

[0086] The equations of the plane where the three connecting ears 23 are located are as follows:

[0087] Ax+By+Cz=0;

[0088] in:

[0089] A=(y2-y1)*(z3-z1)-(y3-y1)*(z2-z1);

[0090] B = (z2-z1)*(x3-x1)-(z3-z1)*(x2-x1);

[0091] C=(x2-x1)*(y3-y1)-(x3-x1)*(y2-y1);

[0092] D is a constant. By substituting the coordinates into the formula, we can get the value of the constant D.

[0093] Swing angle around the Y axis:

[0094]

[0095] Swing angle around X axis:

[0096]

[0097] Reference Figure 1-6 , is a nozzle swing angle measuring device based on a spatial swing angle algorithm disclosed in the present invention, the measuring device includes three groups of measuring mechanisms 1, the three groups of measuring mechanisms 1 are electrically connected to a measurement and control system 2, the measuring mechanism 1 includes a yaw angle measuring unit 3, a pitch angle measuring unit 4 and a linear telescopic measuring unit 5; the yaw angle measuring unit 3 is installed on the load platform, the yaw angle measuring unit 3 is connected to the pitch angle measuring unit 4, the pitch angle measuring unit 4 is connected to one end of the linear telescopic measuring unit 5, and the other end of the linear telescopic measuring unit 5 is connected to the connecting lug 23.

[0098] The yaw angle measurement unit 3 includes a yaw mounting assembly, two yaw angle sensors 11 and two yaw connecting shafts 9. The yaw mounting assembly includes an adapter plate 6, a mounting plate 7 and two mounting supports 8. The adapter plate 6 is used for mounting and connecting with other equipment. The mounting plate 7 is connected to the adapter plate 6 by bolts. The two mounting supports 8 are fixed to the mounting plate 7 by bolts. A first deep groove ball bearing 13 is provided in the mounting support 8. The outer ring of the first deep groove ball bearing 13 is positioned on the mounting support 8 by a yaw end cover 10. The yaw end cover 10 is fixed to the mounting support 8 by bolts. The yaw connecting shaft 9 passes through the bearing hole of the first deep groove ball bearing 13 and is positioned by the inner ring of the first deep groove ball bearing 13; the yaw angle sensor 11 is fixed to the yaw end cover 10 by connecting bolts, and the shaft of the yaw angle sensor 11 passes through the hole of the yaw connecting shaft 9. The yaw angle sensor 11 is connected to the yaw connecting shaft 9 by a first set screw 12, so that the yaw angle sensor 11 and the yaw connecting shaft can rotate 360°. The yaw angle sensor 11 measures the rotation angle of the yaw connecting shaft 9. Another mounting bracket 8 and the yaw angle sensor 11 and other parts are installed with the same structure.

[0099] The pitch angle measurement unit 4 includes two sets of pitch installation components, two pitch angle sensors 17 and two pitch rotation axes 16. The pitch installation components include a pitch connection frame 14, a pitch end cover 15 and a second deep groove ball bearing 19. The pitch connection frame 14 is connected and positioned with the yaw connection axis 9 by screws. The second deep groove ball bearing 19 is installed in the pitch connection frame 14. The outer ring of the second deep groove ball bearing 19 is positioned on the pitch connection frame 14 by the pitch end cover 15. The pitch end cover 15 is fixed to the pitch connection frame 14 by bolts. The pitch rotation axis 16 passes through the second The bearing hole of the deep groove ball bearing 19 is positioned by the bearing inner ring of the second deep groove ball bearing 19; the pitch angle sensor 17 is fixed to the pitch end cover 15 by connecting bolts, the axis of the pitch angle sensor 17 penetrates into the hole of the pitch rotation axis 16, and the pitch angle sensor 17 is connected to the pitch rotation axis 16 by a second set screw 18, so that the pitch angle sensor 17 and the pitch rotation axis can rotate 360°, and the pitch angle sensor 17 measures the rotation angle of the pitch rotation axis 16, and another set of pitch mounting components and parts such as the pitch angle sensor 17 and the pitch rotation axis 16 are installed in the same structure.

