CN107643425A - Six-dimension acceleration sensor and method for diagnosing faults - Google Patents
Six-dimension acceleration sensor and method for diagnosing faults Download PDFInfo
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- CN107643425A CN107643425A CN201710709966.6A CN201710709966A CN107643425A CN 107643425 A CN107643425 A CN 107643425A CN 201710709966 A CN201710709966 A CN 201710709966A CN 107643425 A CN107643425 A CN 107643425A
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Abstract
The present invention discloses a kind of six-dimension acceleration sensor, including shell, mass and nine side chains.Wherein, connection of the mass through nine side chains is placed in shell cavity volume, and nine side chains are divided into two classes：The side chain of classification one includes a piezoelectric ceramics, totally six；The side chain of classification two includes two piezoelectric ceramics, totally three.Every two side chains of classification one and a side chain of classification two are one group, and its one end connects a composite balls hinge jointly；Three composite elastic spherical hinges are individually fixed in the orthogonal three adjacent side centers of mass, and one-dimensional elastic spherical hinge is fixed on shell；Each side chain initial makeup location is each perpendicular to mass corresponding side surface, and three side chains of classification two are vertical perpendicular to not ipsilateral, and two-by-two.The not fault self-diagnosis by external equipment and failure selfreparing can be achieved in such a sensor in the case of faulty.Invention additionally discloses the method for diagnosing faults of foregoing six-dimension acceleration sensor.
Description
Technical field
The present invention relates to functional failure of electromechanical diagnostic techniques field, more particularly, to it is a kind of can fault self-diagnosis parallel six
Tie up acceleration sensor apparatus and its method for fault diagnosis and fault restoration.
Background technology
With the continuous intensification explored to object of which movement characteristic parameter, the measurement request of people is also improving constantly.It is sextuple
The one kind of acceleration transducer as sensor, for measuring the dynamic characteristic of carrier in real time, sent out in multiple fields in recent years
Wave important function.It can be applied to the inertial navigation and guidance of aerospace field flight equipment, such as divine boat's ride on Bus No. 11 is manned
Airship；The acceleration that can also be applied in traffic and transport field, such as onboard system in time survey by feedback and engine failure damage
Examination etc.；Virtual reality (VR) field is applied also for, the body kinematics situation for monitoring wearer in real time is entered to transmit picture in time
One step improves visual impact sense.Certainly, six-dimension acceleration sensor also plays the effect of huge in multiple fields, such as digital
Electronic equipment optical anti-vibration, end effector of robot control, mechanical oscillatory structure test, biologic medical etc., its application prospect
It is more and more prominent with rigid demand.
Important Components based on sensor in system, its exploratory development is towards safety, ripe direction hair
Exhibition, but modern industrial equipment system complex, and serialization, the running of high speed are frequently necessary to, sensor failure is also
It is frequent.Once sensor occurs, performance is degraded, failure even fails, and will inevitably impact on follow-up measurement, prison
The work such as control, gently then cause the system failure, heavy then cause immeasurable life, property loss.By continuous exploratory development,
Fault diagnosis technology has evolved to highly developed, system stage, more, the preferable failure of effect of existing application in recent years
Diagnostic techniques has following several：(1) hardware redundancy, generally refer to increase the reliable of system by the method for multiple duplication
Property, carrying out fault diagnosis by hardware redundancy needs to make a concrete analysis of each model, and establishes corresponding diagnosis
Algorithm, although for its algorithm often independent of the mathematical modeling of its own, algorithm is relatively simple, has under conditions of hardware redundancy
Mechanism is simple, the advantages of easily realizing, but this method needs multiple sensors, and operation and maintenance cost is high, and diagnostic result also can
Varied widely because of the change of algorithm；(2) Analysis design method, this method carry out fault detect, the key of Fault Isolation
The foundation of system analysis redundancy relationship, however the process for establishing analytical redundancy relation be it is difficult, tortuous, how effectively profit
Relation is parsed to carry out fault diagnosis be also a major challenge with Analysis design；(3) signal transacting and Statistics Method, this method exist
Fault diagnosis field is widely used and achieves good effect, wherein main include based on information fusion, be based on
PCA and based on three kinds of methods of wavelet package transforms, neutral net and expert system have the characteristics of tending to artificial intelligence, know in pattern
Aspect does not have larger advantage, is increasingly becoming the focus of fault diagnosis research.
Although the research of six-dimension acceleration sensor is increasingly strengthened still in exploratory stage, its application trend, application
Field is also increasingly extensive, it is therefore necessary to which the fault diagnosis technology of six-dimension acceleration sensor is studied.Six-dimension acceleration
Sensor configuration is complicated, structural redundancy, can further increase the complexity of system, heavy system fortune according to hardware redundancy
Capable burden.In order to meet the requirement of six-dimension acceleration measurement and real-time measurement simultaneously, six-dimension acceleration sensor
Decoupling algorithm is complicated, it is difficult to it is handled with signal transacting and mathematical statistics, it is also difficult to instructed with neutral net
Practice, self-learning ability is weaker.Accordingly, it is considered to analytically the angle of redundancy carries out fault diagnosis to parallel-connection type six-dimension acceleration transducer
With the research of fault restoration.
