CN105784250A - Three-dimensional dynamic grinding force detection apparatus and decoupling algorithm thereof - Google Patents
Three-dimensional dynamic grinding force detection apparatus and decoupling algorithm thereof Download PDFInfo
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- CN105784250A CN105784250A CN201610244226.5A CN201610244226A CN105784250A CN 105784250 A CN105784250 A CN 105784250A CN 201610244226 A CN201610244226 A CN 201610244226A CN 105784250 A CN105784250 A CN 105784250A
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- 238000000227 grinding Methods 0.000 title claims abstract description 69
- 238000004422 calculation algorithm Methods 0.000 title claims abstract description 31
- 238000001514 detection method Methods 0.000 title abstract description 12
- 238000013528 artificial neural network Methods 0.000 claims abstract description 13
- 238000005457 optimization Methods 0.000 claims abstract description 11
- 239000011888 foil Substances 0.000 claims abstract description 6
- 230000002068 genetic effect Effects 0.000 claims description 14
- 230000007935 neutral effect Effects 0.000 claims description 6
- 238000012360 testing method Methods 0.000 claims description 4
- 238000012549 training Methods 0.000 claims description 4
- 230000003044 adaptive effect Effects 0.000 claims description 2
- 230000035772 mutation Effects 0.000 claims description 2
- 230000001537 neural effect Effects 0.000 claims description 2
- 230000008878 coupling Effects 0.000 abstract description 4
- 238000010168 coupling process Methods 0.000 abstract description 4
- 238000005859 coupling reaction Methods 0.000 abstract description 4
- 238000013461 design Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 abstract 3
- 238000010586 diagram Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 9
- 239000013078 crystal Substances 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 239000010453 quartz Substances 0.000 description 4
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N silicon dioxide Inorganic materials O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 4
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 230000003750 conditioning effect Effects 0.000 description 3
- 238000012417 linear regression Methods 0.000 description 3
- 229910001651 emery Inorganic materials 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
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- 238000005259 measurement Methods 0.000 description 1
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- 230000007704 transition Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L9/00—Measuring steady of quasi-steady pressure of fluid or fluent solid material by electric or magnetic pressure-sensitive elements; Transmitting or indicating the displacement of mechanical pressure-sensitive elements, used to measure the steady or quasi-steady pressure of a fluid or fluent solid material, by electric or magnetic means
- G01L9/02—Measuring steady of quasi-steady pressure of fluid or fluent solid material by electric or magnetic pressure-sensitive elements; Transmitting or indicating the displacement of mechanical pressure-sensitive elements, used to measure the steady or quasi-steady pressure of a fluid or fluent solid material, by electric or magnetic means by making use of variations in ohmic resistance, e.g. of potentiometers, electric circuits therefor, e.g. bridges, amplifiers or signal conditioning
- G01L9/04—Measuring steady of quasi-steady pressure of fluid or fluent solid material by electric or magnetic pressure-sensitive elements; Transmitting or indicating the displacement of mechanical pressure-sensitive elements, used to measure the steady or quasi-steady pressure of a fluid or fluent solid material, by electric or magnetic means by making use of variations in ohmic resistance, e.g. of potentiometers, electric circuits therefor, e.g. bridges, amplifiers or signal conditioning of resistance-strain gauges
Abstract
The invention discloses a three-dimensional dynamic grinding force detection apparatus and a decoupling algorithm thereof. The three-dimensional dynamic grinding force detection apparatus comprises a pedestal and an upper cover plate, and a column is in threaded connected between the pedestal and the upper cover plate through screws. Four rectangular bosses are symmetrically arranged on the lower end face of the upper cover plate, and four supports are connected and installed on the pedestal through screws. One horizontal elastic thin plate and one vertical elastic thin plate are connected and installed between each pair of the supports and the rectangular bosses through screws and bolts, and one resistance foil gauge is pasted to the surface of each elastic thin plate. The decoupling algorithm employs a BP neural network based on heredity algorithm optimization as a decoupling model. The three-dimensional dynamic grinding force detection apparatus is ingenious in structural design, high in inherent frequency, wide in measurable dynamic force scope, low in inter-direction coupling degree, simple for manufacture, and low in cost. Moreover, the decoupling algorithm has the advantages of fast convergence, high precision and high reliability, and the practicability and promotion value are good.
Description
Technical field
The invention belongs to machining technical field of measurement and test, refer to detecting device and the decoupling algorithm of Three-Dimensional Dynamic grinding force in precision component Grinding Process.
