阅读说明：本技术 一种大推力火箭发动机结构姿态监测系统与分析方法 (System and method for monitoring structural attitude of high-thrust rocket engine ) 是由 王春民 陈晖� 杨飒 王猛 马键 高远皓 高新宇 于 2020-12-02 设计创作，主要内容包括：本发明涉及一种大推力火箭发动机结构姿态监测系统与分析方法。本发明的目的是解决现有火箭发动机结构姿态监测系统与分析方法中存在大推力火箭发动机试车的强振动环境下,相机产生的附加位移较大,直接使用数字图像技术识别的主结构位姿变化偏差较大,致使位姿数据无法用于结构可靠性评估分析的技术问题,提供一种大推力火箭发动机结构姿态监测系统与分析方法。本发明通过两台以上高速摄相机组成三维视觉测量域,对大推力火箭发动机结构位移进行全场测量,通过惯导测量及激光跟踪技术,对高速摄影机及试车台由于振动产生的附加位移的进行补偿,获得发动机各部位相对发动机对接端的位姿变化,可实现大推力火箭发动机热试强振动冲击环境的位姿测量。(The invention relates to a structural attitude monitoring system and an analysis method for a high-thrust rocket engine. The invention aims to solve the technical problems that in the existing rocket engine structure attitude monitoring system and analysis method, under the strong vibration environment of the test run of a high-thrust rocket engine, the additional displacement generated by a camera is large, and the main structure attitude change deviation identified by directly using a digital image technology is large, so that the attitude data cannot be used for structure reliability evaluation and analysis. The invention uses more than two high-speed cameras to form a three-dimensional vision measurement domain to carry out full-field measurement on the structural displacement of the high-thrust rocket engine, and compensates the additional displacement generated by the vibration of the high-speed cameras and the test bed by the inertial navigation measurement and laser tracking technology to obtain the pose change of each part of the engine relative to the butt joint end of the engine, thereby realizing the pose measurement of the high-thrust rocket engine in the hot-test strong-vibration impact environment.)

1. The utility model provides a high thrust rocket engine structure gesture monitoring system which characterized in that: the device comprises a reflective mark point (2), a reflective target ball (3), an inertial sensor (4), a laser tracker (5), a control collector (8) and at least two high-speed cameras (6);

the inertial sensor (4) is arranged at the butt joint end of the engine (7) to be tested and the test bed butt joint frame (1) and is used for measuring the moving speed and displacement information of the butt joint end of the engine (7) to be tested;

the reflective mark point (2) is arranged at a part to be detected of the engine (7) to be detected and used for position identification;

the at least two high-speed cameras (6) are arranged around the engine (7) to be tested and are used for forming a three-dimensional space vision measurement domain of the engine (7) to be tested;

the reflective target ball (3) is arranged on an engine (7) to be measured and is positioned in a visual measurement domain of the high-speed camera (6);

the laser tracker (5) is arranged at a position far away from the test bed and used for tracking the three-dimensional dynamic track of the reflective target ball (3) in real time;

and the input end of the control collector (8) is simultaneously connected with the output ends of the inertial sensor (4), the laser tracker (5) and the high-speed camera (6).

2. The high thrust rocket engine structural attitude monitoring system of claim 1, wherein: the number of the reflecting target balls (3) is multiple, and at least 1 reflecting target ball (3) is positioned in the visual measurement field of the high-speed camera (6).

3. The high thrust rocket engine structural attitude monitoring system of claim 2, wherein: the part to be measured is a turbine pump and two spray pipes of the engine (7) to be measured.

4. The high thrust rocket engine structural attitude monitoring system according to any one of claims 1 to 3, wherein: the high-speed cameras (6) are provided with two cameras, and the frame rate is 1000 frames/s.

5. The high thrust rocket engine structural attitude monitoring system of claim 4, wherein: the inertial sensors (4) are multiple.

