CN108008142A - The measuring method of angular-rate sensor and angular speed - Google Patents
The measuring method of angular-rate sensor and angular speed Download PDFInfo
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- CN108008142A CN108008142A CN201711183724.4A CN201711183724A CN108008142A CN 108008142 A CN108008142 A CN 108008142A CN 201711183724 A CN201711183724 A CN 201711183724A CN 108008142 A CN108008142 A CN 108008142A
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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
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/42—Devices characterised by the use of electric or magnetic means
- G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
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Abstract
The present invention provides the measuring method of a kind of angular-rate sensor and angular speed, helps to lift the measurement accuracy of angular speed, reduces the manufacture cost and complexity of angular-rate sensor.The angular-rate sensor of the present invention includes：Rate conversion module and tachometric survey module；The rate conversion module is used for the angular velocity information for receiving testee, and for the angular velocity information to be converted to moment information；The tachometric survey module is connected with rate conversion module, for receiving and obtaining the moment information, and for obtaining the angular speed of the testee according to the moment information.
Description
Technical Field
The invention relates to the technical field of measurement, in particular to an angular velocity sensor and an angular velocity measurement method.
Background
In the field of industrial control, it is often necessary to monitor or control the angular velocity of certain rotating equipment. For example, in speed control of a servo motor, it is necessary to compare an actual rotational speed of a rotor with a target rotational speed and then perform feedback control.
When measuring the angular velocity of the motor, the conventional encoder measures the position of the rotor first, and then obtains the rotating speed of the motor through numerical differentiation. This method has a natural drawback: if the precision of the measured position signal is infinitely high, the speed signal obtained by numerical differentiation has no error and is very smooth; if the accuracy of the position signal is limited, the velocity signal derived from the numerical differentiation will generate significant noise, affecting the control accuracy. Obviously, the position signal measured by the encoder is a digital quantity, the accuracy of which is very limited.
To address this problem, industry is constantly attempting to develop high resolution encoders, such as 24-bit encoders. With the improvement of the resolution of the encoder, high requirements are put on the photoetching technology, the photosensitive elements, the measuring circuit and the like. Currently, only a few countries have the ability to produce high precision encoders, which is monopoly. These result in high-resolution encoders at high prices. Statistically, some high precision encoders are more expensive than the servo motor itself. To reduce costs, many motor manufacturers have to choose encoders with low resolution. Low resolution encoders introduce severe noise during speed measurement, particularly during low speed control.
In addition, the angular velocity of rotating equipment is also measured by a rotary transformer in the industry, but the technical level requirement of the winding of the rotary transformer with high precision is higher.
Therefore, there is a need for a low cost, low complexity device for measuring the angular velocity of a rotating device.
Disclosure of Invention
In view of the above, the present invention provides an angular velocity sensor and an angular velocity measurement method, which are helpful for improving the measurement accuracy of angular velocity and reducing the process cost and complexity of angular velocity measurement.
According to an aspect of the present invention, there is provided an angular velocity sensor, including a velocity conversion module and a velocity measurement module; the speed conversion module is used for receiving angular speed information of a measured object and converting the angular speed information into moment information; the speed measuring module is connected with the speed conversion module and used for receiving and acquiring the moment information and obtaining the angular speed of the measured object according to the moment information.
Preferably, the speed conversion module comprises an input part and an output part which are coaxially arranged;
the input portion and the output portion each having an axial end and a disk end, the disk end of the input portion being located at the distal end of the input portion, the disk end of the output portion being located at the proximal end of the input portion, the disk end of the input portion being spaced from the disk end of the output portion;
the shaft end of the input part is connected with the object to be measured and used for receiving the angular velocity information; the shaft end of the output part is connected with the speed measuring module and used for outputting the torque information; a damping material is disposed between the disc end of the input portion and the disc end of the output portion.
Preferably, the damping material is damping grease.
Preferably, the speed conversion module further comprises a flange and a sealing shell; the shaft end of the input part is matched with the inner hole of the flange plate through an input part bearing and can rotate relative to the flange plate; the shaft end of the output part is matched with the inner hole of the sealing shell through an output part bearing and can rotate relative to the sealing shell; the seal housing is coupled to the flange and is adapted to receive the input portion, the output portion and the damping material.
Preferably, an oil hole is provided in the seal housing, and the damping material is injected between the disk end of the output portion and the disk end of the input portion through the oil hole.
Preferably, the shaft end of the input portion is of a hollow shaft structure to reduce the axial dimension of the angular velocity sensor mounting, or is of a shaft-like structure.
Preferably, the speed measuring module comprises a compliant mechanism, a sensitive element and an information processing unit;
the compliant mechanism is connected with the speed conversion module; the sensing element is arranged on the compliant mechanism and used for sensing the deformation of the compliant mechanism; and the information processing unit acquires the output of the sensitive element and is used for obtaining the angular velocity of the measured object according to the deformation of the compliant mechanism.
Preferably, the speed measuring module further comprises a shielding shell, and the compliance mechanism, the information processing unit and the sensing element are all arranged in the shielding shell.