Background technology
Grinding is as processing method indispensable in the precision component course of processing, and its machining accuracy will directly affect workpiece surface quality and serviceability.How it, as the key factor affecting grinding accuracy and efficiency, is accurately measured by grinding force, and then realizes on-line grinding power and control in real time, becomes the important guarantee improving grinding accuracy and matter effect.Following apparatus and method are currently mainly adopted to carry out detection and the decoupling of Three-Dimensional Dynamic grinding force both at home and abroad:
1. resistance-strain type grinding dynamometer, adopting the frame for movements such as anistree annulus, thin cylinder, cross-rib as flexible member, the effect at grinding force is just deformed, by being affixed on the resistance strain gage on its surface, deflection is converted into voltage output, it is achieved the detection of grinding force.
2. piezoelectric type grinding dynamometer, adopt integral mechanical structure, piezoelectric quartz crystal is as power electric transition element, grinding force acts on integral mechanical structure upper surface, frame for movement produces not deformed, grinding force is delivered to quartz crystal, and quartz crystal produces electric charge output under external force, it is achieved the detection of grinding force.
3. the decoupling of Three-Dimensional Dynamic grinding force adopts the multiple linear regression decoupling algorithm based on least square fitting at present mostly.
The subject matter of above-mentioned strain-type and piezoelectric type grinding dynamometer is:
1. the frame for movement such as anistree annulus, thin cylinder and cross-rib is as flexible member, in order to ensure to produce enough deflections under grinding force effect, cause that its rigidity cannot improve, dynamometer entirety natural frequency is too low, often at tens hertz, the frequency range that can detect dynamic force is narrow, it is impossible to meet the testing requirement of high dynamic grinding force in complex-curved accurate grinding process.
2. piezoelectric type grinding dynamometer manufacture process needs quartz crystal is carried out accurate cut type, and crystal and frame for movement assembling process technology require height, external ripe piezoelectric type grinding dynamometer price is high, the huge financial burden of cause the user, additionally piezoelectric type grinding dynamometer can not detect static force and locked rotor torque.
3. dynamometer nominal data is adopted linear fit to process by multiple linear regression decoupling algorithm, but the nominal data of actual dynamometer is unlikely to be Strict linear, the quality of the dynamometer linearity will have a strong impact on error of fitting, therefore multiple linear regression decoupling algorithm is big to dynamometer linearity dependency, causes decoupling effect extremely unstable.
Summary of the invention
It is an object of the invention to overcome drawbacks described above, design a kind of resistance-strain type Three-Dimensional Dynamic grinding force detecting device that can simultaneously ensure high sensitivity and high natural frequency, that manufacture simple, low cost and high accuracy, high reliability decoupling algorithm.
In order to realize the purpose of the present invention, the technical solution used in the present invention is as follows:
Three-Dimensional Dynamic grinding force detection platform (26), including base (1), base (1) is provided with the column (6) as main flexible member, the cooperation of column upper end is provided with upper cover plate (4), upper cover plate has clamping screwed hole (14), by the fixing workpiece to be processed (27) of screw, the grinding force produced between grinding tool and workpiece acts on workpiece, it is delivered to column (6) by the upper cover plate (4) consolidated with workpiece, causes column to produce the deformation of respective direction.In column (6) surrounding, four bearings (2) are installed.Tri-groups of elastic sheet groups (3 of X, Y, Z are installed accordingly between bearing (2) and upper cover plate (4)x、3y、3z), pose is installed between each group and is mutually perpendicular to, as additional elastic component, this flexible member and column (6) they are parallel connectivity, under grinding force effect, produce the deflection identical with column (6).
The surface of described elastic sheet (3) is all pasted with a piece of resistance strain gage group (5), resistance strain gage follows the elastic sheet amount of being deformed, foil gauge is caused to produce to be proportional to the change in resistance amount of deflection, by the signal conditioning circuit (29) being connected with foil gauge group, the change in resistance amount of three groups of foil gauges is converted into corresponding three groups of voltage varieties, it is achieved the detection of three-dimensional grinding force.
Adopt BP neural network model that three-dimensional grinding force primary signal is carried out decoupling process, and adopt genetic algorithm that initial weight and the threshold values of BP neutral net are optimized, optimal value optimization obtained carries out network training as the initial value of BP neural network weight and threshold values, obtain the BP neural network decoupling model based on genetic algorithm optimization, the primary signal that detection platform exports is input to this model calculation process, obtains the three-dimensional grinding force signal after decoupling.
