CN103197098A - High-precision device of measuring angular acceleration of limited rotation shaft system - Google Patents
High-precision device of measuring angular acceleration of limited rotation shaft system Download PDFInfo
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- CN103197098A CN103197098A CN2013100662233A CN201310066223A CN103197098A CN 103197098 A CN103197098 A CN 103197098A CN 2013100662233 A CN2013100662233 A CN 2013100662233A CN 201310066223 A CN201310066223 A CN 201310066223A CN 103197098 A CN103197098 A CN 103197098A
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- linear accelerometer
- angular acceleration
- measuring
- shaft system
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Abstract
The invention discloses a high-precision device of measuring angular acceleration of a limited rotation shaft system, and belongs to the field of shaft system angle accelerated speed measurement. The high-precision device of measuring the angular acceleration of the limited rotation shaft system comprises a measuring support, two linear acceleration meters, two linear acceleration meter installation boards, two filter circuits and a signal processing board. The high-precision device of measuring the angular acceleration of the limited rotation shaft system utilizes the two axisymmetric linear acceleration meters to carry out measurement and obtains the shaft system linear acceleration, and after filtering, the signal processing board processes the linear acceleration into angular acceleration signals. The angular acceleration signals obtained by the high-precision device of measuring the angular acceleration of the limited rotation shaft system have the advantages of being high in precision, and wide in response bandwidth, and the measuring precision and the measuring range of the angular acceleration can be correspondingly adjusted according to practical needs. The high-precision device of measuring the angular acceleration of the limited rotation shaft system is simple in structure, convenient to use, and accurate in measurement, provides the accurate shaft system angular acceleration signals for a servo control algorithm, and can further improve the precision and the robustness of a control system.
Description
Technical field
The invention belongs to axle is the angular acceleration field of measuring technique, and being specifically related to a kind of high precision finite angle axle is the measurement mechanism of angular acceleration.
Background technology
Along with development of auto-control technology, control object becomes increasingly complex, and is also more and more higher to the requirement of control system precision and robustness.In present servo control algorithm, can adopt incorporate the axle be precision and the robustness that angular acceleration signal effectively improves control system.But the structure of some control object and mode of motion relative complex, this has just caused the accurate foundation that is difficult to of control object model, and the angular acceleration signal that obtains high precision, wide responsive bandwidth by the modeling to control object in this case can't be realized.The finite angle axle is the method that the acquisition of angular acceleration signal can be adopted direct measurement, have at present measurement range flexibly angular acceleration measurement mechanism adjustable and that have high precision, a wide responsive bandwidth still belong to blank at home.
Summary of the invention
Have in order to solve prior art that measuring accuracy is low, responsive bandwidth is narrow, the nonadjustable technical matters of measurement range, the invention provides a kind of high precision finite angle axle is the measurement mechanism of angular acceleration.
The technical scheme that technical solution problem of the present invention is taked is as follows:
The measurement mechanism that a kind of high precision finite angle axle is angular acceleration comprises: measure support, first linear accelerometer, second linear accelerometer, first filter circuit plate, second filter circuit plate, signal-processing board, the first linear accelerometer fixed head and the second linear accelerometer fixed head, measure mid-stent and be provided with through hole, the symmetria bilateralis of through hole is provided with spiral arm; The first linear accelerometer fixed head and the coplanar setting of the second linear accelerometer fixed head and all vertical with the measurement support, the first linear accelerometer fixed head and the second linear accelerometer fixed head are slidingly connected with two spiral arms measuring support respectively; First linear accelerometer and first filter circuit plate are separately fixed on the front end face and rear end face of the first linear accelerometer fixed head, and second linear accelerometer and second filter circuit plate are separately fixed on the front end face and rear end face of the second linear accelerometer fixed head; First linear accelerometer is connected by cable with first filter circuit plate; Second linear accelerometer is connected by cable with second filter circuit plate; Signal-processing board is connected with second filter circuit plate with first filter circuit plate respectively by cable.
Be carved with scale respectively on two spiral arms of above-mentioned measurement support, precision is 0.001m.
