CN1035000A - Object moving state measuring method and device thereof - Google Patents
Object moving state measuring method and device thereof Download PDFInfo
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- CN1035000A CN1035000A CN 89100370 CN89100370A CN1035000A CN 1035000 A CN1035000 A CN 1035000A CN 89100370 CN89100370 CN 89100370 CN 89100370 A CN89100370 A CN 89100370A CN 1035000 A CN1035000 A CN 1035000A
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Abstract
The present invention has provided a kind of new object moving state measuring method and device, is fixed on master reference and the attached stressing conditions that helps sensor on the testee by measurement, determines the motion state of testee in quiet system.Device of the present invention has master reference, attached sensor, the sound of helping is change-over circuit, output circuit, can be widely used in the motion state of multiple object or measurement, control, the record of track, also can be applied to measurement, have precision and be not subject to the advantage that such environmental effects, function are strong, can survey multiple motion state parameters static parameters such as height, distance, direction, position, levelnesss.
Description
The present invention relates to the object moving state fields of measurement, particularly relate to the object moving state fields of measurement of utilizing the sensitive element realization that is fixed on the testee.
Objective object is being in constant motion, and people want to be familiar with and utilize it just must measure the motion state of object.The method and apparatus that many kinds of Measuring Object motion states are arranged in the prior art is as the axle rotating speed measurement method of: measured automobiles motion state with utilize flight status measuring method that pitot realizes etc.
The objective of the invention is to: a kind of new object moving state measuring method and device thereof are provided.
Measurement mechanism of the present invention has a master reference, one group, and attached to help sensor, a sound be change-over circuit, an output circuit.
Above-mentioned master reference is installed on a certain position of testee, and to the motion state sensitivity of this position, the moving of power that produces and act on the master reference is the corresponding electric signal of component.
Above-mentioned moving be that component is meant that the power that acts on the master reference is being component in the coordinate system set up of center with the master reference position.With the position of calling the master reference place in the following text is main test position, claims that the position with the master reference place is that the coordinate that the center is set up is moving system.
One group of above-mentioned attached sensor that helps is made up of the one or more attached sensor that helps.The attached sensor that helps is installed in attached helping on the test position on the testee, and to the attached motion state sensitivity that helps test position at its place, produces and act on that attached to help the moving of power on the sensor be the corresponding electric signal of component.The above-mentioned attached test position that helps is meant on testee, and in the position except that above-mentioned main test position on the axes of coordinates of above-mentioned moving system.Above-mentioned moving be that component is meant and acts on the attached component of power in above-mentioned moving system that helps on the sensor.
Above-mentioned sound is that change-over circuit receives by above-mentioned master reference and the attached electric signal that helps sensor output.According to master reference and the difference of the attached respective signal that helps distance between sensor, master reference and the attached quality that helps sensor, master reference and the attached signal that helps sensor output and the duration of this difference, sound be change-over circuit change out and moving system with respect to the corresponding electric signal of the torsion angle of quiet system, and utilize this signal and by above-mentioned master reference and the attached electrical signal conversion that helps certain sensor output in the sensor go out with the quiet of power that acts on this sensor be the corresponding electric signal of component.Above-mentioned quiet system is meant that with a certain static object of reference be the coordinate system that object of reference is set up.Above-mentioned quiet be that component is meant the component of power in quiet system that acts on the above-mentioned sensor.
Above-mentioned sound is that change-over circuit can be exported the corresponding electric signal of rotary state parameter that rotates with respect to quiet system with moving system, and this rotary state parameter can comprise parameter that reflects angle of rotation and the parameter that reflects rotational angular velocity, angular acceleration.
It is that the quiet of power with acting on certain sensor that change-over circuit is exported is the corresponding electric signal of component that above-mentioned output circuit receives by above-mentioned sound, and changes out and the translation state parameter corresponding signal of this sensor in quiet system according to quality, the testee run duration of this sensor.
Measurement mechanism of the present invention can also have a signal processing circuit, this circuit receive by above-mentioned output circuit output with certain sensor in quiet system the corresponding electric signal of translational motion state parameter or also receive by above-mentioned sound be change-over circuit output with the rotary state parameter corresponding electric signal of moving system with respect to quiet system, and the signal that is received carried out data processing.Above-mentioned data processing is meant data presentation, data recording, data analysis.Above-mentioned signal processing circuit can be made up of computer system.
Measuring method of the present invention is utilized master reference and the one group of attached attached motion state sensing element that helps sensor as testee that helps on the test position that is fixed on testee on the main test position that is fixedly mounted on testee, when the testee motion state changes, above-mentioned main test position on the testee and the attached motion state that helps test position also change thereupon, above-mentioned master reference and attached help that sensor will cause thus act on master reference and attached help power on the sensor be converted to the moving of this power be the corresponding electric signal of component.Measuring method of the present invention is utilized the difference and the duration thereof of the respective signal of master reference and the attached above-mentioned electric signal that helps sensor output, master reference and the attached spacing that helps between the sensor, master reference and the attached quality conversion that helps sensor go out to reflect the signal of the windup-degree between above-mentioned moving system and the quiet system, utilize the windup-degree between the above-mentioned moving system of reflection and the quiet system signal will by the electrical signal conversion of a certain sensor output for the quiet system that acts on the power on this sensor divide ο assorted Φ man lotus root ox nakedness cover bright bucktooth scratch Guang cooked food fan flatter gallop Huaihe River quarrel demon of drought system herd Φ wood silkworm smash to ο the saturating of assorted Φ man lotus root lotus root quarrel saddle cloth make a noise the pretty ⒈ of persimmon wander the winding large of a crusty pancake a unit of weight used in ancient China, equal to six liang run quickly wet bosom catfish Jiao quarrel drooping imperial mandate silkworm support tool sodium any of several broadleaf plants thorn ask assorted Φ man lotus root stubborn
The signal of the windup-degree between moving system of above-mentioned reflection and the quiet system and a certain sensor of reflection have reflected the motion state of testee with respect to the signal of the translational motion state parameter of quiet system.
Measuring method of the present invention and device thereof not only are different from object moving state measuring method of the prior art and device thereof, and have measuring accuracy and be not subject to moving object surrounding environment factor affecting, but the continuous coverage object is with respect to the advantage of the multiple motion state parameters of static reference system.
Method of the present invention and device thereof are of wide application, not only be suitable for measuring motion state at the object of two dimensional surface or three-dimensional space motion, as rocket, satellite, aircraft, boats and ships, tank, automobile, can also be applied to the measurement of static parameters such as height, distance, direction, position, levelness.
Method of the present invention and device thereof can also be applied to the record of movement locus of object, state, can also be applied to the automatic control of movement locus of object or state.
Figure 1 shows that the key diagram of the sensor of device of the present invention.
Figure 2 shows that the key diagram of the sensor of device of the present invention.
Figure 3 shows that the key diagram of the sensor of device of the present invention.
Figure 4 shows that the key diagram of the sensor of first embodiment that device of the present invention adopts.
Figure 5 shows that the key diagram of the sensor of second embodiment that device of the present invention adopts.
Figure 6 shows that the circuit description figure of first embodiment that device of the present invention adopts.
Figure 7 shows that the circuit description figure of second embodiment that device of the present invention adopts.
In order to further specify object moving state measuring method of the present invention and device thereof, exemplify the first selected embodiment of the present invention below.
In the first selected embodiment of the present invention, attached to help sensor, a sound be that change-over circuit, an output circuit are formed to the object moving state measurement mechanism by a master reference, two.
Above-mentioned master reference is to be made of the master reference (1) on the main test position (K1) that is fixedly mounted on testee (u), two above-mentioned attached sensors that help are by the attached test position (K2 that helps that is fixedly mounted on testee (u), K3) the attached sensor (2 that helps on, 3) form, with reference to figure 4, when the main test position (K1) with master reference (1) place is that a coordinate system X-Y-Z-O is set up at the center, the then attached position (K2) of sensor (2) that helps is on the Y-axis of this coordinate system, the attached central point that helps sensor (2) position is that l is long apart from the distance of the central point of this coordinate system, the attached position (K3) that helps sensor (3) is on the X-axis of this coordinate system, and the attached central point that helps sensor (3) is that l is long apart from the distance of the central point of this coordinate system.To call coordinate system X-Y-Z-O in the following text is quiet system.
In the present embodiment, master reference (1) is made up of a standard quality piece (M1) and three piezoelectric sensitivity sheets (4,5,6).With reference to figure 1, when master reference (1) is installed on the testee (u), piezoelectric sensitivity sheet (4,5,6) is fixedly mounted between standard quality piece (M1) and the testee (u), in three piezoelectric sensitivity sheets (4,5,6), it is the component sensitivity of Z axle that a piezoelectric sensitivity sheet only moves the edge that acts on the power on the piezoelectric sensitivity sheet, produces the electric signal corresponding with it; It is the responsive generation of the component electric signal corresponding with it of Y-axis that a piezoelectric sensitivity sheet only moves the edge that acts on the power on the piezoelectric sensitivity sheet; Another piezoelectric sensitivity sheet is only moving to the edge that acts on the power on the piezoelectric sensitivity sheet to be the responsive generation of the component electric signal corresponding with it of X-axis.Below will act on the edge of the power on the piezoelectric sensitivity sheet (4,5,6) moving is the component F of Z axle
1zExpression is the component F of Y-axis along moving
1yExpression is the component F of X-axis along moving
1xExpression.