Preferably, the compliance mechanism comprises an inner ring and an outer ring which are concentrically arranged, and the inner ring and the outer ring are connected through one or more compliance members which can provide elastic deformation; the sensitive element is arranged on the flexible member; the inner ring is connected with the speed conversion module, and the inner ring can be driven by the speed conversion module to rotate relative to the outer ring.
Preferably, at least one sensing element is respectively arranged on two opposite side surfaces of each compliant member, so that the information processing unit can judge the direction of the moment, and the direction of the angular velocity is acquired.
Preferably, a lead is led out of the shielding shell, and the information processing unit exchanges information with the outside through the lead.
Preferably, the information processing unit comprises an information acquisition unit, an information conditioning unit and a resolving output unit which are sequentially in communication connection;
the information acquisition unit is used for reading deformation information sensed by the sensitive element in a preset sampling period; the information conditioning unit is used for converting the deformation information into standard information; and the resolving output unit is used for obtaining the transmitted torque of the compliant mechanism according to the standard information, obtaining the angular speed of the measured object according to the torque and outputting the angular speed.
According to another aspect of the present invention, there is provided a method of measuring an angular velocity, the method comprising:
receiving the angular velocity output by the measured object by using a velocity conversion module, and converting the angular velocity information into moment information through a damping material;
receiving and sensing the torque information by using a speed measuring module;
and obtaining the angular velocity of the measured object by using the velocity measurement module according to the sensed moment information.
Preferably, the process of receiving and sensing the torque information by the speed measurement module includes:
receiving the moment information by using a compliant mechanism, and sensing the moment information received by the compliant mechanism by using a sensing element;
and obtaining the angular velocity of the measured object by using an information processing unit according to the moment information.
Preferably, the process of receiving the angular velocity of the measured object by the velocity conversion module and converting the angular velocity into the moment information by the velocity conversion module includes:
connecting the shaft end of the input part with the object to be measured so as to receive angular velocity information of the object to be measured;
utilizing the damping material between the disc end of the input portion and the disc end of the output portion to convert the angular velocity information to moment information;
and the shaft end of the output part is connected with the speed measuring module so as to transmit the torque information to the speed measuring module.
Preferably, the calculation formula of the angular velocity of the measured object is as follows:
wherein ω is the angular velocity; h issThe distance between the disk ends of the input portion and the output portion; r is the effective shearing radius of the two disc ends; t is the temperature of the damping material; u. of25Represents the viscosity of the silicone oil at 25 ℃; tau isfA value representing a friction torque of the output portion; i represents the ith sensitive element, n are total, and n is a positive integer; epsiloniRepresenting the strain value generated at the ith sensing element; t (ε)i) Indicating the value of the moment measured by the i-th sensor。
Preferably, the output part is fitted to the inner bore of the sealed housing through an output part bearing, and the friction torque τ of the output partfThe calculation formula of the value is:
where μ denotes the coefficient of friction of the output section bearing, FNRepresenting the output section bearing radial load; d denotes the nominal diameter of the output section bearing.
According to the technical scheme of the invention, for the measured object, the angular velocity sensor of the invention obtains the angular velocity of the measured object in a direct measurement mode, compared with the traditional indirect measurement, the measurement result is more accurate, the noise is small, the error introduced during the measurement is small, and the measurement precision is further ensured.
Specifically, this angular velocity sensor passes through speed conversion module and converts the angular velocity information of testee into moment information output and transmit to the speed measurement module, and then with the help of this moment information of speed measurement module perception to the angular velocity of testee is obtained according to this moment information back-stepping, in this measurement structure, measures the reliability height, and the accuracy has also obtained effectual assurance simultaneously, and can also reduce angular velocity sensor's manufacturing cost and complexity. More specifically, the speed measuring module calculates the angular speed of the measured object in a reverse-deduction mode according to the mapping relation between the viscosity of the damping material, the deformation of the compliant mechanism and the angular speed of the measured object in the process of calculating the angular speed, and the calculation process is simple and easy to achieve.
Drawings
The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
fig. 1 is an assembly schematic view of an angular velocity sensor according to an embodiment of the present invention;
FIG. 2 is an exploded schematic view of an angular velocity sensor according to an embodiment of the present invention;
FIG. 3 is an axial half-section schematic view of an angular velocity sensor in accordance with an embodiment of the present invention;
FIG. 4 is an axial half-section view of a speed conversion module according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an input section of an embodiment of the present invention;
FIG. 6 is a schematic diagram of an output section of an embodiment of the present invention;
FIG. 7 is an axial half-section view of a velocity measurement module according to one embodiment of the present invention;
FIG. 8 is a schematic view of a compliant mechanism with a sensor disposed thereon according to one embodiment of the present invention;
FIG. 9a is a schematic diagram of an information processing unit according to an embodiment of the invention;
FIG. 9b is a block diagram of an information processing unit according to an embodiment of the present invention;
FIG. 10 is a schematic view of the compliant mechanism undergoing force deformation in accordance with an embodiment of the present invention.
