CN105241409A - Apparatus and method for measuring Z-axis vibration displacement - Google Patents
Apparatus and method for measuring Z-axis vibration displacement Download PDFInfo
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- CN105241409A CN105241409A CN201510621257.3A CN201510621257A CN105241409A CN 105241409 A CN105241409 A CN 105241409A CN 201510621257 A CN201510621257 A CN 201510621257A CN 105241409 A CN105241409 A CN 105241409A
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Abstract
The invention discloses an apparatus and method for measuring Z-axis vibration displacement. The apparatus comprises an installation pedestal, a linear motor and a displacement sensor. A stator of the linear motor is arranged on the installation pedestal, a motor is sleeved on the stator in a suspended manner by maintaining its absolute position basically unchanged under the effects of magnetic field forces and its own gravity, and under the condition that vibration is generated in the direction of a Z axis, through measuring the relative displacement between the motor and the rotor, vibration displacement of the Z axis is measured. According to the invention, the vibration displacement of the Z axis is reflected rapidly and efficiently with high precision by ingenious use of the relative displacement between the rotor and the stator of the linear motor, a novel Z-axis vibration displacement measuring idea and solution scheme are provided for technical personnel in the field, the defects of integration shift introduced by signal noise and the like are overcome, and the low-frequency response performance is quite good. Therefore, the method and apparatus can be applied to various scenes where Z-axis displacement is measured and is especially applied to measurement of the Z-axis displacement of vertical bumpiness in a vehicle driving process.
Description
Technical field
The present invention relates to the technical field of displacement measurement, particularly relate to a kind of device and method measuring Z axis vibration displacement.
Background technology
At present, prior art mainly does quadratic integral based on acceleration transducer for the measurement of Z-direction vibration displacement: S=at
2/ 2 (S: displacement, a: acceleration, t: time), draw the absolute displacement S in Z-direction then.
, the applicant finds that existing measuring method exists the integrator drift of signal noise introducing relatively seriously, particularly more serious when low frequency signal or transfixion.And low pass, high pass or Ka Er overflow means of filtering and can introduce again the advanced of phase angle or lag issues, cannot long-time integration, the displacement of Measurement accuracy vehicle lower vibration in the Z-axis direction.
And in the applications such as vehicle-mounted self-equilibrating stable platform, existing measuring method cannot the accurately Z axis displacement that pitches in the process of moving of measuring vehicle, very affects the application of active damping technology.Therefore, the applicant is devoted to the device and method developing a kind of measurement Z axis vibration displacement newly, and what realize degree of precision measures Z axis vibration displacement.
Summary of the invention
Object of the present invention, propose a kind of device and method of measurement Z axis vibration displacement newly exactly, what realize degree of precision measures Z axis vibration displacement.
The present invention is for solving the problems of the technologies described above, provide a kind of device measuring Z axis vibration displacement, it comprises mounting base, linear electric motors and displacement transducer, the stator of described linear electric motors is arranged on described mounting base, and institute's displacement sensors is for the relative displacement of the mover and stator of measuring linear electric motors.
The applicant abandons and conventional does based on acceleration transducer the thinking that quadratic integral obtains absolute displacement, through repetition test with deeply after research and development, looks for another way, just develops the device of as above new measurement Z axis vibration displacement.
The device of measurement Z axis vibration of the present invention displacement has been different from conventional acceleration analysis thinking of the prior art completely, but reflect Z axis vibration displacement by the mover of displacement transducer detection of straight lines motor and the relative displacement of stator cleverly, and this device has simple and reliable for structure, measuring accuracy is higher, and directly can reflect the advantage of vibration displacement data fast, possess in prior art the LF-response ability being difficult to reach especially.
Preferably, under described linear electric motors starting state, the size of magnetic field force suffered by described mover is more than or equal to the size of described mover self gravitation, and direction is contrary.
The present invention is by proposing corresponding restriction to the magnetic field force size suffered by linear motor rotor and self gravitation size, and can better make device in measuring process, mover keeps stress balance in an initial condition.When there is Z axis vibration displacement, mover also can keep suspended state (absolute position substantially constant) preferably, and now stator then relative to mover displacement, can reflect Z axis vibration displacement more accurately.At mover friction in less or negligible situation, the size of magnetic field force suffered by described mover is preferably made to equal the size of described mover self gravitation.When mover friction is larger, preferably make the size of magnetic field force suffered by described mover be greater than the size of described mover self gravitation, make the size of magnetic field force close to or equal the size that mover self gravitation adds friction force.