The attached sensor (2) that helps is made up of a standard quality piece (M2) and two piezoelectric sensitivity sheets (7,8).With reference to figure 2, when helping sensor (2) to be installed in testee (u) to go up, piezoelectric sensitivity sheet (7,8) is fixedly mounted between testee (u) and the standard quality piece (M2) when attached; In two piezoelectric sensitivity sheets (7,8), it is the component sensitivity of X-axis that a piezoelectric sensitivity sheet only moves the edge that acts on the power on the piezoelectric sensitivity sheet, produces the electric signal corresponding with it; Another piezoelectric sensitivity sheet is only moving to the edge that acts on the power on the piezoelectric sensitivity sheet to be the component sensitivity of Z axle, produces the electric signal corresponding with it.Below will act on the edge of the power on the piezoelectric sensitivity sheet (7,8) moving is the component F of X-axis
2xExpression is the component F of Z axle along moving
2zExpression.
The attached sensor (3) that helps is made up of standard quality piece (M3) and piezoelectric sensitivity sheet (9).With reference to figure 3, when attached when helping sensor (3) to be installed in testee (u) to go up, piezoelectric sensitivity sheet (9) is fixedly mounted between standard quality piece (M3) and the testee (u), piezoelectric sensitivity sheet (9) is only moving to the edge that acts on the power on this piezoelectric sensitivity sheet to be the component sensitivity of Z axle, produces the electric signal corresponding with it.Below will act on the edge of the power on the piezoelectric sensitivity sheet (9) moving is the component F of Z axle
3zExpression.
In the present embodiment, above-mentioned piezoelectric sensitivity sheet (4,5,6,7,8,9) can be cut family's wafer and Y with the X of quartz crystal and cut family's wafer formation, wherein the X surface charge of cutting family's wafer only is directly proportional with its surperficial normal pressure and is irrelevant with other power, the surface charge that Y cuts family's wafer only is directly proportional with its lip-deep shearing stress along crystalline axis direction and is irrelevant with other power, referring to " piezoelectricity ", " piezoelectric quartz force sensor with dynamically cutting dynamometer " book.
In the present embodiment, above-mentioned three standard quality pieces (M1, M2, M3) identical in quality is m, and much larger than the quality of quartz wafer.
In order to further specify present embodiment, the spy defines following symbol:
1, to being the static coordinate system that object of reference is set up with a certain static object of reference, to call quiet system in the following text, the symbol of its three axes of coordinates is X
1, Y
1, Z
1
2, Fx represents to act on power on the master reference (1) along the quiet X of being
1The component of axle.
Fy represents to act on power on the master reference (1) along the quiet Y of being
1The component of axle.
Fz represents to act on power on the master reference (1) along the quiet Z of being
1The component of axle.
3, α, β, γ represent the torsion angle of moving system and quiet system.
α, β, γ represent the angular velocity at α, β, γ angle.
α, β, γ satisfy following relation respectively:
Wx in the above-mentioned symbol, Wy, Wz and
X,
Y,
Z represents rotational angular velocity and the angular acceleration of moving system with respect to quiet system.
Can obtain acting on moving on the master reference (1) by above-mentioned symbol definition is component F
1x, F
1y, F
1zWith quiet be the transformational relation of component Fx, Fy, Fz:
Above-mentioned formula 5 also can be applicable to act on power on arbitrary sensor moving be that to be converted to quiet be component to component.
In the present embodiment, sound is that change-over circuit is made up of circuit (10) and circuit (11).With reference to figure 6, circuit (10) has five input ends (G1, G2, G3, G4, G5), wherein input end (G1) receive from sensor (2) and F
2zCorresponding electric signal, input end (G2) receive from sensor (1) and F
1zCorresponding electric signal, input end (G3) receive from sensor (3) and F
3zCorresponding electric signal, input end (G4) receive from sensor (2) and F
2xCorresponding electric signal, input end (G5) receive from sensor (1) and F
1xCorresponding electric signal.Input end (G1, G2, G3, G4, G5) connects a front end circuit (12,13,14,15,16) separately.Front end circuit is to be made of filtering circuit and amplifying circuit, is used for eliminating the noise signal in the input signal, as is used to eliminate because the noise signal that the mechanical vibration of testee cause, and useful signal is amplified.