In the figure:
01-speed conversion module, 010-input part, 011-shaft end, 012-disc end, 020-output part, 021-shaft end, 022-disc end, 030-damping material, 040-flange plate, 050-seal housing, 51-oil hole, 060-input part bearing, 061-output part bearing, 070-fastener;
02-speed measurement module, 21-compliant mechanism, 211-inner ring, 212-compliant piece, 213-outer ring, 22-information processing unit, 221-circuit board, 222-information acquisition unit, 223-information conditioning unit, 224-resolving output unit, 23, 231, 232-sensitive element, 24-shielding shell and 25-lead.
Detailed Description
In the traditional technology, the angular velocity of the measured object is mostly obtained by measuring the position change of the measured object, and the measuring mode has high cost, complex calculation and processing processes and large errors, so that the measuring precision is low and the accuracy is difficult to ensure. In order to overcome one or more of these problems, the inventors studied and developed an angular velocity sensor that helps to reduce the manufacturing cost and complexity of the angular velocity sensor, and also can reduce the measurement error and improve the measurement accuracy.
The angular velocity sensor provided by the invention comprises a velocity conversion module and a velocity measurement module. The speed conversion module is used for receiving angular speed information of a measured object and converting the angular speed information into moment information. The speed measuring module is connected with the speed conversion module and used for receiving and acquiring the moment information and further obtaining the angular speed of the measured object according to the moment information. The object to be measured is not particularly limited as long as it can rotate.
In addition, based on the angular velocity sensor of the present invention, the present invention also provides a method for measuring an angular velocity, the method comprising:
the method comprises the following steps: receiving the angular velocity output by the measured object by using the velocity conversion module, and converting the angular velocity information into moment information through a damping material;
step two: receiving and sensing the torque information by using the speed measuring module;
step three: and obtaining the angular velocity of the measured object by using the velocity measurement module according to the sensed moment information.
In order to make the objects, advantages and features of the present invention more clear, the angular velocity sensor and the measuring method thereof proposed by the present invention are further described in detail with reference to the accompanying drawings 1 to 10. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
Fig. 1 is an assembly diagram of an angular velocity sensor 10 according to an embodiment of the present invention, fig. 2 is an exploded diagram of the angular velocity sensor 10 according to an embodiment of the present invention, fig. 3 is an axial half-section diagram of the angular velocity sensor according to an embodiment of the present invention, and fig. 4 is an axial half-section diagram of a velocity conversion module according to an embodiment of the present invention. In the embodiment shown in fig. 1 to 4, the angular velocity sensor 10 includes a velocity conversion module 01 and a velocity measurement module 02. The speed conversion module 01 is used for receiving angular speed information of a measured object and converting the angular speed information into moment information. The speed measuring module 02 is connected with the speed conversion module 01, and is used for receiving and acquiring the moment information, and further obtaining the angular speed of the measured object according to the moment information.
Fig. 5 is a schematic diagram of the input portion 010 and fig. 6 is a schematic diagram of the output portion 020 according to an embodiment of the present invention. As shown in fig. 2 to 6, the speed conversion module 01 includes an input portion 010 and an output portion 020 in the present embodiment.
In the speed conversion module 01, the axial cross-sections of the input portion 010 and the output portion 020 are both T-shaped. Herein, the transverse portion defining the "T-shape" is the disk end and the vertical portion is the shaft end. The input portion 010 and the output portion 020 need to be arranged coaxially and at an interval, and the disc ends 012 and 022 of the input portion 010 and the output portion 020 are arranged between the shaft end 011 of the input portion 010 and the shaft end 021 of the output portion 020, but a gap is reserved between the disc ends 012 and 022 of the two portions, and the gap is used for filling damping material 030, so that the input portion 010 and the output portion 020 are connected through the damping material 030. Preferably, damping grease may be filled between the pad end 012 of the input portion 010 and the pad end 022 of the output portion 020.
In addition, for any one of the input portion 010 and the output portion 020, the shaft end and the disc end are coaxially arranged and are both cylindrical, however, the diameters of the disc end 012 of the input portion 010 and the disc end 022 of the output portion 020 may be the same or different, but are preferably the same, and the process is more convenient. When the two disk diameters are different, only the relatively rotating disk surface can transmit torque information, so that only the part of the area is an effective shearing area, and the corresponding diameter (or radius) is called an effective shearing diameter D (or radius r). The smallest disk diameter (or radius) is usually used as the effective shearing diameter D (or radius r), and the corresponding area is called the effective shearing area, and is substituted into the calculation. For convenience of description, the structure and the operation of the angular velocity sensor 10 of the present embodiment will be described in further detail below with the schematic that the diameters of the disk ends of the input portion 010 and the output portion 020 are the same.
In addition, the shaft end and the disc end of any one of the input portion 010 and the output portion 020 may be obtained by integral molding, or may be obtained by separately molding and then connecting, and the embodiment is not limited. The shaft end 011 of the input part 010 is used for being connected with a rotating shaft of a measured object (the rotating shaft can be connected through a shaft coupling and other parts), such as a motor shaft, so as to receive the angular speed output by the measured object; while the shaft end 021 of said output portion 020 is intended to be connected with the speed measuring module 02 for further transferring the rotational movement of the input portion 010 via the damping material 030 to the speed measuring module 02. Preferably, the shaft end 011 of the input portion 010 is a hollow shaft structure, so as to be connected to a rotating shaft of a measured object in a sleeved manner, thereby reducing the size of the angular velocity sensor 10 in the axial direction. In practice, the shaft end 011 of the input portion 010 is preferably of a hollow shaft-like structure, but not limited thereto, and may be of a solid shaft-like structure as required.
