CN107917778A - A kind of force snesor dynamic calibration method based on Monte Carlo simulation - Google Patents
A kind of force snesor dynamic calibration method based on Monte Carlo simulation Download PDFInfo
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- CN107917778A CN107917778A CN201710091370.4A CN201710091370A CN107917778A CN 107917778 A CN107917778 A CN 107917778A CN 201710091370 A CN201710091370 A CN 201710091370A CN 107917778 A CN107917778 A CN 107917778A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L25/00—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L27/00—Testing or calibrating of apparatus for measuring fluid pressure
- G01L27/002—Calibrating, i.e. establishing true relation between transducer output value and value to be measured, zeroing, linearising or span error determination
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Abstract
The invention discloses a kind of force snesor dynamic calibration method based on Monte Carlo simulations, and the present invention is by establishing the model between force snesor inertia mass, additional weight mass and exciter response；Using pseudo random number generation technique, the universe for carrying out sample space to the weight mass in force snesor model, acceleration and voltage respectively is simulated；According to interval judgement criterion, the effective sample for meeting default precision is filtered out；Go out to be calibrated inertia mass and the sensitivity of force snesor, the dynamic calibration of force sensor according to the probability Estimation of effective sample.The present invention can carry out dynamic calibration and the estimation of key parameter to the force snesor of Unknown Parameters, save the cycle of force snesor dynamic calibration, avoid the error accumulation of duplicate measurements process, effectively improve the calibration accuracy of force snesor.More meet the actual needs of force snesor dynamic calibration based on a kind of above-mentioned force snesor dynamic calibration method based on Monte Carlo simulations.
Description
Technical field
The invention belongs to mechanical quantity field of measuring techniques, is related to a kind of force snesor based on Monte Carlo simulations
Dynamic calibration method, suitable for the dynamic calibration of different model force snesor.
Background technology
One of the measurement means of force snesor as mechanical quantity signal, are widely used in aerospace, Vehicle Engineering, force
The Disciplinary Frontiers such as device equipment, robot.Commented in aeroengine thrust monitoring, auto parts and components performance detection, weapon lethality
Estimate, in terms of the high-acruracy survey such as material properties test, be more dependent on the accurate measurement of force snesor.The formedness of force snesor
It can be the guarantee of high-precision dynamometry.The purpose of dynamic calibration is that the accurate of force sensor performance parameter is estimated, any key
The calibration error of parameter, will all cause the deviation between force snesor indicating value and real load.Therefore, rational power sensing is designed
Device calibration method is the effective way for improving dynamometry precision.
The existing method of force snesor dynamic calibration mainly has two kinds.The first is the calibration method based on measurement data.
Calibration is realized by establishing the model between force snesor sensitivity and sensitive area output.It is sensitive due to dynamic excitation process
Degree offset, larger loss of significance is often caused using uncorrected static sensitivity；In addition, small gravity and signal is done
Larger calibration error can also be caused by disturbing.Second is the calibration method based on additional counterweight.It is sensitive that this method has evaded dynamic
Spend the influence to measurement accuracy.Its calibration process is：Output of the force snesor under unloaded exciting and counterweight exciting is measured respectively,
Comparison method is recycled to eliminate the dynamic sensitivity in model, so as to fulfill the calibration of force snesor.But due to when zero load exports
Sensitivity nonlinear distortion is often produced because of noise jamming, cause larger model error, be unfavorable for the height of force snesor
Precision dynamic is calibrated.
