CN1028448C - Decoupling method for strain-type multidimensional force sensor - Google Patents
Decoupling method for strain-type multidimensional force sensor Download PDFInfo
- Publication number
- CN1028448C CN1028448C CN 91107087 CN91107087A CN1028448C CN 1028448 C CN1028448 C CN 1028448C CN 91107087 CN91107087 CN 91107087 CN 91107087 A CN91107087 A CN 91107087A CN 1028448 C CN1028448 C CN 1028448C
- Authority
- CN
- China
- Prior art keywords
- bridge
- additional
- additional strain
- strain
- group
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 title claims abstract description 24
- 239000011888 foil Substances 0.000 claims abstract description 11
- 230000001105 regulatory effect Effects 0.000 claims abstract description 6
- 238000005259 measurement Methods 0.000 claims description 2
- 239000000203 mixture Substances 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 5
- 230000000694 effects Effects 0.000 description 7
- 238000010168 coupling process Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
Landscapes
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The present invention relates to a decoupling method for a strain-type multi-dimensional force sensor, which belongs to a sensor technology. The present invention is a bridge method using additional strain foils, i.e., in order to eliminate the interference of other external forces to one of the external forces in a multi-dimensional force sensor, after each group of additional strain foils except the group of additional strain foils corresponding to the external force is connected with a regulating resistor in series (or in parallel), the external force is led into the measuring bridge arm of the external force. The additional output generated by the resistance increment of each additional strain foil has a direction reverse to that of the original interference output generated by the resistance increment of the original bridge arm strain foil in a measuring bridge under the action of the external forces except one of the external forces. The amplitude of the additional output can be adjusted by the adjustment of the resistance.
Description
The decoupling method of strain-type multidimensional force sensor of the present invention belongs to sensor technology.
Along with developing rapidly of science and technology, strain-type multidimensional force sensor obtains increasingly extensive application in a lot of fields, but because the restriction of processing technology level, also all there is coupled problem between each dimension inevitably in multi-dimension force sensor at present, coupling coefficient generally can only be controlled on 5% the level between each dimension, becomes the principal element of measuring error.Solution to this problem has two kinds at present: (1) matrix computations method.This method generally can only be finished laggard row in measurement, and real-time is poor, has also increased the signal Processing difficulty; (2) compensating circuit method.This method need be equipped with special-purpose compensating circuit for each sensor, and versatility is poor, is difficult to widespread use.Be pointed out that these two kinds of methods belong to signal processing technology in fact, are not the improvement to the output characteristics of sensor own.
The objective of the invention is to provides a kind of simple and convenient real-time from improving the output characteristics of sensor own, and versatility is good, the strain-type multidimensional force sensor decoupling method that precision is high.
The decoupling method of strain-type multidimensional force sensor of the present invention is the group bridge method that adopts the additional strain sheet.Be and eliminate in the multi-dimension force sensor other outer force component the wherein interference of an outer force component, be by connecting separately after (or in parallel) regulate resistance except that respectively organize the additional strain sheet corresponding to beyond this group additional strain sheet of this force component other, mode with (or series connection) in parallel is incorporated in the measuring bridge brachium pontis of this outer force component again, make beyond force component except that this, under the effect of other each outer force component, the additional output that the resistance increment of each additional strain sheet produces in measuring bridge is opposite with the original interference outbound course that the resistance increment of the original brachium pontis foil gauge of measuring bridge produces, and, reach and eliminate the purpose of disturbing by the amplitude size that adjusting resistance is regulated additional output.
Suppose to have N external force effect component, to measuring bridge and the N group additional strain sheet that N outer force component should be arranged.N outer force component effect makes corresponding N group additional strain sheet change, and makes its output have interference phenomenon.For eliminating the phenomenon of this phase mutual interference, the present invention adopts the group bridge method of additional strain sheet, is to eliminate the measuring bridge B of other outer force component to i outer force component
iInterference, be by except that with the i group additional strain sheet other respectively organize the additional strain sheet is incorporated into the individual outer force component of i in the mode of (or series connection) in parallel measuring bridge B
iThe bridge wall in, make except that i force component in addition other each outside under the effect of force component, the resistance increment of each additional strain sheet is at measuring bridge B
iMiddle additional output and the measuring bridge B that produces
iThe original interference outbound course that the resistance increment of original brachium pontis foil gauge produces is opposite, and by introducing the amplitude size that adjusting resistance is regulated additional output, make original interference output export opposite sign but equal magnitude, thereby reach the purpose of eliminating the phase mutual interference with additional.
Decoupling method of the present invention is an output characteristics of improving sensor itself by innovation to strain-type multidimensional force sensor measuring bridge brachium pontis coupling method, so simple and convenient, real-time, versatility is good, and precision easily guarantees.