Preferably, described mounting base comprises mounting base and housing shroud cover, the stator of described linear electric motors is vertically fixed on described mounting base, and described housing shroud cover is located on described mounting base, and it is inner that described linear electric motors and institute's displacement sensors are all in described housing shroud cover.
The mounting base that the present invention designs further, improves structural compactness and the reliability of device, and installation application process is also convenient, is conducive to batch production and promotes the use of.
Preferably, institute's displacement sensors is grating scale, and institute's displacement sensors is fixed on the madial wall of described housing shroud cover.
Preferably, the device of described measurement Z axis vibration displacement also comprises the limit switch for limiting described mover scope of activities, and described limit switch comprises upper limit position switch and lower position switch.
The present invention adds limit switch further, conveniently carries out transfiniting back to zero, realize mover be biased to stator top or below time, trigger linear electric motors and drive mover initiatively to return default initial position.
Preferably, the device of described measurement Z axis vibration displacement also comprises some pieces for increasing the weight of the mass of described mover self gravitation, and described mass is dismountable to be arranged on described mover.
The present invention adds aglycon gauge block further, conveniently can adjust the gravity size of mover, its better and suffered by it magnetic field force be adapted, also increasing mover quality by installing mass additional simultaneously, the position displacement of mover is reduced, expansion instrument measurable range.
The present invention also proposes a kind of method measuring Z axis vibration displacement: on tested surface, arrange linear electric motors and displacement transducer, and the stator of described linear electric motors is perpendicular to described tested surface, and the mover of described linear electric motors is slidably located on described stator; Start described linear electric motors and institute's displacement sensors, described mover keeps the substantially constant suspension in absolute position to be set on described stator under the effect of magnetic field force and self gravitation, monitor the stator of described linear electric motors and the relative displacement data of mover by displacement transducer, thus obtain the vibration displacement data of tested surface.
Preferably, described linear electric motors of the present invention and displacement transducer are assembled on a mounting base in advance, form a device as above, then are mounted on described tested surface by described device.
The present invention also proposes the another kind of method measuring Z axis vibration displacement: arrange linear electric motors along Z axis, the mover of described linear electric motors slides in Z-direction, under described linear electric motors starting state, described mover is in dynamic balance state at Z-direction magnetic field force induced, the self gravitation of institute and frictional resistance, and described mover keeps the substantially constant suspension in absolute position to be set on stator; When vibration occurs Z-direction, by measuring the relative displacement of described mover and described stator, realize the measurement to Z axis vibration displacement.
In sum, the apparatus and method that the present invention measures Z axis vibration displacement include but not limited to following or several somes beneficial effects:
1, the present invention utilizes that the relative displacement of linear motor rotor and stator is direct, quick, effective, high-precision reflects Z axis vibration displacement, for those skilled in the art provide a kind of new Z axis vibration displacement measurement thinking and solution cleverly.
2, there is not the defects such as signal noise introducing integrator drift in the apparatus and method of measurement Z axis vibration of the present invention displacement, and have good LF-response performance.
3, the apparatus and method of measurement Z axis vibration of the present invention displacement can apply the scene of various measurement Z axis displacement, are particularly useful for being applied in the Z axis displacement that pitches in measuring vehicle driving process.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail:
Fig. 1 is the structure principle chart that specific embodiment measures Z axis vibration displacement.
Fig. 2 is the stereographic map that specific embodiment measures the device of Z axis vibration displacement.
Fig. 3 is the partial sectional view that specific embodiment measures the device of Z axis vibration displacement.
Fig. 4 is the inner structure schematic diagram that specific embodiment measures the device of Z axis vibration displacement.
Fig. 5 is the front view of Fig. 4.
Fig. 6 is the rear view of Fig. 4.
Fig. 7 is the left view of Fig. 4.
Fig. 8 is the right view of Fig. 4.
Drawing reference numeral illustrates:
Mounting base 100, mounting base 110, housing shroud cover 120, linear electric motors 200, stator 210, mover 220, auxiliary optical axis 230, displacement transducer 300, limit switch 400, upper limit position switch 410, lower position switch 420, mass 500.
