Calibration inspection method of underwater vehicle mass, mass center and mass deviation measuring device

Abstract

The invention discloses a calibration and inspection method for an underwater vehicle mass, mass center and mass deviation measuring device, and belongs to the technical field of mass, mass center and mass deviation measurement. The measuring device adopts a four-point measuring method, three mass and mass center sensors are arranged in an isosceles triangle shape, and the mass deviation sensor is arranged at a mass deviation measuring arm which extends out and is perpendicular to the axis of the underwater navigation body. The block gauge, the weight and the combined standard sample piece are used for system calibration and inspection, calibration after the measurement device is detached is not needed, operation is simple and easy to implement, calibration and inspection of the underwater navigation body mass, mass center and mass deviation measurement device can be effectively achieved, and the precision reliability of the measurement device is ensured.

Claims

1. A calibration and inspection method for a mass center of mass deviation measuring device of an underwater vehicle, characterized in that: The underwater vehicle mass center of mass and mass deviation measuring device comprises: a base platform (13), a laser distance measuring unit (3), a lifting unit (14), a measuring frame (1), a measuring tool (2), a mass center of mass and mass deviation measurement conversion mechanism, a central control machine, a first mass center of mass sensor (11), a second mass center of mass sensor (8), a third mass center of mass sensor (5) and a mass deviation sensor (6), wherein the central control machine calculates according to the collected data to obtain the mass center of mass and mass deviation; The base platform (13) is composed of a load-bearing base and a frame assembly, and a lifting unit (14) and three isosceles triangle-arranged first mass center of mass sensors (11), second mass center of mass sensors (8) and third mass center of mass sensors (5) are installed on the upper end surface; the frame assembly includes a main frame, a center of mass mass deviation measurement conversion mechanism mounting frame and mounting plate and a laser distance measurement unit (3) mounting frame; The lifting unit (14) is used to drive the measuring frame (1) to move up and down; The measuring frame (1) adopts a frame structure and is located on a base platform (13). Two mutually parallel linear guide rails and two guide rail clamps are installed on both sides of the upper end of the measuring frame (1). The measuring tool (2) is installed on the linear guide rails through sliders and guide rail clamps. The loose clamps can move along the length direction of the measuring frame (1) on the linear guide rails to achieve measurement of the navigation body to be measured with different support spacings. The lower end of the measuring frame (1) is equipped with a first mass center of mass probe (12), a second mass center of mass probe (9) and a third mass center of mass probe (4) that match the positions of the first mass center of mass sensor (11), the second mass center of mass sensor (8) and the third mass center of mass sensor (5). A mass deflection measuring arm is provided in the middle of one side of the measuring frame (1), and a mass deflection measuring head (7) is provided below the end of the mass deflection measuring arm. An eccentric support blade (10) is also provided below the measuring frame (1), and the eccentric support blade (10) is fixed by screws. The laser distance measuring unit (3) is installed at the front end of the base platform (1) and serves as the basis for accurate centroid measurement, and is used to convert the coordinate system of the navigation body to be measured into the coordinate system of the measuring device; The mass center mass deviation measurement conversion mechanism comprises: a first moving unit and a second moving unit, both of which are linear guide rails arranged along the width direction of the base platform (13), and both sets of linear guide rails are equipped with mass center mass limit switches and mass deviation limit switches; the first moving unit is installed inside the base platform (13), and an eccentric support blade (10) load-bearing plate is installed thereon; the second moving unit is installed on one side of the base platform (13) through a bracket, opposite to the mass deviation measurement arm, and a mass deviation sensor (6) is installed thereon; the two linear guide rails perform synchronous linear reciprocating motion under the drive of a servo motor; when the eccentric support blade (10) load-bearing plate and the mass deviation sensor (6) simultaneously move to the mass center mass limit switch position, it is in the mass center mass measurement state; when they move to the mass deviation limit switch position, it is in the mass deviation measurement state; The calibration test method comprises the following steps: Step 1: before installing the measuring device, calibrate the distance parameter L1 between the connecting line of the second mass center sensor (8) and the third mass center sensor (5) in the measuring device and the first mass center sensor (11); Step 2: After the measuring device is installed, the transfer coefficients K1, K2, and K3 of the first mass center of mass sensor (11), the second mass center of mass sensor (8), and the third mass center of mass sensor (5) in the measuring device are calibrated; Step 3: calibrating a distance parameter L2 from a laser distance measuring unit (3) in the measuring device to a line connecting the second mass center sensor (8) and the third mass center sensor (5); Step 4: calibrating the transfer coefficient K4 of the mass deviation sensor (6) in the measuring device; Step 5: Measure the distance parameter L between the mass deviation sensor (6) and the eccentric support blade (10) in the measuring device. e Carry out calibration; Step 6: Check the mass measurement accuracy of the measuring device. If the error meets the accuracy requirement, proceed to step 7. If the error does not meet the accuracy requirement, repeat step 2 and then step 6 until the accuracy requirement is met. Step 7: Check the axial centroid measurement accuracy of the measuring device. If the error meets the accuracy requirement, proceed to step 8; if the error does not meet the accuracy requirement, repeat step 3 and then step 7 until the accuracy requirement is met; Step 8: Check the radial mass deviation measurement accuracy of the measuring device. If the error meets the accuracy requirement, the measuring device passes the inspection; otherwise, repeat steps 4 to 5, and then execute step 8 until the accuracy requirement is met.

