CN108988610A - The generation device and production method and error cutting method of high-accuracy electromagnetic force - Google Patents
The generation device and production method and error cutting method of high-accuracy electromagnetic force Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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Abstract
This application discloses a kind of high-accuracy electromagnetic force generation device, described device includes electromagnetic coil, permanent magnet and position control mechanism；Wherein, the position control mechanism is connect with the electromagnetic coil, and for adjusting position and the angle of the electromagnetic coil, the electromagnetic coil is suspended from above the permanent magnet by the position control mechanism.Disclosed herein as well is use the method that described device generates the method for high-accuracy electromagnetic force and error is cut down.
Description
Technical field
This application involves a kind of generation device of high-accuracy electromagnetic force and production method and error cutting methods, belong to boat
Its device field.
Background technique
The thrust or impulse measurement of spaceborne thruster, which generally use, the directly measuring system progress ground survey such as rocks, hangs pendulum
Amount.Measuring system calibration directly determines the precision of measuring system, and the system parameter of measuring system, input and defeated can be demarcated by demarcating
Relationship out.In calibration technique, high-precision calibration power generates most important.How high-precision calibration power is generated, especially
The error evaluation for how demarcating power be a technical problem to be solved urgently and thrust or impulse measurement accuracy assessment it is important according to
According to.
Summary of the invention
According to the one aspect of the application, a kind of high-accuracy electromagnetic force generation device is provided, described device includes electromagnetism
Coil, permanent magnet and position control mechanism；
Wherein, the position control mechanism is connect with the electromagnetic coil, for adjust the electromagnetic coil position and
Angle, the electromagnetic coil are suspended from above the permanent magnet by the position control mechanism.
Preferably, the position control mechanism includes that three displacements adjust unit and two angle regulating units；
Wherein, it is described three displacement adjust unit be used for adjusted from three Spatial Dimensions the electromagnetic coil front and back,
Left and right and height are displaced；Described two angle regulating units are used to adjust the drift angle and the elevation angle of the electromagnetic coil.
A kind of method for generating high-accuracy electromagnetic force is provided according to another aspect of the present invention, and the method includes following steps
It is rapid:
1) high-accuracy electromagnetic force generation device of any of claims 1 or 2 is mounted on device for measuring force, wherein by institute
State the induction part that permanent magnet is mounted on device for measuring force；
2) angle leveling is carried out to the electromagnetic coil by position control mechanism and displacement is rectified a deviation；
3) spacing for changing the permanent magnet and the electromagnetic coil, when electromagnetic force maximum time is away from being set as the permanent magnetism
The spacing of iron and the electromagnetic coil.
Preferably, in the step 2), specific step is as follows for the angle leveling:
The angle for gradually adjusting the electromagnetic coil, the electromagnetic force for obtaining measurement are gradually reduced, and reach first position, note
Record electromagnetic force size；Secondly, reversely adjusting drift angle since first position, the electromagnetic force measured is gradually increased, Zhi Houyou
It is gradually reduced, when occurring equal with first position electromagnetic force, reaches the second position, record reaches the second position from first position
Corner α；Finally, reversely rotating α/2 again from the second position, reach the third place, realizes angle leveling.
Preferably, the angle leveling includes drift angle leveling and elevation angle leveling, the tool of the drift angle leveling and elevation angle leveling
Body step is identical.
Preferably, specific step is as follows for the displacement correction:
It gradually adjusts and is displaced to side, the electromagnetic force for obtaining measurement is gradually increased, and is reached the first displacement, is recorded electromagnetic force
Size；Be displaced secondly, being adjusted since the first displacement place to the other side, the electromagnetic force measured is gradually reduced, later again by
It is cumulative big, when occurring equal with the first displacement electromagnetic force, second displacement is reached, records from the first displacement and reaches second displacement
It is displaced w；Finally, adjusting displacement w/2 from position is 2. reversed again, reaches third displacement, realize displacement correction.
Preferably, the displacement correction is rectified a deviation including front and back and left and right is rectified a deviation, the front and back correction and the left and right correction
Specific steps it is identical.
