CN104154933B - A kind of method based on vibrating fatigue theory analysis inertial measurement system failure mode - Google Patents
A kind of method based on vibrating fatigue theory analysis inertial measurement system failure mode Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
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Abstract
The invention discloses a kind of method based on vibrating fatigue theory analysis inertial measurement system failure mode：The vibration source existed inside when working first with inertia device, by the detection to its rumble spectrum, obtain the full range spectrum information of vibrational energy transmission, the structural modal that connecting inner is respectively constituted, the work micro state of each composition inside inertia device can be observed, the failure that Accurate Diagnosis inertia device is respectively constituted occurs point.The present invention characterizes directly perceived, simple to operate, accuracy of detection height, effectively realizes that the whole machine level failure of inertia device is estimated and positioned.The present invention is applied to the assessment of any thrashing pattern containing vibrational excitation.
Description
Technical field
The present invention relates to a kind of method based on vibrating fatigue theory analysis inertial measurement system failure mode, more particularly to
A kind of method of the micro state by structural vibration response analysis of spectrum, visual assessment internal system composition and service behaviour, can
Operating accuracy failure mode analysis (FMA) and fault diagnosis for inertia device.The present invention is applied to
System operational failure assessment, belongs to inertia device technical field.
Background technology
Inertia device belongs to complicated Mechatronic Systems, the judgement to its failure mode, adopts each structure current version more
Composition carries out independent FMEA, FMCA analysis, and mainly the factor from the factor related to service behaviour and disabler is started with so
Connect afterwards the mode for collecting, advantage is succinct, quick.Have the disadvantage：The knot that each structure composition is formed in internal system is not accounted for
The service behaviour failure mode that the coupling of structure modal parameter brings.Sentence for gyroscope, accelerometer service behaviour failure mode
It is fixed, the vibration coupling factor related to structural modal is not accounted for, i.e.,Accumulation shadow to [θ], [ε], [a], [G], [A] etc.
Ring, caused by due to being the accumulation of little magnitude vibrating fatigue, being generally classified as the production of structure composition, assembling, storing iso-stress.Inertia
The common service behaviour test of device one integral piece, and vibration-testing is not contained, often wait until critical component as having high-speed rotating shaft
When the function of the gyroscope of system, shaker mechanism, accelerometer mass etc. loses, its working condition micro-property has just been found
Go wrong, due to no measurement means, it is impossible to realize estimating entirely for failure mode.
Either inertial navigation system, or inertia type instrument in fact, as long as there is vibrational excitation thereon, just belongs to vibrational system.
There is vibration, have structure, just have response.Impact to vibrating in the past, the system that especially there is vibration source to inside only consider
The structure of vibration itself is produced, frequency vibration control is operated to gyroscope motor oscillating such as, to outside vibration source by subtracting
The device that shakes is isolated, and reduces system input.It is in fact directly related to service behaviour also to include internal system coupling accuracy and structure
Boundary stress change also can be transmitted this carrier by vibrational energy.It is badly in need of now a kind of method and solves complex electromechanical systems
The long-standing difficult problem that evaluation is difficult due to the failure mode that structure composition vibration coupling relation is brought, realizes inertia measurement system
The all standing of system failure mode.
The content of the invention
The technology solve problem of the present invention：Overcome the deficiencies in the prior art, there is provided a kind of to divide based on vibrating fatigue is theoretical
The method of analysis inertial measurement system failure mode, the rumble spectrum signal enriched by detection information, and carry out coupled vibration
Directly can be formed to the directly perceived of this kind of complication system service behaviour micro state of inertia device with stress, the analysis of coupled relation
Assessment.
The technical solution of the present invention：
A kind of method based on vibrating fatigue theory analysis inertial measurement system failure mode includes that step is as follows：
(1) actual measurement demarcation is carried out to the modal parameter f of the structure composition of inertia device, obtains structural modal [fi], composition
Modal parameters storehouse；
(2) characteristic modes in selecting step (1) in modal parameters storehouseEach structure composition is individually carried out
Static position test obtains the output of each structure composition and obtains characteristic modesSpectral property H, and built according to output
The vertical characteristic modes chosenThe border of the physical model and acquisition physical model of affiliated inertia device structure composition
Stress S-N curve L；Wherein fi、The respectively vibration amplitude of model frequency and the frequency；
(3) frequency of different azimuth and varying environment is integrally carried out using vibration measurement instrument to the inertia device of each structure composition
Spectrum test, obtains multigroup spectral property H ' of each structure composition characteristic modes under inertia device overall work state, and by multigroup H '
It is compared with the H in step (2), if both differences are in set point, into step (4), otherwise judges to be unsatisfactory for bar
The structure of part is that operation irregularity is caused spectral property abnormal or coupled with other structures composition occurrence frequency and causes textural anomaly, and
Change damaged structure to be retested until normally entering step (4)；
(4) to the static position of different azimuth and varying environment is carried out under the inertia device overall work state of structure composition
Test, obtains under inertia device overall work state the output of each structure composition and in real time using vibration measurement instrument to inertia device
The spectral property H of each structure composition characteristic modes under part overall work state " is tested, and by H " with respective party in step (3)
H ' under position and environment is compared, if both differences into step (5), otherwise reexamine each group in set point
Into connection, each structure composition whether normal work is judged, if abnormal, timely replacing damaged structure, is then retested
Until normally entering step (5)；
(5) output obtained in step (4) is substituted into into the physical model in step (2), obtains inertia device integrated testability
The revised boundary stress S-N curve L1 of lower structure composition；
(6) obtain not in the same time the step of (5) described in boundary stress S-N curve L1 set of curves；
(7) microcosmic fail-ure criterion is carried out to structure composition according to the boundary stress curve in step (6)；Affiliated microcosmic failure
Judge that concrete grammar is as follows：Effective model of each structure composition output under inertia device overall work state is set according to user's request
Enclose, judge effectiveness of the stress curve under inertia device overall work state under the effective range of each structure composition output.
Each structure composition of the inertia device includes gyroscope, accelerometer, shaker mechanism, torque actuator, its
Middle shaker mechanism, torque actuator and the test equipment for inertia device test vibrate the shadow of transmission to inertia device
Ring, be reflected in the output of inertia device core component gyroscope and accelerometer, therefore physical model need to only list core
The physical model of part gyroscope and accelerometer.
The physical model of the gyroscope is：
Wherein：The output of [G] for gyroscope；[K] is gyroscope scale factor；[D] is gyroscope static error；[E] is
Alignment error；[ω] is input angle attitude；[D0] for the gyroscope error of zero unrelated with gravity acceleration g；[D]ijFor gyro
The instrument error term relevant with acceleration a, as high-order term is negligible, refer mainly to herein it is relevant with a first powers once
；For actual acceleration；
The physical model of the accelerometer is：
Wherein：The output of [A] for accelerometer；[K0] for the zero inclined of accelerometer；[Ka] for accelerometer scale factor
(including nonlinearity erron)；[E] is alignment error；[a1] for sensitive acceleration；[a0] for inertial acceleration；For frequency fi
When vibration coupling acceleration amplitude.
The determination mode of the boundary stress S-N curves is as follows：S is the parameter in model
[a]、[K0], N is time t.
Vibration measurement instrument in the step (3) adopts contact and contactless vibration measurement instrument；It is described contactless
Vibration measurement instrument adopts current vortex vialog and laser vibration measurer；Vibrating sensing of the contact vibroscope using the formula of being connected
Device.
The inertia device includes quick-connecting inertia measurement system, platform inertial measurement system, inertia type instrument.
Characteristic frequency of the characteristic modes for structure composition；The described characteristic frequency frequency of the work comprising gyroscope motor
Operating frequency that rate, the operating frequency of motor shaft supporting structure, the operating frequency of gyroscope flywheel, flywheel are supported, gyro shafting
Operating frequency, the operating frequency of accelerometer mass support, the chattering frequency of shaker mechanism, the hunting frequency of actuator.
Described modal parameters storehouse includes each stage structure mode (such as single order structural modal, second order structure mode etc.
Multiple-rank arrangement mode), each order mode state after each structure composition inertia device system.
The different azimuth of the step (3) and (4) includes inertia device coordinate system and geographic coordinate system coincidence status, does not weigh
Conjunction state；Wherein for measurement H ' and H "The concrete methods of realizing step of measurement be：
A () is determined on bang path to vibration sensing by the vibration transfer path of each structure composition of test inertia device
Stress failures sensitizing range, if there is multiple spot stress failures sensitizing range, it is stress to choose all sensitive region of coordinate system XYZ axle
Failure sensitizing range, or multiple spot is chosen simultaneously as stress failures sensitizing range；
B () sensor of vibration measurement instrument is positioned over the stress failures sensitizing range determine in step (a) and further carries out H '
With H " measurement.
