Method for verifying accelerated life of three-floating gyroscope based on historical data

Abstract

The invention discloses a three-floated gyroscope accelerated life verification method based on historical data, and belongs to the technical field of simulation science, the method comprises the following steps: collecting the historical data of a three-floated gyroscope, and analyzing the failure condition and the performance data change trend of the three-floated gyroscope; carrying out a preliminary test, and comparing with a failure condition to obtain an acceleration factor; calculating a test sample and test time in combination with historical data; carrying out an accelerated life test, and collecting performance out-of-tolerance data; and sorting test data, and carrying out life evaluation. According to the method, the acceleration factor is obtained by comparing the groping test with historical data, so that the accuracy of the acceleration test is ensured. According to the method, the accelerated life test of the three-floated gyroscope is carried out on the basis of historical data, and the test time can be effectively shortened.

Description

Technical Field

[0001] The present invention belongs to the field of simulation science and technology, and also belongs to the field of technical support in aviation and aerospace science and technology, and specifically relates to a three-floating gyroscope accelerated life verification method based on historical data. Background Art

[0002] Three-floating gyros are used in the inertial measurement system of equipment. They can accurately measure the equipment's attitude and angle changes during flight, significantly improving the equipment's accuracy. They can also be used for attitude and orbit control of spacecraft, enabling spacecraft to fly along their intended orbits and perform precise orbit changes and docking missions. Because three-floating gyros have a long design lifespan, potentially reaching more than a decade or even decades, they require long-term continuous testing, consuming significant time and resources. Furthermore, the complex environmental conditions they face during their lifespan, including vibration, shock, and high and low temperature fluctuations, complicate test design. Therefore, reducing testing costs, shortening testing time, and improving accuracy are pressing technical challenges. Summary of the Invention

[0003] In view of this, the present invention provides a three-floating gyroscope acceleration life verification method based on historical data, which can reduce test costs and test time. By combining historical data with preliminary tests, a comprehensive analysis is conducted to provide a reasonable acceleration factor, which can reduce the risks brought by subjective judgment and improve the accuracy of the test.

[0004] To achieve the above object, the technical solution adopted by the present invention is:

[0005] In a first aspect, the present invention provides a method for verifying the life of a three-floating gyroscope based on historical data, the method comprising the following steps:

[0006] Step 1: Collect historical data of the three-floating gyroscope to obtain the failure status and performance data change trend of the three-floating gyroscope;

[0007] Step 2: Conduct a three-floating gyro test to determine the acceleration factor;

[0008] Step 3: Calculate the accelerated life test sample and test time based on historical data;

[0009] Step 4: Conduct accelerated life tests and collect performance data;

[0010] Step 5: Conduct lifespan assessment based on performance data.

[0011] Furthermore, in step 1, according to the failure condition and performance change trend of the three-floating gyroscope, the key performance parameter of the life of the three-floating gyroscope is determined to be the accuracy parameter.

[0012] Furthermore, in step 2, a three-floating gyroscope baseline test is performed to obtain the influence of temperature cycles and vibrations on the accuracy parameters, and the acceleration factor is calculated based on the baseline test data and historical data.

[0013] Furthermore, in step 3, the test sample and test time are calculated in combination with historical data, and the calculation formula is:

[0014] n 试验样本 T 试验时间 ^m=-t^m / (2·log(R L ))χ 2 (μ,2×r+2)-n 历史 ×t 历史 ^m

[0015] Where: R L is the lower limit of reliability; μ is the confidence level; r is the number of failures; t is the working time; m is the shape parameter, m = 1.5; n represents the number of samples; χ represents the chi-square distribution.