The schematic diagram of accompanying drawing 1. additional strain sheet group bridge methods of the present invention
An embodiment bridge diagram of accompanying drawing 2. additional strain sheet group bridge methods of the present invention.
The principle of additional strain sheet group bridge method illustrates f among the figure with two dimensional force sensors shown in the accompanying drawing 1
1, f
2Be two outer force components to be measured, B
1, B
2For sensor corresponding to f
1, f
2Two measuring bridges, R
1, R
2For corresponding to f
1, f
2The additional resistance of additional strain sheet, its resistance is at the component f corresponding with it
1, f
2Effect is down with significant increment △ R
11, △ R
22Because the existence of phase mutual interference is at f
1(f
2) do time spent, measuring bridge B
2(B
1) will produce and disturb output △ U
12(△ U
21).For eliminating this interference output, with additional resistance R
1(R
2) insert measuring bridge B in the mode of serial or parallel connection
2(B
1) in produce one with the opposite output △ U of interference outbound course
* 12(△ U
* 21), and, regulate △ U by an adjusting resistance in parallel with the additional strain sheet or connect
* 12(△ U
* 21) the amplitude size, make
△U
＊ 12＝-△U
12（△U
＊ 12＝-△U
21）
Set up.Thereby eliminate the phase mutual interference between each dimension of sensor.
Concrete group of bridge method of additional strain sheet group bridge method, the embodiment shown in can accompanying drawing 2 illustrate, as, be to eliminate external force f
2Component is to measuring bridge B
1Interference, adopt the full-bridge circuit of four additional strain sheets, R among the figure
11, R
12, R
13, R
14Be measuring bridge B
1Four brachium pontis foil gauges, R '
21, R '
22, R '
23, R '
24For corresponding to external force f
2The additional strain sheet of component, r is for regulating resistance.With four additional strain sheet R '
21, R '
22, R '
23, R '
24After resistance r is regulated in one of series connection separately (or in parallel) respectively, again with measuring bridge B
1Corresponding brachium pontis R
11, R
12, R
13, R
14(perhaps series connection) in parallel becomes B
* 1Electric bridge.Discuss for convenient, establish each brachium pontis foil gauge and additional strain sheet resistance and equate that be all R, the adjusting resistance is r
1, known at f
2The effect resistance increment of brachium pontis foil gauge down is:
△R
12i＝（-1）
i△R
12
△R′
22i＝（-1）
i△R
22
（i＝1～4） （1）
Definition:
k
12=-△ R
12/ △ R '
22, be f
2To f
1The active interference coefficient.
Electric bridge B shown in the accompanying drawing 2
* 1The brachium pontis resistance:
R
＊ 1＝R（R+r
1）/2R+r
1（2）
Be not difficult to release, at f
2Under the effect, the resistance of each brachium pontis increases to:
△R
＊ 12i＝（-1）
i·[R
2△R
22+（R+r
1）
2△R
12]×
＊[（2R+r
1+△R
22）（2R+r
1）]·（i＝1～4） （3）
Make △ R
12i=0:
R
2/（R+r
1）
2＝-△R
12/△R
22＝k
12（4）
Or
Be not difficult to reach a conclusion by formula (4) and formula (5): as △ R
12With △ R
22Opposite in sign, and have | △ R
22| 〉=| △ R
12| the time, if choose the adjusting resistance, just can make the electric bridge B shown in the accompanying drawing 2 by formula (5)
* 1Be not subjected to f
2The interference of effect is eliminated the purpose of disturbing between dimension thereby reach.
In like manner, for eliminating external force f
1Component is to measuring bridge B
2Interference, should be with corresponding to f
1Four additional strain sheets connect separately after (or in parallel) regulate resistance, (or series connection) in parallel respectively again is in measuring bridge B
2Four brachium pontis.If the above multi-dimension force sensor of bidimensional power, then by that analogy.
Except the full-bridge type electric bridge, also can be connected into semibridge system electric bridge or single arm type electric bridge according to actual needs.
Claims (2)
1, a kind of decoupling method of strain-type multidimensional force sensor, adopt the full bridge measurement electric bridge of four foil gauges compositions corresponding to an outer force component, the group bridge method that it is characterized in that the additional strain sheet is, will except that respectively organize corresponding to beyond this group additional strain sheet of this force component other additional strain sheet connect separately regulate resistance after, be incorporated in the measuring bridge brachium pontis of this outer force component with parallel way again.
