CN104316230A  Method and device for measuring vector force borne by cylindrical beam  Google Patents
Method and device for measuring vector force borne by cylindrical beam Download PDFInfo
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 CN104316230A CN104316230A CN201410657926.8A CN201410657926A CN104316230A CN 104316230 A CN104316230 A CN 104316230A CN 201410657926 A CN201410657926 A CN 201410657926A CN 104316230 A CN104316230 A CN 104316230A
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 resistance
 resistance strain
 strain gage
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Abstract
The invention relates to a method and device for measuring vector force borne by a cylindrical beam. One end of the cylindrical beam is fixed to a fixed support. A cylindrical beam section where a vector force action point is located is known. The method is characterized by comprising the steps that four resistance strain gages are arranged at the position, between the vector force action point and the fixed support, on the surface of the cylindrical beam, located on the same circumference of the cylindrical beam at the interval of 90 degrees and connected into a bending strain detection circuit of a detection device; when the vector force acts, the four resistance strain gages each have the stretching and compression combined effect. The bending linear strain of the position where the resistance strain gages are located is obtained through a detection circuit, and then the direction and magnitude of the vector force borne by the cylindrical beam are obtained through calculation. The characteristics of the vector force borne by the cylindrical beam is represented by onepoint bending strain, the device is simple in measuring structure, convenient to install and operate, and capable of being widely applied to measurement of vector force borne by various cylindrical beams.
Description
Technical field
The present invention relates to a kind of vectorial force measuring method and device, particularly about vectorial force measuring method and device suffered by a kind of cylinder beam based on resistance strain gage.
Background technology
For sailassisted propulsion boats and ships, in order to enable, sail acting force is stressed greatly at direction of ship travel, boats and ships horizontal direction is stressed little, then need wind direction and the wind speed of measuring relative ship course, and in conjunction with the aerodynamic characteristics of sail, calculate the size of boosting power, transverse force suffered by the best corner of sail and boats and ships.The size of the boosting power that marine navigator produces according to sail and transverse force, adjustment marine main engine rotating speed and rudder angle, ensure that sailassisted propulsion boats and ships travel in optimum condition.The classic method of sail Force measurement is the wind speed and direction by measuring relative boats and ships, then obtains in conjunction with the aerodynamic characteristics of sail.What the measurement of wind speed and direction generally adopted is wind speed wind direction sensor, but owing to there is the impact of pitching, rolling and heel in ship motion process, certain error can be there is in wind speed and direction detected value, thus cause the boats and ships boosting power that calculates and transverse force and actual value to there is error, this error can affect the manipulation of marine navigator to boats and ships, and then can not ensure that ship running is in optimum condition, even produces adverse consequences when error is large.Therefore, in the measurements, how can obtain accurate sail acting force, for the manipulation of sailassisted propulsion boats and ships, be very important.
Summary of the invention
For the problems referred to above, the object of this invention is to provide a kind of can directly obtain cylinder beam stress size and Impact direction based on resistance strain gage cylinder beam suffered by vectorial force measuring method and device.
For achieving the above object, the present invention takes following technical scheme: vectorial force measuring method suffered by a kind of cylinder beam, and it comprises the following steps: 1) evenly arrange four identical resistance strain gages at cylinder beam stress application point and the peripheral circumferential sustained height of cylinder beam between the strong point; 2) set two relative resistance strain gages as one group, often organize resistance strain gage and form differential bridge arm circuit with two equal resistors respectively, and the given voltage of differential bridge arm circuit is identical; 3) act on cylinder beam according to vectorial force and cause cylinder deflection of beam to strain, drive four resistance strain gage Tension and Compression, four resistance strain gage resistances change; The change of resistance strain gage resistance drives differential bridge arm circuit to produce differential voltage, and in conjunction with the formula between resistance strain gage change in resistance and line strain, formula between differential voltage and resistance strain gage change in resistance, resistance strain gage position line strain formula, obtain the corresponding vectorial force angle of action; 4) by resistance strain gage place section turn moment formula, line strain formula, vectorial force size suffered by cylinder beam is obtained.
The relative each selfcorresponding change in resistance equal and opposite in direction of two resistance strain gages, symbol are contrary.
Described step 3) in: the formula between resistance strain gage change in resistance and line strain:
wherein, the line strain that the sensitivity coefficient that Δ R is resistance strain gage change in resistance value, R is the initial resistance of resistance strain gage, K is resistance strain gage, ε are cylinder beam position, resistance strain gage place; Formula between differential voltage and resistance strain gage change in resistance:
wherein, Δ U is differential voltage, U
_{0}for the given voltage of differential bridge arm circuit; Resistance strain gage position line strain formula:
wherein, the distance that M is resistance strain gage place section turn moment, E is cylinder beam elastic modulus, D is cylinder beam crosssectional diameter, y is resistancestrain pitch of fins cylinder neutral line, θ are the angle between resistance strain gage and neutral line; Resistance strain gage place section turn moment formula: M=FL, wherein, F is amount of force to be measured, L is the distance of force position to cross section, resistance strain gage place.
Realize a device for vectorial force measuring method suffered by cylinder beam, it is characterized in that: it comprises some detecting units and a display unit; Described detecting unit is electrically connected described display unit respectively; Described detecting unit for detecting the size and Orientation of the vectorial force acted on cylinder beam, and is sent to described display unit, by the size and Orientation of the vectorial force suffered by described display unit display cylinder beam.
Described detecting unit comprises testing circuit and microprocessor; Described testing circuit is electrically connected described microprocessor; Described testing circuit adopts differential bridge arm circuit, this differential bridge arm circuit evenly arranges four identical resistance strain gages at cylinder beam stress application point to be measured and the peripheral circumferential sustained height of cylinder beam between the strong point, and relative two resistance strain gages are one group, often organize this differential bridge arm circuit that resistance strain gage is formed with two equal resistors respectively; Described testing circuit sends the differential wave of detection to described microprocessor, and described microprocessor obtains the size and Orientation of suffered vectorial force on cylinder beam through process.
Described microprocessor adopts MCS51 singlechip microcomputer.
The present invention is owing to taking above technical scheme, it has the following advantages: 1, the cylinder beam of apparatus of the present invention between vectorial force application point and holddown support arranges four resistance strain gages on the surface, and adjacent two resistance strain gages are separated by 90 °, and by relative two differential bridge arm circuit of access, when vectorial force effect, four resistance strain gages have the compound action of Tension and Compression respectively, the output voltage changing value that apparatus of the present invention are obtained by differential bridge arm circuit measurement, indirectly obtain the sweep strain of resistance strain gage position, and through the process of detection control device, obtain vectorial force size and direction suffered by cylinder beam, device architecture of the present invention is simple, be convenient to install, easy to operate, hardware device is few and production cost is low.2, apparatus of the present invention are applied to sailassisted propulsion boats and ships sail Force measurement, adopt cylindrical sail mast, by differential bridge arm circuit measuring method, obtain the sweep strain of resistance strain gage position on mast, calculate and obtain vectorial force suffered by sailassisted propulsion boats and ships mast, final acquisition sail acting force is to the boosting power of boats and ships and transverse force, overcome the out of true problem adopting traditional wind speed wind direction sensor measurements and calculations sail acting force method, be more convenient to the manipulation of marine navigator to sailassisted propulsion boats and ships.3, apparatus of the present invention measure vectorial force by the method measuring sweep strain, compared with traditional force measuring instrument device, on the basis can measuring stressed size, Impact direction can be obtained again, therefore, the present invention can be applied to the measurement of vectorial force suffered by all cylinder beams.
Accompanying drawing explanation
Fig. 1 is the structural representation of apparatus of the present invention
Fig. 2 is testing circuit schematic diagram of the present invention
Fig. 3 is the application state schematic diagram of apparatus of the present invention
Fig. 4 is the cylinder beam section schematic diagram by vectorial force application point
Fig. 5 is the cylinder beam section schematic diagram by resistance strain gage
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in detail.
The present invention is for measuring the stressing conditions of sail mast, and sail mast adopts cylindrical shape, therefore wind equivalence can become any stressed of mast place axis to the acting force of sail, so just stressed for sail problem is converted into the stressed problem of cylinder beam, therefore the present invention is measuring method and the device that directly can obtain cylinder beam stress size and Impact direction.
The inventive method comprises the following steps:
1) evenly arrange four identical resistance strain gages at cylinder beam stress application point and the peripheral circumferential sustained height of cylinder beam between the strong point, namely adjacent two resistance strain gages are divided into 90 ° mutually;
2) set two relative resistance strain gages as one group, often organize resistance strain gage and form differential bridge arm circuit with two equal resistors respectively, and the given voltage of differential bridge arm circuit is U
_{0};
3) act on cylinder beam according to vectorial force and cause cylinder deflection of beam to strain, drive four resistance strain gage Tension and Compression, four resistance strain gage resistances change; The relative each selfcorresponding change in resistance equal and opposite in direction of two resistance strain gages, symbol are contrary; The change of resistance strain gage resistance drives differential bridge arm circuit to produce differential voltage, and in conjunction with between resistance strain gage change in resistance and line strain formula (
wherein, the sensitivity coefficient that Δ R is resistance strain gage change in resistance value, R is the initial resistance of resistance strain gage, K is resistance strain gage, ε are the line strain of cylinder beam position, resistance strain gage place), formula between differential voltage and resistance strain gage change in resistance (
wherein, Δ U is differential voltage, U
_{0}given voltage for differential bridge arm circuit), resistance strain gage position line strain formula (
wherein, the distance that M is resistance strain gage place section turn moment, E is cylinder beam elastic modulus, D is cylinder beam crosssectional diameter, y is resistancestrain pitch of fins cylinder neutral line, θ are the angle between resistance strain gage and neutral line), obtain the corresponding vectorial force angle of action;
4) by resistance strain gage place section turn moment formula (M=FL, wherein F is amount of force to be measured, L is the distance of force position to cross section, resistance strain gage place), line strain formula (
), obtain vectorial force size suffered by cylinder beam.
As shown in Figure 1, apparatus of the present invention comprise some detecting units 1 and a display unit 2.Detecting unit 1 is for detecting the vectorial force acted on cylinder beam, and display unit 2 is for showing the vectorial force on cylinder beam; Detecting unit 1 is electrically connected display unit 2 respectively.
Detecting unit 1 comprises testing circuit 11 and microprocessor 12; Testing circuit 11 is electrically connected microprocessor 12.
As shown in Figure 2, testing circuit 11 is two differential bridge arm circuit, and its given voltage is U
_{0}, this differential bridge arm circuit is constructed as follows: evenly arrange four identical resistance strain gages at cylinder beam stress application point to be measured and the peripheral circumferential sustained height of cylinder beam between the strong point, namely adjacent two resistance strain gages are separated by 90 °; If relative two resistance strain gages are one group; Often organize resistance strain gage and form differential bridge arm circuit with two equal resistors respectively.Act on cylinder beam when there being vectorial force, cylinder deflection of beam can be caused to strain, four resistance strain gages have the compound action of Tension and Compression accordingly, four resistance strain gage resistances change, the change of resistance strain gage resistance drives differential bridge arm circuit to produce differential voltage, and testing circuit 11 sends differential voltage to microprocessor 12.Computing formula between builtin four the resistance strain gage change in resistance of microprocessor 12 and line strain, computing formula between differential voltage and resistance strain gage change in resistance, Stress calculation formula, resistance strain gage place section turn moment computing formula, calculate the angle of action and the size of vectorial force suffered by cylinder beam, and sent to display unit 2.
In abovedescribed embodiment, microprocessor 12 is preferably MCS51 singlechip microcomputer.
Display unit 2 is display screen, for showing the angle of action and the size of vectorial force suffered by cylinder beam.
Principle of work of the present invention is further illustrated by following examples:
As shown in Figure 3, cylinder beam 3 one end is fixed on holddown support 4, and the cross section 31 of known vectorial force application point place cylinder beam, on the cylinder beam surface 32 between vectorial force application point and holddown support 4, arrange four resistance strain gages 5,6,7,8, corresponding resistance value is respectively R
_{f}, R
_{b}, R
_{l}, R
_{r}, four resistance strain gages are positioned at the circumferentially same of cylinder beam 3 outside surface, and spaced 90 °.
In whole cylinder beam 3, with resistance strain gage 6 (R
_{b}) be benchmark, setting fan section, 4 right angles, the present invention arranges fan section in a clockwise direction and is described.
As shown in Figure 4, if resistance strain gage 6 (R
_{b}) and resistance strain gage 7 (R
_{l}) between covering of the fan scope be Ith district, resistance strain gage 7 (R
_{l}) and resistance strain gage 5 (R
_{f}) between covering of the fan scope be IIth district, resistance strain gage 5 (R
_{f}) and resistance strain gage 8 (R
_{r}) between covering of the fan scope be IIIth district, resistance strain gage 8 (R
_{r}) and resistance strain gage 6 (R
_{b}) between covering of the fan scope be IVth district.
The initial resistance of setting four resistance strain gages is:
R
_{f0}＝R
_{b0}＝R
_{l0}＝R
_{r0}＝R
_{0} (1)
As shown in Figure 2, two resistance strain gages one group be oppositely arranged, i.e. resistance strain gage 5 (R
_{f}) and resistance strain gage 6 (R
_{b}) one group, resistance strain gage 7 (R
_{l}) and resistance strain gage 8 (R
_{r}) one group, often organize resistance strain gage respectively with two equal resistors R
_{1}form differential bridge arm circuit, the given voltage of differential bridge arm circuit is U
_{0}, two differential bridge arm circuit form testing circuit 11.
If vectorial force
act on Ith district, due to vectorial force
effect, causes the bending strain of cylinder beam 3, makes resistance strain gage 6 (R
_{b}) and resistance strain gage 7 (R
_{l}) tension, resistance strain gage 5 (R
_{f}) and resistance strain gage 8 (R
_{r}) pressurized, and relative two each selfcorresponding change in resistance equal and opposite in directions of resistance strain gage, symbol are contrary, namely corresponding change in resistance situation is as follows:
R
_{f}＝R
_{f0}ΔR
_{f} (2)
R
_{b}＝R
_{b0}ΔR
_{b} (3)
R
_{l}＝R
_{l0}ΔR
_{l} (4)
R
_{r}＝R
_{r0}ΔR
_{r} (5)
Wherein, Δ R
_{f}resistance strain gage 5 (R
_{f}) change in resistance size, Δ R
_{b}resistance strain gage 6 (R
_{b}) change in resistance size, Δ R
_{l}resistance strain gage 7 (R
_{l}) change in resistance size, Δ R
_{r}resistance strain gage 8 (R
_{r}) change in resistance size.
Resistance strain gage 5 (R
_{f}) and resistance strain gage 6 (R
_{b}) line strain size be ε
_{1}, due to just intermediate variable, therefore no longer describe in detail; Resistance strain gage 7 (R
_{l}) and resistance strain gage 8 (R
_{r}) line strain size be ε
_{2}, due to just intermediate variable, therefore no longer describe in detail; The sensitivity coefficient of four resistance strain gages is K, then:
In testing circuit 11, the change due to resistance strain gage resistance causes differential bridge arm circuit to produce differential voltage, and differential voltage is respectively:
Wherein, Δ U
_{1}resistance strain gage 5 (R
_{f}) and resistance strain gage 6 (R
_{b}) change in resistance and the differential voltage caused; Δ U
_{2}resistance strain gage 7 (R
_{l}) and resistance strain gage 8 (R
_{r}) change in resistance and the differential voltage caused.
Cylinder beam 3 neutral line radiusofcurvature is ρ, and according to line strain formula, cross section, resistance strain gage place apart from the line strain ε at neutral line y place is:
As shown in Figure 5, resistance strain gage 5 and resistance strain gage 6 are y apart from the distance of neutral line z
_{1}, (its line strain is ε to resistance strain gage 7
_{1}) and resistance strain gage 8 (its line strain is ε
_{2}) be y apart from the distance of neutral line z
_{2}, therefore
${\mathrm{\ϵ}}_{1}=\frac{{y}_{1}}{\mathrm{\ρ}},{\mathrm{\ϵ}}_{2}=\frac{{y}_{2}}{\mathrm{\ρ}}.$
The elastic modulus of cylinder beam 3 is E, and according to Hooke's law, resistance strain gage place section stress σ is:
Resistance strain gage place section turn moment M is:
Wherein, as shown in Figure 5, I
_{z}=∫
_{a}y
^{2}dA is the moment of inertia of cross section, resistance strain gage place centering axle, and neutral axis is zaxis, and this axle passes through the cylinder beam axle center in cross section, resistance strain gage place, and vertical with vectorial force direction; Cylindrical crosssection diameter is D, then:
Line strain ε can be obtained by formula (10), formula (13) and formula (14):
As shown in Figure 5, for resistance strain gage 6 (R
_{b}) and resistance strain gage 7 (R
_{l}) be respectively y apart from neutral line distance
_{1}and y
_{2}, regulation vectorial force effect angle [alpha] is vectorial force
with resistance strain gage 6 (R
_{b}) angle, and increase (the present invention is in a clockwise direction for example illustrates) along divided zone sequence direction forward (and clockwise direction is just), zero point, (0 °) was vectorial force
by resistance strain gage 6 (R
_{b}) point to resistance strain gage 5 (R
_{f}) direction, then:
According to formula (15), formula (16) and formula (17), resistance strain gage 6 (R
_{b}) and resistance strain gage 7 (R
_{l}) line strain be:
According to formula (8), formula (9), formula (18), formula (19), vectorial force angle of action α can be obtained:
(1) if vectorial force (
) act on Ith district, R
_{b}>R
_{f}, R
_{l}>R
_{r}, then Δ U
_{1}>0 and Δ U
_{2}>0:
(2) if vectorial force (
) act on IIth district, R
_{b}<R
_{f}, R
_{l}>R
_{r}, then Δ U
_{1}<0 and Δ U
_{2}>0:
(3) if vectorial force (
) act on IIIth district, R
_{b}<R
_{f}, R
_{l}<R
_{r}, then Δ U
_{1}<0 and Δ U
_{2}<0:
(4) if vectorial force (
) act on IVth district, R
_{b}>R
_{f}, R
_{l}<R
_{r}, then Δ U
_{1}>0 and Δ U
_{2}<0:
If according to counterclockwise arranging fan section, then the vectorial force angle of action is set as increasing along counter clockwise direction forward, and formula (20) ~ formula (23) is constant.
Cylinder beam stress cross section 31 is H with the distance of holddown support 4, and resistance strain gage place cylinder beam central crosssection 32 is h with the distance of holddown support 4, and the height of resistance strain gage self is l, then the moment M in cross section, resistance strain gage place is:
According to formula (24), formula (18) and formula (8), obtain vectorial force size:
Vectorial force effect size F suffered by cylinder beam 3 and direction α can be drawn by abovementioned computation process, and corresponding calculation procedure is transplanted in microprocessor 12, the cylinder beam 3 finally drawn is exported to display unit 2 by vectorial force size and Orientation, so that observe.
Abovedescribed embodiment is only for illustration of the present invention; wherein the structure of each parts, connected mode and measuring method etc. all can change to some extent; every equivalents of carrying out on the basis of technical solution of the present invention and improvement, be all not precluded within outside protection scope of the present invention.
Claims (7)
1. a vectorial force measuring method suffered by cylinder beam, it comprises the following steps:
1) four identical resistance strain gages are evenly set at cylinder beam stress application point and the peripheral circumferential sustained height of cylinder beam between the strong point;
2) set two relative resistance strain gages as one group, often organize resistance strain gage and form differential bridge arm circuit with two equal resistors respectively, and the given voltage of differential bridge arm circuit is identical;
3) act on cylinder beam according to vectorial force and cause cylinder deflection of beam to strain, drive four resistance strain gage Tension and Compression, four resistance strain gage resistances change; The change of resistance strain gage resistance drives differential bridge arm circuit to produce differential voltage, and in conjunction with the formula between resistance strain gage change in resistance and line strain, formula between differential voltage and resistance strain gage change in resistance, resistance strain gage position line strain formula, obtain the corresponding vectorial force angle of action;
4) by resistance strain gage place section turn moment formula, line strain formula, vectorial force size suffered by cylinder beam is obtained.
2. vectorial force measuring method suffered by a kind of cylinder beam as claimed in claim 1, is characterized in that: each selfcorresponding change in resistance equal and opposite in direction of two relative resistance strain gages, symbol are contrary.
3. vectorial force measuring method suffered by a kind of cylinder beam as claimed in claim 1, is characterized in that: described step 3) in:
Formula between resistance strain gage change in resistance and line strain:
wherein, the line strain that the sensitivity coefficient that Δ R is resistance strain gage change in resistance value, R is the initial resistance of resistance strain gage, K is resistance strain gage, ε are cylinder beam position, resistance strain gage place;
Formula between differential voltage and resistance strain gage change in resistance:
wherein, Δ U is differential voltage, U
_{0}for the given voltage of differential bridge arm circuit;
Resistance strain gage position line strain formula:
wherein, the distance that M is resistance strain gage place section turn moment, E is cylinder beam elastic modulus, D is cylinder beam crosssectional diameter, y is resistancestrain pitch of fins cylinder neutral line, θ are the angle between resistance strain gage and neutral line;
Resistance strain gage place section turn moment formula: M=FL, wherein, F is amount of force to be measured, L is the distance of force position to cross section, resistance strain gage place.
4. vectorial force measuring method suffered by a kind of cylinder beam as claimed in claim 2, is characterized in that: described step 3) in:
Formula between resistance strain gage change in resistance and line strain:
wherein, the line strain that the sensitivity coefficient that Δ R is resistance strain gage change in resistance value, R is the initial resistance of resistance strain gage, K is resistance strain gage, ε are cylinder beam position, resistance strain gage place;
Formula between differential voltage and resistance strain gage change in resistance:
wherein, Δ U is differential voltage, U
_{0}for the given voltage of differential bridge arm circuit;
Resistance strain gage position line strain formula:
wherein, the distance that M is resistance strain gage place section turn moment, E is cylinder beam elastic modulus, D is cylinder beam crosssectional diameter, y is resistancestrain pitch of fins cylinder neutral line, θ are the angle between resistance strain gage and neutral line;
Resistance strain gage place section turn moment formula: M=FL, wherein, F is amount of force to be measured, L is the distance of force position to cross section, resistance strain gage place.
5. realize a device for vectorial force measuring method suffered by the cylinder beam as described in Claims 1 to 4 any one, it is characterized in that: it comprises some detecting units and a display unit; Described detecting unit is electrically connected described display unit respectively; Described detecting unit for detecting the size and Orientation of the vectorial force acted on cylinder beam, and is sent to described display unit, by the size and Orientation of the vectorial force suffered by described display unit display cylinder beam.
6. vectorial force measurement mechanism suffered by a kind of cylinder beam as claimed in claim 5, is characterized in that: described detecting unit comprises testing circuit and microprocessor; Described testing circuit is electrically connected described microprocessor; Described testing circuit adopts differential bridge arm circuit, this differential bridge arm circuit evenly arranges four identical resistance strain gages at cylinder beam stress application point to be measured and the peripheral circumferential sustained height of cylinder beam between the strong point, and relative two resistance strain gages are one group, often organize this differential bridge arm circuit that resistance strain gage is formed with two equal resistors respectively; Described testing circuit sends the differential wave of detection to described microprocessor, and described microprocessor obtains the size and Orientation of suffered vectorial force on cylinder beam through process.
7. vectorial force measurement mechanism suffered by a kind of cylinder beam as claimed in claim 6, is characterized in that: described microprocessor adopts MCS51 singlechip microcomputer.
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CN201410657926.8A CN104316230B (en)  20141118  20141118  Method and device for measuring vector force borne by cylindrical beam 
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Cited By (4)
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CN106404262A (en) *  20161118  20170215  桂林电子科技大学  Action roller tension sensor capable of measuring angle of force and measuring method 
CN108151928A (en) *  20171222  20180612  中航电测仪器股份有限公司  A kind of aircraft control force sensor 
CN109900425A (en) *  20190312  20190618  大连理工大学  A kind of performance estimating method of piezoelectricity vector force test device 
CN114370960A (en) *  20211229  20220419  浙江清华柔性电子技术研究院  Pull rod load measuring method, device and system and storage medium 
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Cited By (5)
Publication number  Priority date  Publication date  Assignee  Title 

CN106404262A (en) *  20161118  20170215  桂林电子科技大学  Action roller tension sensor capable of measuring angle of force and measuring method 
CN108151928A (en) *  20171222  20180612  中航电测仪器股份有限公司  A kind of aircraft control force sensor 
CN109900425A (en) *  20190312  20190618  大连理工大学  A kind of performance estimating method of piezoelectricity vector force test device 
CN114370960A (en) *  20211229  20220419  浙江清华柔性电子技术研究院  Pull rod load measuring method, device and system and storage medium 
CN114370960B (en) *  20211229  20240126  浙江清华柔性电子技术研究院  Pull rod load measuring method, device, system and storage medium 
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