The input end of input end (G1) connecting circuit (12), the output terminal of circuit (12) connects an input end of totalizer (18), the input end of input end (G2) connecting circuit (13), the output terminal of circuit (13) connects the input end of phase inverter (19), the output terminal of phase inverter (19) connects another input end of totalizer (18), totalizer (18) will from above-mentioned two input ends and F
2zWith with-F
3zOutput and F after the corresponding electric signal addition
2z-F
3zCorresponding electric signal; Circuit (20) receives the above-mentioned signal of totalizer (18) output, and with on this signal times corresponding to behind the signal of coefficient 1/ (ml) to integrator (21) output corresponding to 1/ (ml) (F
2z-F
3z) electric signal, after integrator (21) carries out integration with the signal of input to the time, by its output terminal (J1) output and the corresponding signal of Wx.
The phase inverter of above-mentioned phase inverter (19) and the following stated be used for input signal anti-phase.
Above-mentioned phase inverter (19) also connects an input end of totalizer (22), the input end of input end (G3) connecting circuit (14), the output terminal of circuit (14) connects another input end of totalizer (22), and totalizer (22) will be from output and F behind the signal plus of above-mentioned two input ends
3z-F
1zCorresponding electric signal, reverser (23) receives the signal of totalizer (22) output, and will be input to circuit (24) after this signal inversion, circuit (24) with the signal times of input with signal corresponding to coefficient 1/ (ml) after, to integrator (25) output corresponding to 1/ (ml) (F
1z-F
3z) electric signal, the above-mentioned signal that integrator (25) will be imported to time integral after, by its output terminal (J2) output and the corresponding signal of Wy.
The output terminal of the input end of above-mentioned input end (G4) connecting circuit (15), circuit (15) connects an input end of totalizer (26), the input end of input end (G5) connecting circuit (16), the output terminal of circuit (16) connects the input end of phase inverter (27), the output terminal of phase inverter (27) connects another input end of totalizer (26), and totalizer (26) will be from output and F behind the signal plus of above-mentioned two input ends
2z-F
1xCorresponding signal, circuit (28) receive the above-mentioned signal of totalizer (26) output, and with this signal times with signal corresponding to coefficient 1/ (ml) after, to integrator (29) output corresponding with 1/ (ml) (F
2z-F
1x) electric signal, integrator (29) with the signal of input to time integral after, by its output terminal (J3) output and the corresponding signal of Wz.
The output terminal (J3) of above-mentioned integrator (29) connects an input end of totalizer (30), be input to integrator (31) behind the signal plus that totalizer (30) is imported the above-mentioned signal of this input end input and its another input end (I1), integrator (31) will import corresponding to
Signal to time integral after, by its output terminal (P1) output and the corresponding signal of γ.
Functional circuit (32) is connected with the output terminal (P1) of integrator (31), and what functional circuit (32) will be imported carries out exporting and the corresponding electric signal of Sin γ after the sine function conversion with the corresponding signal of γ.
Functional circuit (33) is connected with the output terminal (P1) of integrator (31), and what functional circuit (33) will be imported carries out exporting and the corresponding electric signal of Cos γ after the cosine function conversion with the corresponding signal of γ.
The output terminal (J2) of integrator (25) connects an input end of multiplier (34), the output terminal of another input end and function circuit (32) of multiplier (34) is connected, and behind above-mentioned two signal multiplications that multiplier (34) will be imported output signal is outputed to an input end of totalizer (35).
The input end (J1) of integrator (21) connects an input end of multiplier (36), the output terminal of another input end and function circuit (33) of multiplier (36) connects, and behind above-mentioned two signal multiplications that multiplier (36) will be imported output signal is outputed to another input end of totalizer (35).
Totalizer (35) will signal plus from above-mentioned two input ends after, by its output terminal (P2) output with
Corresponding signal, output terminal (P2) is connected with the input end of integrator (37), after integrator (37) carries out integration with the signal of importing to the time, by its output terminal (P3) output and the corresponding signal of β.
The output terminal (J1) of integrator (21) connects an input end of multiplier (38), the output terminal of another input end contiguous function circuit (32) of multiplier (38), multiplier (38) will signal multiplication by above-mentioned two input ends input after, output signal is outputed to an input end of totalizer (39).
The output terminal (J2) of integrator (25) also connects an input end of multiplier (40), the output terminal of another input end contiguous function circuit (33) of multiplier (40), multiplier (40) will signal multiplication by above-mentioned two input ends input after, output signal is outputed to another input end of totalizer (39).
Totalizer (39) will signal plus from its two above-mentioned input ends after, output signal is outputed to an input end of multiplier (41).
The input end of output terminal (P3) the contiguous function circuit (42) of integrator (37), functional circuit (42) carries out exporting and the corresponding signal of Cos β after the cosine function conversion to the signal of input, the output terminal of functional circuit (42) is connected with a reciprocal circuit (17), after reciprocal circuit (17) carries out conversion reciprocal with the signal of importing, to another input end output and the corresponding signal of 1/ (Cos β) of multiplier (41).
Multiplier (41) will signal multiplication by its above-mentioned two input ends input after, by its output terminal (P4) output with
Corresponding signal.
Output terminal (P4) is connected with the input end of integrator (43), integrator (43) with input signal to time integral after, by its output terminal (P5) output and the corresponding signal of α.
After the input end of output terminal (P3) the contiguous function circuit (44) of integrator (37), functional circuit (44) carry out the sine function conversion with input signal, by its output terminal output and the corresponding signal of Sin β.The output terminal of functional circuit (44) is connected with an input end of multiplier (45), another input end of multiplier (45) is connected with the output terminal (P4) of multiplier (41), multiplier (45) will signal multiplication by its above-mentioned two input ends input after, output signal is outputed to the input end of phase inverter (46), after the signal inversion of phase inverter (46) with input, output signal is outputed to the input end (I1) of totalizer (30).
Circuit (11) has three input ends (G6, G7, G8), input end (G6, G7, G8) is connected with a front end circuit (47,48,49) respectively, front end circuit (47,48,49) is to be made of filtering circuit and amplifying circuit, be used for eliminating the noise signal in the input signal, and useful signal is amplified.Three input ends (G6, G7, G8) of circuit (11) receive respectively come autonomic sensor (1) and F
1x, F
1y, F
1zCorresponding electric signal, this electric signal is input to three input ends (N4, N5, N6) on the circuit (50) through front end circuit (G6, G7, G8), circuit (50) have also that three input ends (N1, N2, N3) receive output terminal (P1, P3, P5) from circuit (10) respectively with α, β, the corresponding signal of γ.
Circuit (50) will by its input end (N4, N5, N6) input and F
1x, F
1y, F
1zCorresponding signal and by its input end (N1, N2, N3) input carry out conversion with α, β, the corresponding signal of γ as formula 5 after, by (P6, P7, the P8) output of its output terminal and Fx, Fy, the corresponding electric signal of Fz.
In order to further specify present embodiment, following symbol is described.
1, ax, ay, az are the x of testee along quiet system
1Axle, y
1Axle, z
1The acceleration of motion of axle.
2, Vx, Vy, Vz are the x of testee along quiet system
1Axle, y
1Axle, z
1The movement velocity of axle.
3, Sx, Sy, Sz are the x of testee along quiet system
1Axle, y
1Axle, z
1The displacement of axle.
4, a is the acceleration of testee with respect to quiet system.
V is the speed of testee with respect to quiet system.
S is the testee displacement.
L is the motion distance of testee.
Above-mentioned ax, ay, az, Vx, Vy, Vz, Sx, Sy, Sz, a, V, S, L and Fx, Fy, Fz have following relation:
L=∫ Vdt ... formula 12
In the present embodiment, output circuit is to be made of circuit (51), circuit (51) has three input ends (I2, I3, I4), input end (I2) receives the electric signal corresponding with Fx by output terminal (P6) output of circuit (11), input end (I3) receives the electric signal corresponding with Fy by output terminal (P7) output of circuit (11), and input end (I4) receives the electric signal corresponding with Fz by output terminal (P8) output of circuit (11).In circuit (51), the input end of input end (I2) connecting circuit (52).Circuit (52) with the signal times of input with the corresponding signal of coefficient 1/ (m) after by its output terminal (P9) output and the corresponding signal of ax, the input end of input end (I3) connecting circuit (53), circuit (53) with the signal times of input with the corresponding signal of coefficient 1/ (m) after by its output terminal (P10) output and a
yCorresponding signal, the input end of input end (I4) connecting circuit (54).Circuit (54) with the signal times of input with the corresponding signal of coefficient 1/ (m) after by its output terminal signal is input to circuit (55), circuit (55) with the electric signal of input cut with the corresponding signal of gravity acceleration g after by output of the output terminal (P11) of circuit (55) and a
zCorresponding electric signal.