With continued reference to fig. 2-4, the speed conversion module 01 further includes a flange 040 and a seal housing 050. The shaft end 011 of the input portion 010 engages the inner bore of the flange 040 via the input portion bearing 060, and the shaft end 022 of the output portion 020 engages the inner bore of the seal housing 050 via the output portion bearing 061. The input part bearing 060 comprises an inner race and an outer race. The shaft end 011 is fitted with the inner ring of the input part bearing 060, and the inner hole of the flange 040 is fitted with the outer ring of the input part bearing 060, so that the shaft end 011 of the input part 010 can rotate relative to the flange 040. Similarly, the shaft end 022 is fitted to the inner race of the output part bearing 061, and the inner bore of the seal housing 050 is fitted to the outer race of the output part bearing 061, so that the shaft end 022 of the output shaft 020 can rotate relative to the seal housing 050. However, the present invention includes, but is not limited to, effecting relative rotation of the axial ends of the input portion 010 via the flange 040.
In this embodiment, after the input portion 010 and the output portion 020 are mounted in the above manner, the seal housing 050 and the flange 040 may be mounted in a fitting manner, for example, fixedly connected by screws, riveting, welding, bonding, or the like, and then subjected to sealing treatment. Here, the flange 040 and the seal housing 050 are exemplarily described, and appropriate structural modifications based on the description are also within the scope of the present invention, even if other structures with the same functions are substituted.
Further, as shown in fig. 4, an oil filling hole 51 is formed in the sealing housing 050, damping grease with viscosity insensitive to temperature change, such as high viscosity silica gel damping fluid, is preferably filled into a fixing gap between the two pan ends 012, 022 through the oil filling hole 51, and after the oil filling is completed, the oil filling hole 51 is sealed, but if necessary, a plurality of sealing rings may be provided to prevent the damping grease from leaking.
As shown in fig. 2 and 7, the speed measurement module 02 includes a compliant mechanism 21, an information processing unit 22, and a sensor 23 in this embodiment.
In the speed measuring module 02, the compliant mechanism 21 is connected to a shaft end 022 of the output portion 020 and can be elastically deformed under the action of the torque output by the output portion 020. The sensing element 23 is disposed on the compliant mechanism 21, and is configured to sense deformation information of the compliant mechanism 21 and send the information to the information processing unit 22. The information processing unit 22 is in communication connection with the sensing element 23, for example, connected by a wire, and is configured to acquire the output of the sensing element 23 and then obtain the angular velocity of the object to be measured according to the deformation information of the compliant mechanism 21.
FIG. 8 is a schematic view of a compliant mechanism 21 with a sensor 23 disposed thereon according to one embodiment of the invention. As shown in FIG. 8, the compliant mechanism 21 preferably includes an inner ring 211, a compliant member 212, and an outer ring 213, the inner ring 211 and the outer ring 213 being concentrically arranged, the compliant member 212 radially connecting the inner ring 211 and the outer ring 213. The compliant mechanism 21 may be machined by machining methods such as wire cutting, electrical discharge machining, laser cutting, abrasive water jet, and the like. The flexible member 212 is a thin structure and can elastically deform to better sense the deformation caused by external force. The number of compliant members 212 shown in FIG. 8 is four, but is not limited to four, and can be two to six. The plurality of compliant members 212 can be symmetrically distributed, including but not limited to axisymmetric, centrosymmetric, and rotationally symmetric. Preferably, the compliance members 212 are four in number and distributed in a cruciform pattern.
In the present embodiment, the sensing element 23 may be, but is not limited to, a strain gauge, an optical fiber, or other elements for measuring strain, and may be disposed on a side surface of the compliant member 212 by bonding or the like to sense stress on the compliant member 212. Here, the side surface of the compliant member 212 is selected from the surfaces parallel to the axial direction of the compliant mechanism 21 (i.e., two surfaces of the compliant member 212 that are not end surfaces). The sensing element 23 is not limited to one, and may be a plurality. For the plurality of sensing elements 23, a plurality of sets may be formed by two or two, and two sensing elements 23 in each set are symmetrically disposed and disposed on opposite sides of the same compliant member 212. Then, the two sensing elements 23 arranged on the opposite sides are pulled one by one and pressed one by one, so that the information processing unit 22 can judge the direction of the moment and thereby acquire the direction of the angular velocity. In addition, the plurality of sensing elements 23 can also be arranged on the same side of the compliant member 212 to form an array, and the reliability and fault tolerance of the sensing elements 23 on the moment measurement can be improved by taking the average value of the moment information sensed by the plurality of sets of sensing elements 23 or performing other related processing.