2. The calibration and verification method according to claim 1, characterized in that: The measuring device adopts two independent measuring mechanisms, one for mass center of mass measurement and the other for mass deviation measurement. The two measuring mechanisms share a lifting unit (14). The mass center of mass deviation measurement conversion mechanism can realize the conversion of mass center of mass and mass deviation measurement functions. When measuring the mass center of mass, three mass center of mass probes contact the corresponding three mass center of mass sensors to transmit the force, and the mass center of mass sensors can output the measurement data; When measuring mass deflection, the mass deflection probe (7) contacts the mass deflection sensor (6) to transmit force, and the mass deflection sensor (6) can output measurement data.

3. The calibration and verification method according to claim 1, characterized in that: The step 1 also includes: The distance parameter L1 between the connecting line of the second mass center sensor (8) and the third mass center sensor (5) and the first mass center sensor (11) in the measuring device is calibrated, and the calibration tool used includes a plurality of calibrated block gauges and a calibrated depth gauge. The calibration steps are as follows: Step 1.1: Place the measuring frame (1) in the measuring device on a plane with its bottom facing upwards, and all the mass center of mass measuring heads facing vertically upwards; Step 1.2: Using a processed flat plate to closely contact the second mass center of mass probe (9) and the third mass center of mass probe (4); Step 1.3: Arrange multiple marked block gauges along the axis direction; Step 1.4: Use a calibrated depth gauge to measure the distance d between the first mass center probe (12) and the last block gauge; Step 1.5: Add the lengths measured by the plurality of block gauges to the value d and then subtract the diameter of the mass centroid probe to obtain L1; Step 1.6: Repeat steps 1.1 to 1.5 for 5 times, record the L1 values ​​obtained from the 5 measurements, and take the average value as the calibration value of parameter L1; Step 1.7: Input the calibration value of the parameter L1 into the test program of the measuring device and save it for the centroid test calculation.

4. The calibration and verification method according to claim 1, characterized in that , the step 2 also includes: The calibration tooling used for the transfer coefficients K1, K2, and K3 is a dumbbell-shaped standard body A. It is known that the mass of the dumbbell-shaped standard body A is M 标1 , the calibration steps of the transfer coefficients K1, K2, and K3 are as follows: Step 2.1: Measure the weight M0 of the measuring device when it is unloaded. At this time, the readings of the three mass center sensors in the test program are F1 and F2. (0) 、F2 (0) 、F3 (0) ,have: Step 2.2: Place the dumbbell-shaped standard body A to the left, so that its second mass center is close to the mass center sensor (8) and the third mass center sensor (5), and measure the readings of the three mass center sensors in the test procedure as F1 and F2 respectively. (1) 、F2 (1) 、F3 (1) ,have: Step 2.3: Center the dumbbell-shaped standard body A so that its center of mass is centered, and measure the readings of the three mass center of mass sensors in the test procedure, respectively: F1 (2) 、F2 (2) 、F3 (2) ,have: Step 2.4: Place the dumbbell-shaped standard body A to the right, so that its center of mass is close to the first mass center of mass sensor (11), and measure the readings of the three mass center of mass sensors in the test procedure as F1 and F2. (3) 、F2 (3) 、F3 (3) ,have: Step 2.5: The above four equations can be combined to obtain the following equation system. By solving the equation system, the transfer coefficients K1, K2, and K3 of the three mass center of mass sensors can be calculated as calibration values:

5. The calibration and verification method according to claim 1, characterized in that: The step 3 also includes: The calibration tool used for the parameter L2 is the dumbbell-shaped standard body A. The length L of the dumbbell-shaped standard body A is known. 标1 , mass is M 标1 , the calibration steps of the parameter L2 are as follows: Step 3.1: The end face A of the dumbbell-shaped standard body A is facing the laser distance measuring unit (3). At this time, the reference distance of the laser distance measuring unit (3) from the end face A is L0. (1) , the reading of the first mass center sensor (11) is F1 (1) , the center of mass of the dumbbell-shaped standard body A is measured to be X c (1) : Step 3.2: Flip the dumbbell-shaped standard body A so that the end face B faces the laser distance measuring unit (3). At this time, the reference distance of the laser distance measuring unit (3) from the end face B is L0. (2) , the reading of the first mass center sensor (11) is F1 (2) , the center of mass of the dumbbell-shaped standard body A is measured to be X c (2) : Step 3.3: The sum of the above two measurements of the center of mass of the dumbbell-shaped standard body A is the length L of the dumbbell-shaped standard body A. 标1 , the parameter L2 can be calculated as the calibration value by the following formula:

6. The calibration and verification method according to claim 1, characterized in that: The step 4 also includes: The calibration tool for the transfer coefficient K4 of the mass deviation sensor (6) is a weight, and the mass of the weight is M 砝 The specific calibration steps of the transfer coefficient K4 are as follows: Step 4.1: The mass deviation sensor (6) is unloaded, and the reading of the mass deviation sensor (6) in the test program is 0; Step 4.2: The weight is placed on the mass deviation sensor (6), and the reading of the mass deviation sensor (6) in the test procedure is measured as P, from which the transfer coefficient K4 can be calculated by the following formula as a calibration value: M 砝 =K4×P 7. The calibration and verification method according to claim 1, characterized in that: The step 5 also includes: The parameter L e The calibration tool used is a combination of the dumbbell-shaped standard body A and the cylindrical standard body B. The masses of the dumbbell-shaped standard body A and the cylindrical standard body B are M and M, respectively. 标1 and M 标2 The diameters are φ 标1 and φ 标2 The total mass of the assembly is G0 = M 标1 +M 标2 ; The dumbbell-shaped standard body A and the cylindrical standard body B are combined by bundling or bonding; the parameter L e The calibration steps are as follows: Step 5.1: Place the assembly on the measuring frame (1) of the measuring device, so that the assembly is at a 0° position. At this time, the distance between the eccentricity of the assembly and the eccentric support blade (10) is L. y1 The reading of the mass deviation sensor (6) in the test procedure is measured to be P (1) ; Step 5.2: Rotate the assembly 90° clockwise to place the assembly at a 90° position. At this time, the distance between the eccentricity of the assembly and the eccentric support blade (10) is L. y2 , the reading of the mass deviation sensor (6) in the test program is measured to be P (2) ; Step 5.3: Rotate the assembly 90° clockwise to make the assembly at 180°. At this time, the distance between the eccentricity of the assembly and the eccentric support blade (10) is L. y3 , the reading of the mass deviation sensor (6) in the test program is measured to be P (3) ; Step 5.4: Rotate the assembly 90° clockwise to position the assembly at 270°. At this time, the distance between the eccentricity of the assembly and the eccentric support blade (10) is L. y4 The reading of the mass deviation sensor (6) in the test procedure is measured to be P (4) ; Step 5.5: The parameter L is calculated by deducing the values ​​of the mass deviation sensor (6) collected from steps 5.1 to 5.4 using the following formula: e , as the calibration value: When the assembly is at the 0° and 180° positions, according to the static moment balance principle, it can be obtained that: L y1 ·G0=P (1) ·L e (1) L y2 ·G0=P (3) ·L e (1) THE y1 -THE y2 =2EcosA When the assembly is at 90° and 270°, it can be obtained: Wherein: Since the masses and diameters of the dumbbell-shaped standard body A and the cylindrical standard body B are accurately measured, the eccentricity E and eccentricity angle A of the assembly can be calculated by the formula: Substitute the obtained E and A values ​​into L e (1) and L e (2) Then find the mean value, and then calculate the parameter L e , as the calibration value.

