CN105938149B - A kind of accelerograph calibrating installation and method based on acceleration transducer - Google Patents
A kind of accelerograph calibrating installation and method based on acceleration transducer Download PDFInfo
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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 invention discloses a kind of accelerograph calibrating installation based on acceleration transducer, the device includes rotating device and electric control gear, rotating device is made of cursor, rotating turret, pedestal etc., and electric control gear is made of Central Control Module, speed adjusting module, motor drive module, encoder, speed measuring module, LCD display module and handle etc..Handle exports high level pulse to the first input end of Central Control Module, first output end of Central Control Module is connected to LCD display module, the second output terminal of master controller is connected to speed adjusting module input terminal, speed adjusting module output end is connected to motor drive module input terminal, motor drive module output end is connected to high-speed motor input terminal, the output end of encoder is connected to the input terminal of speed measuring module, and the output end of speed measuring module is connected to the second input terminal of Central Control Module.The present invention can realize the acceleration linear gauging largely claimed by the raising of high-speed motor revolving speed and the increase of rotation arm lengths.
Description
Technical field
The invention belongs to electronic measuring technology field, especially a kind of accelerograph school based on acceleration transducer
Standard apparatus and method.
Background technique
As high-tech technology becomes more and more important effect in modernized war, the development of guided missile is also developed to from unit system
Polynary system.Guided missile even shell weapon system in the design process, needs a large amount of test jobs, system is especially needed to grind
Each section working status parameter records in real time in system and flight test, to analyze, Curve guide impeller.Accelerograph is also immediately
It comes into being.
Accelerograph is, flight rear before transmission for body and landing penetration all or in part in the process to bullet
Acceleration information is improved in real time, is acquired, handled and is recorded, and passes through corresponding any special measures after body whole process
The data test equipment stored in data collection recorder.It has been obtained using radio telemetry system test projectile flight parameter
It is mature and be widely applied.But since that there are testing costs is huge for radio telemetry, test process is complicated and there are many blind
The test defects such as area have promoted the development of accelerograph.Such as rocket-powered missile enters related various in atmosphere blackout range
The problems such as parameter testing.But accelerograph is solved by the way that entire test process to be enclosed in body to a certain degree
Above-mentioned test problem.Test data is stored in relatively independent accelerograph, is by recycling memory test system
Resilient test information.Shock resistance, the cheap system cost, micro system function of small system bulk, high intensity
The various features such as consumption, the low noise of relative closure test environment, make accelerograph be particularly suitable for various test conditions and especially dislike
Missile dynamics parameter testing when bad, low in cost.
Either only for more accurate body acceleration information is obtained, also or by acceleration information pass through integral etc.
Processing mode obtains the speed data and track data of body, requires accelerograph precision with higher and good
Accuracy.Precision can be by the way that selection is had excellent performance, the acceleration transducer of high sensitivity is improved.Accuracy then needs to pass through
Corresponding calibrator (-ter) unit or calibration algorithm are improved.
A kind of calibration method of 3-axis acceleration sensor of the Introduction To Cn Patent of Patent No. 201410108757.2,
Mainly by the data processing of software aspects, static error values are calibrated, to the linear mistake in acceleration transducer range
Difference calibration effect is unobvious.A kind of three axis of acceleration transducer of the Introduction To Cn Patent of Patent No. 201410797068.7 is same
When test calibration, test method, by dedicated fixed fixture to the acceleration information of X-axis, Y-axis and Z axis carry out it is static accidentally
Difference calibration, can not also carry out the linear gauging of wide range.One kind of the Introduction To Cn Patent of Patent No. 201520607608.0
Pick up calibration shaking platform and transducer sensitivity calibration system mainly generate acceleration using shake table, by standard plus
Velocity sensor is treated acceleration pick-up sensor and is calibrated, and calibration performance is easily influenced by standard acceler.
It from the foregoing, it will be observed that above-mentioned patent is calibrated primarily directed to acceleration transducer, and is the acceleration of small-range
The defects of degree calibration, it is unstable that there are calibration performances, is unable to satisfy the accurate calibration of wide range, and application field is relatively narrow.
In short, the existing calibrating installation based on acceleration transducer is not able to satisfy the calibration requirements of accelerograph.
Summary of the invention
Technical problem solved by the invention is to provide a kind of accelerograph calibration based on acceleration transducer
Device and method.
The technical solution for realizing the aim of the invention is as follows: a kind of accelerograph calibration based on acceleration transducer
Device, including cursor, rotating turret, pedestal, high-speed motor, Central Control Module, speed adjusting module, motor drive module, coding
Device, speed measuring module, display module and handle；
High-speed motor is arranged in the top setting rotating turret and cursor of the pedestal, base interior, wherein high-speed motor
Output shaft drives cursor rotation by rotating turret, and encoder, encoder measurement high speed electricity are housed on the output shaft of high-speed motor
Measurement result is transferred to coupled speed measuring module by the revolving speed of machine simultaneously, and measurement result is transferred to center and controlled by speed measuring module
Molding block, Central Control Module controls motor drive module work by speed adjusting module simultaneously, final to control turning for high-speed motor
Speed；
Central Control Module receives the control signal of handle transmission simultaneously, and the measurement result of speed measuring module is passed through display
Module is shown.
A kind of calibration method of the accelerograph calibrating installation based on above-mentioned based on acceleration transducer, including it is following
Step:
Step 1, the end that accelerograph is fixed on to cursor, and mass is added in the other end of cursor,
Balance is kept, the accelerograph is identical as the weight of mass；
Step 2, starting loop recorder, and motor speed is gradually improved, using caused radial centrifugal force is rotated, produce
Raw different radial acceleration, accelerograph records radial acceleration data in real time, and saves；
Step 3, the revolving speed according to motor obtain the theoretical acceleration value of accelerograph position；
Step 4, the theoretical acceleration value obtained using step 3 is standards, according to least square method, in accelerograph
Acceleration information be fitted, obtain calibration parameter；
Step 5 calibrates accelerograph using the calibration parameter that step 4 obtains.
Compared with prior art, the present invention its remarkable advantage are as follows: 1) present invention carries out whole school for accelerograph
Standard, calibration operation difficulty reduce.2) present invention can be real by the increase of 3 length of raising and cursor of 11 revolving speed of high-speed motor
The acceleration linear gauging now largely claimed.3) present invention can realize alone the calibration of accelerograph, without the use of standard plus
Velograph is not influenced as reference vulnerable to normal acceleration recorder performance, and calibration result is stablized.4) present invention is by turning
Dynamic device and electric control gear are constituted, and structure is simple, low in cost, and it is convenient to realize, can be calibrated field in acceleration and be realized wide answer
With.5) calibration method of the invention is simple and easy, and the result of calibration is accurate, can be with large-scale promotion.
Present invention is further described in detail with reference to the accompanying drawing.
Detailed description of the invention
Fig. 1 is the accelerograph calibrating installation system global structure figure based on acceleration transducer.
Fig. 2 is the calibration method flow chart of the accelerograph calibrating installation based on acceleration transducer.
Specific embodiment
A kind of accelerograph calibrating installation based on acceleration transducer of the invention utilizes the adjustable rotation of revolving speed
Device generates the radial acceleration of a rotary motion trace, using the acceleration to being fixed on 3 end of cursor in rotating device
The acceleration information of accelerograph acquisition is calibrated, and the systematic error of accelerograph is reduced or even eliminated, and is improved
The recorded precision of accelerograph obtains more accurate body acceleration information, is the survey of body running track
Amount and processing lay the foundation.
In conjunction with Fig. 1, a kind of accelerograph calibrating installation based on acceleration transducer of the invention, including cursor
3, rotating turret 2, pedestal 1, high-speed motor 11, Central Control Module 8, speed adjusting module 9, motor drive module 10, encoder 12, survey
Fast module 13, display module 6 and handle 7；
Rotating turret 2 and cursor 3 is arranged in the top of the pedestal 1, and high-speed motor 11, high speed is arranged inside pedestal 1
The output shaft of motor 11 drives cursor 3 to rotate by rotating turret 2, and encoder 12 is housed on the output shaft of high-speed motor 11, compiles
Measurement result is transferred to coupled speed measuring module 13, speed measuring module 13 by the revolving speed that code device 12 measures high-speed motor 11 simultaneously
Measurement result is transferred to Central Control Module 8, Central Control Module 8 controls motor drive module by speed adjusting module 9 simultaneously
10 work, the final revolving speed for controlling high-speed motor 11；
Central Control Module 8 receives the control signal of the transmission of handle 7 simultaneously, and the measurement result of speed measuring module 13 is passed through
Display module 6 is shown.
The end of the rotating turret 2 is connected with the center of cursor 3, the connected accelerograph 4 in one end of cursor 3,
Mass 5 is arranged in the other end of cursor 3, and the accelerograph 4 is identical as the weight of mass 5.
The encoder 12 is incremental encoder or absolute type encoder.
The display module 6 is light-emitting diode display, LCD display or liquid crystal display.
The cursor 3 is cursor made of rigid material.
In conjunction with Fig. 2, a kind of calibration method based on accelerograph calibrating installation of the invention, comprising the following steps:
Step 1, the end that accelerograph 4 is fixed on to cursor 3, and counterweight is added in the other end of cursor 3
Object 5, keeps balance, and the accelerograph 4 is identical as the weight of mass 5；
Step 2, starting loop recorder 4, and gradually improve motor speed, using rotating caused by radial centrifugal force,
Different radial accelerations is generated, accelerograph 4 records radial acceleration data in real time, and saves；
Step 3, the revolving speed according to motor obtain the theoretical acceleration value of accelerograph position；Acceleration note
Record the calculation formula of the theoretical acceleration value of instrument position are as follows:
A=(2 π n)2r
In formula, a is the theoretical acceleration value (m/s of accelerograph position2)；N is accelerograph
Transient speed indicates the circle number turned each second；R is distance (m) of the accelerograph position to cursor [3] center.
Step 4, the theoretical acceleration value obtained using step 3 is standards, according to least square method, in accelerograph
Acceleration information be fitted, obtain calibration parameter；
According to least square method, the acceleration information in accelerograph is fitted, obtains the public affairs of calibration parameter
Formula are as follows:
In formula, a is the theoretical acceleration value (m/s of accelerograph position2)；a1Calibrate moment acceleration note
Record the acceleration value (m/s of instrument acquisition2)；K and b is respectively the calibration parameter obtained.
Step 5 calibrates accelerograph using the calibration parameter that step 4 obtains.Using calibration parameter to adding
When velograph is calibrated, formula used are as follows:
a2=ka '1+b
In formula, a '1For the acceleration value for using moment accelerograph to acquire, a2For the accelerograph after calibration
Acceleration value (the m/s of record2)。
Calibration method of the invention is simple and easy, and the result of calibration is accurate, can be with large-scale promotion.
Calibrating principle is as follows: known by Newton mechanics law, the object around certain point rotation there are centrifugal force, centrifugal force direction with
Rotary motion direction is vertical, size are as follows:
In formula, F is centrifugal force suffered by uniform rotation object, N；M is the quality of uniform rotation object, kg；V is gig
The tangential instantaneous velocity of body, m/s；R is distance of the center of circle of rotational trajectory to rotating object, m.
Acceleration suffered by object is known again are as follows:
In formula, a is the acceleration of object, m/s2；F is power suffered by object, N；M is the quality kg of object.
Therefore the acceleration that can obtain centrifugal force generation is
In formula, a is the acceleration that centrifugal force generates, m/s2；V is the tangential instantaneous velocity of rotating object, and m/s, r are rotation
Distance of the center of circle of track to rotating object, m.
Know that the tangential instantaneous velocity of rotating object is again
V=ω r=2 π nr
In formula, v is the tangential instantaneous velocity of rotating object, and m/s, ω are the instantaneous angular velocity of rotating object, rad/s；R is
Distance of the center of circle of rotational trajectory to rotating object, m；N is the transient speed of rotating object, indicates the circle turned object each second
Number.
It can to sum up obtain, the acceleration that centrifugal force generates is
A=(2 π n)2r
In formula, a is the acceleration that required centrifugal force generates；N is the transient speed of rotating object, indicates that object is per second
The circle number that clock turns；R is distance of the center of circle of rotational trajectory to rotating object, m.
With this relational expression, need to only obtain the revolving speed n of the object and distance r to the center of circle can conveniently measure centrifugal force acceleration
The size of degree.
Further detailed description is done to the present invention below with reference to embodiment.
Embodiment
A kind of calibration method based on accelerograph calibrating installation, comprising the following steps:
Step 1, the end that accelerograph 4 is fixed on to cursor 3, and counterweight is added in the other end of cursor 3
Object 5, keeps balance, and the accelerograph 4 is identical as the weight of mass 5.In this use process, accelerograph
The 4 distance r to 3 center of cursor is 1m.
Step 2, starting loop recorder 4, and gradually improve motor speed, using rotating caused by radial centrifugal force,
Different radial accelerations is generated, accelerograph 4 records radial acceleration data in real time, and saves.This was used
Cheng Zhong, the motor speed of selection is successively are as follows: 1 revolution per second, 2 revolution per seconds, 3 revolution per seconds, 4 revolution per seconds, 5 revolution per seconds.
Step 3, the revolving speed according to motor, the theory of accelerograph position as described in claim 7 add
The calculation formula of velocity amplitude obtains the theoretical acceleration value of accelerograph position.This can be obtained by step 2 to use
Theoretical acceleration value in journey is successively are as follows: 39.5,157.9,355.3,631.7,987.0, (m/s2)。
Step 4 reads the actual measureed value of acceleration data recorded in accelerograph.Actual measurement in this use process accelerates
Degree is according to successively are as follows: 35.6,145.5,326.7,570.2,902.9, (m/s2)。
Step 5, the theoretical acceleration value obtained using step 3 is standards, the public affairs of calibration parameter according to claim 8
Formula calculates calibration parameter.Acceleration calibration parameter in this use process is respectively as follows: k=1.097, b=-0.163.
Step 6 calibrates accelerograph using the calibration parameter that step 5 obtains.
Data before calibration are as follows: 35.8,145.5,326.2,572.1,902.5, (m/s2)。
Data after calibration are as follows: 39.1,159.4,357.6,626.2,989.8, (m/s2)。
Theoretical data are as follows: 39.5,157.9,355.3,631.7,987.0, (m/s2)。
By calibration result it is found that the maximum system deviation after calibration is from 84.5 (m/s2) it is reduced to 5.5 (m/s2), and work as and add
Speed is 39.5 (m/s2) when, system deviation is even reduced to 0.4 (m/s2), calibration effect is obvious.Calibration method letter of the invention
Single easy, calibration result is accurate and reliable, can be with large-scale promotion.
Claims (2)
1. a kind of calibration method using the accelerograph calibrating installation based on acceleration transducer, described to be based on acceleration
The accelerograph calibrating installation of sensor include: cursor [3], rotating turret [2], pedestal [1], high-speed motor [11], in
Heart control module [8], speed adjusting module [9], motor drive module [10], encoder [12], speed measuring module [13], display module
[6] and handle [7]；
Top setting rotating turret [2] of the pedestal [1] and cursor [3], pedestal [1] is internal to be arranged high-speed motor [11],
The output shaft of high speed motor [11] drives cursor [3] rotation by rotating turret [2], fills on the output shaft of high-speed motor [11]
Have encoder [12], measurement result is transferred to coupled survey by the revolving speed of encoder [12] measurement high-speed motor [11] simultaneously
Measurement result is transferred to Central Control Module [8] by fast module [13], speed measuring module [13], and Central Control Module [8] leads to simultaneously
Speed adjusting module [9] control motor drive module [10] work is crossed, the revolving speed of high-speed motor [11] is finally controlled；Central Control Module
[8] simultaneously receive handle [7] transmission control signal, and by the measurement result of speed measuring module [13] by display module [6] into
Row display；
Wherein, the length of the cursor [3] is adjustable, by gradually improving the revolving speed of high-speed motor [11] and increasing cursor
[3] length, to realize the acceleration linear gauging of wide range；
The end of rotating turret [2] is connected with the center of cursor [3], and one end of cursor [3] is connected accelerograph [4],
Mass [5] are arranged in the other end of cursor [3], and the accelerograph [4] is identical as the weight of mass [5]；It is described
Encoder [12] is incremental encoder or absolute type encoder；The display module [6] be light-emitting diode display, LCD display or
Liquid crystal display；The cursor [3] is cursor made of rigid material；
Characterized by comprising the following steps:
Step 1, the end that accelerograph [4] is fixed on to cursor [3], and match in the addition of the other end of cursor [3]
Weight [5], keeps balance, and the accelerograph [4] is identical as the weight of mass [5]；
Step 2, starting loop recorder [4], and by gradually improving motor speed and increasing the length of cursor [3], benefit
The radial centrifugal force caused by rotating, generates different radial accelerations, accelerograph [4] records radial acceleration in real time
Data, and save；
Step 3, the revolving speed according to motor obtain the theoretical acceleration value of accelerograph position；
Step 4, the theoretical acceleration value obtained using step 3 is standards, according to least square method, to adding in accelerograph
Speed data is fitted, and obtains calibration parameter；
According to least square method, the acceleration information in accelerograph is fitted, obtains the formula of calibration parameter are as follows:
In formula, a is the theoretical acceleration value (m/s of accelerograph position2)；a1Calibrate moment accelerograph
Acceleration value (the m/s of acquisition2)；K and b is respectively the calibration parameter obtained；
Step 5 calibrates accelerograph using the calibration parameter that step 4 obtains, using calibration parameter to acceleration
When recorder is calibrated, formula used are as follows:
a2=ka '1+b
In formula, a '1For the acceleration value for using moment accelerograph to acquire, a2For the accelerograph record after calibration
Acceleration value (m/s2)。
2. calibration method according to claim 1, which is characterized in that the reason of accelerograph position in step 3
By the calculation formula of acceleration value are as follows:
A=(2 π n)2r
In formula, a is the theoretical acceleration value (m/s of accelerograph position2)；N is that the instantaneous of accelerograph turns
Speed indicates the circle number turned each second；R is distance (m) of the accelerograph position to cursor [3] center.
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| CN106908212B (en) * | 2017-04-11 | 2023-10-13 | 南京理工大学 | Impact acceleration signal transfer characteristic test device in penetration process |
| CN109752568B (en) * | 2019-01-28 | 2020-12-04 | 南京理工大学 | Method for calibrating accelerometer of micro-electro-mechanical system based on principal component analysis |
| CN110349479A (en) * | 2019-06-21 | 2019-10-18 | 黄书畅 | Circular motion instructional device and application method |
| CN112684209B (en) * | 2019-10-18 | 2022-09-09 | 株洲中车时代电气股份有限公司 | Acceleration sensor testing device and method |
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| CN101173878A (en) * | 2007-11-27 | 2008-05-07 | 上海西派埃自动化仪表工程有限责任公司 | Static and dynamic acceleration testing device |
| CN201126406Y (en) * | 2007-11-15 | 2008-10-01 | 四川新川航空仪器有限责任公司 | Acceleration experimental device |
| CN101833017A (en) * | 2010-03-22 | 2010-09-15 | 西安交通大学 | Wireless calibration system of centrifugal micro-machine acceleration transducer |
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| US5970779A (en) * | 1997-09-15 | 1999-10-26 | The United States Of America As Represented By The Secretary Of The Navy | System and method for calibrating accelerometer over low (ocean wave) frequencies |
| CN101852818B (en) * | 2010-06-02 | 2011-08-17 | 北京航空航天大学 | Accelerometer error calibration and compensation method based on rotary mechanism |
| CN102252692A (en) * | 2011-04-29 | 2011-11-23 | 北京星网宇达科技开发有限公司 | Gyro and acceleration-related drift calibration and compensation method based on rotating mechanism |
| CN102841218A (en) * | 2012-08-21 | 2012-12-26 | 哈尔滨工业大学 | Double-shaft centrifuge based gyro accelerometer testing method |
| CN104122413B (en) * | 2014-07-31 | 2016-09-14 | 工业和信息化部电子第五研究所 | The detection method of accelerometer performance parameter and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201126406Y (en) * | 2007-11-15 | 2008-10-01 | 四川新川航空仪器有限责任公司 | Acceleration experimental device |
| CN101173878A (en) * | 2007-11-27 | 2008-05-07 | 上海西派埃自动化仪表工程有限责任公司 | Static and dynamic acceleration testing device |
| CN101833017A (en) * | 2010-03-22 | 2010-09-15 | 西安交通大学 | Wireless calibration system of centrifugal micro-machine acceleration transducer |
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