In practical applications, the inner ring 211 and the outer ring 213 of the compliant mechanism 21 are fixed to two torque transmitting members, such as the outer ring 213 and the seal housing 050, respectively, while the inner ring 211 is coaxially fixed to the shaft end 021 of the output portion 020. It can be seen that the inner ring 211 and the outer ring 213 can rotate relatively, and the force between the two will cause the deformation of the compliance member 212, and the resulting deformation information will be sensed by the one or more sensing elements 23.
Further, the sensor 23 transmits the sensed deformation information of the compliant member 212 to the information processing unit 22, and the information processing unit 22 obtains the angular velocity of the object to be measured by processing according to the method shown in the following expression (1-1), for example, based on the deformation information of the compliant member 212.
Fig. 9a is a schematic diagram of the information processing unit 22 according to an embodiment of the present invention, as shown in fig. 9a, the information processing unit 22 includes a circuit board 221, and an arithmetic unit, a memory, an input port, an output port, and the like are integrated on the circuit board 221 to complete functions of information acquisition, information conditioning, calculation output, and the like. In addition, a temperature sensor is integrated on the circuit board 221 for measuring the temperature of the angular velocity sensor itself in real time. It should be noted that the temperature in the formula (1-1) is the temperature of the damping grease itself; in order to facilitate implementation of the scheme and improve information transmission reliability, the temperature sensor is integrated on the information processing unit 22, the temperature of the damping grease is not directly measured, and certain errors are generated in temperature measurement. Considering that the distance between the damping grease and the information processing unit 22 is very close, the metal material between the damping grease and the information processing unit has good thermal conductivity, and the damping grease and the information processing unit are sealed in a shell, so that the temperature difference between the damping grease and the information processing unit is very small, and the measuring result cannot be seriously influenced. Under the condition of high precision requirement, certain compensation measures can be added to the temperature algorithm to achieve the purpose of being closer to the actual temperature of the damping grease, so that the angular velocity can be measured more accurately. The information processing unit 22 may be an existing microprocessor or the like, and a person skilled in the art can know how to select the information processing unit based on the disclosure of the present application in combination with the common general knowledge in the art.
Fig. 9b is a block diagram of the information processing unit 22 according to an embodiment of the present invention, and as shown in fig. 9b, the information processing unit 22 may include an information acquisition unit 222, an information conditioning unit 223, and a calculation output unit 224, which are sequentially connected in a communication manner. The information acquisition unit 221 is configured to read the deformation information of the compliant member 212 sensed by the sensor 23 at a predetermined sampling period. The information conditioning unit 222 is configured to convert the deformation information into recognizable standard information through operations such as amplifying, filtering, rejecting outliers, and removing trend items. The calculation output unit 223 is used for obtaining the output torque tau transmitted between the inner ring 211 and the outer ring 213 according to the standard information and the following formula (1-1)dAnd further based on the output torque taudAnd obtaining and outputting the angular velocity of the measured object. The power supply of the information processing unit 22 and the information exchange with the outside can be realized by a wire 25.
As shown in fig. 2 and 7, the speed measurement module 02 may further include a shielding housing 24 for covering the module and preventing dust and information interference. Specifically, the information processing unit 22 can be fixed to the outer ring 213 of the compliant mechanism 21, and the compliant mechanism 21, the information processing unit 22 and the not-shown sensing element 23 are all accommodated in the shielding shell 24, so as to form a closed environment. The shield housing 24 may be secured to the seal housing 050 by a plurality of fasteners 070. Of course, the number of fasteners 070, such as screws, that may be added or subtracted as appropriate for fastening purposes is not limited to four in the drawings. Further, a seal ring may be added to ensure the sealing performance of the angular velocity sensor 10.
Optionally, the shielding shell 24 may allow one or more wires 25 to pass through the shielding shell 24 and then be communicatively coupled to external devices, such as external power sources, external displays, printing, sharing, etc., to provide power and information exchange to the information processing unit 22 within the shielding shell 24. Preferably, the conductive line 25 may be in the form of a power data composite line, and may be a separate set of power lines and a set of data lines.
Further, the inventor has conducted research and analysis to obtain the mathematical formula shown in the formula (1-1) so that the information processing unit 22 processes the angular velocity of the object to be measured according to the mathematical formula, and of course, in practice, the information processing unit 22 may complete the angular velocity calculation processing by calling an internal or external program.
Wherein ω is the angular velocity; h issThe distance between the disk ends of the input portion 010 and the output portion 020; r is the effective shear radius, (based on the same diameter of the two disk ends, the radius of either disk end); t is the temperature of the damping material 030, which in a preferred embodiment is obtained by a temperature sensor on the circuit board 221; u. of25Represents the viscosity of the silicone oil at 25 ℃; tau isfA friction torque value representing an output portion for eliminating a measurement error caused by friction received by the output portion; i represents the ith sensing element, and n is a positive integer; epsiloniRepresenting the strain value generated at the ith sensing element; t (ε)i) The moment value measured by the ith sensing element is represented. Here, the angular velocity ω is calculated by taking the average of the moments measured by all the sensors 23, so that the accuracy of the measurement can be further improved.
Further, in the present embodiment, the output portion 020 is fitted to the inner hole of the seal housing 050 through an output portion bearing 061, so that the value τ of the friction torque of the output portion isfThe calculation formula of (2) is as follows:
where μ denotes the coefficient of friction of the output part bearing 061, FNTo representThe radial load of the output part bearing 061 and d represents the nominal diameter of the output part bearing 061.
Obviously, in the above mathematical formula, a plurality of factors such as the change of the viscosity of the damping material 030 with the temperature, the friction of the output portion (i.e. the friction of the output portion bearing 061 in this embodiment), the measurement error of the single sensitive element 23, etc. are considered, so that the influence of the error, the noise, etc. is eliminated as much as possible when the angular velocity sensor 10 measures, and the reliability and the accuracy of the measurement result are improved.
Further, the above formula (1-1) can be obtained specifically by reverse extrapolation by combining the formulas (1-2) to (1-6).
In practical application, a rotating shaft of a measured object is connected with a shaft end 011 of the input part 010, so that the shaft end 011 of the input shaft part 010 and the measured object have the same rotating angular speed; at the same time, since the disc end 012 of the input portion 010 slides relative to the damping material 030 when rotating, the disc end 012 receives the damping force F applied thereto by the damping material 030dThe damping force FdNamely, it can be represented by the formula (1-2):
Fd＝-ut·Vs·A (1-2)
wherein the minus sign "-" represents the damping force FdIn the opposite direction to the angular velocity ω;the average linear shear rate of the damping grease at the disc end 012; as described above, r represents the radius corresponding to the effective shearing area of the disk end 012 of the input portion and the disk end 022 of the output portion; h issIndicating the distance between disc tip 012 and disc tip 022; a ═ pi r2The area of the disc end 012; wherein, taking silicone oil as an example, ut＝u25×1.02(25-t)Denotes the viscosity u of the silicone oiltRelation to temperature t, u25Represents the viscosity of the silicone oil at 25 ℃.
Formula (1-2) is equivalent to formula (1-3):
as can be seen from the above formula (1-3), the damping force FdIs related to the magnitude and direction of the input angular velocity omega. Then, the damping force F is based on the principle of acting force and reaction forcedWill be transmitted to the disk end 022 of the output portion 020 through the damping material 030, then the damping force F will be transmitteddVia theoretical moment τd' is represented as:
τd'＝-Fd·0.5r (1-4)
the above theoretical moment τd' the final output is delivered to the compliant mechanism 21 via the disk end 022 of the output portion 020. In this embodiment the output part 020 is fitted to the inner bore of the sealed housing 050 by means of an output part bearing 061, and therefore, due to the friction of the output part bearing 061, it is preferred that the actual output torque τ isdThe calculation of (a) may be expressed as:
τd＝τd'-τf(1-5)
wherein,representing the value of the friction torque, the direction of the friction torque and the actual output torque tau of the output part bearing 061dThe opposite is true.
The speed conversion module 01 of the embodiment can output the torque τdThe partial moment τdWill be applied to the compliant member 212 of the compliant mechanism 21. At this point, the compliance member 212 will develop a strain, which is sensed by the sensing element 23.
FIG. 10 is a schematic view of the compliant mechanism undergoing force deformation in accordance with an embodiment of the present invention. Fig. 10 shows the determination of the positive and negative of the measured angular velocity with respect to the right-hand rule, as viewed from one end of the input shaft of the angular velocity sensor of the present embodiment. In particular, as shown in the figure10, the angular velocity omega is positive in the counterclockwise direction, the tested device rotates forwards, and the sensor outputs the torque tau at the momentdIs also positive, and the output torque taudThe opposite torque (e.g., friction torque) is negative. In addition, the compliant mechanism 21 is deformed as shown in fig. 10, since the sensing elements 23 are respectively attached to two side surfaces of the compliant member 212 in this embodiment, one side surface of the compliant member 212 is pulled and one side surface is pressed, for the sensing element 231 and the sensing element 232 distributed on the two side surfaces, the strain of the sensing element 231 is pulled, the strain of the sensing element 231 is a positive value, the strain of the sensing element 232 is a compressed value, and the strain of the sensing element 231 is a negative value. When the stress is measured, the stress size can be obtained according to the strain value; further, in measuring the direction of angular velocity, it is necessary to consider which of the sensing elements 231 and 232 is under tension and which is under compression, and to distinguish between positive and negative in direction. Thereby, it is possible to obtain:
wherein i represents the ith sensing element, and n sensing elements are all arranged; epsiloniRepresenting the strain value generated at the ith sensing element; t (ε)i) The moment value measured by the ith sensing element is represented. The terms "strain value" and "moment value" are understood to mean the absolute value of strain and the absolute value of moment. Further, formula (1-1) can be obtained by substituting formula (1-4), (1-5) or (1-6) for formula (1-3). Obviously, if the angular velocity ω of the measured object is to be known, it is necessary to obtain the average moment measured by all the sensors 23 in advance, and then the angular velocity amount can be calculated according to the equation (1-1). Of course, other known amounts, e.g. hsR, t, viscosity u of silicone oil25The friction torque value tau of the output partfIt may be stored in advance in the storage unit of the information processing unit 22 or in an external storage device.
As shown in fig. 3, after the speed conversion module 01 and the speed measurement module 02 are assembled, the two modules are assembled together, specifically: on one hand, an inner ring 211 of the compliant mechanism 21 is matched and fixed with a shaft end 022 of an output part 020, and on the other hand, an outer ring 213 of the compliant mechanism 21 is fixed and mounted with the seal shell 050, and the fixed connection mode is not limited to threads, bonding, welding and the like; after the two installation tasks are completed, the shielding shell 24 can be installed for the speed measurement module 02, and finally the shielding shell 24 is fixed through the fastener 070.
The above embodiments describe the assembly structure of the speed conversion module 01 and the speed measurement module 02 in detail, and it is understood that the present invention includes, but is not limited to, the configurations listed in the above embodiments, and any modifications based on the configurations provided by the above embodiments are within the scope of the present invention. One skilled in the art can take the contents of the above embodiments to take a counter-measure.
According to the technical scheme of the embodiment of the invention, for the measured object, the angular velocity sensor of the embodiment acquires the angular velocity of the measured object in a direct measurement mode, compared with the traditional indirect measurement, the measurement result is more accurate, the error introduced during measurement is small, and the measurement precision is further ensured.
Specifically, this angular velocity sensor passes through speed conversion module and converts the angular velocity information of testee into moment information output and transmit to the speed measurement module, and then with the help of this moment information of speed measurement module perception to the angular velocity of testee is obtained according to this moment information back-stepping, in this measurement structure, measures the reliability height, and the accuracy has also obtained effectual assurance simultaneously, and can also reduce angular velocity sensor's manufacturing cost and complexity. More specifically, the speed measuring module calculates the angular speed of the measured object in a reverse-deduction mode according to the mapping relation between the viscosity of the damping material, the deformation of the compliant mechanism and the angular speed of the measured object in the process of calculating the angular speed, and the calculation process is simple and easy to achieve.
The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the appended claims.
Claims (17)
1. An angular velocity sensor, characterized by comprising:
the speed conversion module is used for receiving angular speed information of a measured object and converting the angular speed information into moment information; and
and the speed measuring module is connected with the speed conversion module and used for receiving and acquiring the moment information and obtaining the angular speed of the measured object according to the moment information.
2. The sensor of angular velocity according to claim 1, characterized in that the speed conversion module comprises an input portion and an output portion arranged coaxially;
the input portion and the output portion each having an axial end and a disk end, the disk end of the input portion being located at the distal end of the input portion, the disk end of the output portion being located at the proximal end of the input portion, and the disk end of the input portion being spaced from the disk end of the output portion;
the shaft end of the input part is connected with the object to be measured and used for receiving the angular velocity information; the shaft end of the output part is connected with the speed measuring module and used for outputting the torque information;
and a damping material is disposed between the disc end of the input portion and the disc end of the output portion.
3. An angular rate sensor as claimed in claim 2, wherein said damping material is damping grease.
4. The sensor of angular velocity according to claim 2, wherein said speed conversion module further comprises a flange and a sealed housing; the shaft end of the input part is matched with the inner hole of the flange plate through an input part bearing and can rotate relative to the flange plate; the shaft end of the output part is matched with the inner hole of the sealing shell through an output part bearing and can rotate relative to the sealing shell; the seal housing is coupled to the flange and is adapted to receive the input portion, the output portion and the damping material.
5. The angular velocity sensor according to claim 4, wherein an oil hole is provided in the seal housing, and the damping material is injected between the disc end of the output portion and the disc end of the input portion through the oil hole.
6. The sensor of angular velocity according to claim 2, characterized in that the shaft end of the input portion is of a shaft-like structure, or,
the shaft end of the input part is of a hollow shaft structure so as to reduce the axial size of the installation of the angular velocity sensor.
7. The sensor of angular velocity according to claim 1, characterized in that, the speed measurement module comprises a compliant mechanism, a sensing element and an information processing unit;
the compliant mechanism is connected with the speed conversion module; the sensing element is arranged on the compliant mechanism and used for sensing the deformation of the compliant mechanism; and the information processing unit acquires the output of the sensitive element and is used for obtaining the angular velocity of the measured object according to the deformation of the compliant mechanism.
8. The sensor of angular velocity according to claim 7, wherein the speed measurement module further comprises a shielding housing, the compliant mechanism, the information processing unit and the sensing element being disposed within the shielding housing.
9. The sensor of angular velocity according to claim 7, wherein the compliant mechanism comprises an inner ring and an outer ring arranged concentrically and connected by one or more compliant members capable of providing elastic deformation; the sensitive element is arranged on the flexible member; the inner ring is connected with the speed conversion module, and the inner ring can be driven by the speed conversion module to rotate relative to the outer ring.
10. The sensor of angular velocity according to claim 9, characterized in that two opposite sides of each compliant member are respectively provided with at least one sensing element, so that the information processing unit can judge the direction of the moment and thus obtain the direction of the angular velocity.
11. The angular velocity sensor according to claim 8, wherein a wire is led out from the shield case, and the information processing unit performs information exchange with the outside through the wire.
12. The angular velocity sensor according to claim 7, wherein the information processing unit includes an information acquisition unit, an information conditioning unit, and a resolving output unit that are in communication connection in sequence;
the information acquisition unit is used for reading deformation information sensed by the sensitive element in a preset sampling period; the information conditioning unit is used for converting the deformation information into standard information; and the resolving output unit is used for obtaining the transmitted torque of the compliant mechanism according to the standard information, obtaining the angular speed of the measured object according to the torque and outputting the angular speed.
13. A method of measuring angular velocity, characterized by comprising:
receiving the angular velocity output by a measured object by using a velocity conversion module, and converting the angular velocity information into moment information through damping materials;
receiving and sensing the torque information by using a speed measuring module; and
and obtaining the angular velocity of the measured object by using the velocity measurement module according to the sensed moment information.
14. The method for measuring angular velocity according to claim 13, wherein the velocity measurement module comprises a compliant mechanism, a sensing element and an information processing unit; the process that the speed measurement module receives and senses the moment information comprises the following steps:
receiving the moment information by using the compliant mechanism, and sensing the moment information received by the compliant mechanism by using the sensing element; and
and obtaining the angular velocity of the measured object by using the information processing unit according to the moment information.
15. The method of measuring angular velocity of claim 14, wherein the velocity conversion module comprises an input portion and an output portion arranged coaxially, the input portion and the output portion each having an axial end and a disc end, the disc end of the input portion being located at a distal end of the input portion, the disc end of the output portion being located at a proximal end of the input portion, and the disc end of the input portion being spaced apart from the disc end of the output portion; the speed conversion module receives the angular velocity of the measured object, and converts the angular velocity into the torque information, wherein the process comprises the following steps:
connecting the shaft end of the input part with the object to be measured so as to receive angular velocity information of the object to be measured;
utilizing the damping material between the disc end of the input portion and the disc end of the output portion to convert the angular velocity information to moment information; and
and the shaft end of the output part is connected with the speed measuring module so as to transmit the torque information to the speed measuring module.
16. The method for measuring angular velocity according to claim 15, wherein the calculation formula of the angular velocity of the object to be measured is:
<mrow> <mi>&omega;</mi> <mo>=</mo> <mfrac> <mrow> <mn>3</mn> <msub> <mi>h</mi> <mi>s</mi> </msub> <mrow> <mo>(</mo> <mrow> <mfrac> <mn>1</mn> <mi>n</mi> </mfrac> <munderover> <mo>&Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>n</mi> </munderover> <mi>T</mi> <mrow> <mo>(</mo> <msub> <mi>&epsiv;</mi> <mi>i</mi> </msub> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>&tau;</mi> <mi>f</mi> </msub> </mrow> <mo>)</mo> </mrow> </mrow> <mrow> <msup> <mn>1.02</mn> <mrow> <mo>(</mo> <mn>25</mn> <mo>-</mo> <mi>t</mi> <mo>)</mo> </mrow> </msup> <msub> <mi>u</mi> <mn>25</mn> </msub> <msup> <mi>&pi;r</mi> <mn>4</mn> </msup> </mrow> </mfrac> <mo>,</mo> <mi>i</mi> <mo>=</mo> <mn>1</mn> <mo>,</mo> <mn>2</mn> <mo>,</mo> <mn>...</mn> <mo>,</mo> <mi>n</mi> </mrow>
wherein ω is the angular velocity; h issThe distance between the disk ends of the input portion and the output portion; r is the effective shearing radius of the two disc ends; t is the temperature of the damping material; u. of25Represents the viscosity of the silicone oil at 25 ℃; tau isfA value representing a friction torque of the output portion; i represents the ith sensitive element, n are total, and n is a positive integer; epsiloniRepresenting the strain value generated at the ith sensing element; t (ε)i) The moment value measured by the ith sensing element is represented.
17. The method of measuring angular velocity according to claim 16, wherein the output portion is engaged with an inner bore of a sealed housing through an output portion bearing, and the friction torque value τ of the output portionfThe calculation formula of (2) is as follows:
<mrow> <msub> <mi>&tau;</mi> <mi>f</mi> </msub> <mo>=</mo> <mfrac> <mrow> <msub> <mi>&mu;F</mi> <mi>N</mi> </msub> <mi>d</mi> </mrow> <mn>2</mn> </mfrac> </mrow>
where μ denotes the coefficient of friction of the output section bearing, FNRepresenting the output section bearing radial load; d denotes the nominal diameter of the output section bearing.
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| CN112946312A (en) * | 2021-02-01 | 2021-06-11 | 河北工业大学 | Non-contact rotating speed sensor of flexible polymer and rotating speed and swing monitoring method |
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Address after: Room 101, block B, building 1, No. 1601, Zhangdong Road, China (Shanghai) pilot Free Trade Zone, Pudong New Area, Shanghai, 201203 Patentee after: Shanghai minimally invasive medical robot (Group) Co.,Ltd. Address before: 201203, 501, Newton Road, Zhangjiang hi tech park, Shanghai, Pudong New Area Patentee before: Microport (Shanghai) Medbot Co.,Ltd. |