8. The calibration and verification method according to any one of claims 1 to 7, characterized in that: The step 6 also includes: In the first part, the dumbbell-shaped standard body A is placed on the measuring fixture (2), the supporting position of the measuring fixture (2) does not change, and the dumbbell-shaped standard body A is not repeatedly hoisted; the measuring frame is repeatedly raised and lowered 5 times, and the mass of the dumbbell-shaped standard body A is measured 5 times. This test can test the mass measurement repeatability error of the measuring device; if the values ​​of the repeated measurements of the mass of the dumbbell-shaped standard body A are all within the mass measurement error index range, then the mass measurement repeatability test of the measuring device meets the requirements, otherwise it does not meet the requirements; In the second part, the position of the measuring tool (2) on the measuring frame (1) is changed, and the dumbbell-shaped standard body A is re-lifted each time, and the mass of the dumbbell-shaped standard body A is measured 5 times. This test can test the mass measurement accuracy of the measuring device and the influence of changes in different supporting parts on the mass measurement; if the mass measurement values ​​of the dumbbell-shaped standard body A after multiple liftings are all within the mass measurement error index range, then the mass measurement accuracy test of the measuring device meets the requirements, otherwise it does not meet the requirements; If the errors of the above two parts of the test meet the accuracy requirements, the quality measurement accuracy inspection of the measuring device is qualified.

9. The calibration and verification method according to any one of claims 1 to 7, characterized in that: The step 7 also includes: It is known that the length of the dumbbell-shaped standard body A is L 标 , taking the end face A and the end face B of the dumbbell-shaped standard body A as the reference, the center of mass position CG of the dumbbell-shaped standard body A is respectively indicated XA and CG XB , the sum of these two center of mass positions is the length of the dumbbell-shaped standard body A, that is: L 标 =CG XA +CG XB By using the above method, the axial center of mass position of the dumbbell-shaped standard body A is measured twice with the end face A and the end face B as references respectively, and the difference between the sum of the two axial center of mass positions and the length of the dumbbell-shaped standard body A can indirectly reflect the axial center of mass measurement accuracy of the measuring device; If |(CG XA +CG XB )-L 标 |≤2ΔCG X , then the axial centroid measurement accuracy of the measuring device meets the error index requirements, otherwise it does not meet the requirements; where ΔCG X is the axial centroid measurement error index of the measuring device; For the axial center of mass measurement repeatability error test of the measuring device, the dumbbell-shaped standard body A should be re-lifted and measured repeatedly 5 times using the above method. If the measurement value each time is within the axial center of mass measurement error index range, it means that the axial center of mass measurement repeatability test of the measuring device meets the requirements and the quality measurement accuracy test is qualified. Otherwise, it does not meet the requirements.

10. The calibration and verification method according to any one of claims 1 to 7, characterized in that: The step 8 also includes: The cylindrical standard body B is fixed to the side of the dumbbell-shaped standard body A by bundling, and the theoretical value of the radial mass deviation of the assembly is E 理论 Calculated by the formula: The test steps for testing the radial mass deviation measurement accuracy of the measuring device are as follows: preparing the assembly according to an agreed assembly method; hoisting the assembly onto the measuring frame (1) of the measuring device; recording the measurement data of the mass deviation sensor (6), and rotating the assembly 90°, 180°, and 270° in sequence, and recording the measurement data of the mass deviation sensor (6) each time; calculating the radial mass deviation value E of the assembly through a test program. 测量 and compare it with the theoretical radial mass deviation E 理论 Comparison is made to verify the radial mass deviation measurement accuracy of the measuring device; If |E 测量 -E 理论 |≤ΔE, the radial mass deviation measurement accuracy of the measuring device meets the mentioned index requirements, otherwise it does not meet the requirements; wherein ΔE is the radial mass deviation measurement error index of the measuring device; For the radial mass deviation measurement repeatability error test of the measuring device, the fixed position of the cylindrical standard body B on the dumbbell-shaped standard body A should be changed, and the measurement E should be repeated using the above method. 测量 The radial mass deviation measurement repeatability test of the measuring device meets the requirements and the radial mass deviation measurement accuracy test is qualified, otherwise it does not meet the requirements.

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