Compared with prior art, the beneficial effects of the present invention is:
1. the present invention adopts the column being arranged between base and upper cover plate, and as main flexible member, sensing grinding force produces mechanically deform, is characterized in that rigidity is high, it is sufficient to ensure the high natural frequency that this grinding force detecting device is overall.Adopt the elastic sheet in parallel with column simultaneously, as additional elastic component, be characterized in that rigidity is low, thus the deformation of column is substantially all is delivered on this thin plate.Meanwhile, this sheet size is short, thus, the deflection of unit length is far above column.Achieve the requirement simultaneously ensureing detecting device high sensitivity and high natural frequency.
2. correspondence three-dimensional grinding force of the present invention, three groups of additional elastic components are adopted to detect respectively, the installation pose of three groups of additional elastic components is mutually perpendicular between two, effectively reduce the Coupling Deformation between each group of additional elastic component, structurally effectively reduce the detection of three-dimensional grinding force to a degree of coupling.
3. the present invention adopts the BP neural network decoupling model based on genetic algorithm optimization that the three-dimensional grinding force primary signal detected is carried out decoupling process, and nonlinear fitting ability is strong, and decoupling precision is high, does not rely on the detecting device linearity, and reliability is high.Through the BP neural network decoupling model of genetic algorithm optimization, can obtaining optimal models, be prevented effectively from and be absorbed in local optimum during training, convergence rate significantly improves.
Accompanying drawing explanation
Fig. 1 is the structural front view of the present invention.
Fig. 2 is the structure left view of the present invention.
Fig. 3 is the structure top view of the present invention.
Fig. 4 is the axis of no-feathering mapping of the present invention.
Fig. 5 is base vertical view.
Fig. 6 is upper cover plate upward view.
Fig. 7 is upper cover plate left view.
Fig. 8 is the oblique side figure of column
Fig. 9 is the oblique side figure of bearing.
Figure 10 is the oblique side figure of elastic sheet.
Figure 11 is that elastic sheet installs pose front view.
Figure 12 is that elastic sheet installs pose top view.
Figure 13 is that elastic sheet installs pose schematic diagram.
Figure 14 is elastic sheet and column parallel relationship schematic diagram.
Figure 15 is Three-Dimensional Dynamic grinding force detecting device schematic diagram.
Figure 16 is the BP neural network decoupling algorithm principle block diagram based on genetic algorithm optimization of the present invention.
Figure 17 is the Three-Dimensional Dynamic grinding force decoupling schematic diagram of the present invention.
Wherein, the title corresponding to accompanying drawing labelling: 1-base, 2-bearing, 3x-X direction elastic sheet group, 3y-Y direction elastic sheet group, 3z-Z direction elastic sheet group, 4-upper cover plate, 5x-X direction resistance strain gage group, 5y-Y direction resistance strain gage group, 5z-Z direction elastic sheet group, 6-column, 7-countersunk head through hole, 8-rectangular recess, 9-clamping through hole, 10-square groove, 11-countersunk head through hole, 12-countersunk head through hole, 13-rectangular boss, 14-clamping screwed hole, 15-square groove, 16-countersunk head through hole, 17-screwed hole, 18-screwed hole, 19-square boss, 20-square boss, 21-countersunk head through hole, 22-screwed hole, 23-rectangular boss, 24-resistance strain gage sticking veneer, 25-through hole, 26-Three-Dimensional Dynamic grinding force detecting device, 27-workpiece to be processed, 28-emery wheel, 29-signal conditioning circuit, 30-data collecting card, 31-PC machine, S1、S2、S3、S4、S5、S6、S7、S8-eight elastic sheets.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.Embodiment of the present invention includes but not limited to the following example.
As shown in Fig. 1 to Fig. 7, for the detecting device agent structure schematic diagram of a preferred embodiment of a kind of Three-Dimensional Dynamic grinding force detecting device of the present invention.nullIncluding base 1、Upper cover plate 4 and column between the two 6，Centre position, described base 1 upper surface has square groove 10，On described base 1, centre position has 4 countersunk head through holes 11，The centre position, lower surface of described upper cover plate 4 has square groove 15，The centre position of described upper cover plate 4 has 4 countersunk head through holes 16，The lower surface of described column 6 is provided with the square boss 20 matched with described groove 10，The upper surface of described column 6 is provided with the square boss 19 matched with described groove 15，The upper and lower end face of described column 7 all has 4 screwed holes 18，4 pre-loading screw coordinate through through hole 11 and screwed hole 18，Described base 1 and described column 6 are consolidated，4 pre-loading screw coordinate through through hole 16 and screwed hole 18，Described upper cover plate 4 and described column 6 are consolidated.
