力传感器标定装置的研究

the drive is small. The mechanical structure of the device is designed based on the mechan transmission and then ANSYS is used to optimize the structure of the device. On the prem of minimizing the size and weight of the device that the elastic deformation of the de would be installed in less than 0.2mm. Secondly, Simulink which is a software package of MATLAB is used to analyze designed system. From the results, the supreme operating frequency of the devic confirmed in 170Hz. Finally, research of the control system of calibrating device of force sensor is done. function units and circuit principium is designed too. Self-acting dynamic calibration and self-acting static calibration feature the device present, there is no analogous device which can do the same job internally. Presently, more and more force sensors are used in a wide extension. Both the untap and force sensors which have been used for a space have to be calibrated. Because calibration device of force sensor which is put forward in this thesis is small in size, eas manipulating and simple in result analysis, all the traits make it possible that the device great practical value and a splendid future in the market.
力传感器标定装置的研究
摘要 力传感器的动态标定是工程测试技术中的一个难题。本文针对该难题研究了能完成 力传感器动态标定的力传感器标定装置。 在分析和比较了各种方案的基础上，确定利用比较法进行力传感器标定，即对一个 标准力传感器和待标定力传感器同时加载相同的力，通过两个结果的对比，来标定力传 感器。 首先，本装置以直流力矩电机为动力源， 通过滚珠丝杠传动和 2 级液压缸增大推力， 实现了便携式和微动力条件下的大负荷加载输出。在此基础上，设计了力传感器标定装 置的机械结构，并利用 ANSYS 软件对装置的箱体进行了优化设计。在最大限度减小装 置尺寸及重量的前提下，将装置的弹性变形控制在 0.2mm 以内。 其次，利用 MATLAB 中的 Simulink 仿真工具包对所设计的系统进行了仿真。通过 对仿真结果的分析明确了系统的动态性能指标， 并确定了标定装置的工作频率为 170Hz。 最后，对力传感器标定装置的控制系统进行了初步的研究，设计了控制系统的功能 模块和电路原理图。 本文研究的力传感器标定装置既能完成力传感器的动态标定，又可完成力传感器的 静态标定，且可实现自动标定。目前国内尚未有实现该功能的类似设备。 目前，力传感器的使用范围和使用数量越来越大，而传感器出厂前和使用一段时间 后，都需要标定。由于本装置具有以下特点：便携式、易操作、结果分析简单直观且精 度高，因此具有重要的实用价值和广阔的市场前景。
2.2.4 分析过程中力和约束的施加......................................................................................10 2.2.5 分析结果和结论.............................................................................................................11 第三章 系统仿真..............................................................................................................14 3.1 仿真的意义及工具选择..........................................................................................................14 3.2 系统仿真步骤............................................................................................................................14 3.3 系统数学模型的建立...............................................................................................................14 3.3.1 电机数学模型.................................................................................................................15 3.3.2 滚珠丝杠数学模型........................................................................................................17 3.3.3 液压缸数学模型.............................................................................................................18 3.3.4 力传感器数学模型........................................................................................................19 3.3.5 系统总的模型.................................................................................................................19 3.4 仿真过程.................................................................................................................21 3.4.1Simulink 简介.................................................................................................21 3.4.2 仿真模型建立...............................................................................................21 3.4.3 仿真结果及分析............................................................................................21 第四章 力传感器标定装置控制系统设计.........................................................................25 4.1 控制系统电路设计.................................................................................................25 4.1.1 电路工作原理...............................................................................................25 目录 4.1.2 模拟信号调理电路........................................................................................26 4.1.3 控制器部分...................................................................................................27 4.1.4PWM 波形发生机构......................................................................................28 4.1.5PWM 波形放大与驱动电路...........................................................................28 4.1.6 键盘输入与显示电路....................................................................................29 4.1.7 故障处理.......................................................................................................31 4.2 控制系统软件设计.................................................................................................32 4.2.1 软件总体结构...............................................................................................32 4.2.2 系统初始化...................................................................................................32 4.2.3A/D 转换部分 ................................................................................................34 4.2.4 电机控制.......................................................................................................36 4.2.5 显示...............................................................................................................39 第五章 结论与展望............................................................................................................44 5.1 全文总结.................................................................................................................44 5.2 后续工作展望.........................................................................................................44 参考文献.............................................................................................................................45 附录.....................................................................................................................................47 参与项目及发表论文..........................................................................................................50 致谢.....................................................................................................................................51
目录 摘要 ABSTRACT 第一章 绪论........................................................................................................................1 1.1 引言..........................................................................................................................1 1.2 研究的目的和意义...................................................................................................1 1.3 研究现状...................................................................................................................2 1.4 研究方案...................................................................................................................3 1.4.1 传动方案的确定..............................................................................................4 1.4.2 机械结构设计及箱体的强度、刚度分析.......................................................5 1.4.3 系统仿真.........................................................................................................5 1.4.4 控制系统设计.................................................................................................5 第二章 力传感器标定装置的结构设计...............................................................................6 2.1 力传感器标定装置的机械结构...........................................................................................6 2.1.1 机械结构设计...................................................................................................................6 2.1.2 主要部件参数的确定......................................................................................................6 2.2 力传感器标定装置箱体的设计..............................................................................................8 2.2.1 箱体设计............................................................................................................................8 2.2.2 箱体材料选择...................................................................................................................9 2.2.3 箱体结构分析手段和工具..............Βιβλιοθήκη Baidu.............................................................................9
关键词：力传感器 动态标定 结构设计 系统仿真 控制系统
ABSTRACT Dynamic calibration of force sensor is a difficult problem in engineering testing sc To solve this problem, a calibrating device of force sensor which can do dynamic calibra is studied in this dissertation. On the basis of analysis and compare various options, the method of compariso confirmed to be used to calibrate the force sensor. The actualization of comparison is that force sensor ——a criterion force sensor and a pending one, are loaded by the same forc the same time, then we can get the calibration results based on the comparing of the outputs. Firstly, the device is motivated by the moment electromotor, and the force whic produced by the moment electromotor is enhanced by a ball screw and two hydra cylinders. In this way, a big loading output is produced when the device is transportable