The measurement range of above-mentioned measurement mechanism is determined by range and the distance between the two of first linear accelerometer and second linear accelerometer.
The maximum range of above-mentioned first linear accelerometer and second linear accelerometer is 19.6m/s
2, precision is 10
-4* 9.8m/s
2, the distance between the two is 0.1m ~ 0.2m; The measurement range of measurement mechanism is 11229.97 °/s
2~ 22459.95 °/s
2, measuring accuracy is 0.56 °/s
2~ 1.12 °/s
2, frequency response bandwidth is 0 ~ 180Hz.
The invention has the beneficial effects as follows: this measurement mechanism is simple in structure, and is easy to use, the measuring accuracy height, and responsive bandwidth is wide and measurement range is adjustable flexibly; This device can be angular acceleration signal for servo control algorithm provides accurate axle, can further improve precision and the robustness of servo-control system.
Description of drawings
Fig. 1 is that high precision finite angle axle of the present invention is the structural representation of the measurement mechanism of angular acceleration;
Fig. 2 is the right back view of Fig. 1.
Embodiment
Below in conjunction with accompanying drawing the present invention is described in further details.
As depicted in figs. 1 and 2, the measurement mechanism that high precision finite angle axle of the present invention is angular acceleration comprises: measure support 1, first linear accelerometer 2, second linear accelerometer 3, first filter circuit plate 5, second filter circuit plate 9, signal-processing board 6, the first linear accelerometer fixed head 7 and the second linear accelerometer fixed head 8, measure support 1 middle part and be provided with through hole, the symmetria bilateralis of through hole is provided with spiral arm; The first linear accelerometer fixed head 7 and the second linear accelerometer fixed head, 8 coplanar settings and all vertical with measurement support 1, the first linear accelerometer fixed head 7 and the second linear accelerometer fixed head 8 are slidingly connected with two spiral arms measuring support 1 respectively; First linear accelerometer 2 and first filter circuit plate 5 are separately fixed on the front end face and rear end face of the first linear accelerometer fixed head 7, and second linear accelerometer 3 and second filter circuit plate 9 are separately fixed on the front end face and rear end face of the second linear accelerometer fixed head 8; First linear accelerometer 2 is connected by cable with first filter circuit plate 5; Second linear accelerometer 3 is connected by cable with second filter circuit plate 9; Signal-processing board 6 is connected with second filter circuit plate 9 with first filter circuit plate 5 respectively by cable.
Measure 1 on support and be on two spiral arms of symmetry and be carved with scale respectively, and adjustable length, degree of regulation is 0.001 meter.
The measurement range of measurement mechanism is determined by range and the distance between the two of first linear accelerometer 2 and second linear accelerometer 3.First linear accelerometer 2 that the present invention adopts and the maximum range of second linear accelerometer 3 are 19.6m/s
2, precision is 10
-4* 9.8m/s
2, its frequency response bandwidth is 200Hz, and the distance between the two is 0.1m ~ 0.2m, and then the maximum measurement range of measurement mechanism is 11229.97 °/s
2~ 22459.95 °/s
2, measuring accuracy is 0.56 °/s
2~ 1.12 °/s
2, frequency response bandwidth is 0 ~ 180Hz.
When using measurement mechanism of the present invention the turning axle angular acceleration of limited angle torque motor being measured, its operating process is as follows:
The first step: keep the rotary axis 4 of finite angle torque motor to place straight up, with measure support 1 horizontal positioned and with the borehole jack in the middle part of it on the rotary axis 4 of limited angle torque motor, by flange the two is fixed.
Second step: the first linear accelerometer fixed head 7 and the second linear accelerometer fixed head 8 on the measurement support 1 both sides spiral arm that slides respectively, the rotary axis 4 that the two is laid respectively at the limited angle torque motor is the symmetric position of axis of symmetry, then respectively with they with measure support 1 on corresponding spiral arm fix, and the scale numerical value of two fixed head fixed position correspondences is input to storage in the signal-processing board 6.Determine angular acceleration Measurement Resolution and the maximum measurement range of angular acceleration measurement mechanism of the present invention by this process.
