CN102564684A - Method for multi-dimensional sensor dynamic test device based on stable-state sine excitation force - Google Patents
Method for multi-dimensional sensor dynamic test device based on stable-state sine excitation force Download PDFInfo
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Abstract
The invention provides a method for a multi-dimensional sensor dynamic test device based on a stable-state sine excitation force. Known sine excitation force signals can recovered by a centrifugal force, which is generated by that a rotary motor drives an eccentric excitation block and the output shaft of the rotary motor to synchronously rotate, through adjusting the rotating speed of the rotary motor, the mass center position of the eccentric excitation block, and the mounting directions of the rotary motor and a to-be-measured force sensor in a process of loading a T-shaped rack and an L-shaped rack, and using a permanent magnet steel block to periodically excite a Hall sensor to output a pulse response signal, so as to realize the sine excitation force and the excitation force moment with continuously varied frequency and amplitude value in each dimension direction of the to-be-measured force sensor. By utilizing a physical method of the multi-dimensional sensor dynamic test device based on the stable-state sine excitation force, the sine excitation signals which are not influenced by an external environment and are foreseeable are generated, so as to realize the sine excitation force with stable amplitude, easiness for adjustment and continuously-varied frequency. The method is simple and convenient to operate, and the dynamic transmission property of the to-be-measured force sensor within an entire use frequency band range can be obtained.
Description
Technical field
The present invention relates to the force transducer field tests, relate in particular to method based on the multi-dimension force sensor dynamic experimental device of steady-state sine exciting force.
Background technology
At present; Fast development along with industries such as Aeronautics and Astronautics, robots; Under the actual applying working condition integrated performance index of multi-dimension force sensor especially dynamic perfromance is proposed higher requirement, so multi-dimension force sensor dynamic calibration and parameter testing become important research project.The difference of the dynamic experiment method establishing criteria dynamic force source form of multi-dimension force sensor is divided into step response method, impulse response method and frequency response method at present.Step response method and impulse response method are the dynamic perfromances at time domain build-in test multi-dimension force sensor; As: document [research of robot sextuple wrist force sensor dynamic property calibration system, electronic surveying and instrument journal, Vol20; No.3; 2006] propose to give the dynamic experiment that is applied the step excitation signal by force cell through cutting off the dispel tinsel of sign indicating number of suspention, the key issue of this method is and must when extremely short, asks the internal cutting off tinsel, to obtain near desirable negative step.Document [Investigation of dynamic rocket thrust measurement techniques; (AD823181; 1967)] introduced the disconnected method wiry of a kind of employing TURP, promptly adopted the method quick fuse tinsel that has filled electric large value capacitor heavy-current discharge in the short time, because when tinsel is thick; There is the problem of feasibility in fast shut-off, so this method only is suitable for the situation of small value force.
Patent ZL94246366.8 and CN1125845A disclose a kind of dynamic checkout unit and method.Load to the hard brittle material test specimen through the hydraulic system charger,, apply step excitation for test specimen (force transducer) until the test specimen fracture.
Document [shock tube is in calibration of pressure transducer dynamic property and application experimentally, and the aerospace instrumentation is technological, and 24: (4); 2004] and [the negative step force calibrating installation research of pneumatic boosting; Chinese journal of scientific instrument, No.2,2010] etc. proposition utilize shock tube to realize the method for step excitation; Utilize pressure-wave emission behind shock wave front, to form the pressure step; This scheme can realize the positive step signal of more precipitous time delay when small value force, but is difficult to realize big step force, is not suitable for quality force transducer dynamic test big or in irregular shape.
Patent CN 101776506A discloses a kind of calibrating and loading bench of large multi-dimensional force transducer, and this loading bench is by last cross, the loading bench column, and following cross, the multi-dimension force sensor hold-down support, loading unit and loading blocks are formed.Loading unit is by loading frame, loading hydraulic cylinder, and the one-dimensional pull pressure sensor, pull bar is formed.Through making up the different installation sites of two loading units, reach the link position of pull bar and loading blocks, the demarcation that is used for multi-dimension force sensor loads.Realize that through hydraulic servo or ratio loading system control hydraulic jack pressure transducer calibration power loads continuously.
Above-described proving installation and method are only applicable to the dynamic perfromance at time domain build-in test force transducer; Relatively difficulty, measuring accuracy are low to obtain surging force or step force on the complete meaning, are difficult to obtain the transport property of force sensor system in whole service band scope.
When system dynamic characteristic test or the identification of realization system model, optimal method is the dynamic perfromance at the frequency domain built-in test system, and the frequency response rule has remedied the limitation of above-mentioned step response method and step response method.Through patent retrieval referral centre of State Intellectual Property Office document Investigation; Retrieve in frequency domain, carry out multi-dimension force sensor dynamic characteristic test research patent CN1442682A and document (a kind of implementation method of multiple dimension force/moment sensor dynamic experiment platform arranged; Publish in " electronic surveying and instrument journal ", 2005 (19): 1), disclose a kind of dynamic experimental device and method thereof based on the excitation electromagnetic force generator; Form by stand and a plurality of electromagnetic force generator; Electromagnetic force generator comprises fixation kit and mobile component two parts, and it is by digital control system output multichannel amplitude and the controlled respectively sine-wave current signal of frequency, the many groups of control field coil respectively; Produce a plurality of direction electric magnetization power or electric magnetization moment and be applied on the tested sensor, can obtain the transport property of force transducer in whole service band scope.This test platform structure is complicated, is difficult to adjustment, is difficult to guarantee accurate loading position for little range and the little multi-dimension force sensor of physical dimension especially, and under two and the above electromagnetic force generator while working condition, is difficult to guarantee that exciting force loads synchronously.
Document [The results of comparisons between two different dynamic force measurement systems "; Measurement, Vol.10, No.3; 1992] a kind of electromagnetic vibration generator system that is used for the dynamic test of force transducer of proposition; the sinusoidal periodic signal by signal source generation certain frequency, promote electromagnetic vibration generator system work, accelerometer to be installed on the load mass block to be applied to the exciting force on the force transducer; this device can change the signal source output signal frequency in the certain frequency scope; obtain the transducer sensitivity under the different frequency point with measurement, still very difficult realization is value, wide band dynamic force energetically, and there is error in computing method.
Above-mentioned based on the force transducer dynamic checkout unit in the frequency domain; Produce the sinusoidal periodic signal excitation electromagnetic force generator of certain frequency by signal generator; Influenced greatly by power-supply fluctuation and external environmental interference, change in voltage and cause that big variation takes place exciting force, measuring accuracy is low.
Up to now; Carry out the research of multi-dimension force sensor dynamic experiment from all less employing frequency response method both at home and abroad; Subject matter concentrates on the proof force source and is difficult to realize; Lack corresponding dynamic proof force source apparatus, promptly obtain amplitude stability, be easy to relatively difficulty of adjustment, frequency continually varying exciting force, the literature search result has also explained this point.
In sum; See with relevant document material from the domestic and international patent of multi-dimension force sensor dynamic test stand; Multidimensional power dynamic experiment charger and method also do not relate to know-why proposed by the invention and experimental provision, and its core technology all is different from the multi-dimension force sensor dynamic checkout unit of mentioning among the present invention based on the excitation of eccentricity excitation piece centrifugal force generation steady-state sine.
