CN106248272A - A kind of take into account the method improving torque sensor range on the premise of sensitivity - Google Patents
A kind of take into account the method improving torque sensor range on the premise of sensitivity Download PDFInfo
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- CN106248272A CN106248272A CN201610598945.7A CN201610598945A CN106248272A CN 106248272 A CN106248272 A CN 106248272A CN 201610598945 A CN201610598945 A CN 201610598945A CN 106248272 A CN106248272 A CN 106248272A
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- torque sensor
- moment
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- electric magnet
- face
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
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- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
A kind of take into account the method improving torque sensor range on the premise of sensitivity, when moment of face to be measured acts on torque sensor, torque sensor has signal output, described signal is changed through A/D, obtain the control signal of electric magnet, making it produce one and moment of face to be measured moment loading in opposite direction on torque sensor, the output to torque sensor is sampled the most again；If the resultant moment suffered by torque sensor is not 0, recalculate, make the moment of face of opposing torque that electric magnet produces and required measurement equal in magnitude, so that the resultant moment acted on torque sensor is 0, indirectly obtain the size and Orientation of moment of face to be measured；If now a bigger moment loading is on small-range high sensitivity torque sensor, control the output of electric magnet, the function of torque sensor is converted into and judges whether electromagnetic compensation and moment of face balance, it is achieved the sensitivity of torque sensor is constant and range is enhanced significantly.
Description
Technical field
The invention belongs to test sensory field, relate to a kind of method that can be used for and increase torque sensor range, especially
Electromagnetic compensation control method based on DSP and pid algorithm.
Background technology
The technology development of sensor, current era, all it be unable to do without miscellaneous from aerospace industry to daily life
Sensor.Wherein, during torque sensor is the fields such as Aero-Space, aviation, boats and ships, automobile most widely used sensor it
One, the development of these industries is more and more higher to the requirement of torque sensor, but in a prior art situation, in moment
But range is faced and difficulty that sensitivity cannot take into account during sensor design manufacture.Objectively need to research and develop one can protect
The method demonstrate,proving torque sensor sensitivity but its range can be improved.
Summary of the invention
It is an object of the invention to provide a kind of method taken into account and improve torque sensor range on the premise of sensitivity, gram
Take disadvantages mentioned above present in prior art.
In order to achieve the above object, the present invention is by the following technical solutions: one improves power on the premise of taking into account sensitivity
The method of square transducer range, when moment of face to be measured acts on torque sensor, torque sensor has signal output, will
Described signal is changed through A/D, it is thus achieved that the control signal of electric magnet, and control signal is used for driving after D/A conversion and amplification
Electric magnet so that it is produce one and moment of face to be measured moment loading in opposite direction on torque sensor, the most right
The output of torque sensor is sampled；If the resultant moment suffered by torque sensor is not 0, then according to current torque sensor
Export and the control signal of electric magnet is recalculated, allow, by such a closed loop control, the opposite force that electric magnet produces
The moment of face of square and required measurement is equal in magnitude, so that the resultant moment acted on torque sensor is 0, now by electricity
Magnet acts on the moment on torque sensor just can obtain the size and Orientation of moment of face to be measured indirectly；If now one bigger
Moment loading on small-range high sensitivity torque sensor time, control electric magnet output, thus realize to moment sensing
Device carries out real-time electromagnetic compensation for negative function moment of face on torque sensor, the function of torque sensor is converted
For judging whether electromagnetic compensation and moment of face balance, it is achieved the sensitivity of torque sensor is constant and range is enhanced significantly.
Further, it is preferable that described signal is input in DSP data processing circuit carry out based on card after A/D changes
The pid algorithm computing of Germania digital filtering obtains the control signal of electric magnet.
Preferably, if described time now a bigger moment loading is on small-range high sensitivity torque sensor, logical
Cross DSP data-handling capacity at a high speed to control the output of electric magnet.