[0100] The linear telescopic measurement unit 5 also includes a sensor lower lug 20 provided at one end of the linear sensor, the sensor lower lug 20 is screwed into the linear displacement sensor 22 and fastened by a nut; the pitch rotation axis 16 passes through the sensor lower lug 20 and is fastened to the pitch rotation axis 16 by a third set screw 21, and the other end of the linear displacement sensor 22 is connected to the connecting lug 23 by a pin. When the nozzle swings, the linear displacement sensor 22 follows the telescopic output voltage, and the angle sensors in the yaw angle measurement unit 3 and the pitch angle measurement unit 4 follow the output voltage. The measurement and control system 2 collects the sensor output voltage, and the measurement and control system 2 converts the output voltage of the linear displacement sensor 22 into displacement, and the length of the linear displacement sensor 22 can be obtained; the measurement and control system 2 converts the output voltage of the angle sensor into an angle, and the yaw swing angle and the pitch swing angle can be obtained. There are two angle sensors in the yaw angle measurement unit 3 and the pitch angle measurement unit 4. The arithmetic mean of the angles in the yaw angle measurement unit 3 and the pitch angle measurement unit 4 is taken as the yaw swing angle and the pitch swing angle. The yaw swing angle, the pitch swing angle and the length of the linear displacement sensor 22 are brought into the algorithm formula to obtain the plane equation where the connecting lugs 23 of the three points of the nozzle are located, and the nozzle swing angle can be calculated through the equation normal vector.

[0101] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

[0102] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings; however, the present invention is not limited to the specific details in the above embodiments; within the technical concept of the present invention, various equivalent transformations can be made to the technical scheme of the present invention, and these equivalent transformations all belong to the protection scope of the present invention.

Claims

1. A nozzle swing angle measurement method based on a spatial swing angle algorithm, characterized in that: The method comprises the following steps: Step 1: The nozzle and the measuring device are respectively mounted on the load platform, and a coordinate system with the swing center of the nozzle as the origin is established, wherein the measuring device comprises three groups of measuring mechanisms, the three groups of measuring mechanisms are distributed on the periphery of the nozzle and are respectively connected to the nozzle through three connecting lugs arranged on the nozzle, wherein two groups of the measuring mechanisms are distributed on the OX axis and the OY axis arranged at an angle of 90° in the spatial coordinate system, and the measuring mechanisms comprise a yaw angle measuring unit, a pitch angle measuring unit and a linear telescopic measuring unit, and the yaw angle measuring unit, the pitch angle measuring unit and the linear telescopic measuring unit respectively measure the yaw swing angle, the pitch swing angle and the linear displacement length of the nozzle; Step 2: The yaw angle measurement unit, the pitch angle measurement unit and the linear telescopic measurement unit respectively collect the measured yaw swing angle data, pitch swing angle data and linear displacement length data of the nozzle and transmit them to the measurement and control system, and in the measurement and control system, the yaw swing angle data, pitch swing angle data and linear displacement length data obtained by each group of measuring mechanisms are used to generate a corresponding coordinate system conversion matrix; Step 3: Generate the first coordinate change matrix R when the coordinate system swings around the OX axis x , when the coordinate system swings around the OY axis, a second coordinate change matrix R is generated y , after the coordinates of the three connecting ears are converted by the corresponding coordinate system conversion matrix, they are converted with the first coordinate change matrix and the second coordinate change matrix to generate three corresponding new coordinates; Step 4: correspond the generated new coordinates to the plane equation, and calculate the swing angles of the nozzle around the X-axis and the Y-axis respectively through the normal vector of the equation. The plane equation is the plane equation of the plane where the three connecting ears are located.

2. The nozzle swing angle measurement method based on the spatial swing angle algorithm according to claim 1, characterized in that: In step 1, three groups of measuring mechanisms are located in the coordinate system, and the remaining group of measuring mechanisms is combined with the two groups of measuring mechanisms located on the OX axis and the OY axis at an angle of 90° to form a 45° opposite direction, and the remaining group of measuring mechanisms is respectively at an angle of 135° with the two groups of measuring mechanisms located on the OX axis and the OY axis.

3. The nozzle swing angle measurement method and device based on the spatial swing angle algorithm according to claim 2, characterized in that: The linear telescopic measurement unit includes a linear displacement sensor, the length of the linear displacement sensor is L, the angle is θ, and k is the length of the projection of the line connecting the lower support ear of the linear displacement sensor from the center of the swing to the center of the swing PG; In the coordinate system (0xyz), the coordinates of the three connecting ears of the nozzle are (x0, y0, z0), where: x0 = -L*cosθ; y0 = 0; z0 = L*sinθ; The coordinates of the measuring mechanism on the OX axis in the coordinate system (0xyz) are transformed into the coordinate system (OXYZ), and the transformation matrix R1 is obtained as follows: The coordinates of the measuring mechanism coordinate system (0xyz) on the OY axis are transformed into the coordinate system (OXYZ), and the transformation matrix R2 is obtained as follows: The coordinates of the measuring mechanism in the coordinate system (0xyz) in the 45° direction are transformed into the coordinate system (OXYZ), and the transformation matrix R3 is expressed as follows:

4. The nozzle swing angle measurement method based on the spatial swing angle algorithm according to claim 3 is characterized in that: When the coordinates swing around the x-axis, the swing angle is angle a, and the first coordinate change matrix is ​​expressed as follows: When the coordinate swings around the y-axis, the swing angle is angle b, and the second coordinate change matrix is ​​expressed as follows: After the coordinate system (0xyz) of the measuring mechanism on the OX axis is swung by an angle a around the x axis and an angle b around the y axis, the coordinates (x1, y1, z1) in the coordinate system (OXYZ) are expressed as follows: (x0cosb+z0sinb+k, y0cosa+x0sinasinb-z0sinacosb, y0sina-x0sinbcosa+z0cosacosb); After the coordinate system (0xyz) of the measuring mechanism on the OY axis swings around the x-axis by an angle a and around the y-axis by an angle b, the coordinates (x2, y2, z2) in the coordinate system (OXYZ) are expressed as follows: (y0cosa+x0sinasinb-z0sinacosb, -x0coxb-z0sinb-k, y0sna-x0sinbcosa+z0cosacosb); After the coordinate system (0xyz) of the measuring mechanism on the 45° direction axis swings around the x-axis by an angle a and around the y-axis by an angle b, the coordinates (x3, y3, z3) in the coordinate system (OXYZ) are:

5. The nozzle swing angle measurement method based on the spatial swing angle algorithm according to claim 4 is characterized in that: The equations of the plane where the three connecting lugs are located are as follows: Ax+By+Cz+D=0; in: A=(y2-y1)*(z3-z1)-(y3-y1)*(z2-z1); B = (z2-z1)*(x3-x1)-(z3-z1)*(x2-x1); C=(x2-x1)*(y3-y1)-(x3-x1)*(y2-y1); D is a constant; Swing angle around Y axis: Swing angle around X axis:

6. A measuring device for measuring the nozzle swing angle using the measuring method based on the spatial swing angle algorithm as claimed in claim 1, characterized in that: The measuring device comprises three groups of measuring mechanisms, all of which are electrically connected to the measurement and control system, and the measuring mechanisms comprise a yaw angle measuring unit, a pitch angle measuring unit and a linear telescopic measuring unit; The yaw angle measuring unit is mounted on the load platform, the yaw angle measuring unit is connected to the pitch angle measuring unit, the pitch angle measuring unit is connected to one end of the linear telescopic measuring unit, and the other end of the linear telescopic measuring unit is connected to the connecting lug.

7. The measuring device for measuring the nozzle swing angle based on the spatial swing angle algorithm according to claim 6, characterized in that: The yaw angle measurement unit comprises a yaw mounting assembly, two yaw angle sensors and two yaw connecting shafts, the yaw mounting assembly comprises an adapter plate, a mounting plate and two mounting supports, the mounting plate is connected to the adapter plate by bolts, and the two mounting supports are fixed to the mounting plate by bolts; A first deep groove ball bearing is arranged in the mounting support, an outer ring of the first deep groove ball bearing is positioned on the mounting support through a yaw end cover, and the yaw end cover is fixed to the mounting support through bolts; The yaw connecting shaft passes through the bearing hole of the first deep groove ball bearing and is positioned by the inner ring of the first deep groove ball bearing; The yaw angle sensor is fixed to the yaw end cover via a connecting bolt, the yaw angle sensor shaft penetrates into the hole of the yaw connecting shaft, and the yaw angle sensor is connected to the yaw connecting shaft via a first set screw.

8. The device for measuring the nozzle swing angle based on the spatial swing angle algorithm according to claim 7, characterized in that: The pitch angle measurement unit comprises two sets of pitch installation components, two pitch angle sensors and two pitch rotation axes, the pitch installation components comprise a pitch connection frame, a pitch end cover and a second deep groove ball bearing, the pitch connection frame is connected and positioned with the yaw connection axis by screws, the second deep groove ball bearing is installed in the pitch connection frame, the bearing outer ring of the second deep groove ball bearing is positioned on the pitch connection frame by the pitch end cover, and the pitch end cover is fixed to the pitch connection frame by bolts; The pitch rotation axis passes through the bearing hole of the second deep groove ball bearing and is positioned by the bearing inner ring of the second deep groove ball bearing; The pitch angle sensor is fixed to the pitch end cover by connecting bolts, the pitch angle sensor shaft penetrates into the hole of the pitch rotation axis, and the pitch angle sensor is connected to the pitch rotation axis by a second set screw.

9. The measuring device for measuring the nozzle swing angle based on the spatial swing angle algorithm according to claim 8, characterized in that: The linear telescopic measurement unit further comprises a sensor lower lug disposed at one end of the linear sensor, the sensor lower lug being screwed into the linear displacement sensor and fastened by a nut; The pitch rotation axis passes through the lower support ear of the sensor and is fastened to the pitch rotation axis by a third set screw. The other end of the linear displacement sensor is connected to the connecting support ear by a pin.

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