[0016] Furthermore, in step 5, the process of carrying out life assessment includes:

[0017] The different moments of the experiment are arranged in ascending order as t1, t2, …, t n , where several moments take the same value, i.e. at t j Test k products at a time, with t j =t j+1 =t j+2 =…=t j+k ; in t i (i=1,2,…n) time to test, get n test values, whose values ​​are y1,y2,…,y n ;

[0018] Compute the mean and eigenvalues:

[0019]

[0020] Compute estimates of the parameters:

[0021]

[0022] Evaluation of calculated lifespan:

[0023]

[0024] Where, t γ (n-2) represents the lower quantile of the γ side of the t distribution with n-2 degrees of freedom; when y u Indicates the upper limit of the parameter value specified in the technical requirements; when yL The lower limit of the parameter value specified in the technical requirements.

[0025] In a second aspect, the present invention also provides a storage medium on which one or more programs readable by a computing device are stored, and the one or more programs include instructions, which, when executed by the computing device, enable the computing device to execute a three-floating gyroscope accelerated life verification method based on historical data as described above.

[0026] In a third aspect, an embodiment of the present invention further provides an electronic device comprising a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor executes the machine executable instructions to implement the above-mentioned three-floating gyroscope accelerated life verification method based on historical data.

[0027] As can be seen from the above technical solutions, the present invention discloses a method for verifying the life of a three-floating gyroscope based on historical data, which has at least the following beneficial effects compared with the prior art:

[0028] The present invention obtains the acceleration factor by comparing the baseline test with historical data, thereby ensuring the accuracy of the acceleration test. The present invention combines historical data and conducts the three-floating gyro acceleration life test on this basis, which can effectively shorten the test time.

[0029] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0030] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0032] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0033] Figure 1 A schematic flow chart of a method for accelerating the lifespan verification of three-floating gyroscopes based on historical data provided by an embodiment of the present invention.

[0034] Figure 2 A schematic diagram of the drift of the continuous power-on accuracy parameter Ds provided in an embodiment of the present invention.

[0035] Figure 3 A schematic cross-sectional diagram of a single cycle test provided by an embodiment of the present invention.

[0036] Figure 4 Schematic diagram of the degradation trend of the accuracy parameter Ds of the three-float gyroscope under temperature cycling provided by an embodiment of the present invention.

[0037] Figure 5 A schematic diagram of the drift of the gyroscope accuracy parameter Ds in an acceleration test provided by an embodiment of the present invention.

[0038] Figure 6 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0040] In describing the present invention, it should be noted that some processes described in this specification and accompanying drawings include multiple operations that appear in a specific order. However, it should be understood that these operations may be performed in a different order than the order in which they appear, or may be performed in parallel. Furthermore, the use of various sequence numbers is for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0041] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are intended to fall within the scope of protection of the present invention.

[0042] See also Figure 1 As shown, the embodiment of the present invention provides a three-floating gyroscope acceleration life verification method based on historical data, which mainly includes historical data collation and analysis, acceleration factor baseline test, test sample and test time calculation based on historical data, test data processing and evaluation, etc. The main process of the method is as follows:

[0043] Step 1: Collect historical data of the three-floating gyroscope and analyze the failure of the three-floating gyroscope and the performance data change trend;

[0044] Step 2: Conduct a preliminary test and compare it with the failure situation to obtain the acceleration factor;

[0045] Step 3: Calculate the test sample and test time based on historical data;

[0046] Step 4: Conduct accelerated life tests and collect performance out-of-tolerance data;

[0047] Step 5: Organize test data and conduct life assessment.

[0048] The present invention adopts a three-floating gyro accelerated life verification method based on historical data, which can obtain a large amount of test data in a relatively short time, reduce test costs and test time, and provide a reasonable acceleration factor through comprehensive analysis by combining historical data with tests, thereby reducing the risks brought by subjective judgment and improving the accuracy of the test.

[0049] The specific implementation of the method of the present invention is described in detail below with reference to the accompanying drawings; the specific steps of the method are:

[0050] 1. Collection and collation of historical data of Sanfu Gyro:

[0051] The storage and use time, faults and failure conditions, performance data and other data of the three-floating gyroscope are collected and organized. By counting the storage and use time of the three-floating gyroscope, the test samples and test time can be reduced in the subsequent test design. By counting the failure conditions and performance change trends of the three-floating gyroscope, the key performance parameters for life prediction are determined. After sorting out, it is known that the main reason affecting the life of the three-floating gyroscope is the excessive accuracy.