Embodiment
Embodiment one
As shown in Figure 1, present embodiment discloses a kind of device measuring Z axis vibration displacement, it comprises mounting base 100, linear electric motors 200 and displacement transducer 300, the stator 210 of linear electric motors 200 is arranged on mounting base 100, and displacement transducer 300 is for the relative displacement of the mover 220 and stator 210 of measuring linear electric motors 200.
The present embodiment with the direction perpendicular to level ground for Z axis, as shown in Figure 1 arrange linear electric motors 200 along Z axis, the mover 220 of linear electric motors 200 slides in Z-direction.
Under linear electric motors 200 starting state, mover 220 is more than or equal to the size of mover 220 at Z-direction self gravitation in the size that Z-direction is magnetic field force induced, and direction is contrary, and mover 220 keeps the substantially constant suspension in absolute position to be set on stator 210.
When vibration occurs Z-direction, displacement transducer 300, by measuring the relative displacement of mover 220 and stator 210, realizes the measurement to Z axis vibration displacement.
In concrete application process, mover can be subject to the impact of frictional resistance in various degree unavoidably, magnetic field force can be adjusted by concrete condition (tune up or turn magnetic field force down, make it substantially to equal self gravitation, frictional resistance sum), make confining force equilibrium state under the effects such as the magnetic field force suffered by mover, self gravitation, frictional resistance, better realize mover and keep the substantially constant suspension in absolute position to be set on stator.
Of course, in other embodiments, also can with the direction perpendicular to other tested surfaces for Z axis.Linear electric motors can according to the product of the adaptive model of the direct outsourcing of actual conditions, and displacement transducer also can directly outsourcing grating scale or other linear displacement transducers.Mounting base also directly can adopt betal can, metal plate or directly apply outside platform installed surface etc., repeats no more herein.
Embodiment two
As shown in Figure 2, Figure 3 and Figure 4, present embodiment discloses a kind of device measuring Z axis vibration displacement, it comprises mounting base 100, linear electric motors 200, displacement transducer 300, limit switch 400 and mass 500.
Concrete, as shown in Figures 2 and 3, the mounting base 100 of the present embodiment comprises mounting base 110 and housing shroud cover 120, and mounting base 110 is rectangular flat, and housing shroud cover 120 is the hollow, rectangular cover of open at one end.
The stator 210 of the linear electric motors 200 of the present embodiment is vertically fixed on mounting base 110, housing shroud cover 120 is located on mounting base 110, the shielding space that inner formation is closed, it is inner that linear electric motors 200 and displacement transducer 300 are all in housing shroud cover 120.
Exemplary, grating scale selected by the displacement transducer 300 of the present embodiment, and is fixed on a madial wall of housing shroud cover 120 as shown in Figure 3 by displacement transducer 300, detects the mover 220 of linear electric motors 200 and the relative displacement of stator 210.
Limit switch 400 as shown in Figure 3, it comprises upper limit position switch 410 and lower position switch 420, upper limit position switch 410 is arranged on the inner sidewall upper portion of housing shroud cover 120, lower position switch 420 is arranged on the madial wall bottom of housing shroud cover 120, mover 220 and stator 210 are limited within the scope of normal vibration displacement, if mover 220 exceeds normal range with the relative displacement of stator 210, then can be triggered to upper limit position switch 410 or lower position switch 420 sends control signal, make linear electric motors 200 readjust mover 220 position.
Exemplary, the linear electric motors 200 of the present embodiment, except comprising stator 210 and mover 220, also include miscellaneous part, as auxiliary optical axis 230, controller and power supply (not shown) etc.As shown in Fig. 4 to Fig. 8, stator 210 is permanent magnet portion, be vertically fixed on mounting base 110, mover 220 is slidedly arranged on stator for slider suspension, two auxiliary optical axis 230 are vertically fixed on mounting base 110 equally, and face, the side correspondence of mover 220 forms two pairs of slide blocks (not marking in figure), and is slidably located on two auxiliary optical axis 230 respectively, mass 500 is detachably fixed on slide block by screw, for increasing the weight of mover 220 self gravitation.
Exemplary, the linear electric motors 200 selected by the present embodiment, in the start-up conditions, suffered by mover 220, the size of magnetic field force is greater than the size of mover 220 self gravitation, and direction is contrary.
