Rocket nozzle swing angle measuring method and device

文档序号：301353 发布日期：2021-11-26 浏览：12次中文

阅读说明：本技术 火箭喷管摆动角度测量方法和装置 (Rocket nozzle swing angle measuring method and device ) 是由李磊魏厚震王皓刘冠达余东东于 2020-05-21 设计创作，主要内容包括：本说明书提供一种火箭喷管摆动角度的测量方法和装置,方法包括：将安装有三轴加速度传感器的定位套环固定在喷管的表面上,并获取三轴加速度传感器输出的初始信号；定位套环固定在喷管的表面上后,定位套环的第一定位面贴合喷管上的轴向定位台,定位套环的内侧仿型面贴合喷管的外周面；驱动喷管转动,获取三轴加速度传感器输出的摆动信号；根据述初始信号和摆动信号,计算喷管的摆动角度。前述方法直接利用加速度测量方式确定喷管的摆动角度,其测量数据置信度高；在加速度传感器精度达到特定要求,测量的误差很小。另外,此方法和装置具有可以快速拆卸、使用定标方便的特点,可以提高测试效率。(The specification provides a method and a device for measuring the swing angle of a rocket nozzle, wherein the method comprises the following steps: fixing a positioning lantern ring provided with a triaxial acceleration sensor on the surface of the spray pipe, and acquiring an initial signal output by the triaxial acceleration sensor; after the positioning sleeve ring is fixed on the surface of the spray pipe, a first positioning surface of the positioning sleeve ring is attached to an axial positioning table on the spray pipe, and an inner profile surface of the positioning sleeve ring is attached to the outer peripheral surface of the spray pipe; driving the spray pipe to rotate to obtain a swing signal output by the triaxial acceleration sensor; and calculating the swing angle of the spray pipe according to the initial signal and the swing signal. The method directly utilizes an acceleration measurement mode to determine the swing angle of the spray pipe, and the confidence coefficient of the measured data is high; when the precision of the acceleration sensor reaches a specific requirement, the measurement error is very small. In addition, the method and the device have the characteristics of quick disassembly and convenient use and calibration, and can improve the testing efficiency.)

1. A method for measuring the swing angle of a rocket nozzle is characterized by comprising the following steps:

fixing a positioning lantern ring provided with a triaxial acceleration sensor on the surface of the spray pipe, and acquiring an initial signal output by the triaxial acceleration sensor; after the positioning sleeve ring is fixed on the surface of the spray pipe, a first positioning surface of the positioning sleeve ring is attached to an axial positioning table on the spray pipe, and an inner profiling surface of the positioning sleeve ring is attached to the outer peripheral surface of the spray pipe;

driving the spray pipe to rotate to obtain a swing signal output by the triaxial acceleration sensor;

and calculating the swing angle of the spray pipe according to the initial signal and the swing signal.

2. The measuring method according to claim 1,

the cross section of the spray pipe is a torus; the positioning lantern ring is a circular ring;

fixing a positioning sleeve ring provided with a triaxial acceleration sensor on the surface of the spray pipe, and acquiring an initial signal output by the triaxial acceleration sensor, wherein the positioning sleeve ring comprises:

mounting the two triaxial acceleration sensors on the positioning sleeve ring, so that the included angle of the two triaxial acceleration sensors relative to the circle center of the positioning sleeve ring is a right angle;

securing the retaining collar on a surface of the spout;

and respectively acquiring initial signals output by the two triaxial acceleration sensors.

3. The method of measurement according to claim 1, wherein calculating the nozzle oscillation angle from the initial signal and the oscillation signal of the three-axis acceleration sensor comprises:

by usingCalculating the swing angle of the spray pipe;

wherein: [ a ] A_x0,a_y0,a_z0]Is the initial signal; [ a ] A_x,a_y,a_z]Is the wobble signal.

4. The measurement method according to any one of claims 1 to 3,

fixing a positioning collar provided with a triaxial acceleration sensor on the surface of the spray pipe, and comprising: and fitting the second positioning surface of the positioning sleeve ring to the circumferential positioning table of the spray pipe so as to realize the positioning of the positioning sleeve ring relative to the spray pipe in the circumferential direction.

5. A rocket nozzle swing angle measuring device is characterized by comprising:

a positioning collar; the positioning lantern ring comprises a first positioning surface matched with the axial positioning table of the spray pipe and an inner side profiling surface attached to the outer peripheral surface of the spray pipe; after the positioning lantern ring is fixed on the spray pipe, the first positioning surface is attached to an axial positioning table of the spray pipe, and the inner profiling surface is attached to the outer peripheral surface of the spray pipe;

the triaxial acceleration sensor is fixed on the positioning lantern ring and used for measuring an initial signal and an output signal;

and the calculating unit is used for calculating the swing angle of the spray pipe according to the initial signal and the output signal.

The above.

6. The apparatus of claim 5,

the positioning lantern ring is a circular ring;

the number of the three-axis acceleration sensors is two;

and the included angle of the two triaxial acceleration sensors relative to the circle center of the positioning lantern ring is a right angle.

7. The apparatus of claim 5,

the positioning lantern ring is provided with a positioning screw hole;

the acceleration sensor is installed on the positioning lantern ring through the matching of a screw and the positioning screw hole.

8. The apparatus of claim 7,

the positioning lantern ring is also provided with a positioning groove;

a positioning bulge is arranged on the surface of the acceleration sensor;

the positioning bulge is matched with the positioning groove to realize the position setting of the acceleration sensor.

9. The apparatus according to any one of claims 5-8, wherein:

the positioning lantern ring further comprises a second positioning surface;

and after the positioning sleeve ring provided with the acceleration sensor is fixed on the surface of the spray pipe, the second positioning surface is attached to the circumferential positioning table of the spray pipe.

10. The apparatus of claim 9,

the position collar comprises a plurality of sectors; adjacent sectors are connected through bolts;

the second positioning surface is the end surface of the sector;

after the positioning lantern ring is fixed on the surface of the spray pipe, the circumferential positioning table is clamped between the second positioning surfaces of the two adjacent fan-shaped parts.

Technical Field

The invention relates to the technical field of rocket assembly testing, in particular to a method and a device for measuring the swinging angle of a rocket nozzle.

Background

In the process of rocket self-assembly verification testing, whether the angle of the spray pipe reaches a set swing angle or not needs to be tested after the servo mechanism drives the spray pipe to swing according to a set instruction.

Because of the special shape of the spray pipe, the conventional angular displacement sensor, the encoder and the like are equivalently installed on the angle sensor, and cannot be directly applied to the angle measurement of the spray pipe. In order to overcome the problems, some manufacturers detect the action characteristics of the servo control mechanism through a displacement sensor in the servo control mechanism, and reversely calculate the swing angle of the spray pipe according to the action characteristics of the servo mechanism; some manufacturers process the posture characteristics of the spray pipe by adopting modes such as three-coordinate laser measurement, image recognition and the like, then reversely calculate the position of the spray pipe according to the reference coordinate, and further determine the swing angle of the spray pipe. The method adopts an indirect measurement method to test the characteristics of the spray pipe, and any systematic problem in the test process can cause inaccuracy of the test result. In addition, the nonlinearity is large in the process of reversely calculating the swing angle by adopting a servo mechanism, and the measurement error is large; the adoption of the methods such as three-coordinate laser measurement, image recognition and the like requires a complex calibration process in the early stage, the test is complex, and the method is not suitable for the test efficiency requirement of a test site.

Disclosure of Invention

The specification provides a rocket nozzle swing angle measuring method which is used for quickly and conveniently measuring the swing angle of a nozzle.

The present specification provides a method for measuring a rocket nozzle swing angle, comprising:

driving the spray pipe to rotate to obtain a swing signal output by the triaxial acceleration sensor;

and calculating the swing angle of the spray pipe according to the initial signal and the swing signal.

Optionally, the cross section of the nozzle is a torus; the positioning lantern ring is a circular ring;

securing the retaining collar on a surface of the spout;

and respectively acquiring initial signals output by the two triaxial acceleration sensors.

Optionally, calculating a swing angle of the nozzle according to the initial signal and the swing signal of the three-axis acceleration sensor includes:

by usingCalculating the swing angle of the spray pipe;

wherein: [ a ] A_x0,a_y0,a_z0]Is the initial signal; [ a ] A_x,a_y,a_z]Is the wobble signal.

Optionally, fixing a positioning collar mounted with a three-axis acceleration sensor on the surface of the nozzle, including: and fitting the second positioning surface of the positioning sleeve ring to the circumferential positioning table of the spray pipe so as to realize the positioning of the positioning sleeve ring relative to the spray pipe in the circumferential direction.

This specification provides a rocket nozzle swing angle measuring device, includes:

the triaxial acceleration sensor is fixed on the positioning lantern ring and used for measuring an initial signal and an output signal;

and the calculating unit is used for calculating the swing angle of the spray pipe according to the initial signal and the output signal.

Optionally, the positioning collar is a circular ring;

the number of the three-axis acceleration sensors is two;

and the included angle of the two triaxial acceleration sensors relative to the circle center of the positioning lantern ring is a right angle.

Optionally, a positioning screw hole is formed in the positioning lantern ring;

the acceleration sensor is installed on the positioning lantern ring through the matching of a screw and the positioning screw hole.

Optionally, a positioning groove is further arranged on the positioning lantern ring;

a positioning bulge is arranged on the surface of the acceleration sensor;

the positioning bulge is matched with the positioning groove to realize the position setting of the acceleration sensor.

Optionally, the position collar further comprises a second position surface;

Optionally, the position collar comprises a plurality of sectors; adjacent sectors are connected through bolts;

the second positioning surface is the end surface of the sector;

According to the measuring device and the measuring method provided by the specification, the acceleration sensor is arranged on the surface of the spray pipe by machining the locating lantern ring with specific characteristics, and the swing angle of the spray pipe is measured by using the acceleration measured by the three-axis acceleration sensor. The method directly utilizes an acceleration measurement mode to determine the swing angle of the spray pipe, and the confidence coefficient of the measured data is high; when the precision of the acceleration sensor reaches a specific requirement, the measurement error is very small. In addition, the method and the device have the characteristics of quick disassembly and convenient use and calibration, and can improve the testing efficiency.

In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.

Drawings

The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.

FIG. 1 is a schematic structural diagram of a measuring device provided by an embodiment when the measuring device is installed on a spray pipe;

FIG. 2 is a flow chart of a method for measuring the swing angle of the nozzle according to the embodiment;

wherein: 11-a spray pipe, 111-an axial positioning table, 12-a positioning lantern ring, 121-a first positioning surface, 122-a sector, 123-a second positioning surface and 13-an acceleration sensor.

Detailed Description

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.

The embodiment of the specification provides a method and a device for measuring the swing angle of a rocket nozzle.

FIG. 1 is a schematic structural diagram of a measuring device provided by an embodiment when the measuring device is installed on a spray pipe. As shown in fig. 1, the measuring device in the present embodiment includes a position collar 12 and a triaxial acceleration sensor 13; the triaxial acceleration sensor 13 is arranged on the positioning lantern ring 12; the positioning collar 12 serves to achieve a fixed connection with the lance 11 and thus a fixation of the triaxial acceleration sensor 13 relative to the lance 11.

In the present embodiment, when the nozzle 11 is designed and machined, the axial positioning table 111 is provided on the outer peripheral surface of the nozzle 11; the axial positioning table 111 is used to achieve axial positioning of the positioning collar 12.

The position collar 12 includes a first locating surface 121 and an inner contoured surface. A first locating surface 121 is provided at the end of the locating collar 12 having a smaller cross-sectional dimension for cooperating with an axial locating land 111 on the lance 11; the inner profiling surface has the same size as the outer peripheral surface of the first part of the nozzle 11, which is the circumferential part of the nozzle 11 on the side of the positioning surface of the axial positioning table 111; after the positioning collar 12 is fixed to the nozzle 11, the first positioning surface 121 is attached to the axial positioning table 111 of the nozzle 11, and the inner contour surface is attached to the outer peripheral surface of the nozzle 11.

It is conceivable that the inner profile of the positioning collar 12 may play a positioning role to prevent the positioning collar 12 from moving along the spraying direction of the nozzle 11, because the cross-sectional dimension thereof gradually increases in the spraying direction of the nozzle 11; the first positioning surface 121 cooperates with the axial positioning table 111 on the nozzle 11 to realize the positioning of the nozzle 11 in the opposite direction of the jet. In addition, in the case where the position collar 12 is circumferentially positioned with respect to the nozzle 11, the position of the position collar 12 with respect to the nozzle 11 is fixed; accordingly, the position of the three-axis acceleration sensor 13 is fixed relative to the nozzle 11.

In the present embodiment, after the position collar 12 is fixed on the nozzle 11, the position of each triaxial acceleration sensor 13 is fixed with respect to the nozzle 11; in addition, the detection directions of the respective three-axis acceleration sensors 13 are different.

Based on the foregoing structure, the present embodiment provides a method for measuring the swing angle of the nozzle 11. FIG. 2 is a flowchart of a method for measuring a swing angle of a nozzle according to an embodiment. As shown in fig. 2, the method comprises steps S101-S103.

S101: and fixing a positioning lantern ring provided with the triaxial acceleration sensor on the surface of the spray pipe, and determining an initial signal of the triaxial acceleration sensor.

In specific application, the triaxial acceleration sensor 13 can be fixed on the positioning lantern ring 12, so that the position of the triaxial acceleration sensor relative to the positioning lantern ring 12 is fixed, the angle relative to the positioning lantern ring 12 is determined, and then the positioning lantern ring 12 is fixed on the spray pipe 11; it is also possible to fix the position collar 12 to the nozzle 11 first and then fix the three-axis acceleration sensor 13 to the position collar 12.