The content of the invention
The main object of the present invention, be to provide it is a kind of can fault self-diagnosis parallel-connection type six-dimension acceleration transducer, its
It can be achieved to from fault diagnosis and consequent malfunction reparation during the measurement six-dimension acceleration.
Meanwhile the present invention also provides the method for diagnosing faults using the sensor.
To reach above-mentioned purpose, six-dimension acceleration sensor of the present invention can adopt the following technical scheme that：
A kind of parallel-connection type six-dimension acceleration transducer with fault self-diagnosis function, including shell, in shell
Cube mass, first group of side chain, second group of side chain, the 3rd group of side chain；First group of side chain includes three the first side chains；
Second group of side chain includes three the second side chains；3rd group of side chain includes three the 3rd side chains；One end of three first side chains
It is connected to by first composite elastic spherical hinge on the first surface of cube mass, one end of three the second side chains is equal
It is connected to by second composite elastic spherical hinge on the second surface of cube mass, one end of three the 3rd side chains is logical
The 3rd composite elastic spherical hinge is crossed to be connected on the 3rd surface of cube mass；And first surface, second surface, the 3rd
The adjacent and orthogonal side of three for cube mass on surface；Three first side chains are mutually perpendicular to extension simultaneously
It is connected on three internal faces of shell；Three second side chains are mutually perpendicular to extend and are connected to the three of shell
On individual internal face；Three the 3rd side chains are mutually perpendicular to extend and are connected on three internal faces of shell；It is described every
At least there is a piezoelectric ceramics in individual first side chain, each second side chain, each 3rd side chain.
The operation principle of the sensor is, during actual diagnosis, mass is rigid block, and three on mass are compound
Elastic spherical hinge is relatively motionless, constant so as to obtain the relative distance between three composite elastic spherical hinge central points.Establish phase
Coordinate system is closed, the coordinate of composite elastic spherical hinge and the relation of the piezoelectric ceramics quantity of electric charge can be set up.It is permanent under non-failure conditions
Fixed distance relation has corresponded to constant electric charge magnitude relation, by judge the quantity of electric charge relation whether into Rob Roy failure judgement hair
Whether give birth to, and the reparation of failure is carried out also with the constant relationship between the quantity of electric charge.
Beneficial effect：In the case that the faulty operating mode of the parallel-connection type six-dimension acceleration transducer occurs, itself can be utilized
Rigidity characteristic carries out the preliminary judgement of failure in the case of no any external equipment auxiliary, in the situation that judgement is broken down
The lower diagnosis that failure is carried out using its own characteristic is confirmed with specific.
Also, every group of side chain (one shares three groups) in the sensor connects same composite elastic spherical hinge, one is formed
There is the normal solution of analytical form in individual tetrahedron, therefore, parallel institution kinematics, dynamics, to establish and solving parallel institution system
The oscillatory differential equation of system provides advantage, also provides effective guarantor for the real-time measurement of six-dimensional space acceleration information
Card.
Corresponding to above-mentioned parallel-connection type six-dimension acceleration transducer, the fault diagnosis provided by the invention using the sensor
Method can adopt the following technical scheme that：
Coordinate system { W }, { O } are consolidated on shell and on fixed bottom boundary respectively first, in the case where sensor remains static,
Two coordinate systems overlap, and origin is taken as the barycenter of mass, and two reference axis are respectively directed to any three orthogonal directions in space；
Its detailed calculation procedure is as follows：
(1) formula Q is passed throughi=Cfi·Voi, i=1~9, the magnitude of voltage of 12 passage outputs of charge amplifier is changed
For the quantity of electric charge of input；In formula, QiFor the actual quantity of electric charge of the i-th passage, also electric charge as caused by i-th group of piezoelectric ceramics the two poles of the earth
Amount；CfiIt is adjustable for the feedback capacity of the passage of charge amplifier i-th；VoiFor the output voltage of the i-th passage, containing sign；
(2) formula Δ L is passed through respectivelyi=Qi/(Ki·di33) and Fi=Qi/di33, 12 piezoelectric ceramics the two poles of the earth are produced
The quantity of electric charge be converted to pressure on the actual elongation and each side chain of each piezoelectric ceramics suffered by piezoelectric ceramics；In formula, for
The first side chain, Δ LiFor the actual elongation of i-th side chain；For second of side chain, its actual elongation ∑ Δ LiBy thereon
The Δ L of two two electroceramicsiSuperposition gained, its sign is by QiDetermine；kiFor the equivalent stiffness of i-th group of piezoelectric ceramics, with piezoelectricity
Size, the factor such as elastic compliant coefficient of ceramics are relevant；di33For the equivalent piezoelectric modulus of i-th group of piezoelectric ceramics, with piezoelectric ceramics
Model, the factor such as force direction it is relevant；FiFor the pressure suffered by each side chain piezoelectric ceramics, its sign is by QiDetermine；
(3) being understood according to step (2), the elongation of each side chain can also be represented by the power of each side chain with its equivalent stiffness, its
In the elongation of the first side chain be represented by,The elongation of second of side chain is represented byWherein,
fiFor the equivalent force of each piezoelectric ceramics；
The equivalent force relation of two piezoelectric ceramics is f on (4) second of side chaini=fi', wherein fi' on second of side chain
The equivalent force of another piezoelectric ceramics；
(5) for three side chains in every group of side chain, the actual elongation of three side chains has been obtained by step (2)
Amount, with tetrahedral relevant knowledge, the geometry seat for writing out the composite elastic spherical hinge barycenter that this group of side chain shares can be arranged
It is marked on the analytical expression on three branch lengths in coordinate system { W }；The three composite elastic balls that will be fixedly arranged on mass
The barycenter of hinge is designated as b1、b2、b3。
(6) length of side for assuming mass is n, and the barycenter b of three composite elastic spherical hinges is understood by above-mentioned elaboration1、b2、b3
The distance between constant beHaveThen, there are the elongation and three composite elastic balls of side chain in { W }
The relation of hingeWith reference to above-mentioned two formula, then under non-failure conditions,
Have between the equivalent force of each side chain
(7) the last gained equation of step (6) is the foundation of fault diagnosis, if equation is set up, working sensor is normal；
If equation is invalid, sensor failure.
After step (7), further comprise the steps：
(8) P is assumedWOFor coordinate representation of the origin in coordinate system { O } of coordinate system { W }；RWOFor coordinate system { W } and { O }
Between rotational transformation matrix；ω analytical expression is sought into first derivative to time t, that is, obtains shell relative to coordinate system
The angular acceleration ε that { O } is rotatedO；By PMOAnalytical expression seek time t first derivative, that is, obtain the origin phase of coordinate system { W }
For the mobile linear velocity V of coordinate system { O }WO；By VWOAnalytical expression first derivative is asked to time t, that is, obtain coordinate system
The origin of { W } is relative to the mobile linear acceleration a of coordinate system { O }WO；
(9) vector V is selectedWOThree components and vector ω general velocity of three components as system；Obtain six
Tie up the deflected velocity V of acceleration transducer(k)With drift angle speed omega(k), k=1~6；The Limiting solution of system can pass through formula F(k)=FV(k)+T·ω(k)It is calculated；In formula, F(k)For Limiting solution corresponding to k-th of general velocity；F, T distinguishes table
Show the main square of main force's resultant that mass is subject to, they are the pressure and mass self gravitation applied to 12 groups of piezoelectric ceramics
Synthesis under effect；
(10) formula F is passed through respectively*=-MaMOAnd T*=-I εO-ωO×IωOCalculate the inertia force vector F of mass*With
Moment of inertia T*, in formula, M is the weight of mass；I is the inertial matrix of mass；Pass through formula F*(k)=F*·V(k)+T*·
ω(k)The General inertial force F of computing system*(k)；
(11) according to Kane methods, Limiting solution and General inertial force sum corresponding to each general velocity are zero,
Obtain 6 scalar equations：F(k)+F*(k)=0, k=1~6；When solving 6 scalar equations, to avoid differentiating, Ke Yijin
Row difference processing, and then the differential equation is changed into algebraic equation, it can solve to obtain the P assumed in step (7)WOWith RWO
Closing solution；Difference processing twice is carried out to the pose closing solution of shell, that is, obtains the closing solution of shell acceleration；Due to described
The shell of sensor and vibrating body to be measured are rigidly fixed together, therefore the acceleration of shell namely vibrating body to be measured motion
Acceleration；
(12) in the case where judgement is faulty, formula can be obtained with reference to step (4) and step (6) correlation formulaAnd formulaBy judging the two formula and step (4)
Situation is set up with step (6) correlation formula, and each formula carries out the plus-minus establishment situation after atom operation that disappears and examined to carry out failure
It is disconnected；
(13) after specific fault condition is judged, event is carried out using the correlation formula in step (6) and step (12)
Hinder the replacement of side chain, so as to reach the effect of fault restoration；
(14) acceleration calculation after being repaired according to step (8), (9), (10), (11).
Beneficial effect：By above-mentioned diagnostic method, in the case where faulty operating mode occurs, itself rigidity can be utilized special
The preliminary judgement that failure is carried out in the case of no any external equipment auxiliary is levied, is utilized in the case where judging to break down
The diagnosis that its own characteristic carries out failure confirms with specific；In the case where confirming specific fault condition, itself can be utilized
Rigidity characteristic carries out the reparation of failure in the case of no any external equipment auxiliary, and sextuple acceleration is can proceed with after reparation
The measurement of degree, and still meet it and measure the requirement of real-time.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of parallel-connection type six-dimension acceleration transducer of the present invention.
Fig. 2 is the structural representation of the first side chain of parallel-connection type six-dimension acceleration transducer of the present invention.
Fig. 3 is the structural representation of second of side chain of parallel-connection type six-dimension acceleration transducer of the present invention.
Fig. 4 be with Fig. 1 neutral body structural representation identical structural representations, it is different from the label in Fig. 1.
Label title in figure：1st, elastic hinge, 2, piezoelectric ceramics, 3, shell, 4, composite elastic spherical hinge, 5, mass,
6th, intermediate connector, 31, accommodating cavity；
1., 3., 4., 5., 8., 9. represent signal corresponding to piezoelectric ceramics on the first side chain respectively, 2., 2. ', 6.,
' 6., 7., 7. ' represents signal corresponding to piezoelectric ceramics on second of side chain respectively.