Summary of the invention
Based on above-mentioned proving installation and method in the deficiency aspect the multi-dimension force sensor dynamic performance testing; The objective of the invention is; Proposition is based on the method for the multi-dimension force sensor dynamic experimental device of steady-state sine exciting force; This method is used simple; Easy to operate, in frequency domain, utilize amplitude and the frequency continually varying steady-state sine exciting force source that produces based on the absolute physical method, realize of the test of each dimension of multi-dimension force sensor to the dynamic transmission characteristics in whole service band scope (main fingerbreadth is characteristic and phase-frequency characteristic frequently).
Technical scheme of the present invention is based on the method for the multi-dimension force sensor dynamic experimental device of steady-state sine exciting force; Particularly: this method is based on the method for physics; Utilize turning motor drive eccentricity excitation piece and turning motor output shaft to rotate the centrifugal force of generation synchronously; Through regulating the weight and the centre of gravity place of turning motor rotating speed, eccentricity excitation piece; Utilize the magnetic field of permanent magnetism bloom periodically to excite Hall element output impulse response signal; Produce sine excitation force signal that be not affected by the external environment, prevision, realize amplitude stability, be easy to adjustment, frequency continually varying steady-state sine exciting force, through the installation position of T stage frame vertical plate direction pilot hole, T stage frame leveling board direction pilot hole, L type stand vertical plate direction pilot hole and L type stand leveling board direction pilot hole adjustment T stage frame or L type stand and turning motor and testing force sensor; Realize that each dimension of multi-dimension force sensor is to the test of the dynamic load in whole service band scope, wherein:
The permanent-magnet steel block periodicity near and away from Hall element; The eccentricity excitation piece is at the uniform velocity in the rotary course; Hall element receives the magnetic field periodic triggers of permanent magnetism bloom and exports impulse response signal; This impulse response signal output frequency is directly proportional with the rotating speed of turning motor, as the feedback signal of turning motor control system, is used to test the real-time rotating speed of turning motor;
The turning motor output shaft passes T stage frame vertical plate direction pilot hole and vertical with the vertical plate of T stage frame; The turning motor output shaft is processed with the flat key groove through the end or the rectangle keyway cooperates with the rotating central hole of eccentricity excitation piece; The rotation synchronously of eccentricity excitation piece and turning motor output shaft is with the exciting force of output amplitude and frequency stabilization; The relative position of adjustment eccentricity excitation piece and turning motor output shaft; Make the rotating central hole three conllinear of Hall element, permanent magnetism bloom and eccentricity excitation piece, and be positioned at same reference field, this reference field is crossed the axis of rotation motor output shaft and perpendicular to the leveling board end face of T stage frame;
Hall element receives the magnetic field of permanent magnetism bloom to trigger the output impulse response signal; The component of centrifugal force on this direction that the rotation of eccentricity excitation piece produces is that amplitude of exciting force is also with constantly reaching maximal value; Utilize pulse signal to trigger constantly to be maximal value that centrifugal force receives the component amplitude on the force direction in certain of testing force sensor constantly; Reduce known sine excitation power input signal, realize the phase-frequency characteristic test of testing force sensor;
Utilize turning motor drive eccentricity excitation piece and turning motor output shaft to rotate the centrifugal force of generation synchronously; It is the cycle to change sine excitation power that centrifugal force receives the component on the force direction in certain of testing force sensor; Excitation force frequency and turning motor synchronization direct ratio change; Through the rotating speed of control turning motor, realize the adjusting of sine excitation power frequency; Through increase and decrease regulating block quantity or the orientation of adjustment regulating block in the reducing chute; The centre of gravity place that changes the eccentricity excitation piece moves along the rotating central hole of eccentricity excitation piece and the line direction of permanent magnetism bloom; Under turning motor same rotational speed situation, realize the adjusting of sine excitation power amplitude.
Place on the Z of testing force sensor is axial when also loading on the base level plate end face, realize that exciting force Fz independent loads or exciting force Fz and driving torque Mx, exciting force Fz and driving torque My combination load with the T stage frame.Turning motor and eccentricity excitation piece are fixed on the force transducer upper surface through the T stage frame; Relative position through T stage frame leveling board direction pilot hole adjustment T stage frame and testing force sensor; The rotating central hole that makes the eccentricity excitation piece overlaps with the Z axle of testing force sensor with line between the barycenter of eccentricity excitation piece; Obtain the testing force sensor and receive the Fz independent loads; The barycenter that perhaps makes the eccentricity excitation piece the subpoint on the leveling board end face of T stage frame be positioned on the X axle or different operating modes on the Y axle under, obtain the testing force sensor and receive exciting force Fz and driving torque Mx, exciting force Fz to make up loading with driving torque My.
When the X axle of testing force sensor or Y axle vertically place base level plate end face also to load with L type stand; L type stand is as the adaptor of testing force sensor and T stage frame; Be used to change the force direction that receives of testing force sensor; The vertical placement of vertical plate end face of the Z axle of testing force sensor and pedestal, through six pedestal vertical plate direction pilot holes of the rounded distribution of processing on the pedestal vertical plate end face, the testing force sensor is realized the positioning of rotating of 90 degree, 180 degree, 270 degree around the Z axle.
Through L type stand leveling board direction pilot hole and T stage frame leveling board direction pilot hole; Realize the independent loads of exciting force Fx exciting force or Fy; Or exciting force Fx and driving torque Mz, exciting force Fy and driving torque Mz combination loading; Be the orientation of leveling board of leveling board and the L type stand of adjustment T stage frame, make the axis of turning motor output shaft be positioned at the Z-X face or the Z-Y face of testing force sensor, and parallel with pedestal level.The barycenter of adjustment eccentricity excitation piece is positioned at the X-Y plane of testing force sensor; Under line between the rotating central hole of adjustment eccentricity excitation piece and the barycenter of eccentricity excitation piece and the operating mode that the X axle or the Y axle of testing force sensor overlap, acquisition testing force sensor receives the independent loads of exciting force Fx or exciting force Fy; Through T stage frame leveling board direction pilot hole, L type stand leveling board direction pilot hole and L type stand vertical plate direction pilot hole; The barycenter of adjustment eccentricity excitation piece the subpoint on the leveling board end face of T stage frame be positioned on the X axle or different operating modes on the Y axle under; Obtain the testing force sensor and receive exciting force Fx and driving torque Mz, or the combination of exciting force Fy and driving torque Mz loads.
In the method; Change the installation position of eccentricity excitation piece and testing force sensor; Can realize that each ties up to exciting force and driving torque is dynamically independent or combination loads; Obtain amplitude-frequency and the phase-frequency characteristic test of testing force sensor in whole frequency band, and then obtain other dynamic characteristic parameter of testing force sensor, like natural frequency, damping ratio, dynamic rate;
Specifically, turning motor is set in and at the uniform velocity drives the rotation of eccentricity excitation piece under a certain rotation speed n, and then corresponding input one fixed frequency of testing force sensor is the dynamic exciting force F of f
J(ω)=and F sin (ω t+ θ), testing force sensor output this moment steady-state value F
S{ ω } measures and writes down the Hall element constantly corresponding dynamic exciting force F of output pulse signal that is stimulated simultaneously
JThe phasing degree θ of amplitude
J(t) and the testing force sensor this moment output amplitude peak phase angle θ
S(t), the testing force sensor that obtains under this frequency f is imported and the phase angle of exporting signal
Regulate the defeated people of exciting force that the turning motor rotating speed is implemented under the different set frequency successively and give the testing force sensor, and write down the amplitude X of the exciting force input of testing force sensor under each frequency, the amplitude Y of stable state output and output and defeated people's phase angle θ successively
J(t)-θ
S(t), thus, according to different frequency down output, the input of corresponding testing force sensor amplitude than and phase angle difference data experiment point, draw out the testing force sensor this dimension to amplitude-frequency transfer curve and phase frequency transfer curve, that is:
Wherein, A{ ω } be the amplitude versus frequency characte function;
As further improvement to prior art:
The method step that a, realization exciting force Fz independent loads or exciting force Fz and driving torque Mx, exciting force Fz and driving torque My combination load is:
Testing force sensor level is placed on the leveling board end face of pedestal fixingly, testing fixture links annex and connects firmly intact;
The installation position of adjustment T stage frame and testing force sensor;
Start turning motor and set rotating speed, the combination of carrying out Fz independent loads or Fz and Mx, My loads;
Record is also preserved testing force sensor and the output of Hall element and the real-time rotating speed of corresponding turning motor in each time loading procedure, detects the testing force sensor simultaneously and whether reaches full scale output;
When the output of testing force sensor reaches full scale output, dwindle the distance of the rotating central hole of regulating block and eccentricity excitation piece, or reduce the weight of regulating block, or reduce the quantity of regulating block, reduce the centrifugal force value under the same rotational speed situation;
Increase the rotating speed of turning motor, proceed to load;
When excitation force frequency reaches expectation index, with the turning motor outage of stopping, preserve and disposal data, draw the testing force sensor Fz, Mx, each dimension of My to dynamic characteristic and subsequent treatment.