S102: the spray pipe is driven to rotate, and a swing signal output by the triaxial acceleration sensor is obtained.

S103: and calculating the swing angle of the spray pipe according to the initial signal and the swing signal.

According to the measuring device and the measuring method provided by the embodiment, the three-axis acceleration sensor is arranged on the surface of the spray pipe through the positioning lantern ring with a specific structure, and the swing angle of the spray pipe is measured by the acceleration measured by the three-axis acceleration sensor 13. The method directly utilizes an acceleration measurement mode to determine the swing angle of the spray pipe, and the confidence coefficient of the measured data is high; the precision of the three-axis acceleration sensor meets specific requirements, and the measurement error is very small. In addition, the method and the device have the characteristics of quick disassembly and convenient use and calibration, and can improve the testing efficiency.

As shown in fig. 1, the nozzle 11 in this embodiment is a nozzle 11 with a circular cross section, and the cross section of the peripheral side surface of the nozzle 11 is also a circular surface; the corresponding retaining collar 12 is also a circular ring. In this embodiment, the number of the three-axis acceleration sensors 13 is two. After the two triaxial acceleration sensors 13 are mounted on the position collar 12 and fixed on the nozzle 11, they are at a relatively right angle with respect to the center of the position collar, so that the detection dimensions of the two triaxial acceleration sensors are perpendicular.

In this embodiment, the initial signal output by one triaxial acceleration sensor 13 is [ a ]_x0,a_y0,a_z0]The measured wobble signal is [ a ]_x,a_y,a_z]Measuring the angle of oscillation of the nozzle in the corresponding dimension as

An analysis of the calculation principle of the oscillation angle is made below.

Wherein the initial signal of the triaxial acceleration sensor is [ a ]_x0,a_y0,a_z0](ii) a Assuming that the swing angle in the corresponding dimension is theta, thenWherein R is_θFor a rotation matrix of theta around the corresponding axis,substituted into the above formula and can obtain

In this embodiment, in addition to the first positioning surface 121, the positioning collar 12 further includes a second positioning surface 123; the second positioning surface 123 is used to achieve circumferential positioning of the position collar 12. Correspondingly, in order to achieve circumferential positioning of the positioning collar 12, the nozzle tube 11 further comprises a circumferential positioning table. After the positioning collar 12 is fixed to the nozzle 11, the second positioning surface 123 is attached to the circumferential positioning table of the nozzle 11 to achieve circumferential positioning. It is contemplated that rotation of the position collar 12 about the lance 11 during testing may be avoided by the cooperation of the second locating surface 123 and the circumferential locating land.

As shown in FIG. 1, in the present embodiment, position collar 12 includes a plurality of scallops 122; adjacent sectors 122 are bolted together. The second positioning surface 123 is a cross section of the sector 122; after the positioning collar 12 is fixed to the surface of the nozzle 11, a circumferential positioning table (not shown) is interposed between the second positioning surfaces 123 of the two adjacent sectors 122. In other embodiments, the second positioning surface 123 may be disposed at other positions as long as it can achieve circumferential positioning relative to the nozzle 11.

In addition, in other embodiments, the second locating surface 123 may be omitted if there is a greater friction between the locating collar 12 and the surface of the spout 11, or if the locating collar 12 is positioned such that its weight is evenly distributed and no rotation relative to the spout 11 occurs.

In the following, how the three-axis acceleration sensor 13 is fixed to the position collar 12 in the present embodiment will be described. As shown in fig. 1, in the present embodiment, the positioning collar 12 is provided with a positioning screw hole; the triaxial acceleration sensor 13 is mounted on the set collar 12 by screws cooperating with set screw holes and effects angular setting relative to the nozzle 11. In addition, a positioning groove can be further formed in the positioning collar 12, and a positioning protrusion is correspondingly formed on the surface of the triaxial acceleration sensor 13, so that the position setting of the triaxial acceleration sensor 13 is realized through the cooperation of the positioning protrusion and the positioning groove.

In this embodiment, each of the three-axis acceleration sensors 13 is a sensor capable of only measuring acceleration in one direction, that is, each of the three-axis acceleration sensors 13 is a discrete sensor; in other embodiments, the three-axis acceleration sensor 13 may also be a multi-axis integrated sensor.

It should be noted that, in order to implement the foregoing method, the rocket nozzle swing angle measuring apparatus of the present embodiment should further have a corresponding data processing board, and a corresponding input interface and output interface; in one application, the data processing board card can be a lower computer, and the processed data is transmitted to an upper computer system.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are also included in the scope of the present invention.

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