6. A method for analyzing the structural attitude of a high-thrust rocket engine is based on the structural attitude monitoring system of the high-thrust rocket engine as claimed in any one of claims 1 to 5, and is characterized by comprising the following steps:

1) an engine (7) to be tested is butted to a test bed, a high-speed camera (6), a laser tracker (5) and an inertial sensor (4) are simultaneously triggered during test running of a test control measurement system, and image data, a three-dimensional dynamic track of a light-reflecting target ball (3) and the moving speed and displacement information of an engine butt joint end are acquired according to the same frequency by controlling an acquisition device (8);

2) detecting the reflective mark points (2) and the reflective target balls (3) of the image data obtained in the step 1) frame by frame, and sequencing according to time to form engine pose information comprising self additional displacement of the high-speed camera (6) and displacement of the test bed docking frame (1);

3) comparing the position and posture information of the reflective target ball (3) in the engine position and posture information obtained in the step 2) frame by utilizing the three-dimensional dynamic track of the reflective target ball (3) obtained in the step 1) to obtain additional displacement of a high-speed camera (6) in frame by frame image data, and compensating and correcting the engine position and posture information obtained in the step 2) by utilizing the additional displacement;

4) and (3) according to the moving speed and displacement information of the butt joint end of the engine obtained in the step 1), correcting the result obtained in the step 3) to obtain pose change data of the engine relative to the butt joint frame (1) for response evaluation of an impact load structure of the engine.

7. The method for analyzing the structural attitude of a high-thrust rocket engine according to claim 6, wherein: and 4) the pose change data in the step 4) is a curve of displacement changing along with time, and the curve comprises data in three directions of an axial direction X, a radial direction Y and a tangential direction Z.

Technical Field

The invention relates to a high-thrust rocket engine, in particular to a high-thrust rocket engine structure attitude monitoring system and an analysis method.

Background

Structural displacement and attitude change of the rocket engine during test run (namely hot test run) can represent the working state and structural response of the engine, and are important data of the engine hot test. Data about a thermal test state required by rocket engine reliability evaluation (prediction) analysis mainly depend on measurement and acquisition of a vibration sensor and a strain gauge at present, and due to the fact that the number of measuring points is limited, obtained local data cannot reflect macroscopic structural response and actual dangerous positions. And structural strain and displacement measurement based on digital image correlation technology has wide application in structural static force test, and also has application in rocket engine hot test. However, under the strong vibration environment of the test run of the high-thrust rocket engine, the additional displacement generated by the camera is large, and the posture change deviation of the main structure identified by directly using the digital image technology is large, so that the posture data cannot be used for the evaluation and analysis of the structural reliability (the engine impact load structural response evaluation and analysis).

Disclosure of Invention

The invention aims to solve the technical problems that in the existing rocket engine structure attitude monitoring system and analysis method, under the strong vibration environment of the test run of a high-thrust rocket engine, the additional displacement generated by a camera is large, and the main structure attitude change deviation identified by directly using a digital image technology is large, so that the attitude data cannot be used for structure reliability evaluation and analysis.

In order to solve the technical problems, the technical solution provided by the invention is as follows:

the invention provides a structural attitude monitoring system of a high-thrust rocket engine, which is characterized in that: the system comprises a reflective mark point, a reflective target ball, an inertial sensor, a laser tracker, a control collector and at least two high-speed cameras;

the inertial sensor is arranged at the butt joint end of the engine to be tested and the test bed butt joint frame and is used for measuring the moving speed and displacement information of the butt joint end of the engine to be tested;

the reflective mark point is arranged at the part to be detected of the engine to be detected and used for position identification;

the at least two high-speed cameras are arranged around the engine to be measured and are used for forming a three-dimensional space vision measurement domain of the engine to be measured;

the reflective target ball is arranged on the engine to be measured and is positioned in the visual measurement area of the high-speed camera;

the laser tracker is arranged at a position far away from the test bed and used for tracking the three-dimensional dynamic track of the reflective target ball in real time;

and the input end of the control collector is simultaneously connected with the output ends of the inertial sensor, the laser tracker and the high-speed camera.

Further, the target ball has a plurality of target balls, wherein at least 1 target ball is in the visual measurement field of the high-speed camera.

Further, the part to be measured is a turbine pump and two spray pipes of the engine to be measured.

Further, there are two high-speed cameras, and the frame rate is 1000 frames/s.

Further, the inertial sensor is plural.

The invention also provides a structural attitude analysis method of the high-thrust rocket engine, which is based on the structural attitude monitoring system of the high-thrust rocket engine and is characterized by comprising the following steps:

1) the method comprises the steps that an engine to be tested is butted to a test bed, a high-speed camera, a laser tracker and an inertial sensor are simultaneously triggered during test running of a test control measurement system, and an acquisition device is controlled to acquire image data of the whole test running process, a three-dimensional dynamic track of a reflective target ball and the moving speed and displacement information of an engine butt joint end according to the same frequency;

2) carrying out reflection mark point detection and reflection target ball detection on the image data obtained in the step 1) frame by frame, and sequencing according to time to form engine position and attitude information containing self additional displacement of the high-speed camera and displacement of a test bed docking frame;

3) comparing the position and posture information of the reflective target ball in the engine position and posture information obtained in the step 2) frame by utilizing the three-dimensional dynamic track of the reflective target ball obtained in the step 1) to obtain additional displacement of the high-speed camera in frame by frame image data, and compensating and correcting the position and posture information of the engine obtained in the step 2) by utilizing the additional displacement;

4) and (3) according to the moving speed and displacement information of the butt joint end of the engine obtained in the step 1), correcting the result obtained in the step 3) to obtain pose change data of the engine relative to the butt joint frame, and using the pose change data for the structural response evaluation of the impact load of the engine.

Further, the pose change data in the step 4) is a displacement time-varying curve, and the curve comprises data in three directions of an axial direction X, a radial direction Y and a tangential direction Z.

Compared with the prior art, the invention has the following beneficial effects:

1. the invention provides a high-thrust rocket engine structure attitude monitoring system and an analysis method, which are a structure response measurement technology of a power device thermal test combining multi-technology fusion of high-speed photography vision measurement, laser tracking measurement and inertial sensor measurement. The three-dimensional vision measurement domain is formed by more than two high-speed cameras, the structural displacement of the high-thrust rocket engine is measured in a full field, the additional displacement generated by vibration of the high-speed cameras and the test bed is compensated by the inertial navigation measurement and laser tracking technology, so that the defects that the traditional vibration and strain sensor measurement points are limited and the deviation of the digital image correlation technology in a strong vibration environment is large are overcome, the pose change of each part of the engine relative to the butt joint end of the engine is obtained, the pose (the structural vibration displacement of the engine) measurement in the high-thrust rocket engine hot-test strong vibration impact environment can be realized, and the whole structural response of the engine in the hot test process can be accurately obtained; the measured structural displacement data can be used for evaluating the performance of the engine, and can also be directly used for structural response simulation analysis and check in the engine hot test process so as to indicate the structural reliability of the engine.

2. The data of the laser tracker is used for compensating the pose data resolved by high-speed photography, additional displacement such as high-speed camera deflection caused by strong vibration can be compensated, more accurate pose data can be obtained, and the design difficulty of fixing and damping the high-speed camera can be reduced.

3. Because the large-thrust engine is compact in layout and complex in structure, a measurement blind area exists in a measurement space formed by the high-speed camera, and the laser tracker and the inertial sensor are used for measurement, the structure pose information of the blind area position can be subjected to supplementary measurement, and three-dimensional holographic pose data can be obtained.

4. The relative pose data of the engine relative to the test bed docking frame can be calculated by measuring the pose information of the engine docking end through the inertial sensor, and the data can be directly applied to the structural response simulation of the engine based on pose change.

Drawings

FIG. 1 is a schematic structural diagram of a structural attitude monitoring system of a high thrust rocket engine according to the present invention;

fig. 2 is a diagram of pose change data of an engine to-be-measured part at different stages obtained by using the structural attitude analysis method of the high thrust rocket engine, wherein fig. 2(a) is a starting section, fig. 2(B) is a main stage section, fig. 2(c) is a shutdown section, in each diagram, a is a first part to-be-measured and B is a second part to-be-measured, pose change data is a curve of displacement change along with time, and the curve comprises data in three directions of an axial direction X, a radial direction Y and a tangential direction Z.