Integrating circuit (56) receives the signal of output terminal (P9) output, with this signal to time integral after by output terminal (P12) output and the corresponding signal of Vx.Integrating circuit (57) receives the signal of output terminal (P10) output, with this signal to time integral after by output terminal (P13) defeated with the corresponding signal of Vy.Integrating circuit (58) receives the signal of output terminal (P11) output, with this signal to time integral after by output terminal (P14) output and the corresponding signal of Vz.
Integrating circuit (59) receives the signal of output terminal (P12) output, with this signal to time integral after by output terminal (P15) output and the corresponding signal of Sx.Integrating circuit (60) receives the signal of output terminal (P13) output, with this signal to time integral after by output terminal (P16) output and the corresponding signal of Sy.Integrating circuit (61) receives the signal of output terminal (P14) output, with this signal to time integral after by output terminal (P17) output and the corresponding signal of Sz.
Circuit (62) has three input ends and connects output terminal (P12, P13, P14) respectively, and the signal of importing is carried out as being exported and the corresponding signal of V by output terminal (P18) after the conversion of formula 9.Circuit (63) has three input ends and connects output terminal (P15, P16, P17) respectively, and the signal of importing is carried out as being exported and the corresponding signal of S by output terminal (P19) after the conversion of formula 10.Circuit (65) has three input ends and connects output terminal (P9, P10, P11), and the signal of importing is carried out as being exported and the corresponding signal of a by output terminal (P20) after the conversion of formula 11.Circuit (64) has input end and connects output terminal (P18), the signal of input is carried out conversion as formula 12 after, by output terminal (P21) output and the corresponding signal of L.
In the present embodiment, circuit such as each above-mentioned circuit, integrator, multiplier, functional circuit all can be realized by mimic channel, thereby can be carried out continuous real-time measurement to the motion state of testee.
In the present embodiment, α, β, γ,
With Wx, Wy, Wz,
X,
Y,
Z has reflected that testee makes the motion state parameters that mechanics rotates.
In the present embodiment, ax, ay, az, Vx, Vy, Vz, Sx, Sy, Sz, a, V, S, L have reflected that testee makes the motion state parameters of mechanics translation.
In order to further specify method of the present invention and device thereof, exemplify the second selected embodiment of the present invention below.
Present embodiment provides a kind of measuring method and device thereof that is used to measure the motion state parameters of the object that can move on two dimensional surface.
In the present embodiment, measurement mechanism is by a master reference, and one attached, and to help sensor, a sound be that change-over circuit, an output circuit are formed.
Above-mentioned master reference is to be made of the master reference (B1) on the main test position (A1) that is fixedly mounted on testee (u), and the above-mentioned attached sensor that helps is to help the attached sensor (B2) that helps on the test position (A2) to constitute by being fixedly mounted on the attached of testee (u).With reference to the figure 5 coin calamity fasten hide or leather on sole ˙ 1 that quarrels) the main test position (A1) at place sets up a coordinate system X-Y-O for the center, the then attached attached test position (A2) that helps that helps sensor (B2) place is on this coordinate system Y-axis, and the central point of sensor (B2) position is l apart from the distance of the central point of this coordinate system.Be moving system to call coordinate system X-Y-O in the following text.
In the present embodiment, master reference (B1) is made up of a standard quality piece (M2) and two piezoelectric sensitivity sheets (7,8), with reference to figure 2, (B1) is installed on the testee when master reference, and piezoelectric sensitivity sheet (7,8) is fixedly mounted between testee (u) and the standard quality piece (M2).In two piezoelectric sensitivity sheets (7,8), it is the component sensitivity of X-axis that a piezoelectric sensitivity sheet only moves the edge that acts on the power on the piezoelectric sensitivity sheet, produce corresponding with it electric signal, another piezoelectric sensitivity sheet is the component sensitivity of Y-axis to acting on edge on the piezoelectric sensitivity sheet moving only, produces corresponding with it electric signal.
The attached sensor (B2) that helps is made up of standard quality piece (M3) and piezoelectric sensitivity sheet (9), with reference to figure 3, when sensor (B2) is installed on the testee, piezoelectric sensitivity sheet (9) is fixedly mounted between standard quality piece (M3) and the testee u, piezoelectric sensitivity sheet (9) is the component sensitivity of X-axis to acting on edge on the piezoelectric sensitivity sheet moving only, produces corresponding with it electric signal.
In the present embodiment, the quality of standard quality piece (M2, M3) is all m.
Below will act on the edge of the power on the piezoelectric sensitivity sheet of master reference (B1) moving is X-axis component F
1xExpression is Y-axis component F along moving
1yExpression.To act on edge on the attached piezoelectric sensitivity sheet that helps sensor (B2) moving is X-axis component F
2xExpression.