The content of the invention
A kind of force snesor dynamic calibration method based on Monte Carlo simulations of the present invention, specifically includes following steps：
Step 1：It is calibrated the setting of force snesor initial parameter
By force snesor initial sensitivityStatic sensitivity when being arranged to dispatch from the factory；Initial inertia quality is set
The sample size N of Monte Carlo simulations is set, the maximum weight mass M of sample is set；The permission of force snesor sensitivity is set
Maximum deviation δ；The uncertainty of measurement σ of acceleration and voltage is set；
Step 2：It is calibrated force snesor output voltage Ui(t) measurement
Output terminal of the force snesor installed in sine excitation platform will be calibrated, passes through two-dimentional precise jiggle platform and adjusts double frequency
The position and direction of laser interferometer, make the alignment of laser output shaft be calibrated the center of the output terminal of force snesor；To not homogeneity
The additional counterweight M of amountiInstalled in the output terminal of sensor, wherein 1≤i≤N；Start sine excitation platform to rise with certain frequency
Shake；Measure the exciting acceleration a of weight mass in real time using two-frequency laser interferometeri(t), while monitoring platform is adopted by data
Truck records the output voltage U for being calibrated force snesori(t)；
Step 3：The foundation of the Monte Carlo models of dynamic calibration
According to Newton's second law, force snesor is carried out to repeat additional counterweight, establish inertia mass and exported with sensor
Between relation, i.e.,
(me+Mi)ai(t)=Ui(t)/Sd(t) (1)
Wherein, MiFor the quality of the additional counterweight of ith；ai(t) it is the acceleration of t moment；Ui(t) passed for corresponding t moment power
The output voltage of sensor；Sd(t) it is sensitivity of the force snesor in dynamic measurement process；
Make carry-over factor ki(t)=Ui(t)/ai(t), then counterbalance model can be reduced to
ki(t)=(me+Mi)Sd(t) (2)
In measurement process, weight mass MiWith carry-over factor ki(t) it is inertia mass meStochastic variable；Wherein match somebody with somebody
Heavy amount obeys section being uniformly distributed for (0, M)；Carry-over factor ki(t) as acceleration a (t) and the measurement knot of voltage U (t)
Fruit, obeys standardized normal distribution；The probability density function of the two is respectively
Discrete inverse transformation, weight mass of sampling out respectively M are carried out to formula (3)iWith carry-over factor ki(t) sample, i.e.,
According to formula (4), counterbalance model is further transformed to
Wherein, R1、R2And R3Random number respectively in section (0,1)；
Step 4：The interval judgement of effective analogue value
From stochastic variable { Mi,ki(t) } in sample size N, respectively to R1、R2And R3Pseudo random number generation is carried out, works as simulation
Value meets interval judgement criterion
When, then effective sample volume N ' adds 1, i.e. N ' (n+1)=N ' (n)+1；Otherwise, keep former effective sample volume constant；
To variable after the random generation of n times simulation, trapezoid area is formed in counterweight section (0, M)；
The random point of simulation falls into the probability in the regionMeet between its area
Wherein,The probability occurred for effective sample, andAIt is trapezoidalFor trapezoidal area；ARectangleFor the area of rectangle；
Step 5：The output of force snesor calibration parameter
Formula (7) is arranged
The probability that maximum weight mass M and n times are simulatedSubstitution formula (8), obtains inertia mass；Formula (2) will be substituted into, will be asked
The sensitivity of force sensorI.e.
Step 6：Calibration terminates.
The present invention utilizes a kind of force snesor dynamic calibration method based on Monte Carlo simulations, and its advantage is：
Dynamic calibration and the estimation of key parameter can be carried out to the force snesor of Unknown Parameters.By establishing the used of force snesor
Model between property amount, additional weight mass and exciter response, using pseudo random number generation technique respectively to force snesor mould
Weight mass, acceleration and voltage in type carry out the universe simulation of sample space；According to interval judgement criterion, satisfaction is filtered out
The effective sample of default precision；Go out to be calibrated inertia mass and the sensitivity of force snesor according to the probability Estimation of effective sample,
The dynamic calibration of force sensor.Under limited calibration measurement data qualification, by increasing simulation weight mass and Monte
Carlo simulation number, improves the precision of force snesor dynamic calibration, saves the cycle of dynamic calibration, avoids duplicate measurements
Error accumulation in journey, effectively improves the calibration accuracy of force snesor.Based on above-mentioned a kind of based on Monte Carlo simulations
Force snesor dynamic calibration method more meets the actual needs of force snesor dynamic calibration.
It is right using a kind of force snesor dynamic calibration method based on Monte Carlo simulations of the present invention
Kistler9331B types force snesor has carried out dynamic calibration, a kind of force snesor dynamic school based on Monte Carlo simulations
Quasi- method energy.The dynamic calibration of effective force sensor.