Embodiment
The structure and the course of work of the present invention are described in detail below with reference to drawings and the specific embodiments.
With reference first to shown in Fig. 1, the present invention provides a kind of parallel-connection type six-dimension acceleration transducer, including a shell 3, one
Individual mass 5 and nine side chains, are introduced separately below.
Shell 3 is rigid structure, and T-type structure is designed as in the present embodiment, have plate-like horizontal component and in cube
The vertical portion of body structure, and offer accommodating cavity 31 in its vertical portion.
Mass 5 is cube, in the accommodating cavity 31 of shell 3.
Incorporated by reference to shown in Fig. 2 and Fig. 3, one group of piezoelectric ceramics 2 is respectively provided with each bar side chain, the strain for sensitive each side chain
With stress, the piezoelectric ceramics 2 is connected in parallel by some piezoelectric ceramic pieces, and specifically, nine side chains are divided into two classes：
The first side chain includes one-dimensional elastic 1, piezoelectric ceramics 2 of spherical hinge；One end connection of the piezoelectric ceramics 2
In one-dimensional elastic spherical hinge 1, the other end connects the composite elastic spherical hinge 4.Second of side chain includes an one-dimensional elastic ball
1, two piezoelectric ceramics 2 of hinge and an intermediate connector 6；The intermediate connector 6 is connected between two piezoelectric ceramics 2,
Composite elastic spherical hinge 4 connects one of piezoelectric ceramics 2, and one-dimensional elastic spherical hinge 1 connects another piezoelectric ceramics 2.Each group
In one end of piezoelectric ceramics 2 on three side chains connect same composite elastic spherical hinge 4 and multiple by this by non-conductive adhesive
Elastic spherical hinge 4 is closed to be fixed on mass 5, the other end of the first side chain then connected respectively by non-conductive adhesive one it is one-dimensional
Elastic spherical hinge 1, the other end of second of side chain connect an intermediate connector 6 by non-conductive adhesive, and intermediate connector passes through
Non-conductive adhesive connects another piezoelectric ceramics 2 respectively, and one end of the piezoelectric ceramics 2 connects same compound bullet by non-conductive adhesive
Property spherical hinge 4；Wherein, three composite elastic spherical hinges 4 in the side chain are separately fixed on mass 5 in three sides
The heart, and three sides are adjacent and are mutually perpendicular to, and can coordinate shown in Fig. 1；Three one-dimensional elastic ball pivots in described same group
Chain 1 is located in approximately the same plane, and is both secured to an inner surface of the accommodating cavity 31 of shell 3, such as in the present embodiment, sets respectively
In the upper surface of shell 3, side surface and preceding surface.
The each group of side chain includes two the first side chains and second of side chain；Wherein, the first hinge is only
Including a piezoelectric ceramics, its output signal is used as sensor and calculates desired signal, and second of hinge includes two with model pressure
Electroceramics, an output signal are used as sensor and calculate desired signal, and another is used as sensor self diagnosis, the required letter of selfreparing
Number.
During actual measurement, the shell 3 of the present invention is rigidly fixed on vibrating body to be measured, sensor is followed vibration to be measured
Body does identical motion, and now the six-dimension acceleration of shell 3 is the six-dimension acceleration of vibrating body to be measured.In inertia force and inertia
In the presence of torque, mass 5 compresses or stretched 12 piezoelectric ceramics 2, and produces electric charge on its plane of polarization.Pass through detection
Electricity caused by each the two poles of the earth of piezoelectric ceramics 2, it is possible to calculate the six-dimension acceleration of vibrating body to be measured.Arrived when the sensitivity of shell 3
After six-dimension acceleration determines, it is possible to determine the inertia force and moment of inertia that mass 5 is subject to, such 12 piezoelectric ceramics
Electricity namely determination caused by 2 the two poles of the earth, therefore an acceleration corresponds to the electricity matrix of a determination.Conversely, when true
Determine on 12 piezoelectric ceramics 2 after caused electricity, because every group of side chain of the present invention forms a tetrahedron, Ke Yiwei
One determines the inertia force and moment of inertia suffered by mass 5, and then uniquely determines the acceleration of shell 3.Therefore, shell
Meet one-to-one close between electricity matrix caused by six-dimension acceleration vector that 3 sensitivities arrive and nine groups of the two poles of the earth of piezoelectric ceramics 2
System.
During actual diagnosis, mass is rigid block, and three composite elastic spherical hinges 4 thereon are relatively motionless, so as to
It is constant to obtain its relative distance.Relative coordinate system is established, the coordinate and 12 piezoelectricity that can set up composite elastic spherical hinge are made pottery
The relation of the porcelain quantity of electric charge.Under non-failure conditions, constant distance relation pair has answered constant electric charge magnitude relation, by judging electricity
The relation of lotus amount whether into Rob Roy failure judgement generation whether, and also between the quantity of electric charge constant relationship carry out failure
Reparation.
The present invention also provides a kind of method for diagnosing faults of parallel-connection type six-dimension acceleration and follow-up restorative procedure, specific behaviour
When making, the two poles of the earth of 12 piezoelectric ceramics 2 are connected into the input of the passage of charge amplifier 12 respectively (in figure not by wire
Show), the output end output of charge amplifier is by signal amplification and the voltage analog after impedance conversion process, then passes through number
Digital quantity is converted thereof into according to capture card to analyze and process for computer.By the real-time voltage value of nine passage output of data collecting card
The judgement of failure can be carried out, if it is determined that fault-free, then carry out calculating the six-dimension acceleration that shell 3 moves；If it is determined that it is faulty,
Then carry out the diagnosis of failure and follow-up reparation.Before diagnosis, repairing and calculating, first respectively on shell 3 and regularly
Coordinate system { W }, { O } are consolidated on face, initial time (under sensor remains static), two coordinate systems overlap, and origin takes
For the barycenter of mass 5, two reference axis are respectively directed to any three orthogonal directions in space.
Its detailed calculation procedure is as follows：
(1) formula Q is passed throughi=Cfi·Voi, i=1~9, the magnitude of voltage of 12 passage outputs of charge amplifier is changed
For the quantity of electric charge of input.In formula, QiFor the actual quantity of electric charge of the i-th passage, also electric charge as caused by i-th group of piezoelectric ceramics the two poles of the earth
Amount；CfiIt is adjustable for the feedback capacity of the passage of charge amplifier i-th；VoiFor the output voltage of the i-th passage, containing sign.
(2) formula Δ L is passed through respectivelyi=Qi/(Ki·di33) and Fi=Qi/di33, 12 groups of piezoelectric ceramics the two poles of the earth are produced
The quantity of electric charge be converted to pressure on the actual elongation and each side chain of each piezoelectric ceramics suffered by piezoelectric ceramics.In formula, for
The first side chain, Δ LiFor the actual elongation of i-th side chain；For second of side chain, its actual elongation ∑ Δ LiBy thereon
The Δ L of two two electroceramicsiSuperposition gained, its sign is by QiDetermine；kiFor the equivalent stiffness of i-th group of piezoelectric ceramics, with piezoelectricity
Size, the factor such as elastic compliant coefficient of ceramics are relevant；di33For the equivalent piezoelectric modulus of i-th group of piezoelectric ceramics, with piezoelectric ceramics
Model, the factor such as force direction it is relevant；FiFor the pressure suffered by each side chain piezoelectric ceramics, its sign is by QiDetermine.
(3) being understood according to step (2), the elongation of each side chain can also be represented by the power of each side chain with its equivalent stiffness, its
In the elongation of the first side chain be represented by,The elongation of second of side chain is represented byWherein,
fiFor the equivalent force of each piezoelectric ceramics.
(4) second of side chain increase a piezoelectric ceramics on original structure, at the same original one-dimensional elastic spherical hinge with
Composite elastic spherical hinge keeps constant, that is, the side chain after improving is to pass through an one-dimensional elastic spherical hinge string by two piezoelectric ceramics
What connection got up, as shown in Figure 3.Although two piezoelectric ceramics are the relation of series connection in physical connection, according to piezoelectric ceramics
Property based on direct piezoelectric effect work again knowable to, its actually parallel relationship on circuit, then two piezoelectricity on second of side chain
The equivalent force relation of ceramics is fi=fi', wherein fi' for the equivalent force of another piezoelectric ceramics on second side chain.
(5) for three side chains in every group of side chain, the actual elongation of three side chains has been obtained by step (2)
Amount, with tetrahedral relevant knowledge, the geometry seat for writing out the composite elastic spherical hinge barycenter that this group of side chain shares can be arranged
It is marked on the analytical expression on three branch lengths in coordinate system { W }.Here might as well be multiple by three be fixedly arranged on mass
The barycenter for closing elastic spherical hinge is designated as b1、b2、b3。
(6) length of side for assuming mass is n, and the barycenter b of three composite elastic spherical hinges is understood by above-mentioned elaboration1、b2、b3
The distance between constant beHaveWith the one-dimensional elastic horizontal branch of spherical hinge connection of the heart before mass
The one-dimensional elastic spherical hinge of chain, the mass right side heart connects vertical side chain, the connection of center of area one-dimensional elastic spherical hinge is axially on mass
Second of side chain of side chain is embodiment, and entering line label to each side chain is distinguish between, and label mode is as shown in figure 1, then in { W }
There are the elongation of side chain and the relation of three composite elastic spherical hinges
With reference to above-mentioned two formula, then under non-failure conditions, have between the equivalent force of each side chain
(7) the last gained equation of step (6) is the important evidence of fault diagnosis, by the establishment feelings for judging its equation
Condition, and separate equation plus-minus disappear the establishment situation of the secondary equation after member, whether to judge the generation of failure.If equation into
Vertical, then working sensor is normal, and acceleration calculation is carried out according to step (8), (9), (10), (11)；If equation is invalid, pass
Sensor is broken down, and fault diagnosis is carried out with repairing according to step (12), (13).
(8) P is assumedWOFor coordinate representation of the origin in coordinate system { O } of coordinate system { W }；RWOFor coordinate system { W } and { O }
Between rotational transformation matrix.Obviously, the angular velocity omega that shell rotates relative to coordinate system { O } can be by matrix RWOMiddle each element
And its derivative represents.ω analytical expression is sought into first derivative to time t, that is, obtains shell and turns relative to coordinate system { O }
Dynamic angular acceleration εO.By PMOAnalytical expression seek time t first derivative, that is, obtain the origin of coordinate system { W } relative to
The mobile linear velocity V of coordinate system { O }WO；By VWOAnalytical expression seek time t first derivative, that is, obtain coordinate system { W }
Origin is relative to the mobile linear acceleration a of coordinate system { O }WO。
(9) vector V is selectedWOThree components and vector ω general velocity of three components as system.According to fixed
Justice, the deflected velocity and drift angle speed of the system are obtained, they are designated as V here(k)And ω(k), k=1~6.The broad sense master of system
Power can pass through formula F(k)=FV(k)+T·ω(k)It is calculated.In formula, F(k)For broad sense corresponding to k-th of general velocity
Active force；F, T represents the main square of main force's resultant that mass is subject to respectively, and they are the pressure that 12 groups of piezoelectric ceramics apply to it
And the synthesis under mass self gravitation effect.
(10) formula F is passed through respectively*=-MaMOAnd T*=-I εO-ωO×IωOCalculate the inertia force vector F of mass*With
Moment of inertia T*, in formula, M is the weight of mass；I is the inertial matrix of mass.Pass through formula F*(k)=F*·V(k)+T*·
ω(k)The General inertial force F of computing system*(k)。
(11) according to Kane methods, Limiting solution and General inertial force sum corresponding to each general velocity are zero,
Obtain 6 scalar equations：F(k)+F*(k)=0, k=1~6.When solving 6 scalar equations, to avoid differentiating, Ke Yijin
Row difference processing, and then the differential equation is changed into algebraic equation, it can solve to obtain the P assumed in step (7)WOWith RWO
Closing solution.Difference processing twice is carried out to the pose closing solution of shell, that is, obtains the closing solution of shell acceleration.Due to described
The shell of sensor and vibrating body to be measured are rigidly fixed together, therefore the acceleration of shell namely vibrating body to be measured motion
Acceleration.
(12) in the case where judgement is faulty, formula can be obtained with reference to step (4) and step (6) correlation formulaAnd formulaBy judging the two formula and step (4)
Situation is set up with step (6) correlation formula, and each formula carries out the plus-minus establishment situation after atom operation that disappears and examined to carry out failure
Disconnected, the specific process that diagnoses can use enumerative technique, FTA etc..
(13) after specific fault condition is judged, event is carried out using the correlation formula in step (6) and step (12)
Hinder the replacement of side chain, it is (right with side chain A (corresponding i=2), side chain B incorporated by reference to shown in Fig. 4 so as to reach the effect of fault restoration
Answer i=5), side chain C (corresponding i=7) break down as embodiment, then repair mode is
(14) acceleration calculation after being repaired according to step (8), (9), (10), (11).
It can be seen that：Numerical computations need not be carried out in foregoing calculating process, what is obtained is closing solution；As long as press
Calculation procedure is write in a computer in advance according to above step, utilizes parallel-connection type six-dimension acceleration sensing provided by the present invention
Device can be realized as the real-time fault diagnosis of six-dimension acceleration and follow-up measurement.Substantially, this configuration exactly make use of to compare
Special new redundancy parallel mechanism, just realize the fault self-diagnosis and six-dimension acceleration of vibrating body six-dimension acceleration to be measured
Fault restoration.
To sum up, the present invention it is a kind of can fault self-diagnosis parallel-connection type six-dimension acceleration transducer and its diagnostic method, emphasis
It is the common configuration for using nine side chains, being divided into two classes novelty so that parallel institution kinematics, dynamics have analytical form
While normal solution, six-dimension acceleration sensor also has dynamic balance feature, so as to possess the ability of fault self-diagnosis.It passes through
Sensor rigid is fixed on vibrating body to be measured so that the two realizes linkage, when vibrating body motion to be measured produces acceleration, passes
Sensor its mass meeting opposite shell under effect of inertia produces pose change, so as to cause the drawing of piezoelectric ceramics on each bar side chain
Pressure change, by the change for detecting piezoelectric ceramics output charge amount, you can judge whether, there occurs failure, further to carry out event
Barrier diagnosis and fault restoration, the real time acceleration size of vibrating body to be measured can be calculated after reparation.
Foregoing is only that the present invention illustrates, it is impossible to limits protection scope of the present invention with this.Ordinary skill people in the art
Any change or modification that member is made under the technological thought of the present invention, all should fall within the scope of protection of the present invention.
Claims (8)
- A kind of 1. six-dimension acceleration sensor, it is characterised in that：Cube mass, first group of side chain, second group of side chain, the 3rd group of side chain including shell, in shell；Described One group of side chain includes three the first side chains；Second group of side chain includes three the second side chains；3rd group of side chain includes three the 3rd Chain；One end of three first side chains is connected to the first table of cube mass by first composite elastic spherical hinge On face, one end of three the second side chains is connected to the second surface of cube mass by second composite elastic spherical hinge On, one end of three the 3rd side chains is connected to the 3rd surface of cube mass by the 3rd composite elastic spherical hinge On；And first surface, second surface, the adjacent and orthogonal side of three for cube mass on the 3rd surface；Three first side chains are mutually perpendicular to extend and are connected on three internal faces of shell；Described three second Chain is mutually perpendicular to extend and is connected on three internal faces of shell；Three the 3rd side chains are mutually perpendicular to extend and divided It is not connected on three internal faces of shell；At least there is a piezoelectric ceramics in each first side chain, each second side chain, each 3rd side chain.
- 2. six-dimension acceleration sensor according to claim 1, it is characterised in that：First group of side chain, second group of branch Chain, the 3rd group of side chain include two kinds of side chains,The first side chain includes an one-dimensional elastic spherical hinge, a piezoelectric ceramics；One end of the piezoelectric ceramics is connected to one-dimensional Elastic spherical hinge, the other end connect the composite elastic spherical hinge；Second of side chain includes an one-dimensional elastic spherical hinge, two piezoelectric ceramics and an intermediate connector；The centre connects Fitting is connected between two piezoelectric ceramics, the one of piezoelectric ceramics of composite elastic ball pivot chain link, one-dimensional elastic spherical hinge Connect another piezoelectric ceramics；The each group of side chain includes two the first side chains and second of side chain；Wherein, the first hinge only includes One piezoelectric ceramics, its output signal are used as sensor and calculate desired signal, and second of hinge includes two and made pottery with model piezoelectricity Porcelain, an output signal are used as sensor and calculate desired signal, and another is used as sensor self diagnosis, selfreparing desired signal.
- 3. six-dimension acceleration sensor according to claim 1 or 2, it is characterised in that：In adjacent two of the shell Wall is mutually connected vertically.
- 4. six-dimension acceleration sensor according to claim 2, it is characterised in that：Three second in three groups of side chains Kind side chain is orthogonally set.
- 5. a kind of method for diagnosing faults using the six-dimension acceleration sensor as any one of Claims 1-4, its feature It is, comprises the following steps：(1) parallel-connection type six-dimension acceleration transducer is rigidly secured on vibrating body to be measured；(2) the output charge amount of piezoelectric ceramics all on sensor is gathered, and whether judges sensor according to the output charge amount Break down；(3) if not breaking down, the real time acceleration of vibrating body to be measured is obtained according to the piezoelectric ceramics quantity of electric charge；(4) if breaking down, specific failure, the i.e. wrong piezoelectric ceramics quantity of electric charge are diagnosed to be according to each piezoelectric ceramics quantity of electric charge；(5) basis is not diagnosed out of order each piezoelectric ceramics quantity of electric charge and repairs step (4) described wrong piezoelectric ceramics electric charge Amount；(6) basis is not diagnosed the piezoelectric ceramics electric charge after out of order each piezoelectric ceramics quantity of electric charge and step (5) described reparation Measure the real time acceleration of vibrating body to be measured.
- 6. diagnostic method according to claim 5, it is characterised in that：By the two of totally ten two piezoelectric ceramics in three groups of side chains Pole connects the input of the passage of charge amplifier 12 by wire respectively, and the output end output of charge amplifier is put by signal Voltage analog after big and impedance conversion process, then digital quantity is converted thereof into by data collecting card and analyzed for computer Processing.
- 7. the diagnostic method according to claim 5 or 6, it is characterised in that：First respectively on shell and on fixed bottom boundary Coordinate system { W }, { O } are consolidated, in the case where sensor remains static, two coordinate systems overlap, and origin is taken as the barycenter of mass, Two reference axis are respectively directed to any three orthogonal directions in space；Its detailed calculation procedure is as follows：(1) formula Q is passed throughi=Cfi·Voi, i=1~9, the magnitude of voltage of 12 passage outputs of charge amplifier is converted to defeated The quantity of electric charge entered；In formula, QiFor the actual quantity of electric charge of the i-th passage, the also quantity of electric charge as caused by i-th group of piezoelectric ceramics the two poles of the earth； CfiIt is adjustable for the feedback capacity of the passage of charge amplifier i-th；VoiFor the output voltage of the i-th passage, containing sign；(2) formula Δ L is passed through respectivelyi=Qi/(Ki·di33) and Fi=Qi/di33, will be electric caused by 12 piezoelectric ceramics the two poles of the earth Lotus amount is converted to the pressure suffered by piezoelectric ceramics on the actual elongation and each side chain of each piezoelectric ceramics；In formula, for first Kind side chain, Δ LiFor the actual elongation of i-th side chain；For second of side chain, its actual elongation ∑ Δ LiBy two thereon The Δ L of two electroceramicsiSuperposition gained, its sign is by QiDetermine；kiFor the equivalent stiffness of i-th group of piezoelectric ceramics, with piezoelectric ceramics Size, the factor such as elastic compliant coefficient it is relevant；di33For the equivalent piezoelectric modulus of i-th group of piezoelectric ceramics, the type with piezoelectric ceramics Number, the factor such as force direction it is relevant；FiFor the pressure suffered by each side chain piezoelectric ceramics, its sign is by QiDetermine；(3) being understood according to step (2), the elongation of each side chain can also be represented by the power of each side chain with its equivalent stiffness, wherein the A kind of elongation of side chain is represented by,The elongation of second of side chain is represented byWherein, fiFor The equivalent force of each piezoelectric ceramics；The equivalent force relation of two piezoelectric ceramics is f on (4) second of side chaini=fi', wherein fi' it is another on second of side chain The equivalent force of piezoelectric ceramics；(5) for three side chains in every group of side chain, the actual elongation of three side chains has been obtained by step (2), transported With tetrahedral relevant knowledge, it can arrange and write out the geometric coordinate of the composite elastic spherical hinge barycenter that this group of side chain shares and sitting Analytical expression in mark system { W } on three branch lengths；By three composite elastic spherical hinges being fixedly arranged on mass Barycenter is designated as b1、b2、b3。(6) length of side for assuming mass is n, and the barycenter b of three composite elastic spherical hinges is understood by above-mentioned elaboration1、b2、b3Between Constant distance beHaveThen, there are the elongation and three composite elastic spherical hinges of side chain in { W } RelationWith reference to above-mentioned two formula, then under non-failure conditions, each Have between the equivalent force of chain(7) the last gained equation of step (6) is the foundation of fault diagnosis, if equation is set up, working sensor is normal；If side Journey is invalid, then sensor failure.