The independent loads of b, realization exciting force Fx or exciting force Fy, or the step of the method for work of exciting force Fx and driving torque Mz, exciting force Fy and driving torque Mz combination loading is:
The testing force sensor vertically is placed on the vertical plate end face of pedestal fixingly, testing fixture links annex and connects firmly intact; The installation position of adjustment T stage frame and L type stand and testing force sensor;
Start turning motor and set rotating speed, carry out exciting force Fx independent loads or exciting force Fx and driving torque Mz combination and load;
Record is also preserved testing force sensor and the output of Hall element and the real-time rotating speed of corresponding turning motor in each time loading procedure, detect the testing force sensor simultaneously and reach full scale output?
When the output of testing force sensor reaches full scale output, dwindle the distance of the rotating central hole of regulating block and eccentricity excitation piece, or reduce the weight of regulating block, or reduce the quantity of regulating block, reduce the centrifugal force value under the same rotational speed situation;
Increase the rotating speed of turning motor, proceed to load;
When excitation force frequency reaches expectation index, turning motor is stopped cut off the power supply, preserve data in order to subsequent treatment;
The testing force sensor revolved around the Z coordinate axis turn 90 degrees, install and fix through T stage frame and L type stand once more;
Start turning motor and set rotating speed, carry out exciting force Fy independent loads, or exciting force Fy and driving torque Mz combination loading;
When the testing force sensor reaches full scale when output, the position of adjustment regulating block, be reduced in the centrifugal force value under the same rotational speed after, increase the rotating speed of turning motor, proceed to load;
When excitation force frequency reaches expectation index, with the turning motor outage of stopping, preserve and disposal data, draw the testing force sensor Fx, Fy, each dimension of Mz to dynamic characteristic and subsequent treatment.
The invention has the beneficial effects as follows:
One of which; With respect to prior art; Be based on the eccentricity excitation piece based on the method for the multi-dimension force sensor dynamic experimental device of steady-state sine exciting force and substitute counterweight or the method for other static load augmentor in the multi-dimension force sensor static laboratory bench, comprise that the T stage frame loads and L type stand, the loading of T stage frame.This method is on its method of operation, and through regulating the position of turning motor rotating speed and eccentricity excitation piece center of gravity, realizable force source output frequency and amplitude are regulated continuously, utilizes the stand under load orientation of stand conversion testing force sensor to accomplish different dimensional to loading.
Regulating block adjusting position arbitrarily in the reducing chute of eccentricity excitation piece, wherein: dwindle the distance of the rotating central hole of regulating block and eccentricity excitation piece, the amplitude of exciting force will reduce; Increase the distance of the rotating central hole of regulating block and eccentricity excitation piece; The amplitude of exciting force will increase (see figure 5); Promptly under a certain rotating speed of turning motor; Through the position of adjustment regulating block in the reducing chute of eccentricity excitation piece, can obtain the sine excitation power of different amplitudes, realize the amplitude versus frequency characte test;
In the eccentricity excitation piece rotary course; The permanent-magnet steel block periodicity excites the Hall element output pulse signal; Utilize pulse signal trigger to confirm centrifugal force constantly, reduce known sine excitation force signal, realize that phase-frequency characteristic tests (seeing Fig. 6, Fig. 7) in certain maximal value that receives force direction component amplitude;
Utilize the rotation of eccentricity excitation piece to produce centrifugal force; The rotating speed of adjustment turning motor and the centroid position of eccentricity excitation piece; Obtain frequency and the continuously adjustable dynamic sine excitation power of amplitude; Regulate the installation position of turning motor and testing force sensor, obtain the combination of multiple exciting force and driving torque and load:
When the testing force sensor is fixed on the leveling board end face of pedestal when loading with the T stage frame; Hall element is adjusted the relative position of eccentricity excitation piece and turning motor output shaft in the leveling board upper surface of T stage frame, makes the rotating central hole three conllinear of Hall element, permanent magnetism bloom and eccentricity excitation piece; And be positioned at same reference field; This reference field crosses the axis of rotation motor output shaft and perpendicular to the leveling board end face of T stage frame, motor output shaft drives the rotation of eccentricity excitation piece, and the permanent-magnet steel block periodicity excites the Hall element output pulse signal; Measure the rotating speed of turning motor; Obtain exciting force Fz, or driving torque My, or driving torque Mx combination loads (seeing Figure 1A, Figure 10, Figure 11);
When the testing force sensor is fixed on the pedestal vertical plate end face when loading with L type stand, L type stand is used to change receiving force direction and realizing that the various combination mode loads of testing force sensor as the adaptor of testing force sensor and T stage frame.The vertical placement of vertical plate end face of testing force sensor Z axle and pedestal, through six pedestal vertical plate direction pilot holes of the rounded distribution of processing on the pedestal vertical plate end face, the testing force sensor is realized the positioning of rotating of 90 degree, 180 degree, 270 degree around the Z axle;
Through L type stand leveling board direction pilot hole and T stage frame leveling board direction pilot hole; The orientation of the leveling board of adjustment T stage frame and the leveling board of L type stand; Make the axis of turning motor output shaft be positioned at the Z-X face or the Z-Y face of testing force sensor; And it is parallel with pedestal level; The barycenter of adjustment eccentricity excitation piece is positioned at the X-Y plane of testing force sensor, and the rotating central hole of adjustment eccentricity excitation piece is positioned under the operating mode of X axle or Y axle, obtains the independent loads (seeing Figure 12, Figure 13) that the testing force sensor receives exciting force Fx or exciting force Fy;
Through L type stand leveling board direction pilot hole and T stage frame leveling board direction pilot hole; Adjustment T stage frame moves under the operating mode of a certain distance along testing force sensor Y axle or X axle; Obtain the testing force sensor and receive exciting force Fx and driving torque Mz, or the combination of exciting force Fy and driving torque Mz loads (seeing Figure 1B, Figure 12, Figure 13);
In the method; Change the installation position of eccentricity excitation piece and testing force sensor; Can realize that each ties up to exciting force and driving torque is dynamically independent or combination loads; Obtain amplitude-frequency and the phase-frequency characteristic test of testing force sensor in whole frequency band, and then obtain other dynamic characteristic parameter of testing force sensor, like natural frequency, damping ratio, dynamic rate;
Specifically, turning motor is set in and at the uniform velocity drives the rotation of eccentricity excitation piece under a certain rotation speed n, and then corresponding input one fixed frequency of testing force sensor is the dynamic exciting force F of f
J(ω)=and F sin (ω t+ θ), testing force sensor output this moment steady-state value F
S{ ω } measures and writes down the Hall element constantly corresponding dynamic exciting force F of output pulse signal that is stimulated simultaneously
JThe phasing degree θ of amplitude
J(t) and the testing force sensor this moment output amplitude peak phase angle θ
s(t), the testing force sensor that obtains under this frequency f is imported and the phase angle of exporting signal
Regulate the defeated people of exciting force that the turning motor rotating speed is implemented under the different set frequency successively and give the testing force sensor, and write down the amplitude X of the exciting force input of testing force sensor under each frequency, the amplitude Y of stable state output and output and defeated people's phase angle θ successively
J(t)-θ
S(t), thus, according to different frequency down output, the input of corresponding testing force sensor amplitude than and phase angle difference data experiment point, draw out the testing force sensor this dimension to amplitude-frequency transfer curve and phase frequency transfer curve, that is:
Wherein, A{ ω } be the amplitude versus frequency characte function,
is the phase-frequency characteristic function.