2, the decoupling method of strain-type multidimensional force sensor according to claim 1, the group bridge method that it is characterized in that the additional strain sheet is, to be connected in the measuring bridge brachium pontis of this outer force component with series system again except that after organizing respectively corresponding to beyond this group additional strain sheet of this force component other that additional strain sheet is in parallel separately and regulating resistance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 91107087 CN1028448C (en) | 1991-06-21 | 1991-06-21 | Decoupling method for strain-type multidimensional force sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 91107087 CN1028448C (en) | 1991-06-21 | 1991-06-21 | Decoupling method for strain-type multidimensional force sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1068191A CN1068191A (en) | 1993-01-20 |
| CN1028448C true CN1028448C (en) | 1995-05-17 |
Family
ID=4908448
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 91107087 Expired - Fee Related CN1028448C (en) | 1991-06-21 | 1991-06-21 | Decoupling method for strain-type multidimensional force sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1028448C (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102353487B (en) * | 2011-06-16 | 2013-07-24 | 上海理工大学 | Paster of multidimensional force sensor and bridging method |
| CN102982635B (en) * | 2012-11-26 | 2014-10-08 | 中国科学院合肥物质科学研究院 | Force anti-theft system and signal processing method |
| CN104977095A (en) * | 2015-07-09 | 2015-10-14 | 重庆科技学院 | Second symmetric composite bridge |
| CN114061799B (en) * | 2021-11-08 | 2022-09-16 | 珠海格力电器股份有限公司 | Wheatstone bridge and multidimensional force sensor |
| CN114777970B (en) * | 2022-05-23 | 2023-04-11 | 电子科技大学 | Film strain gauge bridge circuit based on flexible circuit board on high-rigidity force measuring knife handle |
-
1991
- 1991-06-21 CN CN 91107087 patent/CN1028448C/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN1068191A (en) | 1993-01-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103398807B (en) | A kind of novel three-dimensional stress measurement sensor | |
| CN106500902A (en) | A kind of strain-type multidimensional force sensor with from decoupling function | |
| EP0400626A1 (en) | An improved electrode structure for capacitance-type measurement transducers | |
| CN1028448C (en) | Decoupling method for strain-type multidimensional force sensor | |
| CN110132477A (en) | A kind of decoupling method and six-dimension force sensor of six-dimension force sensor | |
| CN1425903A (en) | Four dimensional force and moment sensor of direct output type robot | |
| CN110069832A (en) | Discontinuous plate malformation inverting and joining method based on geometric coordinate transfer algorithm | |
| CN2450647Y (en) | Dynamic shaft pin type force cell | |
| CN200944058Y (en) | Elastomer of weighting sensor | |
| Pian | On hybrid and mixed finite element methods | |
| SE467507B (en) | PROCEDURAL APPLICABLE DEVICE FOR AXEL ALIGNMENT OF ROTOR INCLUDING AXLE WITH CLUTCHES BETWEEN AXLE SECTIONS | |
| CN2249892Y (en) | Resistance strain sensor for portable electronic hook scale | |
| CN213631961U (en) | Strain gauge assembly of multi-freedom-degree resistance type displacement sensor | |
| GB2184996A (en) | Robot finger | |
| CN2094051U (en) | Piezocrystal electronic scales | |
| CN112414528A (en) | Narrow strip elastic plate type dynamic weighing method and system | |
| CN85203326U (en) | Shear beam type sensor | |
| CN2514332Y (en) | Flexible model tester | |
| JPS5885127A (en) | Load transducer | |
| CN86109655A (en) | The compensation method of parallel beam type electric board scale uneven loading error | |
| RU1810853C (en) | Device for measuring magnetic dipole moment | |
| CN213364092U (en) | Torque sensor, torque sensing device and system | |
| CN213181073U (en) | Torque testing device | |
| CN2590724Y (en) | Torque wrench utilizing resistance strain guage torsion compensation technique | |
| FITCH et al. | Parameter measurement methods for interfacing hydraulic systems with microelectronic instruments and controllers[Final Technical Report, 25 Sep. 1982- 24 Sep. 1983] |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C53 | Correction of patent for invention or patent application | ||
| CB02 | Change of applicant information |
Applicant after: Nanjing University of Aeronautics and Astronautics Applicant before: Nanjing College of Aeronautics |
|
| CB04 | Change of attorney information |
Patent agency after: Patent Agency of Nanjing University of Aeronautics and Astronautics Patent agency before: Patent Agency of Nanjing Aviation College |
|
| COR | Change of bibliographic data |
Free format text: CORRECT: APPLICANT; FROM: NANJING COLLEGE OF AERONAUTICAL ENGINEERING TO: NANKING UNIVERSITY OF AERONAUTICS AND ASTRONAUTICS; PATENT AGENCY; FROM: NANJING COLLEGE OF AERONAUTICAL ENGINEERING PATENT OFFICE TO: NANKING UNIVERSITY OF AERONAUTICS AND ASTRONAUTICS PATENT OFFICE |
|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |