Inertial load correction method and system based on dynamic force measurement strain balance

Abstract

The embodiment of the invention provides an inertial load correction method and system based on a dynamic force-measuring strain balance, and the method comprises the steps: synchronously obtaining a mechanical load signal acting on a test object and kinematic parameters of the test object through the dynamic force-measuring strain balance in the motion process of the test object; based on the relationship between each kinematics parameter and the mechanical load signal, constructing a rigid body motion inertia mechanical load mathematical model of the test object; inputting the mechanical load signal and the kinematic parameter into an established rigid body motion inertial mechanical load mathematical model, and calculating to obtain an inertial mechanical load generated by the test object due to rigid body motion; and correcting the mechanical load signal by using the inertial mechanical load so as to obtain real acting force and torque of the outside acting on the test object. According to the invention, the measurement and correction precision of the inertial mechanical load and the measurement precision of the dynamic aerodynamic load are improved.

Description

Technical Field

[0001] This document relates to the field of dynamic measurement and instrumentation technology, and in particular to an inertial load correction method and system based on a dynamic force-strain balance. Background Technology

[0002] Aerospace vehicle models are in a state of rapid motion during wind tunnel dynamic force measurement tests and airborne tests. When using wind tunnel balances or force sensors to measure aerodynamic loads, the test data includes the inertial mechanical loads of the aircraft model and a portion of the inertial mechanical loads of the wind tunnel balances or force sensors themselves. The data curves generally show large fluctuations, which greatly interfere with the aerodynamic measurement results.

[0003] Existing dynamic force measurement data correction methods include: 1) position and inertia correction methods based on motor encoder signals; 2) data correction methods based on dynamic signal compensation technology; and 3) inertial force compensation methods based on accelerometers. All three methods possess certain correction capabilities and can improve the signal-to-noise ratio and accuracy of aerodynamic measurement results in dynamic force measurement experiments. However, they all have limitations. The first method cannot monitor and compensate for structural deformation and gaps; the second method relies on filtering techniques, resulting in significant delays in the processed data; and the third method is more suitable for inertial force compensation of translational rigid bodies, producing large errors when the test object undergoes angular motion. Therefore, it is necessary to overcome the shortcomings of existing technologies and provide a method for measuring and correcting rigid body motion inertial loads based on a dynamic force-strain balance. This method comprehensively measures the kinematic parameters related to inertial loads using a dynamic force-strain balance to improve the measurement and correction accuracy of inertial loads, thereby improving the measurement accuracy of dynamic aerodynamic loads. Summary of the Invention

[0004] This specification provides one or more embodiments of an inertial load correction method based on a dynamic force-strain balance, including: S1. During the motion of the test object, the mechanical load signal acting on the test object and the kinematic parameters of the test object are acquired synchronously using a dynamic force-strain balance. S2. Based on the relationship between various kinematic parameters and mechanical load signals, construct a mathematical model of the rigid body motion inertial mechanical load of the test object; S3. Input the mechanical load signal and kinematic parameters into the established mathematical model of rigid body motion inertial mechanical load, and calculate the inertial mechanical load generated by the rigid body motion of the test object. S4. The mechanical load signal is corrected using the inertial mechanical load to obtain the actual force and torque acting on the test object from the outside.

[0005] Furthermore, the kinematic parameters include triaxial linear acceleration, triaxial angular acceleration, triaxial angular velocity, triaxial translational velocity, triaxial displacement, and triaxial angular displacement.

[0006] Furthermore, the specific steps of simultaneously acquiring the mechanical load signal acting on the test object and the kinematic parameters of the test object during the motion of the test object using a dynamic force-strain balance are as follows: The test object equipped with a dynamic force-strain balance is driven to provide the test object with three-axis linear acceleration and three-axis angular velocity through a six-axis motion mechanism, and to perform single-axis and multi-axis combined motions with various velocities, amplitudes and frequencies. During the motion of the test object, the mechanical load signal measured by the dynamic force-strain balance, as well as the triaxial linear acceleration and triaxial angular velocity of the test object, are collected synchronously. Based on the triaxial linear acceleration and triaxial angular velocity, other kinematic parameters of the test object are obtained through calculation.