They are two years old; Method based on the multi-dimension force sensor dynamic experimental device of steady-state sine exciting force is a kind of method that be not affected by the external environment, physics truly; This method produces predictable steady-state sine exciting force as the dynamic force source; Single, stable, the concentration of energy of excitation force frequency composition of power source output receives the influence of power-supply fluctuation little, loads the measuring accuracy height; Method of operating is simple, convenient, can realize by each dimension of force cell to dynamic characteristic test or dynamic calibration.
Description of drawings:
Fig. 1. be experimental technique process flow diagram of the present invention; Wherein, Left figure A is loaded by exciting force Fz, driving torque Mx or driving torque My combination for the testing force sensor experimental technique process flow diagram, right figure B is loaded by exciting force Fx, exciting force Fy and driving torque Mz combination for the testing force sensor dynamic experiment method flow diagram;
Fig. 2. be perspective view based on the multi-dimension force sensor dynamic experimental device of steady-state sine exciting force;
Fig. 3. be the distribution schematic diagram of multiple dimension force/moment in rectangular coordinate system in space;
Fig. 4. for the multi-dimension force sensor coordinate system is arranged synoptic diagram;
Fig. 5. the synoptic diagram of two regulating blocks is installed for eccentricity excitation piece symmetry;
Fig. 6. rotate the steady-state sine exciting force waveform synoptic diagram of the centrifugal force of generation in the output of Z direction for the eccentricity excitation piece;
Fig. 7. be peak value constantly the synoptic diagram of the Hall element output pulse signal moment corresponding to amplitude of exciting force;
Fig. 8 is a T stage frame synoptic diagram of the present invention;
Fig. 9 is a L type stand synoptic diagram of the present invention;
Figure 10. the front elevation that loads for the power Fz that is excited by force cell to shake, driving torque My;
Figure 11. the vertical view that loads for the power Fz that is excited by force cell to shake, driving torque Mx;
Figure 12. receive the front elevation of exciting force Fy, driving torque Mz loading for the testing force sensor;
Figure 13. receive the vertical view of exciting force Fx, driving torque Mz loading for the testing force sensor.
Embodiment
Be described further below in conjunction with the accompanying drawing specific embodiments of the invention:
Fig. 1. be experimental technique process flow diagram of the present invention.The present invention drives centrifugal force that 5 rotations of eccentricity excitation pieces produce as dynamic exciting power by turning motor output shaft 6, is applied on the testing force sensor 1 and realizes dynamic load.Through the rotating speed of regulating turning motor 10, the weight and the centre of gravity place of eccentricity excitation piece 5; And the magnetic field that utilizes permanent magnetism bloom 3 periodically excites Hall element 2 output impulse response signals; Obtain be not affected by the external environment, predictable sine excitation force signal, realize amplitude stability, be easy to adjustment, frequency continually varying steady-state sine exciting force.
The installation position of adjustment T stage frame 8A or L type stand 8B and turning motor 10 and testing force sensor 1, realization testing force sensor 1 each dimension is tested to the dynamic load in whole service band scope.
Figure 1A is loaded by exciting force Fz, driving torque Mx or driving torque My combination for testing force sensor 1 experimental technique process flow diagram, its method operation steps is:
Be ready to testing force sensor 1, begin to carry out the loading experiment test; (step 100)
Testing force sensor 1 level is installed on the leveling board end face of pedestal 11; After testing fixture connection annex is intact; Connect firmly with pedestal 11 through solid end 13, then turning motor 10, eccentricity excitation piece 5 and T stage frame 8A are assembled into one and are positioned on 12 at the adaptive end of testing force sensor 1; (step 110)
Adjustment T stage frame 8A and testing force sensor 1 installation position begin to load; (step 120)
Start turning motor 10 and set under the different rotating speeds successively; Turning motor output shaft 6 drives the exciting force that eccentricity excitation piece 5 is exported to testing force sensor 1 corresponding frequencies and amplitude; Carry out exciting force Fz and load separately, or the combination dynamic load of exciting force Fz and driving torque Mx, My; (step 130)
Record is also preserved testing force sensor in each time loading procedure 1 and the output of Hall element 2 and turning motor 10 real-time rotary speed datas accordingly; (step 140)
Detect 1 output of testing force sensor and reach full scale output? (step 150)
Circulate otherwise forward (step 130) to, be the distance of then dwindling the rotating central hole 5A of regulating block 4 and eccentricity excitation piece, or reduce regulating block 4 weight, or reduce regulating block 4 quantity, reduce the centrifugal force value under the same rotational speed situation; (step 160)
Set turning motor 10 rotating speeds greater than 10 rotating speeds of the turning motor in (step 130) after, proceed to load; (step 170)
Detect excitation force frequency and reach expectation index? (step 180)
Circulating otherwise forward (step 160) to, is then with turning motor 10 outage of stopping, the data that arrangement is preserved, draw testing force sensor 1 exciting force Fz, driving torque Mx, each dimension of My to family curve, and try to achieve required dynamic parameter (step 190);
Dynamic experimental test finishes.(step 200)
Figure 1B is loaded by exciting force Fx, exciting force Fy and driving torque Mz combination for the testing force sensor dynamic experiment method flow diagram, its method operation steps is:
Beginning is ready to testing force sensor 1, carries out loading experiment test (step 300);
Testing force sensor 1 vertically is installed on the vertical plate end face of pedestal 11; After testing fixture connection annex is intact; The X coordinate axis forward of adjustment testing force sensor 1 vertically points to the leveling board end face of pedestal 11, through an end 13 admittedly of testing force sensor 1 and connecting firmly of pedestal 11; The adaptive end 12 of L type stand 8B one end and testing force sensor 1 connects firmly, and the other end is parallel with pedestal 11 leveling board end faces, and connects with T stage frame 8A; Adjustment T stage frame 8A and testing force sensor 1 installation position load; (step 310)
Start turning motor 10 and set under the different rotating speeds successively; Turning motor output shaft 6 drives the exciting force that eccentricity excitation piece 5 is exported to testing force sensor 1 corresponding frequencies and amplitude; Carry out exciting force Fx and load separately, or exciting force Fx and driving torque Mz combination dynamic load; (step 320)
Write down and preserve the output and the corresponding turning motor 10 real-time rotary speed datas of testing force sensor in each time loading procedure 1 and Hall element 2 simultaneously; (step 330)
Detect 1 output of testing force sensor and reach full scale output? (step 340)
Circulate otherwise forward (step 320) to, be the rotating central hole 5A distance of then dwindling regulating block 4 and eccentricity excitation piece, or reduce regulating block 4 weight, or reduce regulating block 4 quantity, reduce with centrifugal force value under the speed conditions; (step 350)
Set turning motor 10 rotating speeds greater than 10 rotating speeds of the turning motor in (step 320), continue to increase turning motor 10 rotating speeds and load; (step 360)
Does excitation force frequency reach expectation index? (step 370)
Circulating otherwise forward (step 350) to, is then with turning motor 10 outage of stopping, and breaks off the connection between testing force sensor 1 and L type stand 8B, testing force sensor 1 is revolved around the Z coordinate axis install and fix after turning 90 degrees; (step 380)