Preferably, use Position Form PID algorithm based on Kalman's digital filtering, first chip is initialized, complete
The configuration of resource in one-tenth chip internal pin, sheet；Then configuration McBSP synchronous serial line interface, clock Timer and in
Disconnected；Initialize pid parameter, and make initial deviation e (0)=0, desired value r (0)=0；
After completing above basic configuration, enter PID and control circulation；First adopt into c (k) value, then calculate deviation e (k)=r
(0)-c (k), adds up to described deviation afterwards, is calculated controlled quentity controlled variable u (k) by Position Form PID algorithm, then by e
K the value of () is assigned to e (k-1), wait Timer1 Time-delayed trigger；
Controlled quentity controlled variable u (k) is carried out D/A conversion, the signal after conversion is amplified by amplifying circuit, with the signal after amplification
Carrying out DM, the moment that electric magnet output produces forms resultant moment with moment of face, and three-dimensional moment sensor can be to resultant moment
Produce response, response simulation signal is converted to digital signal；After Timer1 Interruption meets interrupt condition, again adopt into
C (k) value, starts PID next time and controls.
Owing to have employed technique scheme, the present invention can improve its amount on the premise of ensureing torque sensor sensitivity
Journey.
Accompanying drawing explanation
Fig. 1 is the theory diagram of the inventive method.
Fig. 2 is the inventive method pid algorithm based on Kalman's digital filtering block diagram；
Fig. 3 is the inventive method Position Form PID based on Kalman's digital filtering algorithm controls flow chart.
Detailed description of the invention
Below in conjunction with shown in accompanying drawing, the present invention is further illustrated.
The present invention is a kind of take into account sensitivity on the premise of improve the method for torque sensor range: moment of face effect to be measured
Time on torque sensor, torque sensor just has signal output, and signal is input to DSP data after A/D changes and processes
Carrying out pid algorithm computing based on Kalman's digital filtering in circuit and obtain the control signal of electric magnet, control signal is through D/A
For DM after conversion and amplification so that it is produce a moment loading in opposite direction with moment of face to be measured in moment
On sensor, the output to torque sensor is sampled the most again, sees whether suffered by torque sensor and moment is 0,
If not the control signal of electric magnet is recalculated, by such one by 0 according to the output of current torque sensor
Individual closed loop control can quickly allow the moment of face of opposing torque that electric magnet produces and required measurement equal in magnitude, so that
Resultant moment on the torque sensor of effect is 0, and acting on the moment on torque sensor now by electric magnet just can be indirectly
Obtain the size and Orientation of moment of face to be measured.If now a bigger moment loading is at small-range high sensitivity torque sensor
Time upper, controlled the output of electric magnet by DSP data-handling capacity at a high speed, thus realize torque sensor is carried out in real time
Electromagnetic compensation be used for negative function moment of face on torque sensor, the function of torque sensor is become and judges that electromagnetism is mended
Repay with whether moment of face balances.Can realize by this method ensureing torque sensor sensitivity is constant and range significantly by
Improve.
As a example by below using highly sensitive torque sensor of small-range as objective for implementation, introduce the present invention based on
The torque sensor electromagnetic compensation control method of DSP.Hardware components is as it is shown in figure 1, include: signal conditioning circuit, A/D change electricity
Road, DSP data processing circuit, D/A change-over circuit, drive amplification circuit, electric magnet.
AD620 and the ADA4062-2 chip that ADI company of the U.S. produces, wherein AD620 has been selected in signal conditioning circuit
The signal that torque sensor is exported by chip is amplified, and ADA4062-2 then coordinates resistance capacitance composition active filter circuit to hold concurrently
Standby filtering and amplification.In A/D convertor circuit, A/D chip selects the MAX1301 of Maxim.Discrete digital signal after conversion
In DSP data processing circuit, control unit selects the TMS320C6416 chip that Texas Instrument produces.D/A in D/A change-over circuit
Chip selects the MA5725 of Maxim.In drive circuit, the OPA548 chip that American TI Company produces selected by amplifier.
The most whole control system is divided into seven links, as shown in Figure 1.When moment of face acts on torque sensor
Time, torque sensor can export a signal, and the signal of usual sensor output is the most small and is mingled with a lot of interference, therefore needs
The operations such as signal conditioning circuit to be first passed through is filtered, amplification.The signal magnitude exported after signal conditioning circuit
Suitable and clutter has been filtered clean, but analog quantity, but analog quantity can not directly be processed by control unit, therefore
Signal demand after processing is AD converted, and could be carried out by control unit after analog quantity is converted into digital quantity
Control.Signal after AD conversion passes to DSP data processing circuit and processes, the signal exported according to sensor
Calculated the controlled quentity controlled variable of electric magnet by algorithm, and export.Now exported for digital quantity, but digital quantity can not be directly used in
The control of electric magnet, it is therefore desirable to changed by DA, is converted into analog quantity by the magnet control amount that DSP data process gained.