[0007] Furthermore, the mathematical model for the rigid body motion inertial load of the test object is specifically as follows: Based on the collected kinematic parameters and mechanical load signals, a mapping model is established using regression analysis or artificial intelligence algorithms, with the kinematic parameters as input and the inertial mechanical load as output.

[0008] Furthermore, the kinematic parameters input to the mapping model include the strain bridge signal of the dynamic force-strain balance, the motion acceleration signal, angular velocity signal, translational velocity, linear displacement, angular displacement, and angular acceleration of the test object; the output inertial loads include three inertial forces and three inertial moments of the test object about its own axis, as well as three external forces and three moments acting on the test object after correcting the inertial loads.

[0009] Furthermore, the test object is a rigid body whose mass distribution and moment of inertia remain unchanged during motion and testing.

[0010] This specification provides one or more embodiments of a calibration device applied to the aforementioned inertial load correction method based on a dynamic force-strain balance, comprising a test object, a dynamic force-strain balance, a six-axis motion mechanism, a base, a vacuum chamber, a control cabinet, and a data acquisition computer, wherein: The six-axis motion mechanism is used to provide the test object with triaxial linear acceleration and triaxial angular velocity; The base is used to provide stable support and motion reference for the calibration equipment; The vacuum chamber is used to provide a vacuum environment for the test object; The control cabinet is used to provide power and motion commands to the six-axis motion mechanism; The data acquisition computer is used to control the six-axis motion mechanism to move according to the experimentally designed trajectory and speed, and to acquire the output signal of the dynamic force and strain balance.

[0011] This specification provides one or more embodiments of an inertial load correction system based on a dynamic force-strain balance, including: Data acquisition module: used to synchronously acquire the mechanical load signal acting on the test object and the kinematic parameters of the test object during the motion of the test object using a dynamic force-strain balance; Model building module: used to build a mathematical model of the rigid body motion inertial mechanical load of the test object based on the relationship between various kinematic parameters and mechanical load signals; Load calculation module: used to input the mechanical load signal and kinematic parameters into the established rigid body motion inertial mechanical load mathematical model, and calculate the inertial mechanical load generated by the test object due to rigid body motion; Load correction module: used to correct the mechanical load signal using the inertial mechanical load, so as to obtain the true force and torque acting on the test object from the outside.

[0012] This specification provides one or more embodiments of an electronic device, including: A processor; and a memory arranged to store computer-executable instructions, which, when executed, cause the processor to implement the steps of the above-described inertial load correction method based on a dynamic force-strain balance.

[0013] This specification provides one or more embodiments of a storage medium for storing computer-executable instructions that, when executed, implement the steps of the above-described inertial load correction method based on a dynamic force-strain balance.

[0014] By employing the embodiments of the present invention, it is possible to comprehensively measure the kinematic parameters related to inertial loads using a dynamic force-strain balance, thereby improving the measurement and correction accuracy of inertial loads and consequently improving the measurement accuracy of dynamic aerodynamic loads.

[0015] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in one or more embodiments of this specification or in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This specification provides a schematic diagram of the structure of a calibration device according to one or more embodiments. Figure 2 A flowchart illustrating an inertial load correction method based on a dynamic force-strain balance, provided for one or more embodiments of this specification; Figure 3 A schematic diagram illustrating the composition of an inertial load correction system based on a dynamic force-strain balance, provided for one or more embodiments of this specification; Figure 4 This is a schematic diagram of the structure of an electronic device provided for one or more embodiments of this specification. Detailed Implementation

[0018] To enable those skilled in the art to better understand the technical solutions in one or more embodiments of this specification, the technical solutions in one or more embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of the embodiments. Based on one or more embodiments of this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this document.

[0019] Method Implementation Examples According to an embodiment of the present invention, an inertial load correction method based on a dynamic force-strain balance is provided. Figure 1 This is a schematic diagram of the structure of a calibration device provided in one or more embodiments of this specification, such as... Figure 1 As shown, the calibration equipment according to an embodiment of the present invention specifically includes a test object 1, a dynamic force-strain balance 2, a six-axis motion mechanism 3, a base 4, a vacuum chamber 5, a control cabinet 6, and a data acquisition computer 7, wherein: the six-axis motion mechanism 3 is used to provide the test object 1 with triaxial linear acceleration and triaxial angular velocity; the base 4 is used to provide stable support and motion reference for the calibration equipment; the vacuum chamber 5 is used to provide a vacuum environment for the test object 1; the control cabinet 6 is used to provide power and motion commands to the six-axis motion mechanism 3; and the data acquisition computer 7 is used to control the six-axis motion mechanism 3 to move according to the experimentally designed trajectory and speed and to acquire the output signal of the dynamic force-strain balance 2.

[0020] The calibration equipment described herein is used in an inertial load correction method based on a dynamic force-strain balance, as provided in one or more embodiments of this specification. Figure 2 A flowchart illustrating an inertial load correction method based on a dynamic force-strain balance, provided for one or more embodiments of this specification, is shown below. Figure 2 As shown, the inertial load correction method based on a dynamic force-strain balance according to an embodiment of the present invention specifically includes: S1. During the motion of the test object, the mechanical load signal acting on the test object and the kinematic parameters of the test object are acquired synchronously using a dynamic force-strain balance.

[0021] In this embodiment, the test object is a rigid body whose mass distribution and moment of inertia remain unchanged during motion and testing. The kinematic parameters constitute a complete motion state description system, including two directly measurable parameters, triaxial linear acceleration and triaxial angular velocity, as well as derived parameters obtained through calculation: triaxial translational velocity, triaxial displacement, triaxial angular displacement and triaxial angular acceleration.

[0022] A six-axis motion mechanism is used as the core excitation device to provide precisely controlled triaxial linear acceleration and triaxial angular velocity excitation for the test object equipped with a dynamic force-strain balance. Through the programming in the data acquisition computer, the test object equipped with the dynamic force-strain balance is driven to perform single-axis independent motion and multi-axis combined motion with various velocities, amplitudes and frequencies, providing sufficient training data for establishing an accurate mathematical model.

[0023] During the motion of the test object, the mechanical load signal measured by the dynamic force-strain balance, as well as the triaxial linear acceleration and triaxial angular velocity of the test object, are simultaneously acquired. Based on the triaxial linear acceleration and triaxial angular velocity, other kinematic parameters of the test object are obtained through calculation, specifically including: integrating the triaxial linear acceleration to obtain the triaxial translational velocity, and performing a second integration to obtain the triaxial displacement; integrating the triaxial angular velocity to obtain the triaxial angular displacement, and performing differentiation to obtain the triaxial angular acceleration.

[0024] S2. Based on the relationship between various kinematic parameters and mechanical load signals, construct a mathematical model of the rigid body motion inertial mechanical load of the test object.

[0025] In the initial stage, a six-axis motion mechanism was used to drive the test object, and a large amount of training data was collected. This data includes two main categories: one is comprehensive kinematic parameters, which serve as input features for the model; the other is the real mechanical load signal measured by a dynamic force-strain balance, which serves as the model's learning target. Based on this, a nonlinear mapping relationship between the two was established: when the motion pattern is relatively simple and the linear characteristics are obvious, a polynomial model is established using regression analysis based on the least squares method; when the dynamic characteristics are complex and there is significant nonlinearity, an artificial intelligence algorithm is used to capture and fit the nonlinear relationship between the motion parameters and the inertial load.

[0026] S3. Input the mechanical load signal and kinematic parameters into the established mathematical model of rigid body motion inertial mechanical load, and calculate the inertial mechanical load generated by the rigid body motion of the test object.

[0027] First, the real-time acquired mechanical load signals and the complete set of kinematic parameters are input into the established mathematical model. The mechanical load signals are the raw electrical signals directly measured by the dynamic force-strain balance, which contain all the mechanical forces acting on the test object. The set of kinematic parameters constitutes a complete feature vector describing the spatial motion state of the test object. The input kinematic parameters include not only the strain bridge signal from the dynamic force-strain balance, but also the three-axis acceleration signal, three-axis angular velocity signal, three-axis translational velocity, three-axis displacement, three-axis angular displacement, and three-axis angular acceleration of the test object. Based on these input data, the mathematical model calculates the inertial mechanical load generated by the rigid body motion of the test object in real time through the internally established nonlinear mapping relationship. The output inertial mechanical load includes the inertial force and inertial torque in three directions of the test object in its own axis system.

[0028] S4. The mechanical load signal is corrected using the inertial mechanical load to obtain the actual force and torque acting on the test object from the outside.

[0029] After calculating the inertial load, the load separation and correction process begins. The calculated inertial load components are subtracted from the original total load measured by the dynamic force-strain balance. Specifically, the inertial forces and moments in the three directions output by the model are subtracted from the measured total force and moment in the corresponding directions. This correction process ultimately yields the true forces and moments exerted purely by the external environment on the test object.

[0030] In wind tunnel testing, these corrected load data represent the pure aerodynamic loads excluding the inertial interference of the model itself; in vehicle-mounted or airborne testing, they represent the actual external excitation loads after removing the influence of the carrier's motion inertia.

[0031] The beneficial effects of this invention are as follows: This invention uses a dynamic force-strain balance to comprehensively measure the kinematic parameters related to inertial loads, thereby improving the completeness and accuracy of the mathematical model of inertial loads, enhancing the measurement and correction accuracy of inertial loads, and ultimately improving the measurement accuracy of dynamic aerodynamic loads.

[0032] System Implementation Examples According to embodiments of the present invention, an inertial load correction system based on a dynamic force-strain balance is provided. Figure 3 A schematic diagram illustrating the composition of an inertial load correction system based on a dynamic force-strain balance, provided for one or more embodiments of this specification, is shown below. Figure 3 As shown, the inertial load correction system based on a dynamic force-strain balance according to an embodiment of the present invention specifically includes: Data acquisition module 30: used to synchronously acquire the mechanical load signal acting on the test object and the kinematic parameters of the test object during the motion of the test object using a dynamic force and strain balance; Model building module 32: used to build a mathematical model of the rigid body motion inertial mechanical load of the test object based on the relationship between various kinematic parameters and mechanical load signals; Load calculation module 34: used to input the mechanical load signal and kinematic parameters into the established rigid body motion inertial mechanical load mathematical model, and calculate the inertial mechanical load generated by the test object due to rigid body motion; Load correction module 36: used to correct the mechanical load signal using the inertial mechanical load, so as to obtain the real force and torque acting on the test object from the outside.

[0033] The embodiments of the present invention are system embodiments corresponding to the above method embodiments. The specific operation of each module can be understood by referring to the description of the method embodiments, and will not be repeated here.

[0034] Device Example 1 This invention provides an electronic device, such as... Figure 4 As shown, it includes: a memory 40, a processor 42, and a computer program stored in the memory 40 and executable on the processor 42. When the computer program is executed by the processor 42, it performs the following method steps: S1. During the motion of the test object, the mechanical load signal acting on the test object and the kinematic parameters of the test object are acquired synchronously using a dynamic force-strain balance. S2. Based on the relationship between various kinematic parameters and mechanical load signals, construct a mathematical model of the rigid body motion inertial mechanical load of the test object; S3. Input the mechanical load signal and kinematic parameters into the established mathematical model of rigid body motion inertial mechanical load, and calculate the inertial mechanical load generated by the rigid body motion of the test object. S4. The mechanical load signal is corrected using the inertial mechanical load to obtain the actual force and torque acting on the test object from the outside.

[0035] Device Example 2 This invention provides a computer-readable storage medium storing an information transmission implementation program. When executed by a processor 42, the program performs the following method steps: S1. During the motion of the test object, the mechanical load signal acting on the test object and the kinematic parameters of the test object are acquired synchronously using a dynamic force-strain balance. S2. Based on the relationship between various kinematic parameters and mechanical load signals, construct a mathematical model of the rigid body motion inertial mechanical load of the test object; S3. Input the mechanical load signal and kinematic parameters into the established mathematical model of rigid body motion inertial mechanical load, and calculate the inertial mechanical load generated by the rigid body motion of the test object. S4. The mechanical load signal is corrected using the inertial mechanical load to obtain the actual force and torque acting on the test object from the outside.

[0036] The computer-readable storage media described in this embodiment include, but are not limited to, ROM, RAM, disk, or optical disk.