For present embodiment is described, to following symbol definition:
1, to a certain static object of reference being the static coordinate system that object of reference is set up, below still be called quiet system, its axes of coordinates is X
1, Y
1
2, F
xExpression acts on power on the master reference (B1) along the quiet X of being
1The component of axle.
F
yExpression acts on power on the master reference (B1) along the quiet Y of being
1The component of axle.
3, θ represents the torsion angle of moving system and quiet system.
The angular acceleration of representing this torsion angle.
θ,
Satisfy following relationship respectively:
θ=∫
Dt ... formula C1
=∫
Dt ... formula C2
=1/ (ml) (F
2x-F
1x) ... formula C3
Above-mentioned formula also can be applicable to act on power on the sensor (B1) moving be that to be converted to quiet be component to component.Formula C4 is actual to be formula 5 formula of reduction when being applied to measure two dimensional surface moving object.
At present embodiment, sound is that change-over circuit is made up of circuit (B3, B4), circuit (B3) have two input ends (B4, B5) receive respectively come autonomic sensor (B1) and F
1xCorresponding signal and from attached help sensor (B2) and F
2xCorresponding signal.
Have a circuit (B6) in circuit (B3), circuit (B6) is connected with input end (B4, B5), with the signal of input carry out as after the conversion of formula C3 by its output terminal (D1) output with
Corresponding electric signal.Circuit (B7) receives the signal from output terminal (D1), with this signal to time integral after by its output terminal (D2) output with
Corresponding signal is with reference to formula C2.Circuit (B8) receives the signal of output terminal (D2) output, with this signal to time integral after by its output terminal (D3) output signal corresponding, with reference to formula C1 with θ.
In circuit (B3), have a circuit (B9), circuit (B9) have two input ends (B10, B11) receive respectively from sensor (B2) and F
2x, F
2yCorresponding signal, circuit (B9) has an input end (B12) and is connected with output terminal (D3).After circuit (B9) carries out conversion as formula C4 with the signal of input, by its output terminal (D4, D5) output respectively with the corresponding electric signal of Fx, Fy.
In the present embodiment, output circuit is to be made of circuit (B13).In circuit (B13), circuit (16) has two input ends (B14, B15), input end (B14, B15) is connected with output terminal (D4, D5) respectively, circuit (B16) with the input signal multiply by respectively with the corresponding signal of coefficient 1/ (ml) after by output terminal (D6, D7) output and the corresponding signal of ax, ay, circuit (B17) receives the signal from output terminal (D6, D7), respectively with the signal of input to time integral after by (D8, D9) output of its output terminal and the corresponding signal of Vx, Vy.Circuit (B18) receives the signal from output terminal (D8, D9), respectively with the signal of input to time integral after, by (D10, D11) output of its output terminal and the corresponding signal of Sx, Sy.
In the present embodiment, circuit (B7, B8, B16, B17, B18) is to be made of integrating circuit, and the integration zero-time can be the zero-time of the motion of moving object.
Claims (12)
1, a kind of object moving state measurement mechanism, it is characterized in that having a master reference, one group, attached to help sensor, a sound be change-over circuit, an output circuit;
Above-mentioned master reference is installed on the main test position of testee, and to the motion state sensitivity of this position, the moving of power that produces and act on the master reference is the corresponding electric signal of component;
Above-mentioned attachedly help sensor to be installed in the attached of testee to help on the test position, to the motion state sensitivity of this position, producing and act on this, attached to help the moving of power on the sensor be the corresponding electric signal of component;
Above-mentioned sound is that change-over circuit receives by above-mentioned master reference and the attached electric signal that helps sensor output, according to the difference and the duration thereof of the respective signal of master reference and the attached electric signal that helps sensor output, master reference and the attached distance that helps between sensor, master reference and the attached quality conversion that helps sensor go out and move system with respect to the corresponding electric signal of the torsion angle of quiet system, and utilize this signal will by above-mentioned master reference and the attached electrical signal conversion that helps certain sensor output in the sensor for the quiet of power that acts on this sensor be the corresponding electric signal of component;
It is that the quiet of power with acting on certain sensor that change-over circuit is exported is the corresponding electric signal of component that above-mentioned output circuit receives by above-mentioned sound, and changes out and the translation state parameter corresponding electric signal of this sensor in quiet system according to quality, the testee run duration of this signal and this sensor.
2, device according to claim 1 is characterized in that: sound be change-over circuit will by the electric signal of above-mentioned master reference output and by its above-mentioned and moving system that changes out with respect to the corresponding electrical signal conversion of the torsion angle of quiet system for the quiet of power that acts on the master reference be the corresponding electric signal of component.