But owing to the output of DA chip is not enough to DM, it is therefore desirable to solenoid driver circuit carrys out the output knot according to DA conversion
Fruit carrys out DM.Electric magnet, as the final executor of whole system, acts on torque sensor again.System works
Time circulate according to such processing procedure, until test process terminates.
Further, during DSP data processing circuit carries out data process, pid algorithm is introduced to control electric magnet
Output, in order to balanced action moment of face on torque sensor, owing to Kalman's digital filtering algorithm can effectively control to do
Disturb signal and measure noise signal, therefore adding it to traditional pid algorithm can suppress effectively external interference, minimizing
Overshoot, the steady-state error of reduction system so that the real-time of electromagnetic compensation is more preferable, and accuracy is more preferable.
Pid algorithm block diagram based on Kalman's digital filtering is as shown in Figure 2.R in figureinFor intended set-point, i.e. balance
Time torque sensor output valve.U is that control deviation control signal after pid algorithm calculates acts on controlled device the most originally
Electric magnet in invention, the estimated value simultaneously as previous moment is input in Kalman's digital filter, makees in control signal u
Process noise W can be introduced during being used in controlled device.Y is the output signal of controlled device, youtvObservation for now
Value, wherein introduces observation noise V.youtIt it is the output signal after Kalman filtering.
The present invention uses Position Form PID algorithm based on Kalman's digital filtering, and algorithm controls flow chart is as shown in Figure 3.
First TMS320C6416 chip is initialized, complete the configuration of resource in chip internal pin, sheet；Then McBSP is configured
Synchronous serial line interface, clock Timer and interruption；Initialize pid parameter, and make initial deviation e (0)=0, target
Value r (0)=0.After completing above basic configuration, next enter PID and control circulation.First adopt into c (k) value that (described c (k) is
The result that signal that high sensitivity torque sensor is exported is collected, i.e. sampled value in pid algorithm.Sampled value c (k) and mesh
The difference of scale value r (0) is exactly deviation e (k)), then calculate deviation e (k)=r (0)-c (k), afterwards deviation is added up, logical
Cross Position Form PID algorithm and be calculated controlled quentity controlled variable u (k), then the value of e (k) is assigned to e (k-1), wait that Timer1 time delay is touched
Send out.Controlled quentity controlled variable u (k) output is carried out D/A conversion to MAX5725 simultaneously, the signal after conversion is amplified by amplifying circuit, uses
Signal after amplification carrys out DM, and the moment that electric magnet output produces forms resultant moment with moment of face, and three-dimensional moment senses
Device can produce response to resultant moment, with MAX1300, response simulation signal is converted to digital signal.When Timer1 Interruption is full
After foot interrupt condition, again adopt into c (k) value, start PID next time and control.
The above-mentioned description to embodiment is to be understood that for ease of those skilled in the art and apply this
Bright.These embodiments obviously easily can be made various amendment by person skilled in the art, and described herein
General Principle is applied in other embodiments without through performing creative labour.Therefore, the invention is not restricted to enforcement here
Example, those skilled in the art should be the present invention's according to the announcement of the present invention, the improvement made for the present invention and amendment
Within protection domain.
Claims (4)
1. take into account the method improving torque sensor range on the premise of sensitivity for one kind, it is characterised in that:
When moment of face to be measured acts on torque sensor, torque sensor has signal output, by described signal through A/D
Conversion, it is thus achieved that the control signal of electric magnet, control signal is used for DM after D/A conversion and amplification so that it is produce
One and moment of face to be measured moment loading in opposite direction on torque sensor, the output to torque sensor the most again
Sample；If the resultant moment suffered by torque sensor is not 0, then according to the output control to electric magnet of current torque sensor
Signal processed recalculates, and allows outside the opposing torque and required measurement that electric magnet produces by such a closed loop control
Moment is equal in magnitude, so that the resultant moment acted on torque sensor is 0, acts on moment now by electric magnet and passes
Moment on sensor just can obtain the size and Orientation of moment of face to be measured indirectly；If now a bigger moment loading is in a small amount
Time on journey high sensitivity torque sensor, control the output of electric magnet, thus realize torque sensor is carried out real-time electromagnetism
Compensate be used for negative function moment of face on torque sensor, the function of torque sensor is converted into judge electromagnetic compensation with
Whether moment of face balances, it is achieved the sensitivity of torque sensor is constant and range is enhanced significantly.
