CN105388326B - Rotating angular acceleration sensor scaling method - Google Patents
Rotating angular acceleration sensor scaling method Download PDFInfo
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- CN105388326B CN105388326B CN201510724620.4A CN201510724620A CN105388326B CN 105388326 B CN105388326 B CN 105388326B CN 201510724620 A CN201510724620 A CN 201510724620A CN 105388326 B CN105388326 B CN 105388326B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
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Abstract
The present invention provides a kind of scaling method of rotating angular acceleration sensor, and its step are as follows, one, caliberating device generate rotating excitation field after being powered, obtain the angle expression formula turned in rotating excitation field a cycleTwo, the effective turn ratio K of caliberating device main winding and auxiliary winding is determined；Three, using the winding voltage parameter of the effective turn ratio K and caliberating device that obtain in step 2, the ovality α of rotating excitation field is obtainede；Four, ovality α is utilizedeRotating angular acceleration magnitude is obtained with step 1；Five, coaxially connected angular acceleration transducer and caliberating device measure the output voltage of sensor, with the sensitivity and linearity error of calibration sensor；Six, change the energization frequency of caliberating device, obtain the angular acceleration magnitude of frequency variation, to demarcate the response frequency range of angular acceleration transducer, using this method, energy angular acceleration magnitude is directly traced to the source, and the angular acceleration magnitude signal-to-noise ratio with higher that caliberating device generates, it can guarantee calibration result accuracy with higher.
Description
Technical field
The present invention provides a kind of scaling methods of angular acceleration transducer, accelerate more particularly to a kind of rotation angle
Spend the scaling method of sensor.
Background technique
Rotating angular acceleration is a very important dynamic angular parameter, passes through the measurement of angular acceleration, so that it may point
Rotary system shaft is analysed to the response condition of various excitations.Currently, rotating angular acceleration measurement automobile, military affairs, aerospace,
The multiple fields such as industry, electronics are widely used.
Since the measurement accuracy of rotating angular acceleration is largely dependent upon the accuracy of calibration, rotation angle accelerates
The collimation technique of degree also starts to be taken seriously, and lot of domestic and international scholar has carried out a large amount of research in this regard.For example, Beijing
Great Wall metrology and measurement research institute devises a kind of Low Frequency Standard Angular Exciter；The online acceleration sensor calibration method of the Chinese Academy of Sciences
On the basis of, according to quality-rotary inertia principle of equal effects, propose a kind of static demarcating method of multidimensional angular acceleration transducer；
German federal physical technique research institute (PTB) takes the lead in establishing angular oscillation national standard device, the U.S., Japan, Korea Spro in the world
The metrological service of many countries such as state is carrying out dynamic angular sports calibration technical research；In addition there are by diagonal displacement or
Angle carries out the indirect calibration method that differential process calibrated angular acceleration later, but measurement error is larger, is not suitable as dynamic
The approach of tracing to the source of moment of momentum measurement criteria.
Summary of the invention
For the deficiency more than solving, the present invention provides a kind of rotating angular acceleration sensor scaling methods, being capable of school
Quasi- rotating angular acceleration sensor.
The present invention provides: a kind of rotating angular acceleration sensor scaling method, its step are as follows,
One, caliberating device generates rotating excitation field after being powered, and passes through
Obtain the angle turned in rotating excitation field a cycleWherein Φ2mFor the amplitude of d-axis impulsive magnetic field, Φ1m
For the amplitude of quadrature axis impulsive magnetic field, ω is the angular frequency of impulsive magnetic field；
Two, the effective turn ratio K of caliberating device main winding and auxiliary winding is determined；
Three, using the winding voltage parameter of the effective turn ratio K and caliberating device that are obtained in step 2, pass through
Obtain the ovality α of rotating excitation fielde, wherein U1Apply voltage, U for main winding2Apply voltage for auxiliary winding；N1For
The effective turn of main winding；N2For the effective turn of auxiliary winding；θ is the phase difference of main winding and auxiliary winding voltage；
Four, ovality α is utilizede, and the angular acceleration formula of any t moment rotating excitation field is obtained by step 1
Obtain rotating angular acceleration magnitude；
Five, coaxially connected angular acceleration transducer and caliberating device measure the output voltage of sensor, to demarcate sensing
The sensitivity and linearity error of device；
Six, change the energization frequency of caliberating device, the angular acceleration magnitude of frequency variation is obtained, to demarcate angular acceleration
The response frequency range of sensor.