- 8. diagnostic method according to claim 7, it is characterised in that after step (7), further comprise following step Suddenly：(8) P is assumedWOFor coordinate representation of the origin in coordinate system { O } of coordinate system { W }；RWOBetween coordinate system { W } and { O } Rotational transformation matrix；ω analytical expression is sought into first derivative to time t, that is, obtains shell and turns relative to coordinate system { O } Dynamic angular acceleration εO；By PMOAnalytical expression seek time t first derivative, that is, obtain the origin of coordinate system { W } relative to The mobile linear velocity V of coordinate system { O }WO；By VWOAnalytical expression seek time t first derivative, that is, obtain coordinate system { W } Origin is relative to the mobile linear acceleration a of coordinate system { O }WO；(9) vector V is selectedWOThree components and vector ω general velocity of three components as system；Obtain sextuple add The deflected velocity V of velocity sensor(k)With drift angle speed omega(k), k=1~6；The Limiting solution of system can pass through formula F(k)= F·V(k)+T·ω(k)It is calculated；In formula, F(k)For Limiting solution corresponding to k-th of general velocity；F, T represents matter respectively The main square of main force's resultant that gauge block is subject to, they are the pressure and mass self gravitation effect applied to 12 groups of piezoelectric ceramics Under synthesis；(10) formula F is passed through respectively*=-MaMOAnd T*=-I εO-ωO×IωOCalculate the inertia force vector F of mass*And inertia Torque T*, in formula, M is the weight of mass；I is the inertial matrix of mass；Pass through formula F*(k)=F*·V(k)+T*·ω(k) The General inertial force F of computing system*(k)；(11) according to Kane methods, Limiting solution and General inertial force sum corresponding to each general velocity are zero, obtain 6 Individual scalar equation：F(k)+F*(k)=0, k=1~6；When solving 6 scalar equations, to avoid differentiating, difference can be carried out Office is managed, and then the differential equation is changed into algebraic equation, can solve to obtain the P assumed in step (7)WOWith RWOEnvelope Close solution；Difference processing twice is carried out to the pose closing solution of shell, that is, obtains the closing solution of shell acceleration；Due to the sensing The shell of device and vibrating body to be measured are rigidly fixed together, thus the acceleration of shell namely vibrating body to be measured motion plus Speed；(12) in the case where judgement is faulty, formula can be obtained with reference to step (4) and step (6) correlation formulaAnd formulaBy judging the two formula and step (4) Situation is set up with step (6) correlation formula, and each formula carries out the plus-minus establishment situation after atom operation that disappears and examined to carry out failure It is disconnected；(13) after specific fault condition is judged, failure branch is carried out using the correlation formula in step (6) and step (12) The replacement of chain, so as to reach the effect of fault restoration；(14) acceleration calculation after being repaired according to step (8), (9), (10), (11).
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| CN109061227A (en) * | 2018-09-07 | 2018-12-21 | 南京林业大学 | A kind of fault-tolerant decoupling method of parallel-connection type six-dimension acceleration transducer |
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| CN108802427A (en) * | 2018-06-11 | 2018-11-13 | 南京林业大学 | Prefastening parallel connection six-dimension acceleration sensor and its measurement and Sensitivity Analysis Method |
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| CN109061227B (en) * | 2018-09-07 | 2021-01-19 | 南京林业大学 | Fault-tolerant decoupling method of parallel six-dimensional acceleration sensor |
| CN109630101A (en) * | 2018-11-27 | 2019-04-16 | 中国地质大学（武汉） | A kind of six-dimension acceleration sensor based on micro- power parallel institution |
| CN109630101B (en) * | 2018-11-27 | 2021-07-20 | 中国地质大学（武汉） | Six-dimensional acceleration sensor based on micro-force parallel mechanism |
| CN112444644A (en) * | 2019-08-27 | 2021-03-05 | 株洲中车时代电气股份有限公司 | Calibration method of triaxial accelerometer |
| CN117077040A (en) * | 2023-09-04 | 2023-11-17 | 武汉蓝海科创技术有限公司 | Large-scale complex equipment fault diagnosis and prediction system based on machine learning |
| CN117077040B (en) * | 2023-09-04 | 2024-02-23 | 武汉蓝海科创技术有限公司 | Large-scale complex equipment fault diagnosis and prediction system based on machine learning |
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