The most according to claim 1 taking into account the method improving torque sensor range on the premise of sensitivity, its feature exists
In:
Described signal is input in DSP data processing circuit carry out PID based on Kalman's digital filtering after A/D changes and calculates
Method computing obtains the control signal of electric magnet.
The most according to claim 1 taking into account the method improving torque sensor range on the premise of sensitivity, its feature exists
In:
If it is described time now a bigger moment loading is on small-range high sensitivity torque sensor, by DSP at a high speed
Data-handling capacity controls the output of electric magnet.
The most according to claim 1 taking into account the method improving torque sensor range on the premise of sensitivity, its feature exists
In:
Use Position Form PID algorithm based on Kalman's digital filtering, first chip is initialized, complete chip internal pipe
The configuration of resource in foot, sheet；Then configuration McBSP synchronous serial line interface, clock Timer and interruption；Initialize PID
Parameter, and make initial deviation e (0)=0, desired value r (0)=0；
After completing above basic configuration, enter PID and control circulation；First adopt into c (k) value, then calculate deviation e (k)=r (0)-
C (k), adds up to described deviation afterwards, is calculated controlled quentity controlled variable u (k) by Position Form PID algorithm, then by e's (k)
Value is assigned to e (k-1), waits Timer1 Time-delayed trigger；
Controlled quentity controlled variable u (k) is carried out D/A conversion, the signal after conversion is amplified by amplifying circuit, drive with the signal after amplifying
Motor magnet, the moment that electric magnet output produces forms resultant moment with moment of face, and resultant moment can be produced by three-dimensional moment sensor
Response, is converted to digital signal by response simulation signal；After Timer1 Interruption meets interrupt condition, again adopt into c (k)
Value, starts PID next time and controls.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610598945.7A CN106248272A (en) | 2016-07-27 | 2016-07-27 | A kind of take into account the method improving torque sensor range on the premise of sensitivity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610598945.7A CN106248272A (en) | 2016-07-27 | 2016-07-27 | A kind of take into account the method improving torque sensor range on the premise of sensitivity |
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| CN106248272A true CN106248272A (en) | 2016-12-21 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1245287A (en) * | 1999-06-04 | 2000-02-23 | 合肥工业大学 | Real-time dynamic correcting system of multi-dimension force sensor |
| CN1442682A (en) * | 2003-04-09 | 2003-09-17 | 中国科学院合肥智能机械研究所 | Multi-dimensional force sensor dynamic experiment table and method thereof |
| US20100011885A1 (en) * | 2008-07-18 | 2010-01-21 | Honda Motor Co., Ltd. | Force sensor unit |
| CN104179975A (en) * | 2014-07-22 | 2014-12-03 | 西安电子科技大学 | Controllable mechanical seal based on closing force change |
| CN205120289U (en) * | 2015-11-19 | 2016-03-30 | 青岛理工大学 | Non -contact is from generating electricity wireless torque sensor |
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2016
- 2016-07-27 CN CN201610598945.7A patent/CN106248272A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1245287A (en) * | 1999-06-04 | 2000-02-23 | 合肥工业大学 | Real-time dynamic correcting system of multi-dimension force sensor |
| CN1442682A (en) * | 2003-04-09 | 2003-09-17 | 中国科学院合肥智能机械研究所 | Multi-dimensional force sensor dynamic experiment table and method thereof |
| US20100011885A1 (en) * | 2008-07-18 | 2010-01-21 | Honda Motor Co., Ltd. | Force sensor unit |
| CN104179975A (en) * | 2014-07-22 | 2014-12-03 | 西安电子科技大学 | Controllable mechanical seal based on closing force change |
| CN205120289U (en) * | 2015-11-19 | 2016-03-30 | 青岛理工大学 | Non -contact is from generating electricity wireless torque sensor |
Non-Patent Citations (2)
| Title |
|---|
| 刘晓东等: "磁悬浮飞轮自动锁紧***的研制", 《机械与电子》 * |
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