Actuating motor carries out exciting force Fy and loads separately, or the combination dynamic load of exciting force Fy and driving torque Mz; (step 390)
Does the detection excitation force frequency touch the mark? (step 400)
Circulating otherwise forward (step 390) to, is the data of then putting preservation in order, draw testing force sensor 1 exciting force Fx, Fy, each dimension of driving torque Mz to family curve and try to achieve required dynamic parameter; (step 410)
Finish.(step 420)
Fig. 2. be based on the structural representation of the multi-dimension force sensor dynamic experimental device of steady-state sine exciting force.Whole experiment device is fixed on the plane of pedestal 11; Turning motor 10 is fixed on the T stage frame 8A via ring flange; Turning motor output shaft 6 passes T stage frame vertical panel direction pilot hole 8A1; Eccentricity excitation piece 5 is linked on the end keyway of turning motor output shaft 6 through the rotating central hole 5A of eccentricity excitation piece, and both are fastening by lock-screw 7.Turning motor output shaft 6 drives the centrifugal force of eccentricity excitation piece 5 rotation generation synchronously as the dynamic force source, to realize testing force sensor 1 dynamic load;
The below edge of center of arc of the barycenter of eccentricity excitation piece 5 is embedded with permanent magnetism bloom 3; Hall element 2 is positioned at the axis of turning motor output shaft 6 on the projection line of the dull and stereotyped upper surface of T stage frame 8A; And under eccentricity excitation piece 5 rotating central hole 5A; The magnetic field periodic triggers Hall element 2 output impulse response signals of permanent magnetism bloom 3; Be used to test turning motor 10 real-time rotating speeds and write down the peak value moment that centrifugal force certain at testing force sensor 1 receives the component amplitude on the force direction, realize the phase-frequency characteristic test of testing force sensor 1.
Fig. 3. be the distribution schematic diagram of multiple dimension force/moment in rectangular coordinate system in space.Among the figure, O-X Y Z representation space rectangular coordinate system, Fx, Fy, Fz represent the power of three rectangular coordinate direction of principal axis along the space respectively, Mx, My, Mz represent three axial rotating moment of rectangular coordinate around the space respectively.
Fig. 4. be that the multi-dimension force sensor coordinate system is arranged synoptic diagram.X, Y, Z represent three rectangular axes in space of force transducer, and the O point is the sensor coordinates centre of form, and the external force of crossing this point causes that sensor is zero along the moment of three rectangular axes.
Fig. 5. the synoptic diagram of two regulating blocks 4 is installed for eccentricity excitation piece 5 symmetries.In Y type reducing chute 5B or U type reducing chute 5B; For increasing the amplitude of exciting force; Can adopt the regulating block 4 of two same sizes; Oppositely place the reducing chute 5B of eccentricity excitation piece 5 respectively, and lock with respect to the rotating central hole 5A of eccentricity excitation piece and the barycenter line left-right symmetric of eccentricity excitation piece 5; Being arranged in the reducing chute 5B of midline, can lock one or more regulating blocks 4 simultaneously; The position of adjustment regulating block 4 in reducing chute 5B, the barycenter of change eccentricity excitation piece 5, and then the amplitude of regulating exciting force.Method is: under the rotating speed of same turning motor 10, dwindle the distance of the rotating central hole 5A of regulating block 4 and eccentricity excitation piece, the amplitude of exciting force will reduce; Increase the distance of the rotating central hole 5A of regulating block 4 and eccentricity excitation piece, the amplitude of exciting force will increase.
Fig. 6. be the steady-state sine exciting force waveform synoptic diagram of the centrifugal force of eccentricity excitation piece 5 rotation generations in the output of Z direction.Turning motor output shaft 6 drives 5 rotations of eccentricity excitation piece and produces centrifugal force F, and the component that produces in the Z direction is steady-state sine exciting force F
J, its size is:
F
J(ω)＝F?sin(ωt+θ)
Wherein:
F(ω)＝mrω
2
ω＝2πf
f＝n/60
In the formula: the quality (g) of m-eccentricity excitation piece 5;
F
JThe steady-state sine exciting force (N) that-cycle changes
The rotating speed of n-turning motor 10 (m/s)
The centroid position (m) of r-eccentricity excitation piece 5
ω-frequency (rad/s);
Exciting force under F (ω)-different frequency.
Along with 5 rotations of eccentricity excitation piece,, can realize the continually varying exciting force of frequencies omega and amplitude F (ω) through rotation speed n of regulating turning motor 10 or the centroid position r that regulates eccentricity excitation piece 5.
Fig. 7. be peak value constantly the synoptic diagram of the Hall element 2 output pulse signals moment corresponding to amplitude of exciting force.The lower edge place at eccentricity excitation piece 5 centers is embedded with permanent magnetism bloom 3; Turning motor 10 drives eccentricity excitation pieces 5 at the uniform velocity in the rotary course; When eccentricity excitation piece 5 rotates to its center line vertical with T stage frame 8A leveling board end face the Z axially parallel of testing force sensor 1 (promptly with); The magnetic field of permanent magnetism bloom 3 will excite Hall element 2 output pulse signals, utilize the pulse signal triggering to judge the generation moment of maximum amplitude of exciting force Fm constantly.Along with eccentricity excitation piece 5 at the uniform velocity rotation under certain fixed rotating speed; Permanent magnetism bloom 3 excites Hall element 2 output pulse signals with periodicity; The phasing degree θ that the peak value of the sine excitation force signal that this process can obtain to import is corresponding constantly is in conjunction with the F of testing force sensor 1 output signal
SAmplitude and phasing degree θ
S, the test of realizable force sensor frequency response characteristic.
Specifically, turning motor 10 is set in and at the uniform velocity drives 5 rotations of eccentricity excitation piece, the dynamic exciting force F that 1 corresponding input one fixed frequency of testing force sensor is f under a certain rotation speed n
J(ω)=F sin (ω t+ θ), testing force sensor 1 output steady-state value F at this moment
S{ ω } measures and writes down the Hall element 2 constantly corresponding dynamic exciting force F of output pulse signal that is stimulated simultaneously
JThe phasing degree θ of amplitude
J(t) and testing force sensor 1 this moment output amplitude peak phase angle θ
sThe testing force sensor 1 that (t), can obtain under this frequency f is imported and the phase angle of exporting signal
Regulate the defeated people of exciting force that turning motor 10 rotating speeds are implemented under the different set frequency successively and give testing force sensor 1, and write down the amplitude X of the exciting force input of testing force sensor 1 under each frequency, the amplitude Y of stable state output and output and defeated people's phase angle θ successively
J(t)-θ
S(t).Thus, according to different frequency down output, the input of corresponding testing force sensor 1 amplitude than and phase angle difference data experiment point, draw out testing force sensor 1 this dimension to amplitude-frequency transfer curve and phase frequency transfer curve, that is:
Wherein, A{ ω } be the amplitude versus frequency characte function;
Using such method; Change the installation position of eccentricity excitation piece 5 and testing force sensor 1; Can realize that each ties up to exciting force and driving torque is dynamically independent or combination loads; Obtain amplitude-frequency and the phase-frequency characteristic test of testing force sensor 1 in whole frequency band, and then obtain other dynamic characteristic parameter of testing force sensor 1, like natural frequency, damping ratio, dynamic rate etc.
