Test rig for validating the integrated motion measurement of flexible beams

Abstract

The fundamental principle of integrated motion measurement (IMM) is integrated navigation with inertial sensors combined with, for example, a satellite navigation receiver. Accordingly, IMM makes use of the specific advantages of complementary sensors and blends them in a filter algorithm. To meet requirements in advanced motion measurements, for instance, for structural health monitoring or for structural control purposes, the approach of a single rigid body like in classical navigation no longer holds for IMM. As a solution, additional degrees of freedom (DOFs) for the moving structure are introduced, which represent deformations and allow the navigated body to be treated as a flexible structure. To cover a variety of flexible deformation shapes, a sufficient number of distributed inertial sensors is required. To restrict accumulating errors of these sensors, additional structural measurements for aiding are necessary. The signals of the inertial sensors and the aiding measurements are fused by an extended Kalman filter (EKF) to obtain an optimal estimation of the usual navigation states, extended by the deformation variables. The contribution presents the preparation of the experimental validation of an IMM system for a flexible structure, which represents an idealization of a wing or rotor blade by a movable beam. The mechanical and electrical setup of a test rig is described. Furthermore, the simulation of the test configuration, that is the model of a test beam with a variety of distributed sensors for generating artificial measurements as a test reference, is discussed. Finally, for an optimal sensor placement, the two methods of effective independence and maximization of modal energy are compared and experimentally tested for different amounts of additional flexible DOFs.