3, according to claim 1,2 described devices, it is characterized in that: above-mentioned master reference and the attached sensor that helps all are to be made of standard quality piece and one group of piezoelectric sensitivity sheet.
4, device according to claim 3, it is characterized in that: above-mentioned master reference is to be made of sensor (1), the above-mentioned attached sensor that helps is to be made of sensor (2,3), master reference (1) is installed on the main test position (K1) of testee, attachedly helps sensor (2,3) to be installed in the attached of testee to help on the test position (K2, K3).
5, according to claim 1,2,4 described devices, it is characterized in that: above-mentioned sound is that change-over circuit is to be made of circuit (10) and circuit (11), and circuit (10,11) is to be made of mimic channel.
6, device according to claim 3 is characterized in that: above-mentioned sound is that change-over circuit is to be made of circuit (10) and circuit (11), and circuit (10,11) is to be made of mimic channel.
7, device according to claim 3, the bright bucktooth of its special drooping plan tomb lotus make a noise fasten hide or leather on the quarrel saturating street of joint quarrel black mole timid yarn Piao Ta ˙ 1, B2) constitute master reference (B1) and attached helping on the position (A1, A2) that sensor (B2) is installed in testee.
8, according to claim 1,2,7 described devices, it is characterized in that: above-mentioned sound is that change-over circuit is to be made of circuit (B3, B4), and circuit (B3, B4) is to be made of mimic channel.
9, device according to claim 3 is characterized in that: above-mentioned sound is that change-over circuit is to be made of circuit (B3, B4), and circuit (B3, B4) is to be made of mimic channel.
10, a kind of object moving state measuring method is characterized in that: utilize one be installed on the testee, to the master reference of the main test position motion state sensitivity of testee and one group be installed in testee attached help on the test position, to testee attached help test position motion state sensitivity attached help sensor will act on master reference and attached help power on the sensor be converted to the moving of this power be the corresponding electric signal of component;
Will by the difference of the respective signal of above-mentioned master reference and the attached above-mentioned signal that helps sensor output and duration thereof, master reference and attached help distance between the sensor, master reference and the attached quality conversion that helps sensor to go out and above-mentioned moving system with respect to the corresponding signal of the torsion angle between the quiet system;
With above-mentioned and moving system with respect to the electrical signal conversion of corresponding signal of the torsion angle between the quiet system and the output of a certain sensor for the quiet of power that acts on this sensor be the corresponding signal of component;
Utilize again above-mentioned with act on power on a certain sensor quiet be that quality, the testee run duration of the corresponding signal of component, this sensor changed out and the translational motion state parameter corresponding signal of this sensor with respect to quiet system.
11, method according to claim 10, it is characterized in that: utilize difference by the respective signal of above-mentioned master reference and the attached above-mentioned signal that helps sensor output, master reference and the attached distance that helps between the sensor, master reference and the attached quality conversion that helps sensor go out and move the torsion angle acceleration corresponding signal of system with respect to quiet system, utilize again and move system with respect to the corresponding signal of torsion angle acceleration of quiet system and by the duration of the difference of the respective signal of above-mentioned master reference and the attached above-mentioned electric signal that helps sensor output change out and moving be with respect to the corresponding signal of the torsion angle of quiet system;
Utilize again and move system with respect to the corresponding signal of the torsion angle of quiet system will by the electrical signal conversion of certain sensor output for the quiet of the power that acts on this sensor be the corresponding electric signal of component.
12, according to claim 10 or 11 described methods, it is characterized in that: utilizing electrical signal conversion above-mentioned and that moving system exports above-mentioned master reference with respect to the corresponding signal of the torsion angle of quiet system is that the quiet of power that acts on this sensor is the corresponding signal of component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 89100370 CN1035000A (en) | 1989-01-25 | 1989-01-25 | Object moving state measuring method and device thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 89100370 CN1035000A (en) | 1989-01-25 | 1989-01-25 | Object moving state measuring method and device thereof |
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| Publication Number | Publication Date |
|---|---|
| CN1035000A true CN1035000A (en) | 1989-08-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 89100370 Pending CN1035000A (en) | 1989-01-25 | 1989-01-25 | Object moving state measuring method and device thereof |
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| Country | Link |
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| CN (1) | CN1035000A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100504317C (en) * | 2004-11-05 | 2009-06-24 | 国际商业机器公司 | Movement detection device and movement detection method |
-
1989
- 1989-01-25 CN CN 89100370 patent/CN1035000A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100504317C (en) * | 2004-11-05 | 2009-06-24 | 国际商业机器公司 | Movement detection device and movement detection method |
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