多组舱段质量质心测量设备关键技术研究

硕士学位论文硕士学位论文硕士学位论文硕士学位论文多组舱段质量质心测量设备关键技术研究RESEARCHONKEYTECHNIQUESOFMEASURINGAPPARATUSFORDETERMININGTHEMASSESANDTHREEAXESOFCENTROIDSOFMULTIPLYCABINS张烈山张烈山张烈山张烈山哈尔滨工业大学哈尔滨工业大学哈尔滨工业大学哈尔滨工业大学2012年年年年6月月月月国内图书分类号：TP274.2学校代码：10213UDC：621.38密级：公开工工工工学学学学硕士学位论文硕士学位论文硕士学位论文硕士学位论文多组舱段质量质心测量设备关键技术研究硕士研究生：张烈山导师：唐文彦教授申请学位：工学硕士学科：仪器科学与技术所在单位：自动化测试与控制系答辩日期：2012年6月授予学位单位：哈尔滨工业大学ClassifiedIndex：TP274.2U.D.C.:621.38DissertationfortheMasterDegreeinEngineeringRESEARCHONKEYTECHNIQUESOFMEASURINGAPPARATUSFORDETERMININGTHEMASSESANDTHREEAXESOFCENTROIDSOFMULTIPLYCABINSCandidate：：：：ZhangLieshanSupervisor：：：：Prof.TangWenyanAcademicDegreeAppliedfor：：：：MasterofEngineeringSpeciality：：：：InstrumentationScienceandTechnologyAffiliation：：：：Dept.AutomaticTestingandControlDateofDefence：：：：June,2012Degree-Conferring-Institution：：：：HarbinInstituteofTechnology哈尔滨工业大学工学硕士学位论文-I-摘要质量质心是重要的质量特性参数，是飞行器总体设计的重要依据。质量质心的检测是飞行器地面测试的重要内容，为保证飞行器具备合适的稳定性和良好的操纵性以实现飞行器高精度姿态控制、目标打击，飞行器总装测试中常常需要对多个尺寸各异的舱段进行质量质心测量。目前舱段质量质心测量设备多为专台专用，且需要多次吊装才能完成全部参数的测量，这种测量设备已不能满足大尺寸大质量舱段的测试需求。本文根据某型导弹多个子级舱段质量质心的测量需求，提出了一种基于四点衡重法的不需要重置被测件的质量质心测量方案，研究了一种能够兼容多个弹箭舱段质量质心测量的设备，具体研究内容包括：通过对质量质心测量方法的总结，结合项目实际技术要求，提出具体测量方案，完成了测试系统机械结构的设计，使系统在不需要重置舱段的情况下即可完成舱段质量、质心径向及航向坐标测量计算，并且使系统能够兼容多种尺寸舱段质量质心的高精度检测。根据机械结构设计方案和质量质心测量技术指标，完成了电气系统的设计，对一些关键模块进行了选择和分析，本文利用PCI-1610A卡来扩展了上位机的串口，进而实现了4路称重传感器信号的同步采集；对伺服电机进行了计算选型，最终实现了包括传感器信号采集模块、电机驱动控制模块在内的电气系统的构建。根据四点衡重方法原理和四个称重传感器在测量坐标系中的位置，结合机械系统外形几何参数，推导得到被测件质量和质心的计算算法。结合软件开发需求，利用VisualBasic6.0开发工具编制了基于Win32平台的人机交互测控软件。利用测量不确定度的B类评定方法对本系统质量质心测量不确定度进行了估计，并最终通过实验验证了整个系统的功能及测量精度。关键词：质量特性；质量质心；四点衡重；精密测量哈尔滨工业大学工学硕士学位论文-II-AbstractMassandthreeaxesofcentroidareconcernfulparametersofmassproperty,aswellasthesignificantparametersforholisticdesignofaerocraft.Measurementofmassandthreeaxesofcentriodusuallyplaysanimportantroleinthegroundtestforaerocrafts.Tomakesurethatsuitablemanipulabilityandstabilityareachievedtorealizethehigh-precisionflightcontrolandbombardmentofaerocraft,it’susuallypressingnecessitytodoingtestsofmassesandcentroidsforseveralcabinswithdifferentdimensionsofaerocraft,whenassemblageanddebuggingworksarebeingdone.Nowadaysmostmass¢riodmeasuringinstrumentsareparticularapparatuseswhichcandeterminethemassesandcentriodsforthecertaintypeofcabins,what’smore,theyhavetore-positionthecabinswhenmeasuringmassandcentriod,obviously,theycan’tmeetthetestingdemandsforcabinswithlargemassesanddimensionsatpresent.Acoordingtothemass¢roidtestingdemandsforacertainmissle,thisthesisputforwardanideabasedon4-pointweighingmethod,whichcandeterminethemassandallthreeaxesofthecentroidwithouthavingtore-positionthecabins,anddevelopedasetofmeasuringapparatuswhichcandeterminethemassesandcentroidsofmultiplymisslecabins,andthemainresearchcontentsofthisthesisareincluding:Throughsummarizingthemeasuringmethodsfordeterminingobjects’massesandcentroids,aswellasconsideringthepracticaltechniquedemandsforthetask,thecertainweighingmethodwasputforward.Themachineryofmeasuringsystemwasdesignedtomaketheapparatuscouldmeasuremassandallthreeaxesofthecentroidofamisslecabinwithouthavingtore-positionthecabin,andthissystemwascompatibleformeasuringthemassesandcentroidsofmultiplycabinswhichhaddifferentdimensions.Acoordingtomachinerydesignandtechniquedemandsforthemass¢roidmeasurement,theelectricalsystemwasdesigned,andseveralkeyelectricalmoduleswereanalysedandchosen.SerialinterfacesofhostcomputerwereextendedbythePCI-1610Acardinordertogather4signalsoftransducerssynchronously.Theparametersofelectromotorwerecalculatedaswell.Includingthetransducersignals’collectionmoduleandelectromotordrivingmodule,theentireelectricalsystemwasconstitutedultimately.哈尔滨工业大学工学硕士学位论文-III-Thealgorithmsofmassandallthreeaxesofthecentroidwereeducedthroughthepostiondataof4transduersinmeasuringcoordinateandprinciplesof4-pointweighingmethod,aswellasthegeometricparametersofthemachinery.Consideringthesoftwaredemandsforthistask,aninteractivemeasuringandcontrolingsoftwarebasedonWin32operatingsystemwasdevelopedbyusingthedevelopingtoolofVisualBasic6.0.ThemeasuringuncertaintiesofmassandcentroidwereestimatedbytheClassBassessingmethod.Thefunctionsofwholesystemandmeasuringprecisionwereeventuallyvalidatedbymeasuringexperiments.Keywords:MassProperty,MassandCentriod,4-PointWeighingMethod,High-precisionMeasurement哈尔滨工业大学工学硕士学位论文-IV-目录摘要...........................................................................................................................IAbstract........................................................................................................................II第1章绪论...............................................................................................................11.1研究背景............................................................................................................11.2飞行器质量质心测量的意义............................................................................11.2.1质量质心参数在飞行器总体设计中的地位.............................................21.2.2质量质心参数在飞行器姿态控制中的作用.............................................31.2.3飞行器质量质心地