Fig. 8 is a T stage frame synoptic diagram of the present invention; The vertical plate of T stage frame 8A is processed with T stage frame vertical plate direction pilot hole 8A1, is processed with the T stage frame leveling board direction pilot hole 8A2 that matches with the adaptive end 12 of testing force sensor 1 on the leveling board of T stage frame 8A.
Fig. 9 is a L type stand synoptic diagram of the present invention; Be processed with the L type stand vertical plate direction pilot hole 8B1 that matches with the adaptive end 12 of testing force sensor 1 on the vertical plate end face of L type stand 8B, be processed with L type stand leveling board direction pilot hole 8B2 on the leveling board end face of L type stand 8B.
Figure 10. by the force cell front elevation that power Fz, driving torque My load of being excited to shake.The Z of testing force sensor 1 is fixed on the pedestal 11 leveling board end faces on axially; Turning motor 10 is fixed on the force transducer upper surface with eccentricity excitation piece 5 through T stage frame 8A; The axis of adjustment turning motor output shaft 6 is positioned at force transducer coordinate Z-X face; The barycenter of eccentricity excitation piece 5 is adjusted under the axis of turning motor output shaft 6, and exciting force affacts on the testing force sensor 1 along Z-direction, promptly produces exciting force-Fz; Adjustment T stage frame 8A is along the translation of X axle forward; Make subpoint and the Y axle of eccentricity excitation piece 5 barycenter in the X-Y plane of testing force sensor 1 have eccentric distance e; This moment, subpoint was e in the position of the coordinate system of testing force sensor 1; 0,0, testing force sensor 1 receives exciting force-Fz and driving torque-My effect simultaneously under this operating mode; Adjustment T stage frame 8A is along the translation of X axle negative sense; Make subpoint and the Y axle of barycenter in the X-Y of testing force sensor 1 coordinate surface of eccentricity excitation piece 5 have eccentric distance e; This moment, subpoint in the position of the coordinate system of testing force sensor 1 was-e; 0,0, testing force sensor 1 receives exciting force-Fz and driving torque+My effect simultaneously under this operating mode; The rotating central hole 5A that adjustment T stage frame 8A makes the eccentricity excitation piece overlaps testing force sensor 1 realization exciting force-Fz independent loads under this operating mode with line between the barycenter of eccentricity excitation piece 5 with the Z axle of testing force sensor 1.
Figure 11. by the force cell vertical view that power Fz, moment Mx load of being excited to shake.The Z of testing force sensor 1 is fixed on the pedestal 11 leveling board end faces on axially; Turning motor 10 is fixed on the force transducer upper surface with eccentricity excitation piece 5 through T stage frame 8A; Make the axis of turning motor output shaft 6 be positioned at force transducer coordinate Z-X face; The barycenter of eccentricity excitation piece 5 is adjusted under the axis of turning motor output shaft 6, and exciting force affacts on the testing force sensor 1 along Z axle negative direction, produces exciting force-Fz; Adjustment T stage frame 8A is along the translation of Y axle forward; Make subpoint and the X axle of barycenter in the X-Y plane of testing force sensor 1 of eccentricity excitation piece 5 have eccentric distance e; This moment, subpoint was 0 in the position of the coordinate system of testing force sensor 1; E, 0, testing force sensor 1 receives exciting force-Fz and driving torque+Mx effect simultaneously under this operating mode; Adjustment T stage frame 8A is along the translation of Y axle negative sense; Make subpoint and the X axle of barycenter in the X-Y of testing force sensor 1 coordinate surface of eccentricity excitation piece 5 have eccentric distance e; This moment, subpoint was 0 in the position of the coordinate system of testing force sensor 1;-e, 0, testing force sensor 1 receives exciting force-Fz and driving torque-Mx effect simultaneously under this operating mode.
Figure 12. be the front elevation that testing force sensor 1 is loaded by exciting force Fy, moment Mz.The Y axle forward of testing force sensor 1 vertically points to the leveling board end face of pedestal 11; Gu an end 13 passes through screw retention on pedestal 11 vertical plate end faces; L type stand 8B one end face is fixed on the testing force sensor 1; The other end is parallel with pedestal 11 leveling board end faces; Turning motor 10 is fixed on L type stand 8B leveling board end face with eccentricity excitation piece 5 through T stage frame 8A, makes the axis of turning motor output shaft 6 be positioned at the coordinate Z-Y face of testing force sensor 1, and the barycenter of eccentricity excitation piece 5 is adjusted under the axis of turning motor output shaft 6; Adjustment T stage frame 8A is along the translation of X axle forward; Make subpoint and the Z axle of barycenter in the Z-X of testing force sensor 1 face of eccentricity excitation piece 5 have eccentric distance e; This moment, subpoint was e in the position of the coordinate system of testing force sensor 1; 0,0, testing force sensor 1 receives exciting force+Fy and driving torque-Mz effect simultaneously under this operating mode; Adjustment T stage frame 8A is along the translation of X axle negative sense; Make subpoint and the Z axle of barycenter in the Z-X of testing force sensor 1 face of eccentricity excitation piece 5 have eccentric distance e; This moment, subpoint in the position of the coordinate system of testing force sensor 1 was-e; 0,0, testing force sensor 1 receives exciting force+Fy and driving torque+Mz effect simultaneously under this operating mode; The rotating central hole 5A that adjustment T stage frame 8A makes the eccentricity excitation piece overlaps testing force sensor 1 realization exciting force+Fy independent loads under this operating mode with line between the barycenter of eccentricity excitation piece 5 with the Z axle of testing force sensor 1; Testing force sensor 1 is installed as stated above and is adjusted around Z axle Rotate 180 degree, testing force sensor 1 realize exciting force-Fy and+Mz ,-Fy load with-Mz combination and-the Fy independent loads.
Figure 13. be the vertical view that testing force sensor 1 is loaded by exciting force Fx, moment Mz.The X axle forward of testing force sensor 1 vertically points to the leveling board end face of pedestal 11, Gu an end 13 passes through screw retention on pedestal 11 vertical plate end faces.L type stand 8B one end face is fixed on the testing force sensor 1; The other end is parallel with pedestal 11 leveling board end faces; Turning motor 10 is fixed on L type stand 8B leveling board end face with eccentricity excitation piece 5 through T stage frame 8A; Make the axis of turning motor output shaft 6 be positioned at the coordinate Z-X face of testing force sensor 1, the barycenter of eccentricity excitation piece 5 is adjusted under the axis of turning motor output shaft 6;
Adjustment T stage frame 8A is along the translation of Y axle forward; Make subpoint and the Z axle of barycenter in the Z-Y of testing force sensor 1 face of eccentricity excitation piece 5 have eccentric distance e; This moment, subpoint was 0 in the position of the coordinate system of testing force sensor 1; E, 0, testing force sensor 1 receives exciting force+Fx and+Mz to make up loading under this operating mode; Adjustment T stage frame 8A is along the translation of Y axle negative sense; Make subpoint and the Z axle of barycenter in the Z-Y of testing force sensor 1 face of eccentricity excitation piece 5 have eccentric distance e; This moment, subpoint was 0 in the position of the coordinate system of testing force sensor 1;-e, 0, testing force sensor 1 receives exciting force+Fx and-Mz to make up loading under this operating mode; The rotating central hole 5A that adjustment T stage frame 8A makes the eccentricity excitation piece overlaps testing force sensor 1 realization exciting force+Fx independent loads under this operating mode with line between the barycenter of eccentricity excitation piece 5 with the Z axle of testing force sensor 1; Testing force sensor 1 around Z axle Rotate 180 degree, install as stated above and adjust, testing force sensor 1 realize exciting force-Fx and+Mz ,-Fx load with-Mz combination and-the Fx independent loads.