The 3rd step: start angular acceleration measurement mechanism of the present invention, and to make the finite angle axle be 4 to begin to rotate, first linear accelerometer 2 and second linear accelerometer 3 measure their linear acceleration signals of position separately respectively.These two linear acceleration signals are handled through first filter circuit plate 5 and 9 filtering of second filter circuit plate respectively, and the interference noise in the filtered signal, two linear acceleration numerical signals of gained are sent into respectively in the signal-processing board 6 and stored.
The 4th step: signal-processing board 6 is transferred two accelerometer position scale numerical value having stored and the linear acceleration numerical value of the two corresponding accelerometer measures respectively, utilize the angular acceleration formula: angular acceleration=linear acceleration/axle radius, try to achieve angular acceleration numerical value corresponding on the first linear accelerometer fixed head 7 and the second linear accelerometer fixed head 8 respectively, and then these two angular acceleration numerical value are averaged, can obtain the turning axle angular acceleration of limited angle torque motor.
When using measurement mechanism of the present invention, the measurement range of first, second linear accelerometer, precision are relevant with the type of employing linear accelerometer.Adopt different linear accelerometers, the measurement range of the angular acceleration that obtains also can be different with resolution.
Definite method of first, second linear accelerometer installation site is: make the rotary axis of limited angle torque motor cross the center of circle of measuring support 1 through hole, then this center of circle is made as the scale center zero point of measuring support 1.If it is positive scale that first linear accelerometer 2 is installed spiral arm, second linear accelerometer 3 is installed spiral arm and is negative scale, then when determining the installation site of first linear accelerometer 2 and second linear accelerometer 3, should remain its two relative scale center left-right symmetric at zero point.For example: when first linear accelerometer 2 was installed on the 0.1m position, 3 of second linear accelerometers should be installed on-the 0.1m position, pass through formula
Can calculate resolution and the measurement range of corresponding angular acceleration.In the formula: a
aFor the angular acceleration measured value (unit: °/s
2); a
lIt is the first linear accelerometer measured value (unit: m/s
2); a
rIt is the second linear accelerometer measured value (unit: m/s
2); L is the spacing (unit: m) of first linear accelerometer and second linear accelerometer.
For example: if the measured value a of first, second linear accelerometer
l=a
r=10
-4* 9.8m/s
2, then bring into
In, calculate l=0.2mm hour angle acceleration analysis resolution a
a=0.56 °/s
2, l=0.1mm hour angle acceleration analysis resolution a
a=1.12 °/s
2So the angular acceleration resolving range is 0.56 °/s
2~ 1.12 °/s
2
If the greatest measurement a of first, second linear accelerometer
l=a
r=19.6m/s
2, then bring into
In, calculate angular acceleration greatest measurement a during l=0.2mm
a=11229.97 °/s
2, angular acceleration greatest measurement a during l=0.1mm
a=22459.95 °/s
2Therefore, the maximum measurement range of angular acceleration is 11229.97 °/s
2~ 22459.95 °/s
2
Claims (4)
1. a high precision finite angle axle is the measurement mechanism of angular acceleration, it is characterized in that, this device comprises measures support (1), first linear accelerometer (2), second linear accelerometer (3), first filter circuit plate (5), second filter circuit plate (9), signal-processing board (6), the first linear accelerometer fixed head (7) and the second linear accelerometer fixed head (8), measure support (1) middle part and be provided with through hole, the symmetria bilateralis of through hole is provided with spiral arm; The first linear accelerometer fixed head (7) and the second coplanar setting of linear accelerometer fixed head (8) and all vertical with measurement support (1), the first linear accelerometer fixed head (7) and the second linear accelerometer fixed head (8) are slidingly connected with two spiral arms measuring support (1) respectively; First linear accelerometer (2) and first filter circuit plate (5) are separately fixed on the front end face and rear end face of the first linear accelerometer fixed head (7), and second linear accelerometer (3) and second filter circuit plate (9) are separately fixed on the front end face and rear end face of the second linear accelerometer fixed head (8); First linear accelerometer (2) is connected by cable with first filter circuit plate (5); Second linear accelerometer (3) is connected by cable with second filter circuit plate (9); Signal-processing board (6) is connected with second filter circuit plate (9) with first filter circuit plate (5) respectively by cable.