[0052] In this embodiment, six gyroscope samples that were powered on for a long time were collected. The parameters of the first test were used as the reference point for all six gyroscopes. The relative drift of the remaining 29 tests was calculated. The drift of the accuracy parameter Ds was as follows: Figure 2 As shown. Figure 2 It can be seen that the drift of the gyroscope's accuracy parameter Ds increases with operating time, which can be used as a key parameter for acceleration testing.

[0053] 2. Carry out a three-floating gyro test:

[0054] Design a preliminary test to observe the influence of temperature cycle and vibration on the accuracy parameters. Design three cycle tests with different test conditions. The profile of a cycle test is as follows: Figure 3 , the specific test process and test conditions are as follows:

[0055] (1) Cycle 1 is carried out as follows: "Test (6 groups of motor performance tests in 3 days) + temperature cycle 5 times (0℃~75℃) + test (6 groups of motor performance tests in 3 days) + vibration (10 minutes) + test (6 groups of motor performance tests in 3 days)".

[0056] (2) Cycle 2 is carried out according to the test (6 groups of motor performance tests in 3 days) + temperature cycle 7 times (10℃~75℃) + test (6 groups of motor performance tests in 3 days) + vibration (5min) + test (6 groups of motor performance tests in 3 days)".

[0057] (3) Cycle 3 is carried out according to the test (6 groups of motor performance tests in 3 days) + temperature cycle 7 times (-10℃~75℃) + test (6 groups of motor performance tests in 3 days) + vibration (15min) + test (6 groups of motor performance tests in 3 days)".

[0058] Furthermore, the test data before and after the test were recorded, and the test data were analyzed to find out that the temperature difference of the temperature cycle is in direct proportion to the accuracy, such as Figure 4 As shown in Figure 2, where Ds is the accuracy parameter. Compare the baseline test data with the historical data compiled in step 1 and calculate the corresponding acceleration factor.

[0059] Specifically include:

[0060] First, define the number of cycles before failure N according to the linear cumulative damage theory f The relationship between the damage amount S is:

[0061]

[0062] Where S0 is the damage threshold constant.

[0063] The above formula combined with the Coffin-Manson model can derive the expression of the damage amount of one temperature cycle:

[0064] N f *ε p =C,ε=CTE*ΔT

[0065]

[0066] Where: N f is the number of cycles before failure of the product; p is the power constant; ε is the plastic strain per cycle, which is linearly related to the temperature difference; CTE (Coefficient of Thermal Expansion) is the coefficient of thermal expansion; ΔT is the temperature difference between the maximum and minimum temperatures, in K.

[0067] Combining the relevant constant coefficients and deriving the damage model expression under N temperature cycles is:

[0068]

[0069] Where: ΔT is the temperature difference of the temperature cycle; N is the number of cycles of the temperature cycle; p is the power constant derived from the Coffin-Manson model; It is the combined expression of four constant coefficients and serves as the cyclic coefficient of the damage model.

[0070] Taking the natural logarithm of the above formula gives:

[0071]

[0072] Among them: As a response, ln(ΔT) is used as a predictor variable for linear regression processing, and the data change S before and after the temperature cycle test obtained by the baseline test is substituted into it. 温变 , temperature cycle number N, temperature difference is fitted. The parameters p and The least squares estimate of the fitting result is p=0.032.

[0073] In the embodiment of the present invention, the temperature difference ΔT is set to 75° C. The acceleration factor AF is calculated, which is the ratio of the degradation amount of a parameter under accelerated stress to the degradation amount of the parameter under normal stress, that is:

[0074]

[0075] S 温循 =e -6.84+0.032×ln75 ×25=0.0338

[0076] The average annual change in accuracy of the gyroscope samples during continuous power-on is 0.01987;

[0077] The calculated degradation of 0.0338 is one month, which is multiplied by 12 months and substituted into the acceleration factor calculation formula to obtain AF = 20.4127. This means that one test cycle is equivalent to 20.4127 times the life under normal stress.

[0078] 3. Combine the historical data of the three-floating gyroscope to calculate the test sample and test time:

[0079] The statistical collation of the historical data of the three-floating gyroscope was used to calculate the three-floating gyroscope test samples and test time. The calculation formula is as follows:

[0080] n 试验样本 T 试验时间 ^m=-t^m / (2·log(R L ))χ 2 (μ,2×r+2)-n 历史 ×t 历史 ^m

[0081] Where: R L As the lower limit of reliability, take R L=0.85; μ is the confidence level, μ=0.7; r is the number of failures, r=0; t is the working time, t=36000; m is the shape parameter, m=1.5;

[0082] According to the statistical history of product samples is 9, the historical storage time is 20000 hours, according to the test time T 试验时间 =10000 hours, the test sample is 6.105, and 8 gyroscopes are selected to carry out accelerated life test during the accelerated test.

[0083] 4. Conduct accelerated life tests on three floating gyros and collect performance data:

[0084] In this embodiment, 14 cycles are performed according to one cycle of "test (3 days, 6 groups / motor performance test) + temperature cycle 25 times (0°C-75°C) + test (3 days, 6 groups / motor performance test) + vibration (10 minutes) + test (3 days, 6 groups / motor performance test)", and the instrument is powered on and run-in during the remaining time.

[0085] 5. Carry out life assessment based on accuracy parameters:

[0086] Collect temperature cycle degradation data and vibration degradation data from formal accelerated tests, fit degradation models under temperature cycle stress and vibration stress, use Miner damage law to engineer the combined stress model, fit the degradation model under cumulative power-on, and extrapolate the median life with 50% confidence and the reliable life with 70% confidence under cumulative power-on conditions.

[0087] The accuracy parameter change data of 8 gyroscope samples undergoing formal acceleration tests were collected during 14 cycles of testing. The data were processed and used to generate the gyroscope's accuracy parameters and Ds degradation data. After each cycle test, multiple tests were performed and the average value of the collected data was taken. The parameters of the first test were used as the reference point for calculating the relative drift of the 8 gyroscopes after the remaining 14 cycles. The drift of the accuracy parameter Ds was respectively Figure 5 shown.

[0088] In this embodiment, n different moments are arranged in ascending order as t1, t2, ..., t n , where several moments take the same value, such as at t j Test k products at a time, that is, there are t j =t j+1 =t j+2 =…=t j+k ; in t i (i=1,2,…n) time to test, get n test values, whose values ​​are y1,y2,…,y n .

[0089] The mean and eigenvalues ​​are calculated according to the following formula (1):

[0090]

[0091] Then the estimated values ​​of the parameters are calculated according to the following formula:

[0092]

[0093] The lifespan is calculated according to formula (3):

[0094]

[0095] Where, t γ (n-2) The lower γ quantile of the t distribution with n-2 degrees of freedom; when y u The upper limit of the parameter value specified in the technical requirements; y L The lower limit of the parameter value specified in the technical requirements; is an estimated value; ty 、s tt 、s yy is the value during the calculation process.

[0096] Fit the degradation model under cumulative power-on and extrapolate the median life with 50% confidence and the reliable life with 70% confidence under cumulative power-on conditions.

[0097] Table 1 Estimated lifespan of gyroscope under normal operation

[0098] parameter <![CDATA[t 0.5 / h]]> <![CDATA[t 0.7 / h]]> Ds 1.37E+05 8.92E+04

[0099] Table 1 gives the conclusions of the extrapolated life indicators.

[0100] From the above description of the embodiment, those skilled in the art will appreciate that the present invention provides a method for verifying the lifespan of a three-floating gyroscope using historical data. This method compares a baseline test with historical data to obtain an acceleration factor, thereby ensuring the accuracy of the acceleration test. Furthermore, combining this historical data with accelerated testing can effectively shorten test time.

[0101] Further, refer to Figure 6 As shown, an embodiment of the present invention also provides an electronic device that can execute the above method. The electronic device may include a processor 10, a memory 11, a communication bus 12 and a communication interface 13, and may also include a computer program stored in the memory 11 and run on the processor 10.

[0102] In some embodiments, the processor 10 may be composed of an integrated circuit, for example, a single packaged integrated circuit, or a plurality of packaged integrated circuits with the same or different functions, including one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and a combination of various control chips. The processor 10 is the control core (Control Unit) of the electronic device, which uses various interfaces and lines to connect the various components of the entire electronic device, and executes or executes programs or modules stored in the memory 11, and calls the data stored in the memory 11 to perform various functions of the electronic device and process data.

[0103] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, electronic devices, or computer program products, etc. Therefore, the present invention may take the form of an entirely software embodiment, an entirely hardware embodiment, or an embodiment combining software and hardware aspects.

[0104] It should be noted that the word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer.

[0105] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0106] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for verifying the life of a three-floating gyroscope based on historical data, characterized in that: The method comprises the following steps: Step 1: Collect historical data of the three-floating gyroscope to obtain the failure status and performance change trend of the three-floating gyroscope; Step 2: Determine the acceleration factor through a three-floating gyro test; Step 3: Calculate the accelerated life test sample and test time based on historical data; Step 4: Conduct accelerated life tests on three floating gyros and collect performance data; Step 5: Conduct lifespan assessment based on performance data.

2. The method for verifying the life of a three-floating gyro based on historical data according to claim 1, characterized in that: In the step 1, according to the failure condition and performance change trend of the three-floating gyroscope, the key performance parameter of the life of the three-floating gyroscope is determined to be the accuracy parameter.

3. The method for verifying the life of a three-floating gyro based on historical data according to claim 2, characterized in that: In step 2, a three-floating gyro baseline test is performed to obtain the influence of temperature cycles and vibrations on the accuracy parameters, and an acceleration factor is obtained based on the baseline test data and historical data.

4. The method for verifying the life of a three-floating gyro based on historical data according to claim 3, characterized in that: In step 3, the test sample and test time are calculated based on historical data. The calculation formula is: n 试验样本 T 试验时间 ^m=-t^m / (2·log(R L ))χ 2 (μ,2×r+2)-n 历史 ×t 历史 ^m Where: R L is the lower limit of reliability; μ is the confidence level; r is the number of failures; t is the working time; m is the shape parameter; n represents the number of samples; χ represents the chi-square distribution.

5. The method for verifying the life of a three-floating gyro based on historical data according to claim 4, characterized in that: In step 5, the process of carrying out life assessment includes: The different moments of the experiment are arranged in ascending order as t1, t2, …, t n , where several moments take the same value, i.e. at t j Test k products at a time, with t j =t j+1 =t j+2 =…=t j+k ; in t i (i=1,2,…n) time to test, get n test values, whose values ​​are y1,y2,…,y n ; Compute the mean and eigenvalues: Compute estimates of the parameters: Evaluation of calculated lifespan: Where, t γ (n-2) represents the lower γ quantile of the t distribution with n-2 degrees of freedom; when y u Indicates the upper limit of the parameter value specified in the technical requirements; when y L The lower limit of the parameter value specified in the technical requirements; is an estimated value; ty 、s tt 、s yy is the value during the calculation process.

6. A storage medium having stored thereon one or more programs readable by a computing device, characterized in that: The one or more programs include instructions, which, when executed by a computing device, enable the computing device to perform a three-floating gyro accelerated life verification method based on historical data according to any one of claims 1 to 5.

7. An electronic device, characterized in that: The invention comprises a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor executes the machine executable instructions to implement a three-floating gyroscope accelerated life verification method based on historical data as described in any one of claims 1 to 5.

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