Method of the present invention has realized multi-dimension force sensor dynamic experiment or dynamic calibration, and by counterweight or other static load augmentor power source that eccentricity excitation piece 5 substitutes in the multi-dimension force sensor static laboratory bench, exciting force output is stable, and antijamming capability is strong.Utilize 5 rotations of eccentricity excitation piece to produce centrifugal force, the rotating speed of adjustment turning motor 10 and the weight and the centroid position of eccentricity excitation piece 5 are realized frequency and the continuously adjustable steady-state sine exciting force of amplitude.Regulate the installation position between T stage frame 8A and L type stand 8B and the testing force sensor 1, change the orientation of the application point of exciting force and testing force sensor 1, realize that the dynamic combined of multiple exciting force and driving torque combination loads.
Claims (3)
1. method based on the multi-dimension force sensor dynamic experimental device of steady-state sine exciting force is characterized in that:
This method is based on the method for physics; Utilize turning motor (10) to drive eccentricity excitation piece (5) and rotate the centrifugal force that produces synchronously with turning motor output shaft (6); Through the rotating speed of regulating turning motor (10), the weight and the centre of gravity place of eccentricity excitation piece (5); Utilize the magnetic field of permanent magnetism bloom (3) periodically to excite Hall element (2) output impulse response signal; Produce the sine excitation force signal; Realize amplitude stabilization, be easy to adjustment, frequency continually varying steady-state sine exciting force, through T stage frame vertical plate direction pilot hole (8A1), T stage frame leveling board direction pilot hole (8A2), L type stand vertical plate direction pilot hole (8B1) and L type stand leveling board direction pilot hole (8B2), the installation position of adjustment T stage frame (8A) or L type stand (8B) and turning motor (10) and testing force sensor (1); Realize that each dimension of multi-dimension force sensor is to the test of the dynamic load in whole service band scope, wherein:
Said permanent magnetism bloom (3) periodically near and away from Hall element (2); Eccentricity excitation piece (5) is at the uniform velocity in the rotary course; Hall element (2) receives the magnetic field periodic triggers of permanent magnetism bloom (3) and exports impulse response signal; This impulse response signal output frequency is directly proportional with the rotating speed of turning motor (10), as the feedback signal of turning motor (10) control system, is used to test the real-time rotating speed of turning motor (10);
Said turning motor output shaft (6) passes T stage frame vertical plate direction pilot hole (8A1) and vertical with the vertical plate of T stage frame (8A); Turning motor output shaft (6) is processed with the flat key groove through the end or the rectangle keyway cooperates with the rotating central hole (5A) of eccentricity excitation piece; Eccentricity excitation piece (5) rotates the exciting force with output amplitude and frequency stabilization synchronously with turning motor output shaft (6); The relative position of adjustment eccentricity excitation piece (5) and turning motor output shaft (6); Make rotating central hole (5A) the three conllinear of Hall element (2), permanent magnetism bloom (3) and eccentricity excitation piece; And be positioned at same reference field, this reference field is crossed the axis of rotation motor output shaft (6) and perpendicular to the leveling board end face of T stage frame (8A);
Said Hall element (2) receives the magnetic field of permanent magnetism bloom (3) to trigger the output impulse response signal; The component of centrifugal force on this direction that eccentricity excitation piece (5) rotation produces is that the exciting force amplitude is also with constantly reaching maximal value; Utilize pulse signal to trigger constantly to be maximal value that centrifugal force receives the component amplitude on the force direction in certain of testing force sensor (1) constantly; Reduce known sine excitation power input signal, realize the phase-frequency characteristic test of testing force sensor (1);
The said turning motor (10) that utilizes drives eccentricity excitation piece (5) and the synchronous centrifugal force that produces that rotates of turning motor output shaft (6); It is the cycle to change sine excitation power that centrifugal force receives the component on the force direction in certain of testing force sensor (1); Excitation force frequency and turning motor (10) synchronization direct ratio changes; Through the rotating speed of control turning motor (10), realize the adjusting of sine excitation power frequency; Through increase and decrease regulating block (4) quantity or the orientation of adjustment regulating block (4) in reducing chute (5B); The centre of gravity place that changes eccentricity excitation piece (5) moves along the rotating central hole (5A) of eccentricity excitation piece and the line direction of permanent magnetism bloom (3); Under turning motor (10) same rotational speed situation, realize the adjusting of sine excitation power amplitude;
Place on the Z of said testing force sensor (1) is axial when also loading on pedestal (11) the leveling board end face with T stage frame (8A); Turning motor (10) and eccentricity excitation piece (5) pass through T stage frame (8A) in testing force sensor (1) upper surface; Through the relative position of T stage frame leveling board direction pilot hole (8A2) adjustment T stage frame (8A) with testing force sensor (1); The rotating central hole (5A) that makes the eccentricity excitation piece overlaps with the Z axle of testing force sensor (1) with line between the barycenter of eccentricity excitation piece (5); Obtain testing force sensor (1) and receive exciting force Fz independent loads; The barycenter that perhaps makes eccentricity excitation piece (5) the subpoint on the leveling board end face of T stage frame (8A) be positioned on the X axle or different operating modes on the Y axle under, obtain testing force sensor (1) and receive exciting force Fz and driving torque Mx, exciting force Fz to make up loading with driving torque My;
When the X axle of said testing force sensor (1) or Y axle vertically place pedestal (11) leveling board end face also to load with L type stand (8B); L type stand (8B) is as the adaptor of testing force sensor (1) with T stage frame (8A); Be used to change the force direction that receives of testing force sensor (1); The Z axle of testing force sensor (1) is vertical with the vertical plate end face of pedestal (11); Through six pedestal vertical plate direction pilot holes (11A) of rounded distribution on pedestal (11) the vertical plate end face, testing force sensor (1) is realized the positioning of rotating of 90 degree, 180 degree, 270 degree around the Z axle;
Through L type stand leveling board direction pilot hole (8B2) and T stage frame leveling board direction pilot hole (8A2); The orientation of the leveling board of adjustment T stage frame (8A) and the leveling board of L type stand (8B); Make the axis of turning motor output shaft (6) be positioned at the Z-X face or the Z-Y face of testing force sensor (1); And it is parallel with pedestal (11) leveling board end face; The barycenter of adjustment eccentricity excitation piece (5) is positioned at the X-Y plane of testing force sensor (1); Under line between the rotating central hole (5A) of adjustment eccentricity excitation piece and the barycenter of eccentricity excitation piece (5) and the operating mode that the X axle or the Y axle of testing force sensor (1) overlap, acquisition testing force sensor (1) receives the independent loads of exciting force Fx or exciting force Fy;