2. a kind of high precision finite angle axle as claimed in claim 1 is the measurement mechanism of angular acceleration, it is characterized in that, is carved with scale respectively on two spiral arms of described measurement support (1), and precision is 0.001m.
3. a kind of high precision finite angle axle as claimed in claim 1 is the measurement mechanism of angular acceleration, it is characterized in that the measurement range of described measurement mechanism is determined by range and the distance between the two of first linear accelerometer (2) and second linear accelerometer (3).
4. be the measurement mechanism of angular acceleration as claim 1 or 3 described a kind of high precision finite angle axles, it is characterized in that the maximum range of described first linear accelerometer (2) and second linear accelerometer (3) is 19.6m/s
2, precision is 10
-4* 9.8m/s
2, the distance between the two is 0.1m ~ 0.2m; The measurement range of measurement mechanism is 11229.97 °/s
2~ 22459.95 °/s
2, measuring accuracy is 0.56 °/s
2~ 1.12 °/s
2, frequency response bandwidth is 0 ~ 180Hz.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310066223.3A CN103197098B (en) | 2013-03-01 | 2013-03-01 | High-precision device of measuring angular acceleration of limited rotation shaft system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310066223.3A CN103197098B (en) | 2013-03-01 | 2013-03-01 | High-precision device of measuring angular acceleration of limited rotation shaft system |
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| Publication Number | Publication Date |
|---|---|
| CN103197098A true CN103197098A (en) | 2013-07-10 |
| CN103197098B CN103197098B (en) | 2014-08-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310066223.3A Expired - Fee Related CN103197098B (en) | 2013-03-01 | 2013-03-01 | High-precision device of measuring angular acceleration of limited rotation shaft system |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4744249A (en) * | 1985-07-25 | 1988-05-17 | Litton Systems, Inc. | Vibrating accelerometer-multisensor |
| JPH10111308A (en) * | 1996-10-04 | 1998-04-28 | Harmonic Drive Syst Ind Co Ltd | Angular acceleration detecting device |
| CN1515874A (en) * | 1997-11-04 | 2004-07-28 | �ձ�������ʽ���� | Vibrator, vibratory gyro, linear accelerator and rotation angle speed detecting method |
| JP2005003404A (en) * | 2003-06-10 | 2005-01-06 | Mitsubishi Heavy Ind Ltd | Method or device for calculating angular acceleration and movable body mounted therewith |
| CN102121943A (en) * | 2010-12-16 | 2011-07-13 | 重庆大学 | Six-dimensional acceleration sensor based on minitype single-axis acceleration sensing element/sensor |
-
2013
- 2013-03-01 CN CN201310066223.3A patent/CN103197098B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4744249A (en) * | 1985-07-25 | 1988-05-17 | Litton Systems, Inc. | Vibrating accelerometer-multisensor |
| JPH10111308A (en) * | 1996-10-04 | 1998-04-28 | Harmonic Drive Syst Ind Co Ltd | Angular acceleration detecting device |
| CN1515874A (en) * | 1997-11-04 | 2004-07-28 | �ձ�������ʽ���� | Vibrator, vibratory gyro, linear accelerator and rotation angle speed detecting method |
| JP2005003404A (en) * | 2003-06-10 | 2005-01-06 | Mitsubishi Heavy Ind Ltd | Method or device for calculating angular acceleration and movable body mounted therewith |
| CN102121943A (en) * | 2010-12-16 | 2011-07-13 | 重庆大学 | Six-dimensional acceleration sensor based on minitype single-axis acceleration sensing element/sensor |
Non-Patent Citations (1)
| Title |
|---|
| 孙丰甲等: "角加速度测量", 《计测技术》 * |
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