Beneficial effect of the present invention relative to prior art：
(1) it is the output error item that direct measurement inertia device is respectively constituted relative to prior art, is only applicable to inertia device
The interim process control of part, and the present invention obtains physical model by structural modal, and then key structure stress curve is obtained,
Can carry out affecting the whole-process control of inertia device service behaviour using stress curve, be operated life prediction, engineer applied
Property it is higher, real-time monitoring can be realized, at any time according to monitoring process, it is ensured that realize ground safety and accurately.
(2) in inertia device prior art, microcosmic failure is difficult to failure mode hardly possible is coupled between system-level detection, each composition
With the difficult problem assessed, the present invention is simple to operate, and intuitive is strong, increases inertia device and vibrates spectral property (such as acceleration of vibration, amplitude
Spectrum, power spectrum etc.) detection, performance detection high precision (can reach nm levels, reached originally a μm level) at present, easily assess, can
Failure mode all standing is realized fast and accurately.
Description of the drawings
Fig. 1 is method of the present invention flow chart.
Specific embodiment
Below in conjunction with the accompanying drawings the operation principle and the course of work of the present invention are further explained.
The present invention realize principle be：Using vibration measurement instrument, frequency response function curve fault diagnosis identifying system, mark are constituted
Determine the modal parameter of inertia device inner structure composition, the physical model respectively constituted using inertia device draws characteristic modes and side
Boundary's stress modifier S-N curve, sets up spectral property and inertia device service behaviour failure mode storehouse, completes the failure of inertia device microcosmic
Mode decision.
As shown in figure 1, a kind of method based on vibrating fatigue theory analysis inertial measurement system failure mode, step is such as
Under：
(1) actual measurement demarcation is carried out to the modal parameter f of the structure composition of inertia device, obtains structural modal [fi], composition
Modal parameters storehouse；
Inertia device includes quick-connecting inertia measurement system, platform inertial measurement system, inertia type instrument.Each knot of inertia device
Structure composition includes gyroscope, accelerometer, shaker mechanism, torque actuator.
Characteristic frequency of the characteristic modes for structure composition；Operating frequency of the described characteristic frequency comprising gyroscope motor,
The operating frequency of motor shaft supporting structure, the operating frequency of gyroscope flywheel, the operating frequency of flywheel support, the work of gyro shafting
Frequency, the operating frequency of accelerometer mass support, the chattering frequency of shaker mechanism, the hunting frequency of actuator.
Modal parameters storehouse includes each stage structure mode (such as multistage knot such as single order structural modal, second order structure mode
Structure mode), each order mode state after each structure composition inertia device system.
(2) characteristic modes in selecting step (1) in modal parameters storehouseEach structure composition is individually carried out
Static position test obtains the output of each structure composition and obtains characteristic modesSpectral property H, and built according to output
The vertical characteristic modes chosenThe border of the physical model and acquisition physical model of affiliated inertia device structure composition
Stress S-N curve L；Wherein fi、The respectively vibration amplitude of model frequency and the frequency；
The physical model of gyroscope is：
Wherein：The output of [G] for gyroscope；[K] is scale factor；[D] is gyroscope static error；[E] is missed to install
Difference；[ω] is input angle attitude；[D0] for the gyroscope error of zero unrelated with gravity acceleration g；[D]ijFor gyroscope with plus
The relevant error term of speed a, as high-order term is negligible, refers mainly to the first order relevant with a first powers herein；[a]
For actual acceleration；
The physical model of accelerometer is：
Wherein：The output of [A] for accelerometer；[K0] for the zero inclined of accelerometer；[Ka] (include non-thread for scale factor
Property error)；[E] is alignment error；[a1] for sensitive acceleration；[a0] for inertial acceleration；For frequency fiShi Zhendong couplings
Resultant acceleration amplitude.
Shaker mechanism, the physical model of torque actuator not specifically can consider, shaker mechanism, torque actuator
And the test equipment tested for inertia device vibrates the impact of transmission to inertia device, is reflected in inertia device core
In the output of part gyroscope and accelerometer, therefore physical model need to only list the physics mould of core component gyroscope and accelerometer
Type.
The determination mode of boundary stress S-N curves is as follows：S be model in parameter, [a],
N is time t.(now obtain be detached structure composition stress curve, not other structures composition impact).
