基于坐标变换与距离测定的三线摆方法

Trifilar pendulum method based on coordinate transformations and distance measurements

针对传统测试方法的局限,提出一种改进的三线摆方法。该方法无需角度测量即可同时测定复杂刚体或结构的10个惯性参数,包括1个质量、3个质心坐标、6个转动惯量与惯性积参数。介绍运用三线摆测定惯性参数的原理、基本关系式与关键步骤,包括利用配重辅助姿态调整、测定距离以确定空间点坐标以及计算坐标变换矩阵。说明了测试误差的构成,并提出误差评价指标。测试实例显示,该方法具有足够精度,且因避免了角度测量而具有更高的效率。

The analysis of trifilar pendulums is simplified by a method which simultaneously determines all 10 inertia parameters of a complex rigid body, namely the mass, the coordinates of the center of gravity, the moments of inertia and the products of inertia, without any angular measurements. The key improvements in the improved method include using a balancing weight to render an easy stance adjustment, measuring distances between a point to four predefined points to calculate the coordinates of that point, and calculating all the matrices for the coordinate transformation. Error indices are defined for the important parameters to evaluate the accuracy. Results for a vehicle powertrain are presented to exemplify the applicability and accuracy of the approach.