As shown in figs. 5 and 9, described base 1 upper surface is uniformly distributed on peripheries with 4 rectangular recess 8, described base 1 surrounding has 8 countersunk head through holes 7, described base 1 is provided with four bearings 2, the lower surface of described bearing 2 is provided with the boss 23 matched with described groove 8, described bearing 2 lower surface has 2 screwed holes, and 8 pretensions coordinate through through hole 7 with the screwed hole of bearing lower surface, described base 1 and 4 described bearings 2 are consolidated.
nullAs shown in Fig. 6 to Figure 10，The lower surface of described upper cover plate 4 is symmetrically arranged with 4 rectangular boss 13，The lower surface of each described rectangular boss 13 has two countersunk head through holes 12，The side of each described rectangular boss 13 has two screwed holes 17，Described bearing 2 has two screwed holes 22 corresponding with described countersunk head through hole 12，Described bearing 2 has two the countersunk head through holes 21 corresponding with described screwed hole 17，A horizontal direction elastic sheet 3 and a vertical direction elastic sheet 3 it is mounted between every pair of described rectangular boss 13 and described bearing 2，The two ends up and down of described elastic sheet 3 all have 2 through holes 25，2 bolts pass through holes 21 and through hole 25 and nut screw connection，2 screws coordinate through through hole 25 and screwed hole 17，By bearing 2、Horizontal direction elastic sheet 3 and upper cover plate 4 are consolidated，2 bolts pass through holes 12 and through hole 25 and nut screw connection，2 screws coordinate through through hole 25 and screwed hole 22，By bearing 2、Vertical direction elastic sheet 3 and upper cover plate 4 are consolidated.
As shown in Figure 5 and Figure 6, described upper cover plate 4 has 4 clamping screwed holes 14, is used for installing workpiece to be ground, and the two ends of described base 1 have 4 clamping through holes 9, for fixed test platform.
As shown in Figure 11, Figure 12 and Figure 15, described elastic sheet 3 includes S1、S2、S3、S4、S5、S6、S7、S8Totally eight elastic sheets, wherein S1、S3Symmetrical in X-direction, form X-direction elastic sheet group 3x, it is used for detecting X-direction grinding force, S2、S4Symmetrical in the Y direction, form Y-direction elastic sheet group 3y, it is used for detecting Y-direction grinding force, S5、S9、S7、S8It is distributed in Z-direction, forms Z-direction elastic sheet group 3z, it is used for detecting Z-direction grinding force, described each elastic sheet 3 is provided with resistance strain gage sticking veneer 24, described each resistance strain gage sticking veneer 24 is all pasted with 1 sheet resistance foil gauge 5.
As shown in figure 13, for the elastic sheet of a preferred embodiment of a kind of Three-Dimensional Dynamic grinding force detecting device of the present invention, pose schematic diagram is installed.Described X, Y, Z-direction elastic sheet group 3x、3y、3zBe respectively mounted in three dimensions on tri-directions of orthogonal X, Y, Z, namely X, Y, three groups of elastic sheet groups 3 of Z-directionx、3y、3zEach group of installation pose between be mutually perpendicular to.
As shown in figure 14, for the elastic sheet of a preferred embodiment of a kind of Three-Dimensional Dynamic grinding force detecting device of the present invention and column parallel relationship schematic diagram.Described column 6 and described X, Y, Z-direction elastic sheet group 3x、3y、3zAll it is fixedly arranged between base 1 and upper cover plate 4, i.e. column 6 and X, Y, three groups of elastic sheet groups 3 of Z-directionx、3y、3zComposition is connected in parallel.
As shown in Fig. 1, Figure 11, Figure 12 and Figure 15, when workpiece to be processed 27 is carried out grinding by emery wheel 28, grinding force acts on workpiece, it is delivered to column 6 by the upper cover plate 4 consolidated with workpiece, cause column 6 to produce the deformation in tri-directions of X, Y, Z, be installed on the S between upper cover plate 4 and bearing 21、S2、S3、S4、S5、S6、S7、S8Eight elastic sheets, are subject to corresponding compression or stretch, and produce corresponding compression or stretcher strain, and each resistance strain gage being affixed on its surface produces identical compression or stretcher strain, exports corresponding resistance change amount R1、R2、R2、R4、R5、R6、R7、R8, resistance value signal changes into detecting device three-dimensional output voltage signal through signal conditioning circuit 29 and is:
In formula, K1、K2、K3For conversion coefficient, voltage signal is converted into digital data transmission to PC 31 by data collecting card 30.
As shown in Figure 16, Figure 17, for a kind of Three-Dimensional Dynamic grinding force detecting device of the present invention decoupling algorithm a preferred embodiment based on the BP neural network decoupling algorithm principle block diagram of genetic algorithm optimization, Three-Dimensional Dynamic grinding force decoupling schematic diagram.Decoupling algorithm adopts BP neural network decoupling model, and BP neutral net network structure adopts 3 input layers, 7 hidden layer nodes, 3 output nodes.Build the initial population of genetic algorithm according to nodes, in population, each individuality all comprises all weights and the threshold values information of this BP neutral net.The error that individuality in population obtains using BP neural metwork training is as fitness value, genetic algorithm is by selecting population at individual, intersect and mutation operation finding the individuality with adaptive optimal control degree, and using this individuality as BP neutral net initial weight and threshold values, the nominal data utilizing Three-Dimensional Dynamic grinding force detecting device is trained, and finally gives the BP neural network decoupling model based on genetic algorithm optimization.The X of Three-Dimensional Dynamic grinding force detecting device output, Y, Z-direction raw measured signal UX、UY、UZIt is input to this BP neural network decoupling model based on genetic algorithm optimization, after carrying out decoupling computing, obtains high accuracy, the X of lower coupling, Y, Z-direction grinding force signal FX、FY、FZ。
In sum, the detection of Three-Dimensional Dynamic grinding force during grinding is just achieved.
According to above-described embodiment, just can preferably realize the present invention.What deserves to be explained is; under premise based on above-mentioned design principle; for solving same technical problem; even if making some on architecture basics disclosed in this invention without substantial change or polishing; the essence of the technical scheme adopted is still the same with the present invention, therefore it should also be as in protection scope of the present invention.
Claims (6)
- null1. a Three-Dimensional Dynamic grinding force detecting device，It is characterized in that，Including base (1)、Column (6)、Upper cover plate (4)、Bearing (2)、Elastic sheet group (3) and foil gauge group (5)，Described base (1) upper surface has square groove (10) and countersunk head through hole (11)，The lower surface of described upper cover plate (4) has square groove (15) and countersunk head through hole (16)，The both ends of the surface up and down of described column (6) are provided with square boss (19) and (20)，And all have screwed hole (18)，Two groups of pre-loading screw are each passed through through hole (11) and through hole (16) coordinates with screwed hole (18)，By described base (1)、Column (6) and upper cover plate (4) are consolidated，Described base (1) upper surface is uniformly distributed on peripheries with 4 rectangular recess (8)，Described base (1) upper surface surrounding has countersunk head through hole (7)，The lower surface of described bearing (2) is provided with the boss (23) matched with described groove (8)，Described bearing (2) lower surface has screwed hole，Pretension coordinates through through hole (7) with the screwed hole of bearing lower surface，Described base (1) and 4 described bearings (2) are consolidated，The lower surface of described upper cover plate (4) is symmetrically arranged with 4 rectangular boss (13)，The lower surface of described rectangular boss (13) has countersunk head through hole (12)，The side of described rectangular boss (13) has screwed hole (17)，Described bearing (2) has screwed hole (22) and countersunk head through hole (21)，A horizontal direction elastic sheet (3) and a vertical direction elastic sheet (3) it is mounted between every pair of described rectangular boss (13) and described bearing (2)，The two ends up and down of described elastic sheet (3) all have through hole (25)，Adopt one group of bolt traverse through hole (21) and through hole (25) and nut screw connection，Another group screw coordinates through through hole (25) and screwed hole (17)，By described bearing (2)、Horizontal direction elastic sheet (3) and upper cover plate (4) are consolidated，Adopt one group of bolt traverse through hole (12) and through hole (25) and nut screw connection，Another group screw coordinates through through hole (25) and screwed hole (22)，By described upper cover plate (4)、Vertical direction elastic sheet (3) and bearing (2) are consolidated.