(3) frequency of different azimuth and varying environment is integrally carried out using vibration measurement instrument to the inertia device of each structure composition
Spectrum test, obtains multigroup spectral property H ' of each structure composition characteristic modes under inertia device overall work state, and by multigroup H '
It is compared with the H in step (2), if both differences are in set point, into step (4), otherwise judges to be unsatisfactory for bar
The structure of part is that itself operation irregularity causes spectral property exception, or couples with other structures composition occurrence frequency and cause structure different
Often, and change damaged structure and retested until normally entering step (4)；
Vibration measurement instrument adopts contact and contactless vibration measurement instrument；The contactless vibration measurement instrument is using electricity
Vortex vialog and laser vibration measurer；Vibrating sensor of the contact vibroscope using the formula of being connected.
(4) to the static position of different azimuth and varying environment is carried out under the inertia device overall work state of structure composition
Test, obtains under inertia device overall work state the output of each structure composition and in real time using vibration measurement instrument to inertia device
The spectral property H of each structure composition characteristic modes under part overall work state " is tested, and by H " with respective party in step (3)
H ' under position and environment is compared, if both differences into step (5), otherwise reexamine each group in set point
Into connection, retested until normally entering step (5)；
(5) output obtained in step (4) is substituted into into the physical model in step (2), obtains inertia device integrated testability
The revised boundary stress S-N curve L1 of lower structure composition；
(6) obtain not in the same time the step of (5) described in boundary stress S-N curve L1 set of curves；
(7) microcosmic fail-ure criterion is carried out to structure composition according to the boundary stress curve in step (6)；Affiliated microcosmic failure
Judge that concrete grammar is as follows：Effective model of each structure composition output under inertia device overall work state is set according to user's request
Enclose, judge effectiveness (example of the stress curve under inertia device overall work state under the effective range of each structure composition output
If gyroscopic drift stability requirement is that standard deviation is less than 0.2 °/h, then judge that now stress curve (such as [θ] and [ε]) is not
It is the demand for meeting normal work).
Wherein, for measurement H ' and H in step (3) and (4) " the concrete methods of realizing step of measurement be：
A () is determined on bang path to vibration sensing by the vibration transfer path of each structure composition of test inertia device
Stress failures sensitizing range, if there is multiple spot stress failures sensitizing range, it is stress to choose all sensitive region of coordinate system XYZ axle
Failure sensitizing range, or multiple spot is chosen simultaneously as stress failures sensitizing range；
B () sensor of vibration measurement instrument is positioned over the stress failures sensitizing range determine in step (a) and further carries out H '
With H " measurement.
To verify the practicality and correctness of inventive method, certain type flexibility inertial measurement system is surveyed using the present invention
Examination, step are as follows：
Certain type flexibility inertial measurement system is mainly by two flexure gyroscopes (i.e. the first gyroscope Gx and the second gyroscope
Gy) and three accelerometer (i.e. the first accelerometer Ax, the second accelerometer Ay, the 3rd accelerometer Az) compositions；Test step
It is rapid as follows
(1) certain type flexibility inertial measurement system is selected to carry out assembling spectral property test, first to gyroscope, accelerometer, knot
Structure body, test table have carried out structure mould measurement, obtain modal parameters storehouse as shown in table 1；
1 flexure gyroscope of table, arrangements of accelerometers modal parameter storehouse
(2) character modules of certain type flexibility inertial measurement system output accuracy of possible impact are chosen from modal parameters storehouse
State (such as vibration of gyroscope 166.67Hz and 170Hz, the vibration of 2000～2200Hz, vibration of 3300～3600Hz etc., plus
Velometer 4000～4300Hz frequencies etc.), and carry out testing the H for obtaining accelerometer and gyroscope in these frequencies；
(3) frequency spectrum survey is integrally carried out to the flexible inertial measurement system under overall work state using vibration measurement instrument
Examination, it is 108.98g that measurement obtains the vibration at the 4108.98Hz of the second accelerometer2/ Hz and the output of the second accelerometer become
Change 10～20 pulse/60 second (2 pulse/60 second should be less than according to system index accelerometer exporting change), measure accelerometer
The 108.98g for obtaining2/ Hz and frequency characteristic H ', the H with accelerometer in step (2) that 10～20 pulse/60 second are accelerometer
(vibration at 4000～4300Hz is 0.0004g2/ Hz) compare after, find its operation irregularity, while measurement obtains gyroscope and exists
At 2152Hz, vibration is bigger than normal, is 1.222g2In/Hz (H ' of gyroscope), with step (2), the H of gyroscope is (at 2000～2300Hz
Vibration be 0.02g2/ Hz) compare, also operation irregularity；May determine that accelerometer or gyroscope go wrong, or both
Working properly, phase crossing over frequency is coupled out existing problem, and (such as the first gyroscope causes the second accelerometer Ay in 4000～4300Hz
(frequency multiplication of gyroscope) vibration coupling at frequency, affects accelerometer to export undesirable), solution：Method (1)
Two accelerometer Ay are replaced with anti-vibration and disturb the Ay accelerometers of strong accelerometer, replacing to vibrate at 4108.98Hz
35.767g2/ Hz, 2 pulse/60 second of accelerometer exporting change (accelerometer exporting change should be less than 2 pulse/60 second)；But
35.767g is vibrated at 4108.98Hz2/ Hz, or it is bigger than normal, easily cause the follow-up impact to precision；Method (2) second accelerates
Degree meter Ay is not changed, and changes the first gyroscope Gx, and after replacing, the gyroscope is vibrated for 0.002g at 2152Hz2/ Hz, now second
Accelerometer Ay, vibrates for 0.001g at 4108.98Hz2/ Hz, 1 pulse/60 second (accelerometer of accelerometer exporting change
Exporting change should be less than 2 pulse/60 second).Final choice method (2) changes the first gyroscope Gx, the flexible inertia measurement system
System carries out follow-up test job.