The high-precision electromagnetism for generating high-accuracy electromagnetic force device and generating is provided according to another aspect of the present invention
The method of power progress error reduction, which is characterized in that the described method includes:
A) electromagnetism constant force relative error is given；
B) determine that effective enclosing interval, effective enclosing interval include that effective end face is inclined using electromagnetism constant force measurement method
Angle, effective end face eccentric and live end identity distance from；Wherein:
Effective end face inclination angle is that meet electromagnetism constant force error opposite less than the electromagnetism constant force given in the step a)
When error, inclination angle where the electromagnetic coil and the permanent magnet between plane, including drift angle and the elevation angle；
Effective end face eccentric is that meet electromagnetism constant force error opposite less than the electromagnetism constant force given in the step a)
When error, the Departure displacement of the end face center of the electromagnetic coil and the permanent magnet；
The live end identity distance is from being that meet electromagnetism constant force error opposite less than the electromagnetism constant force given in the step a)
When error, the distance between plane where the electromagnetic coil and the permanent magnet；
C) it in effective enclosing interval, using linear fit method, establishes electromagnetism constant force and controls the relationship of electric current,
And determine error of fitting.
Preferably, in the step c), the method for the linear fit is Sectioned linear fitting method.
Preferably, the method also includes cutting down the installation error for generating high-accuracy electromagnetic force device, the installation
The cutting method of error is, the drift angle and elevation angle control where keeping electromagnetic coil and the permanent magnet between plane 0.3 °~
In the range of 0.6 °, and permanent magnet deviates rotatable parts plane of symmetry distance and meets | b/Lf|=0.01, electromagnetism constant force is installed at this time
Constant force error is less than 0.21 ‰ caused by error, wherein and b is the distance that permanent magnet deviates the device for measuring force induction part plane of symmetry,
LfFor electromagnetic force device for measuring force induction part the arm of force.
The beneficial effect that the application can generate includes:
1) device provided herein can generate high-precision electromagnetism constant force, and apparatus structure is simple, can adjust
Control.
2) device provided herein is convenient for the analysis of electromagnetism constant force, and it is special to be conducive to system evaluation electromagnetism constant force
Property.
3) device provided herein has preferable versatility, suitable for the similar second order vibration power for rocking system
The calibration power for learning measuring system generates and error analysis method.
4) electromagnetism constant force production method provided herein, it is easy to operate, it is lower to instrument and equipment requirement, it reduces into
This.
Detailed description of the invention
Fig. 1 is the schematic diagram of electromagnetism constant force generation and measuring device；
Fig. 2 is the leveling of end slope angle, end face eccentric distance is rectified a deviation, the multifunction electromagnetic constant force of end face spacing setting is surveyed
Measure device figure；
Fig. 3 is electromagnetism constant force with control current curve；
Fig. 4 is the schematic diagram of end slope, end face eccentric, end face spacing；
Fig. 5 is the schematic diagram of electromagnetism constant force installation error；
Fig. 6 is the schematic diagram of end slope leveling, end face eccentric correction, the setting of end face spacing；
Fig. 7 is magnet signal constant force installation error schematic diagram；
Fig. 8 is to work as b/LfElectromagnetism constant force installation error changes when=0.01；
Fig. 9 is to work as b/LfElectromagnetism constant force installation error changes when=- 0.01.
Component and reference signs list:
1- multiturn coil 2- permanent magnet 3- meausring apparatus
The 4- drift angle regulatio elevation angle unit 5- adjusts unit 6- upper and lower displacement and adjusts unit
7- left and right displacement adjusts unit 8- and moves forward and backward adjusting unit
Specific embodiment
The application is described in detail with reference to the accompanying drawing, but the application is not limited to these embodiments.