Through T stage frame leveling board direction pilot hole (8A2), L type stand leveling board direction pilot hole (8B2) and L type stand vertical plate direction pilot hole (8B1); The barycenter of adjustment eccentricity excitation piece (5) the subpoint on the leveling board end face of T stage frame (8A) be positioned on the X axle or different operating modes on the Y axle under; Obtain testing force sensor (1) and receive exciting force Fx and driving torque Mz, or the combination of exciting force Fy and driving torque Mz loads;
In the method; Change the installation position of eccentricity excitation piece (5) and testing force sensor (1); Can realize that each ties up to exciting force and driving torque is dynamically independent or combination loads; Obtain amplitude-frequency and the phase-frequency characteristic test of testing force sensor (1) in whole frequency band, and then obtain other dynamic characteristic parameter of testing force sensor (1), like natural frequency, damping ratio, dynamic rate;
Specifically, turning motor (10) is set in and at the uniform velocity drives eccentricity excitation piece (5) rotation under a certain rotation speed n, and then corresponding input one fixed frequency of testing force sensor (1) is the dynamic exciting force F of f
J(ω)=and F sin (ω t+ θ), testing force sensor this moment (1) output steady-state value F
S{ ω } measures and writes down Hall element (2) the constantly corresponding dynamic exciting force F of output pulse signal that is stimulated simultaneously
JThe phasing degree θ of amplitude
J(t) and testing force sensor (1) this moment output amplitude peak phase angle θ
s(t), the testing force sensor 1 that obtains under this frequency f is imported and the phase angle of exporting signal
Regulate the defeated people of exciting force that turning motor (10) rotating speed is implemented under the different set frequency successively and give testing force sensor (1), and write down the amplitude X of the exciting force input of testing force sensor (1) under each frequency, the amplitude Y of stable state output and output and defeated people's phase angle θ successively
J(t)-θ
S(t), thus, according to different frequency down output, the input of corresponding testing force sensor (1) amplitude than and phase angle difference data experiment point, draw out testing force sensor (1) this dimension to amplitude-frequency transfer curve and phase frequency transfer curve, that is:
Wherein, A{ ω } be the amplitude versus frequency characte function;
2. according to the method for the said a kind of multi-dimension force sensor dynamic experimental device based on the steady-state sine exciting force of claim 1; It is characterized in that: said acquisition testing force sensor (1) receives exciting force Fz independent loads, or the method step of exciting force Fz and driving torque Mx, exciting force Fz and driving torque My combination loading is:
Testing force sensor (1) level is placed on the leveling board end of pedestal (11) fixingly, testing fixture links annex and connects firmly intact;
Adjustment T stage frame (8A) and testing force sensor (1) installation position;
Start turning motor (10) and also set rotating speed, carry out exciting force Fz independent loads, or the combination loading of exciting force Fz and driving torque Mx, driving torque My;
Record is also preserved testing force sensor (1) and the output of Hall element (2) and the real-time rotating speed of corresponding turning motor (10) in each time loading procedure, detects testing force sensor (1) simultaneously and whether reaches full scale output;
When testing force sensor (1) output reaches full scale output; Dwindle the distance of the rotating central hole (5A) of regulating block (4) and eccentricity excitation piece; Or reduce the weight of regulating block (4), or reduce the quantity of regulating block (4), reduce the centrifugal force value under the same rotational speed situation;
After increasing the rotating speed of turning motor (10), proceed to load;
When excitation force frequency reaches expectation index, with turning motor (10) outage of stopping, preserve and disposal data, draw testing force sensor (1) exciting force Fz, driving torque Mx, each dimension of My to dynamic characteristic and subsequent treatment.
3. according to the method for the said a kind of multi-dimension force sensor dynamic experimental device based on the steady-state sine exciting force of claim 1; It is characterized in that: the independent loads of said acquisition exciting force Fx or exciting force Fy, or the step of the method for work of exciting force Fx and driving torque Mz, exciting force Fy and driving torque Mz combination loading is:
Beginning vertically is placed in testing force sensor (1) on the vertical plate end face of pedestal (11), and testing fixture binding annex connects firmly intact, the installation position of adjustment T stage frame (8A) and L type stand (8B) and testing force sensor (1);
Start turning motor (10)) and set rotating speed, carry out exciting force Fx independent loads, or exciting force Fx and driving torque Mz combination loading;
Record is also preserved testing force sensor (1) and the output of Hall element (2) and the real-time rotating speed of corresponding turning motor (10) in each time loading procedure, detect testing force sensor (1) simultaneously and reach full scale output?
When testing force sensor (1) output reaches full scale output; Dwindle the distance of the rotating central hole (5A) of regulating block (4) and eccentricity excitation piece; Or reduce the weight of regulating block (4), or reduce the quantity of regulating block (4), reduce the centrifugal force value under the same rotational speed situation;
Behind the adjustment amplitude of exciting force, increase the rotating speed of turning motor (10), proceed to load;
Does excitation force frequency touch the mark? When excitation force frequency reaches expectation index, turning motor (10) is stopped cut off the power supply, preserve data in order to subsequent treatment;
Testing force sensor (1) revolved around the Z coordinate axis turn 90 degrees, install and fix through T stage frame (8A) and L type stand (8B) once more;
Start turning motor (10)) and set rotating speed, carry out exciting force Fy independent loads, or exciting force Fy and driving torque Mz combination loading;
Does excitation force frequency touch the mark? When testing force sensor (1) satisfies full scale when output, the position of adjustment regulating block (4), be reduced in the centrifugal force value under the same rotational speed after, increase the rotating speed of turning motor (10), proceed to load;
Excitation force frequency satisfies expectation index, with turning motor (10) outage of stopping, preserves and disposal data, draw testing force sensor (1) exciting force Fx, Fy, each dimension of Mz to dynamic characteristic, finish.
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| CN102980719A (en) * | 2012-11-19 | 2013-03-20 | 浙江工业大学 | Direct loading type force sensor dynamic calibration device |
| CN102980719B (en) * | 2012-11-19 | 2015-04-22 | 浙江工业大学 | Direct loading type force sensor dynamic calibration device |
| CN105571775A (en) * | 2014-10-10 | 2016-05-11 | 黑龙江华安精益计量技术研究院有限公司 | Dynamic force calibrating method |
| CN106768618A (en) * | 2016-06-20 | 2017-05-31 | 中国航空工业集团公司北京长城计量测试技术研究所 | A kind of dynamic torque calibration method |
| CN106768618B (en) * | 2016-06-20 | 2019-01-25 | 中国航空工业集团公司北京长城计量测试技术研究所 | A kind of dynamic torque calibration method |
| CN107024381A (en) * | 2017-06-02 | 2017-08-08 | 西南交通大学 | A kind of sinusoidal displacement excitation loading device and test equipment |
| CN107748033A (en) * | 2017-11-20 | 2018-03-02 | 沈阳工业大学 | A kind of cartridge type radial force sensor caliberating device and its scaling method |
| CN108254280A (en) * | 2017-12-30 | 2018-07-06 | 中机试验装备股份有限公司 | 30000kN lineoutofservice signal pulls testing machine multi-rod school power apparatus |
| CN109959478A (en) * | 2018-12-25 | 2019-07-02 | 中国北方车辆研究所 | A kind of pressure sensor rotary centrifugal force characteristic test system |
| CN109959478B (en) * | 2018-12-25 | 2021-02-05 | 中国北方车辆研究所 | Pressure sensor rotating centrifugal force characteristic test system |
| CN112284882A (en) * | 2020-11-08 | 2021-01-29 | 中国航空工业集团公司北京长城计量测试技术研究所 | Pressure fatigue testing machine |
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