(4), after the flexible inertial measurement system normal work, implement using vibration measurement instrument to inertia device overall work
The spectral property H of each structure composition characteristic modes under state " is tested, and is judged, while drawing the curve of S-N curve L1
Cluster carries out long-term microcosmic failure detection and judgement.
The undisclosed part of the present invention is known technology of the present invention.
Claims (9)
1. a kind of method based on vibrating fatigue theory analysis inertial measurement system failure mode, it is characterised in that step is as follows：
(1) actual measurement demarcation is carried out to the modal parameter f of the structure composition of inertia device, obtains structural modal [fi], constitute structure mould
State parameter library；
(2) characteristic modes in selecting step (1) in modal parameters storehouseStatic state is individually carried out to each structure composition
Position measurement obtains the output of each structure composition and obtains characteristic modesSpectral property H, and according to output set up choosing
The characteristic modes for takingThe boundary stress of the physical model and acquisition physical model of affiliated inertia device structure composition
S-N curve L；Wherein fi、The respectively vibration amplitude of model frequency and the frequency；
(3) frequency spectrum that different azimuth and varying environment are integrally carried out to the inertia device of each structure composition using vibration measurement instrument is surveyed
Examination, obtains multigroup spectral property H' of each structure composition characteristic modes under inertia device overall work state, and by multigroup H' and walks
Suddenly the H in (2) is compared, if both differences are in set point, into step (4), otherwise judges to be unsatisfactory for condition
Structure is that itself operation irregularity is caused spectral property abnormal or coupled with other structures composition occurrence frequency and causes textural anomaly, and
Change damaged structure to be retested until normally entering step (4)；
(4) static position to different azimuth and varying environment are carried out under the inertia device overall work state of structure composition is surveyed
Examination, obtains under inertia device overall work state the output of each structure composition and in real time using vibration measurement instrument to inertia device
The spectral property H of each structure composition characteristic modes under overall work state " is tested, and by H " with corresponding orientation in step (3)
It is compared with the H' under environment, if both differences into step (5), otherwise reexamine each composition in set point
Connection, judges each structure composition whether normal work, and if abnormal, timely replacing damaged structure, is retested until just
Step (5) is entered often；
(5) output of each structure composition obtained in step (4) is substituted into into the physical model in step (2), obtains inertia device
The revised boundary stress S-N curve L1 of structure composition under integrated testability；
(6) obtain not in the same time the step of (5) described in boundary stress S-N curve L1 set of curves；
(7) microcosmic fail-ure criterion is carried out to structure composition according to the boundary stress curve in step (6)；The microcosmic fail-ure criterion
Concrete grammar is as follows：The effective range of each structure composition output under inertia device overall work state is set according to user's request,
Judge effectiveness of the stress curve under inertia device overall work state under the effective range of each structure composition output.
2. a kind of method based on vibrating fatigue theory analysis inertial measurement system failure mode according to claim 1,
It is characterized in that：Each structure composition of the inertia device includes gyroscope, accelerometer, shaker mechanism, torque actuator.