In embody rule process, can by adjusting the magnetic field force induced size of mover 220, make to equal or as much as possible close to mover 220 self gravitations+friction force+mass gravity at Z-direction magnetic field force, make in measuring process, realize mover 220 and keep the substantially constant suspension in absolute position to be set on stator 210.
Of course, if when can negligible friction, for the linear electric motors arranged perpendicular to ground, in the start-up conditions, the size of magnetic field force suffered by described mover also can be the size equaling described mover self gravitation, and direction is contrary.
In other embodiments, the stator of linear electric motors also can be that slide block is fixed on mounting base, and mover is permanent magnet portion, can suspend and plug in the stator, and stator and mover can realize relative displacement equally and reflect Z axis vibration displacement in the present invention.
Exemplary, the device that the present embodiment measures Z axis vibration displacement is particularly applicable on vehicle-mounted self-equilibrating stable platform, and for the Z axis displacement data that measuring vehicle pitches in the process of moving, concrete measurement situation is as follows:
Be fixed on vehicle by the device of measurement Z axis vibration displacement as shown in Figure 2, laminating compartment, the bottom surface inner bottom surface of its mounting base 110 is fixed.When vehicle is on smooth surface level, the present embodiment measures the stator 210 of the device of Z axis vibration displacement perpendicular to ground, under linear electric motors 200 opening, winding energising produces magnetic field force, (namely mover is in suspended state to make it just to offset mover 220 gravity, if any friction force or add aglycon gauge block, then add friction force and mass gravity).
When experience in vehicle travel process jolts road surface, interior there will be Z axis vibration displacement, and stator 210 meeting synchronous vibration with the high vibration up and down of interior now, mover 220 keeps the substantially constant of absolute position, now displacement transducer 300 can detect and occur relative displacement between stator 210 and mover 220, measure the Z axis displacement data that vehicle pitches in the process of moving, and vehicle-mounted self-equilibrating platform can carry out active damping action based on these data.
Embodiment three
As shown in the figure, present embodiment discloses a kind of method measuring Z axis vibration displacement: linear electric motors 200 and displacement transducer 300 are set on tested surface, the stator 210 of linear electric motors 200 is perpendicular to described tested surface, and the mover 220 of linear electric motors 200 is slidably located on stator 210.Start linear electric motors 200 and displacement transducer 300, mover 220 keeps the substantially constant suspension in absolute position to be set on stator 210 under the effect of magnetic field force and self gravitation, monitor the stator 210 of linear electric motors 200 and the relative displacement data of mover 220 by displacement transducer 300, thus obtain the vibration displacement data of tested surface.
Concrete, linear electric motors 200 and displacement transducer 300 can be assembled on a mounting base 100 by the present embodiment in advance, are formed just like embodiment one or the device implementing to measure described in two Z axis vibration displacement, then are mounted on described tested surface by described device.
Embodiment four
By reference to the accompanying drawings, present embodiment discloses a kind of method measuring Z axis vibration displacement: arrange linear electric motors 200 along Z axis, the mover 220 of linear electric motors 200 slides in Z-direction, under linear electric motors 200 starting state, mover 220 is in dynamic balance state at Z-direction magnetic field force induced, the self gravitation of institute and frictional resistance, and mover 220 keeps the substantially constant suspension in absolute position to be set on stator 210.When vibration occurs Z-direction, by measuring the relative displacement of mover 220 and stator 210, realize the measurement to Z axis vibration displacement.
Those skilled in the art is according to the above-mentioned instruction of the present embodiment, the compartment inner bottom surface of vehicle vertically fixes linear electric motors, and make mover keep the substantially constant suspension in absolute position to be set on stator, namely by measuring the relative displacement of described mover and described stator, the measurement to Z axis vibration displacement is realized.
Of course, those skilled in the art also with reference to the instruction of the present embodiment, can precast the device measuring Z axis vibration displacement as described in embodiment one or enforcement two and carries out embody rule, repeat no more herein.
With above-mentioned be only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (9)
1. measure the device of Z axis vibration displacement for one kind, it is characterized in that: comprise mounting base, linear electric motors and displacement transducer, the stator of described linear electric motors is arranged on described mounting base, and institute's displacement sensors is for the relative displacement of the mover and stator of measuring linear electric motors.