In step 2, voltage rating U is applied to main winding first1N, obtainThen to auxiliary winding
Apply voltage U2, obtainThe two is multiplied and is obtainedTherefrom obtaining major-minor winding has
Imitate turn ratio K=N1/N2, U1NThe voltage rating applied for main winding；CeFor the structural parameters of rotor, n1It is powered for main winding, is secondary
The no-load speed of motor when winding is opened a way, R are the equivalent resistance of rotor bar, E2Induced electromotive force when opening a way for auxiliary winding, E1
Induced electromotive force when opening a way for main winding, n2The no-load speed of motor when opening a way for auxiliary winding energization, main winding.
The present invention can angular acceleration magnitude directly traced to the source, and caliberating device generate rotating angular acceleration magnitude
Signal-to-noise ratio with higher can guarantee calibration result accuracy with higher.
Detailed description of the invention
Fig. 1 is the impulsive magnetic field waveform diagram of caliberating device winding energization a cycle.
Fig. 2 is rotating excitation field schematic diagram.
Fig. 3 is rotating excitation field angular acceleration waveform diagram.
Fig. 4 is caliberating device winding voltage-flux relationship phasor diagram.
Fig. 5 (a), Fig. 5 (b) are that measurement caliberating device main winding and auxiliary winding effective turn compares schematic diagram.
Specific embodiment
Embodiments of the present invention is further illustrated with reference to the accompanying drawing:
The present invention provides a kind of rotating angular acceleration sensor scaling method, for calibrating rotating angular acceleration sensor.
Rotating angular acceleration driving source is generally divided into electromagnetic type and electric motor type, and the present invention is based on angular acceleration driving sources to be
Monocyclic-start induction motor.The stator winding of the monocyclic-start induction motor is major and minor two phase winding, spatially mutually orthogonal, and
Auxiliary winding is generally in parallel with main winding after serial capacitance.After main winding and auxiliary winding is passed through alternating current, two phase windings generate arteries and veins respectively
Shake magnetic field, decomposes to two impulsive magnetic fields in d-axis and the two orthogonal directions of quadrature axis, is respectively Φ after synthesis1(t)
And Φ2(t), the waveform of a cycle is as shown in Figure 1, its mathematic(al) representation are as follows:
According to magnetic field compositional rule, two different impulsive magnetic fields of amplitude, are rotating excitation field as shown in Figure 2 after synthesis,
WhereinThe angular displacement turned over for t moment rotating excitation field.
By Fig. 1 and Fig. 2 it is found that when ω t increases to 90 ° from 0, magnetic field Φ1(t) amplitude increases to Φ by 01m, magnetic field Φ2(t)
Amplitude is 0 always；When ω t is from 90 ° of increases, initially form rotating excitation field, turn to for clockwise, when ω t from 90 ° to
When 180 ° of variations,And have:
By carrying out second order derivation to formula (2), the angular acceleration of any t moment rotating excitation field can be obtained are as follows:
In formulaIt is defined as the ovality of rotating excitation field.
When monocyclic-start induction motor ideal idle running, rotor current zero, rotor and rotating excitation field are rotated synchronously, that is, are turned
The angular acceleration of son is identical as the angular acceleration of rotating excitation field.Assuming that alternating voltage is 50Hz, then according to formula (3) rotary magnetic
The angular acceleration frequency of field is 100Hz, using numerical value software for calculation to αeThe angular acceleration of rotating excitation field is imitated when=0.8
Very, as a result as shown in Figure 3.
It can be derived that conclusion: if the ovality information α of rotating excitation field can be measurede, so that it may phase is obtained according to formula (3)
The rotor rotating angular acceleration magnitude answered.
It based on foregoing description, goes to obtain main winding and auxiliary winding effective turn ratio first, in order to obtain the ovality letter of rotating excitation field
Breath, needs to measure the effective turn ratio of main winding and auxiliary winding, and measuring method such as Fig. 5 (a) and Fig. 5 (b) are shown.
Voltage rating U is applied to main winding first1N, as shown in Fig. 5 (a), the magnetic flux of generation is Φ1, ignore main winding
Leakage impedance, then exist:
U1N≈4.44fN1Φ1(4),
If the structural parameters of rotor are constant Ce, motor no-load operation, revolving speed n1, then rotor bar cuts magnetic flux
Φ1The motional electromotive force of generation are as follows:
Er=CeΦ1n1(5),
The direction of electromotive force can judge according to the right-hand rule, as shown in Fig. 5 (a).If the equivalent resistance of rotor bar is
R, then rotor bar electric current are as follows:
Assuming that motor magnetic circuit is unsaturated, and susceptibility β, then the magnetic flux that rotor bar electric current generates are as follows:
Φr=β ir(7),
Auxiliary winding is opened a way, then the induced electromotive force in auxiliary winding are as follows:
E2=4.44fN2Φr(8),
Joint type (4)~formula (8), can obtain:
Then voltage U is applied to auxiliary winding2, as shown in Fig. 5 (b), the magnetic flux of generation is Φ2, ignore the leakage resistance of auxiliary winding
It is anti-, then exist:
U2≈4.44fN2Φ2(10),
The same idle running of motor, if rotor speed is n at this time2, then rotor bar cuts magnetic flux phi2The dynamic life generated
Electromotive force are as follows:
Err=CeΦ2n2(11),
The direction of induced electromotive force is judged with the right-hand rule, as shown in Fig. 5 (b).Electric current in rotor bar at this time are as follows:
Assuming that motor magnetic circuit is unsaturated, then the magnetic flux that rotor bar electric current generates are as follows:
Φrr=β irr(13),
Main winding is opened a way, then the induced electromotive force in main winding are as follows:
E1=4.44fN1Φrr(14),
Joint type (10)~formula (14), can obtain:
Formula (9) is multiplied and can obtain with formula (15):
According to the effective turn ratio of formula (16) available main winding and auxiliary winding.
The effective turn ratio K=N of main winding and auxiliary winding is obtained using above-mentioned steps1/N2。
Secondly, using the effective turn ratio of obtained main winding and auxiliary winding, to obtain ovality αe.Its method is as follows:
The acquisition of ovality needs to obtain the amplitude of two orthogonal direction impulsive magnetic fields of d-axis and quadrature axis.Ignore it is major and minor around
The leakage impedance of group, according to transformer formula, main winding voltageWith the magnetic flux of generationWith auxiliary winding voltageWith generation
Magnetic fluxMeet equation:
F is energization frequency, N in formula1And N2The respectively effective turn of main winding and auxiliary winding.When due to electric motor operation for it is secondary around
It is in parallel with main winding after group serial capacitance, it can thus be appreciated that:
In formulaFor the voltage at auxiliary winding serial capacitance both ends.Voltage-the magnetic obtained according to formula (17) and formula (18)
As shown in figure 4, θ is the phase difference of main winding and auxiliary winding voltage in figure, size can be obtained logical phasor relation by the cosine law.
The magnetic flux that auxiliary winding in figure generates is decomposed, component one is consistent with the magnetic flux direction that main winding generates,
Component two is vertical with the magnetic flux direction that main winding generates, it can thus be concluded that:
Using the effective turn ratio K of main winding and auxiliary winding obtained in last step, ovality is obtained, then according to ovality
Corresponding rotor rotating angular acceleration magnitude is obtained with formula 3.
Coaxially connected angular acceleration transducer and caliberating device measure the output voltage of sensor, to calibration sensor
Sensitivity and linearity error.
Change the energization frequency of caliberating device, obtain the angular acceleration magnitude of frequency variation, is passed to demarcate angular acceleration
The response frequency range of sensor.
Disclosure sets forth the preparation method of rotating angular acceleration magnitude, this method can angular acceleration magnitude carry out it is straight
It connects and traces to the source, and the angular acceleration magnitude signal-to-noise ratio with higher that caliberating device generates, it is higher can to guarantee that calibration result has
Accuracy.
Embodiment is not construed as limitation of the present invention, but any based on spiritual improvements introduced of the invention, all should be
Within protection scope of the present invention.
Claims (2)
1. a kind of rotating angular acceleration sensor scaling method, it is characterised in that: its step are as follows,
One, caliberating device generates rotating excitation field after being powered, and passes through
Obtain the angle turned in rotating excitation field a cycleWherein Φ1mFor the amplitude of d-axis impulsive magnetic field, Φ2mTo hand over
The amplitude of axis impulsive magnetic field, ω are the angular frequency of impulsive magnetic field；
Two, the effective turn ratio K of caliberating device main winding and auxiliary winding is determined；
Three, using the winding voltage parameter of the effective turn ratio K and caliberating device that are obtained in step 2, pass through
Obtain the ovality α of rotating excitation fielde, wherein U1Apply voltage, U for main winding2Apply voltage for auxiliary winding；N1For main winding
Effective turn；N2For the effective turn of auxiliary winding；θ is the phase difference of main winding and auxiliary winding voltage；
Four, ovality α is utilizede, and the angular acceleration formula of any t moment rotating excitation field is obtained by step 1
Obtain rotating angular acceleration magnitude；
Five, coaxially connected angular acceleration transducer and caliberating device measure the output voltage of sensor, to calibration sensor
Sensitivity and linearity error；
Six, change the energization frequency of caliberating device, obtain the angular acceleration magnitude of frequency variation, to demarcate angular acceleration sensing
The response frequency range of device.
2. rotating angular acceleration sensor scaling method according to claim 1, which is characterized in that in step 2, first
Voltage rating U is applied to main winding1N, obtainThen voltage U is applied to auxiliary winding2, obtainThe two is multiplied and is obtainedTherefrom obtain major-minor winding effective turn ratio K=N1/N2,
U1NThe voltage rating applied for main winding；CeFor the structural parameters of rotor, n1Motor when opening a way for main winding energization, auxiliary winding
No-load speed, R are the equivalent resistance of rotor bar, E2Induced electromotive force when opening a way for auxiliary winding, E1When opening a way for main winding
Induced electromotive force, n2The no-load speed of motor when opening a way for auxiliary winding energization, main winding, β is susceptibility.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101587132A (en) * | 2009-06-26 | 2009-11-25 | 中国科学院合肥物质科学研究院 | Field weakening direction sensor calibration method |
| CN104660144A (en) * | 2015-03-11 | 2015-05-27 | 河南科技大学 | Calculating method of mutual inductance coefficient of bearingless asynchronous motor |
| CN104983386A (en) * | 2015-05-21 | 2015-10-21 | 大连理工大学 | Linear polarization phase correction method for space universal rotating field azimuth errors |
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| KR100561849B1 (en) * | 2003-11-13 | 2006-03-16 | 삼성전자주식회사 | Method and apparatus for calibration of heading direction in mobile subject |
| US20140278191A1 (en) * | 2013-03-15 | 2014-09-18 | Kionix, Inc. | Systems and Methods for Calibrating an Accelerometer |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101587132A (en) * | 2009-06-26 | 2009-11-25 | 中国科学院合肥物质科学研究院 | Field weakening direction sensor calibration method |
| CN104660144A (en) * | 2015-03-11 | 2015-05-27 | 河南科技大学 | Calculating method of mutual inductance coefficient of bearingless asynchronous motor |
| CN104983386A (en) * | 2015-05-21 | 2015-10-21 | 大连理工大学 | Linear polarization phase correction method for space universal rotating field azimuth errors |
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