[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for correcting inertial loads based on a dynamic force-strain balance, characterized in that, include: S1. During the motion of the test object, the mechanical load signal acting on the test object and the kinematic parameters of the test object are acquired synchronously using a dynamic force-strain balance. S2. Based on the relationship between various kinematic parameters and mechanical load signals, construct a mathematical model of the rigid body motion inertial mechanical load of the test object; S3. Input the mechanical load signal and kinematic parameters into the established mathematical model of rigid body motion inertial mechanical load, and calculate the inertial mechanical load generated by the rigid body motion of the test object. S4. The mechanical load signal is corrected using the inertial mechanical load to obtain the actual force and torque acting on the test object from the outside.

2. The method according to claim 1, characterized in that, The kinematic parameters include triaxial linear acceleration, triaxial angular acceleration, triaxial angular velocity, triaxial translational velocity, triaxial displacement, and triaxial angular displacement.

3. The method according to claim 2, characterized in that, The specific steps involved in acquiring the mechanical load signal acting on the test object and the kinematic parameters of the test object simultaneously using a dynamic force-strain balance during the motion of the test object are as follows: The test object equipped with a dynamic force-strain balance is driven to provide the test object with three-axis linear acceleration and three-axis angular velocity through a six-axis motion mechanism, and to perform single-axis and multi-axis combined motions with various velocities, amplitudes and frequencies. During the motion of the test object, the mechanical load signal measured by the dynamic force strain balance, as well as the triaxial linear acceleration and triaxial angular velocity of the test object, are collected synchronously. Based on the triaxial linear acceleration and triaxial angular velocity, other kinematic parameters of the test object are obtained through calculation.

4. The method according to claim 1, characterized in that, The mathematical model for the rigid body motion inertial load of the test object is specifically constructed as follows: Based on the collected kinematic parameters and mechanical load signals, a mapping model is established using regression analysis or artificial intelligence algorithms, with the kinematic parameters as input and the inertial mechanical load as output.

5. The method according to claim 4, characterized in that, The kinematic parameters input to the mapping model include the strain bridge signal of the dynamic force-strain balance, the motion acceleration signal, angular velocity signal, translational velocity, linear displacement, angular displacement, and angular acceleration of the test object; the output inertial loads include three inertial forces and three inertial moments of the test object about its own axis, as well as three external forces and three moments acting on the test object after correcting the inertial loads.

6. The method according to claim 1, characterized in that, The test object is a rigid body whose mass distribution and moment of inertia remain unchanged during motion and testing.

7. A calibration device, applied to the inertial load correction method based on a dynamic force-strain balance as described in any one of claims 1 to 6, characterized in that, The system includes a test object, a dynamic force-strain balance, a six-axis motion mechanism, a base, a vacuum chamber, a control cabinet, and a data acquisition computer, among which: The six-axis motion mechanism is used to provide the test object with triaxial linear acceleration and triaxial angular velocity; The base is used to provide stable support and motion reference for the calibration equipment; The vacuum chamber is used to provide a vacuum environment for the test object; The control cabinet is used to provide power and motion commands to the six-axis motion mechanism; The data acquisition computer is used to control the six-axis motion mechanism to move according to the experimentally designed trajectory and speed, and to acquire the output signal of the dynamic force and strain balance.

8. An inertial load correction system based on a dynamic force-strain balance, characterized in that, include: Data acquisition module: used to synchronously acquire the mechanical load signal acting on the test object and the kinematic parameters of the test object during the motion of the test object using a dynamic force-strain balance; Model building module: used to build a mathematical model of the rigid body motion inertial mechanical load of the test object based on the relationship between various kinematic parameters and mechanical load signals; Load calculation module: used to input the mechanical load signal and kinematic parameters into the established rigid body motion inertial mechanical load mathematical model, and calculate the inertial mechanical load generated by the test object due to rigid body motion; Load correction module: used to correct the mechanical load signal using the inertial mechanical load, so as to obtain the true force and torque acting on the test object from the outside.

9. An electronic device, characterized in that, include: processor; as well as, A memory is configured to store computer-executable instructions, which, when executed, cause the processor to implement the steps of the inertial load correction method based on a dynamic force-strain balance as described in any one of claims 1 to 6.

10. A storage medium, characterized in that, Used to store computer-executable instructions, which, when executed, implement the steps of the inertial load correction method based on a dynamic force-strain balance as described in any one of claims 1 to 6.

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