- 2. a kind of Three-Dimensional Dynamic grinding force detecting device according to claim 1, it is characterized in that, described upper cover plate (4) has clamping screwed hole (14), for installing workpiece to be ground, the two ends of described base (1) have clamping through hole (9), for fixed test platform.
- 3. a kind of Three-Dimensional Dynamic grinding force detecting device according to claim 1, it is characterised in that described elastic sheet group (3x、3y、3z), it is installed and is mutually perpendicular between each group of pose.
- 4. a kind of Three-Dimensional Dynamic grinding force detecting device according to claim 1, it is characterised in that described elastic sheet group (3x、3y、3z) be fixedly arranged between described bearing (2) and described upper cover plate (4), constitute with described column (6) and be connected in parallel.
- 5. a kind of Three-Dimensional Dynamic grinding force detecting device according to claim 1, it is characterised in that described elastic sheet group (3) includes S1、S2、S3、S4、S5、S6、S7、S8Totally eight elastic sheets, wherein S1、S3Symmetrical in X-direction, form X-direction elastic sheet group (3x), it is used for detecting X-direction grinding force, S2、S4Symmetrical in the Y direction, form Y-direction elastic sheet group (3y), it is used for detecting Y-direction grinding force, S5、S6、S7、S8It is distributed in Z-direction, forms Z-direction elastic sheet group (3z), it is used for detecting Z-direction grinding force, described each elastic sheet (3) is provided with resistance strain gage sticking veneer (24), described each resistance strain gage sticking veneer (24) is all pasted with resistance strain gage (5).
- null6. the decoupling algorithm of a Three-Dimensional Dynamic grinding force detecting device，It is characterized in that，Decoupling algorithm adopts the BP neural network decoupling model based on genetic algorithm optimization to carry out decoupling，BP neural network structure includes input layer、Hidden layer and output layer，Genetic algorithm initial population comprises all weights and the threshold values information of this BP neutral net，The error that individuality in population obtains using BP neural metwork training is as fitness value，Genetic algorithm is by selecting population at individual、Intersect and mutation operation finds the individuality with adaptive optimal control degree，And using this individuality as BP neutral net initial weight and threshold values，The nominal data utilizing Three-Dimensional Dynamic grinding force detecting device is trained，Finally give the BP neural network decoupling model based on genetic algorithm optimization，The raw measured signal that detecting device exports is input to this Decoupled Model，After carrying out decoupling computing，Realize high accuracy decoupling.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108151944A (en) * | 2017-12-05 | 2018-06-12 | 燕山大学 | Flexible large deformation constant force transmits three-dimensional force sensing mechanisms |
| CN109794935A (en) * | 2019-01-09 | 2019-05-24 | 中国工程物理研究院激光聚变研究中心 | Assembling process power and torque forecasting system and method based on neural network analysis |
| CN109940605A (en) * | 2019-01-29 | 2019-06-28 | 中国工程物理研究院激光聚变研究中心 | Merge the submissive assembly system and method for 3D vision and contact force analysis |
| CN111256905A (en) * | 2020-02-14 | 2020-06-09 | 金陵科技学院 | Decoupling method of multi-dimensional force sensor in noise environment |
| CN112792687A (en) * | 2021-02-03 | 2021-05-14 | 温州大学 | Self-sensing self-adaptive grinding head and method for detecting grinding force in grinding process |
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| CN109794935A (en) * | 2019-01-09 | 2019-05-24 | 中国工程物理研究院激光聚变研究中心 | Assembling process power and torque forecasting system and method based on neural network analysis |
| CN109794935B (en) * | 2019-01-09 | 2022-01-14 | 中国工程物理研究院激光聚变研究中心 | Neural network analysis-based assembly process force and moment prediction system and method |
| CN109940605A (en) * | 2019-01-29 | 2019-06-28 | 中国工程物理研究院激光聚变研究中心 | Merge the submissive assembly system and method for 3D vision and contact force analysis |
| CN111256905A (en) * | 2020-02-14 | 2020-06-09 | 金陵科技学院 | Decoupling method of multi-dimensional force sensor in noise environment |
| CN112792687A (en) * | 2021-02-03 | 2021-05-14 | 温州大学 | Self-sensing self-adaptive grinding head and method for detecting grinding force in grinding process |
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| CN105784250B (en) | 2019-02-05 |
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