2. the device measuring Z axis vibration displacement as claimed in claim 1, it is characterized in that: under described linear electric motors starting state, the size of magnetic field force suffered by described mover is more than or equal to the size of described mover self gravitation, and direction is contrary.
3. the device measuring Z axis vibration displacement as claimed in claim 1, it is characterized in that: described mounting base comprises mounting base and housing shroud cover, the stator of described linear electric motors is vertically fixed on described mounting base, described housing shroud cover is located on described mounting base, and it is inner that described linear electric motors and institute's displacement sensors are all in described housing shroud cover.
4. the device measuring Z axis vibration displacement as claimed in claim 3, it is characterized in that: institute's displacement sensors is grating scale, institute's displacement sensors is fixed on the madial wall of described housing shroud cover.
5. the device of the measurement Z axis vibration displacement as described in any one of claim 1-4, is characterized in that: also comprise the limit switch for limiting described mover scope of activities, described limit switch comprises upper limit position switch and lower position switch.
6. the device of the measurement Z axis vibration displacement as described in any one of claim 1-4, is characterized in that: also comprise some pieces for increasing the weight of the mass of described mover self gravitation, described mass is dismountable to be arranged on described mover.
7. measure a method for Z axis vibration displacement, it is characterized in that: on tested surface, arrange linear electric motors and displacement transducer, the stator of described linear electric motors is perpendicular to described tested surface, and the mover of described linear electric motors is slidably located on described stator; Start described linear electric motors and institute's displacement sensors, described mover keeps the substantially constant suspension in absolute position to be set on described stator under the effect of magnetic field force and self gravitation, monitor the stator of described linear electric motors and the relative displacement data of mover by displacement transducer, thus obtain the vibration displacement data of tested surface.
8. the method measuring Z axis vibration displacement as claimed in claim 7, it is characterized in that: described linear electric motors and displacement transducer are assembled on a mounting base in advance, formed just like the device described in claim 1-6, more described device is mounted on described tested surface.
9. measure the method for Z axis vibration displacement for one kind, it is characterized in that: arrange linear electric motors along Z axis, the mover of described linear electric motors slides in Z-direction, under described linear electric motors starting state, described mover is in dynamic balance state at Z-direction magnetic field force induced, the self gravitation of institute and frictional resistance, and described mover keeps the substantially constant suspension in absolute position to be set on stator; When vibration occurs Z-direction, by measuring the relative displacement of described mover and described stator, realize the measurement to Z axis vibration displacement.
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| CN201510621257.3A CN105241409B (en) | 2015-09-25 | 2015-09-25 | Measure the device and method of Z axis vibration displacement |
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| CN201510621257.3A CN105241409B (en) | 2015-09-25 | 2015-09-25 | Measure the device and method of Z axis vibration displacement |
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| CN105241409B CN105241409B (en) | 2018-01-12 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111089737A (en) * | 2019-12-27 | 2020-05-01 | 苏州工业园区报关有限公司 | Device and method for detecting bumping degree of three-dimensional intelligent stowage vehicle |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2001174473A (en) * | 1999-12-16 | 2001-06-29 | Japan Science & Technology Corp | Motor vehicle traffic measuring device |
| CN203025327U (en) * | 2013-01-11 | 2013-06-26 | 北京经纬恒润科技有限公司 | Testing device for linear stepping motor |
| CN103856112A (en) * | 2012-11-29 | 2014-06-11 | 沈阳工业大学 | Flux switching type magnetic suspension permanent magnetic linear synchronization motor and control method thereof |
-
2015
- 2015-09-25 CN CN201510621257.3A patent/CN105241409B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001174473A (en) * | 1999-12-16 | 2001-06-29 | Japan Science & Technology Corp | Motor vehicle traffic measuring device |
| CN103856112A (en) * | 2012-11-29 | 2014-06-11 | 沈阳工业大学 | Flux switching type magnetic suspension permanent magnetic linear synchronization motor and control method thereof |
| CN203025327U (en) * | 2013-01-11 | 2013-06-26 | 北京经纬恒润科技有限公司 | Testing device for linear stepping motor |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111089737A (en) * | 2019-12-27 | 2020-05-01 | 苏州工业园区报关有限公司 | Device and method for detecting bumping degree of three-dimensional intelligent stowage vehicle |
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