Brief description of the drawings
Fig. 1 is the flow chart of the dynamic calibration of the present invention；
Fig. 2 is the pseudo random number interval judgement illustraton of model of the example of the present invention
Embodiment
As shown in Figure 1 and Figure 2, a kind of force snesor dynamic calibration method based on Monte Carlo simulations of the present invention, tool
Body comprises the following steps：
Step 1：It is calibrated the setting of force snesor initial parameter
By force snesor initial sensitivityStatic sensitivity when being arranged to dispatch from the factory；Initial inertia quality is set
The sample size N of Monte Carlo simulations is set, the maximum weight mass M of sample is set；The permission of force snesor sensitivity is set
Maximum deviation δ；The uncertainty of measurement σ of acceleration and voltage is set；
Step 2：It is calibrated force snesor output voltage Ui(t) measurement
Output terminal of the force snesor installed in sine excitation platform will be calibrated, passes through two-dimentional precise jiggle platform and adjusts double frequency
The position and direction of laser interferometer, make the alignment of laser output shaft be calibrated the center of the output terminal of force snesor；To not homogeneity
The additional counterweight M of amountiInstalled in the output terminal of sensor, wherein 1≤i≤N；Start sine excitation platform to rise with certain frequency
Shake；Measure the exciting acceleration a of weight mass in real time using two-frequency laser interferometeri(t), while monitoring platform is adopted by data
Truck records the output voltage U for being calibrated force snesori(t)；
Step 3：The foundation of the Monte Carlo models of dynamic calibration
According to Newton's second law, force snesor is carried out to repeat additional counterweight, establish inertia mass and exported with sensor
Between relation, i.e.,
(me+Mi)ai(t)=Ui(t)/Sd(t) (1)
Wherein, MiFor the quality of the additional counterweight of ith；ai(t) it is the acceleration of t moment；Ui(t) passed for corresponding t moment power
The output voltage of sensor；Sd(t) it is sensitivity of the force snesor in dynamic measurement process；
Make carry-over factor ki(t)=Ui(t)/ai(t), then counterbalance model can be reduced to
ki(t)=(me+Mi)Sd(t) (2)
In measurement process, weight mass MiWith carry-over factor ki(t) it is inertia mass meStochastic variable；Wherein match somebody with somebody
Heavy amount obeys section being uniformly distributed for (0, M)；Carry-over factor ki(t) as acceleration a (t) and the measurement knot of voltage U (t)
Fruit, obeys standardized normal distribution；The probability density function of the two is respectively
Discrete inverse transformation, weight mass of sampling out respectively M are carried out to formula (3)iWith carry-over factor ki(t) sample, i.e.,
According to formula (4), counterbalance model is further transformed to
Wherein, R1、R2And R3Random number respectively in section (0,1)；
Step 4：The interval judgement of effective analogue value
From stochastic variable { Mi,ki(t) } in sample size N, respectively to R1、R2And R3Pseudo random number generation is carried out, works as simulation
Value meets interval judgement criterion
When, then effective sample volume N ' adds 1, i.e. N ' (n+1)=N ' (n)+1；Otherwise, keep former effective sample volume constant；
To variable after the random generation of n times simulation, trapezoid area is formed in counterweight section (0, M)；
The random point of simulation falls into the probability in the regionMeet between its area
Wherein,The probability occurred for effective sample, andAIt is trapezoidalFor trapezoidal area；ARectangleFor the area of rectangle；
Step 5：The output of force snesor calibration parameter
Formula (7) is arranged
The probability that maximum weight mass M and n times are simulatedSubstitution formula (8), obtains inertia mass；Formula (2) will be substituted into, will be asked
The sensitivity of force sensorI.e.
Step 6：Calibration terminates.
Claims (1)
1. a kind of force snesor dynamic calibration method based on Monte Carlo simulations, it is characterised in that this method specifically includes
Following steps：
Step 1：It is calibrated the setting of force snesor initial parameter
By force snesor initial sensitivityStatic sensitivity when being arranged to dispatch from the factory；Initial inertia quality is setSet
The sample size N of Monte Carlo simulations, sets the maximum weight mass M of sample；Set the permission of force snesor sensitivity maximum
Deviation δ；The uncertainty of measurement σ of acceleration and voltage is set；
Step 2：It is calibrated force snesor output voltage Ui(t) measurement
Output terminal of the force snesor installed in sine excitation platform will be calibrated, passes through two-dimentional precise jiggle platform and adjusts double-frequency laser
The position and direction of interferometer, make the alignment of laser output shaft be calibrated the center of the output terminal of force snesor；By different quality
Additional counterweight MiInstalled in the output terminal of sensor, wherein 1≤i≤N；Start sine excitation platform with certain frequency starting of oscillation；Profit
Measure the exciting acceleration a of weight mass in real time with two-frequency laser interferometeri(t), while monitoring platform passes through data collecting card
Record is calibrated the output voltage U of force snesori(t)；
Step 3：The foundation of the Monte Carlo models of dynamic calibration
According to Newton's second law, force snesor is carried out to repeat additional counterweight, is established between inertia mass and sensor output
Relation, i.e.,
(me+Mi)ai(t)=Ui(t)/Sd(t) (1)
Wherein, MiFor the quality of the additional counterweight of ith；ai(t) it is the acceleration of t moment；Ui(t) it is corresponding t moment force snesor
Output voltage；Sd(t) it is sensitivity of the force snesor in dynamic measurement process；
Make carry-over factor ki(t)=Ui(t)/ai(t), then counterbalance model can be reduced to
ki(t)=(me+Mi)Sd(t) (2)
In measurement process, weight mass MiWith carry-over factor ki(t) it is inertia mass meStochastic variable；Wherein match somebody with somebody heavy
Amount obeys section being uniformly distributed for (0, M)；Carry-over factor ki(t) measurement result as acceleration a (t) He voltage U (t),
Obey standardized normal distribution；The probability density function of the two is respectively
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Step 5：The output of force snesor calibration parameter
Formula (7) is arranged
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| CN112729369A (en) * | 2020-12-29 | 2021-04-30 | 中国航空工业集团公司北京长城计量测试技术研究所 | Virtual dynamic calibration method and system for structural dynamics parameters |
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