3. a kind of method based on vibrating fatigue theory analysis inertial measurement system failure mode according to claim 2,
It is characterized in that：The physical model of the gyroscope is：
Wherein：The output of [G] for gyroscope；[K] is gyroscope scale factor；[D] is gyroscope static error；[E] is installation
Error；[ω] is input angle attitude；[D0] for the gyroscope error of zero unrelated with gravity acceleration g；[D]ijFor gyroscope with
Acceleration a relevant error term, as high-order term is negligible, refers mainly to the first order relevant with a first powers herein；
[a] is actual acceleration；
It is and frequency of vibration fiThe related gyroscope error of zero [D0]；
It is and frequency of vibration fiThe related gyroscope error term [D] relevant with acceleration aij；
It is and frequency of vibration fiRelated acceleration [a]；
It is and frequency of vibration fiRelated flexible support rigidity；
It is and frequency of vibration fiRelated gyrorotor initial deflection angle；
[k]ijFor stiffness coefficient, represent the specific force along i and cause barycenter resilient bias amount on j axles；
[ε]ijIt is the projection along i side-play amounts on j axles；
The physical model of the accelerometer is：
Wherein：The output of [A] for accelerometer；[K0] for the zero inclined of accelerometer；[Ka] (include for accelerometer scale factor
Nonlinearity erron)；[E] is alignment error；[a1] for sensitive acceleration；[a0] for inertial acceleration；For frequency fiShi Zhendong
Coupling acceleration amplitude.
4. according to claim 3 a kind of based on vibrating fatigue theory analysis inertial measurement system failure mode
Method, it is characterised in that：The determination mode of the boundary stress S-N curve L is as follows：S is the parameter in model[a]、[K0], N is time t.
5. a kind of method based on vibrating fatigue theory analysis inertial measurement system failure mode according to claim 1,
It is characterized in that：Vibration measurement instrument in the step (3) adopts contact and contactless vibration measurement instrument；The noncontact
Formula vibration measurement instrument adopts current vortex vialog and laser vibration measurer；Vibrating sensing of the contact vibroscope using the formula of being connected
Device.
6. a kind of method based on vibrating fatigue theory analysis inertial measurement system failure mode according to claim 1,
It is characterized in that：The inertia device includes quick-connecting inertia measurement system, platform inertial measurement system, inertia type instrument.
7. a kind of method based on vibrating fatigue theory analysis inertial measurement system failure mode according to claim 4,
It is characterized in that：Characteristic frequency of the characteristic modes for structure composition；Work of the described characteristic frequency comprising gyroscope motor
Working frequency, the operating frequency of motor shaft supporting structure, the operating frequency of gyroscope flywheel, the operating frequency of flywheel support, gyroaxis
The operating frequency of system, the operating frequency of accelerometer mass support, the chattering frequency of shaker mechanism, the swing frequency of actuator
Rate.
8. a kind of method based on vibrating fatigue theory analysis inertial measurement system failure mode according to claim 1,
It is characterized in that：Described modal parameters storehouse includes each after each stage structure mode, each structure composition inertia device system
Order mode state.
9. a kind of method based on vibrating fatigue theory analysis inertial measurement system failure mode according to claim 1,
It is characterized in that：The different azimuth of the step (3) and (4) include inertia device coordinate system and geographic coordinate system coincidence status,
Misaligned state；Wherein for measurement H' and H " the concrete methods of realizing step of measurement be：
A () is determined by the vibration transfer path of each structure composition of test inertia device
Power failure sensitizing range, if there is multiple spot stress failures sensitizing range, it is stress failures to choose all sensitive region of coordinate system XYZ axle
Sensitizing range, or multiple spot is chosen simultaneously as stress failures sensitizing range；
B () sensor of vibration measurement instrument is positioned over the stress failures sensitizing range determine in step (a) and further carries out H' and H "
Measurement.
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| CN113343528B (en) * | 2021-06-11 | 2022-07-26 | 中北大学 | Shafting fatigue damage prediction method based on cross-point frequency response and dynamic response characteristic fusion |
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| IL137572A0 (en) * | 2000-07-28 | 2003-06-24 | Israel Aircraft Ind Ltd | Compact inertial measurement unit |
| CN102128638B (en) * | 2010-12-29 | 2013-04-10 | 上海亨通光电科技有限公司 | Method for detecting optical fiber gyroscope semifinished product detection board |
| CN102323008B (en) * | 2011-09-01 | 2013-10-23 | 中国航空工业第六一八研究所 | Balance testing method for inertial platform of platform type inertial navigation system |
| CN102494695A (en) * | 2011-11-04 | 2012-06-13 | 中国船舶重工集团公司第七0七研究所 | High-efficiency MTBF (Mean Time Between Failures) proof test method applied to ship navigation product |
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