Description of reference numerals:

1-butt joint frame, 2-reflection mark points, 3-reflection target balls, 4-inertial sensor, 5-laser tracker, 6-high-speed camera, 7-engine to be measured and 8-control collector.

Detailed Description

The invention is further described below with reference to the figures and examples.

According to the monitoring system and the analysis method for the structural posture of the high-thrust rocket engine, the inertial sensor 4 technology and the laser tracking technology are added on the basis of the application of the digital image technology, the vibration of the high-speed camera 6 and the additional vibration of the test bed can be compensated, the problem of accurately acquiring the holographic posture of the engine in the thermal test extreme vibration environment is solved, and reliable data are provided for the research and the structural simulation evaluation of the high-thrust rocket engine.

The invention discloses a high-thrust rocket engine structure attitude monitoring system, which comprises a plurality of reflective mark points 2, a plurality of reflective target balls 3, a plurality of inertial sensors 4, a plurality of laser trackers 5, a control collector 8 and 2 high-speed cameras 6 with 1000 frames/s, wherein the reflective mark points 2 are arranged on the upper surface of a base; the inertial sensor 7 is arranged at the butt joint end of the engine 7 to be tested and the test bed butt joint frame 1, and the engine, the test bed and the butt joint frame are all targets to be tested and are used for measuring the moving speed and displacement information of the butt joint end of the engine 7 to be tested; the multiple reflective mark points 2 are arranged at the parts to be detected (key parts of the engine, such as a turbine pump and two spray pipes) of the engine 7 to be detected and used for position identification; the high-speed cameras 6 are all arranged around the engine 7 to be tested, and are calibrated before testing to form a three-dimensional space vision measurement domain of the engine 7 to be tested; a plurality of reflective target balls 3 are arranged on an engine 7 to be tested, wherein at least 1 reflective target ball 3 is positioned in a visual measurement area of a high-speed camera 6; the laser tracker 5 is reliably and fixedly arranged at a position far away from a test bed (far away from an engine), is not influenced by the vibration of the test bed and is used for tracking the three-dimensional dynamic track of the reflective target ball 3 in real time; and the input end of the control collector 8 is simultaneously connected with the output ends of the inertial sensor 4, the laser tracker 5 and the high-speed camera 6.

A structural attitude analysis method of a high-thrust rocket engine is based on the structural attitude monitoring system of the high-thrust rocket engine and comprises the following steps:

1) an engine 7 to be tested is butted to a test bed, a high-speed camera 6, a laser tracker 5 and an inertial sensor 4 are simultaneously triggered during test run of a test run control measurement system, and image data of the whole test run process, a three-dimensional dynamic track of a reflective target ball 3 and the moving speed and displacement information of an engine butting end are collected by a control collector 8 according to the same frequency to obtain original data of pose analysis;

2) carrying out detection on the light reflection mark points 2 and the light reflection target balls 3 on the image data obtained in the step 1) frame by frame, and sequencing according to time to form engine position and attitude information containing the additional displacement of the high-speed camera 6 and the displacement of the test bed docking frame 1;

3) comparing the position and orientation information of the reflective target ball 3 in the engine position and orientation information obtained in the step 2) frame by utilizing the three-dimensional dynamic track of the reflective target ball 3 obtained in the step 1) to obtain additional displacement of the high-speed camera 6 in frame by frame image data, and compensating and correcting the engine position and orientation information obtained in the step 2) by utilizing the additional displacement;

4) and (3) according to the moving speed and displacement information of the butt joint end of the engine obtained in the step 1), correcting the result obtained in the step 3) to obtain pose change data of the engine relative to the butt joint frame 1, wherein the pose change data is a displacement time-varying curve which comprises data in three directions of an axial direction X, a radial direction Y and a tangential direction Z and is used for structural response evaluation of the impact load of the engine.

The pose change data of the engine relative to the docking bracket 1 obtained in the step 4) can be used as load input of the engine impact load structure response assessment (prediction).

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same, and it is obvious for a person skilled in the art to modify the specific technical solutions described in the foregoing embodiments or to substitute part of the technical features, and these modifications or substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions protected by the present invention.