The formal notation being hereinafter related to, is defined as follows:
f0: electromagnetism constant force
I: control electric current
a0、a1: fitting coefficient
Δf0: electromagnetism constant force error of fitting
Δf0Standard deviation
Electromagnetism constant force is fitted relative error
θ: effective end face tilt angle of multiturn coil and permanent magnet opposing end surface
θth: effective end face tilt angle of multiturn coil and permanent magnet opposing end surface limit
de: effective end face eccentric distance of multiturn coil and permanent magnet opposing end surface
de,th: effective end face eccentric distance of multiturn coil and permanent magnet opposing end surface limit
ds: the live end interplanar distance of multiturn coil and permanent magnet opposing end surface
ds0: the initial spacing in effective end face of multiturn coil and permanent magnet opposing end surface
ds,th: the live end interplanar distance of multiturn coil and permanent magnet opposing end surface limit
Lf: electromagnetism constant force acting force arm
B: the distance of the permanent magnet installation site deviation rotatable parts plane of symmetry
α: effective end face drift angle of multiturn coil and permanent magnet opposing end surface
αth: effective end face drift angle of multiturn coil and permanent magnet opposing end surface limit
β: effective end face elevation angle of multiturn coil and permanent magnet opposing end surface
βth: effective end face elevation angle of multiturn coil and permanent magnet opposing end surface limit
f0xy: f0It is projected in XOY plane
f0z: f0Along the projection of Z axis
(xB0,yB0,zB0): the initial coordinate of intersection points B as α=β=0
dAB: the distance of origin O to AB linear projection
M: the torque that electromagnetism constant force generates
f0p: generate the electromagnetism constant force of torque
Installation error causes electromagnetism constant force error
Electromagnetism constant force measurement method and device
It is influenced to study coil and permanent magnet end slope, end face eccentric, end face spacing etc. to electromagnetism constant force, needs electricity
The measurement method and device of magnetic constant force, to realize that the adjustings such as end slope, end face eccentric, end face spacing control.
It is that generation and the schematic diagram of measurement method and device, the electromagnetism constant force generation device of electromagnetism constant force are main if Fig. 1 shows
It is made of the multiturn coil 1 and permanent magnet 2 that are powered, is generated by magnetic field between multiturn coil 1 and the opposing end surface of permanent magnet 2
Electromagnetism constant force, permanent magnet 2 are mounted on the precision balance pallet of meausring apparatus 3, using the big of precision balance measurement electromagnetism constant force
It is small.
As shown in Figure 4 due to the end slope angle (Fig. 4 a) between two end faces, end face eccentric distance (Fig. 4 b), end face
Spacing (Fig. 4 c) can all influence Distribution of Magnetic Field between end face, need to study these factors to the affecting laws of electromagnetism constant force.And
Relational model between electromagnetism constant force and control electric current is established, will pass through the high-precision electromagnetism constant force needed for current control obtains,
It is used as calibration power.
In order to study the above problem, electromagnetism constant force measurement method and device are needed, leveling, end for end slope angle
The correction of face eccentric distance, the setting of end face spacing, this multifunction electromagnetic constant force measurement method and device, if Fig. 2 shows, the dress
It sets including drift angle regulatio unit 4, the elevation angle adjusts unit 5, and upper and lower displacement adjusts unit 6, and left and right displacement adjusts unit 7 and front and back
Displacement adjusts unit 8.Wherein, drift angle regulatio unit 4, the elevation angle adjust unit 5, and upper and lower displacement adjusts unit 6, and left and right displacement is adjusted
Unit 7 and move forward and backward adjust unit 8 be arranged on the apparatus for adjusting position pedestal being connect with multiturn coil 1.
In one embodiment, multiturn coil 1 is sheathed on one end of coil brace, the other end and drift angle tune of coil brace
Unit 4 is saved to connect.One end face permanent magnet 2 of multiturn coil 1 is arranged.The elevation angle adjusts unit 5 and is set to drift angle regulatio unit 4
On bottom surface and it is attached thereto.Left and right displacement adjusts unit 7 and is set to 5 lower section of elevation angle adjusting unit and is attached thereto.Upper and lower displacement
Unit 6 is adjusted to be set to 7 lower section of left and right displacement adjusting unit and be attached thereto.It moves forward and backward adjusting unit 8 and is set to bottom
6 lower section of transposition section unit is simultaneously attached thereto.
Wherein, drift angle regulatio unit 4 is able to drive multiturn coil 1 and is rotated (the x-axis in Fig. 1 in the plane of drift angle
Rotation), elevation angle adjusting unit 5 is able to drive multiturn coil 1 and is rotated (the y-axis rotation in Fig. 1) in elevation plane, on
Bottom offset adjusting unit 6 can drive multiturn coil 1 to slide up and down along vertical direction and (move down on z-axis direction along Fig. 1
It is dynamic), left and right displacement, which adjusts unit 7 and is able to drive multiturn coil 1, slides left and right (along Fig. 1 y-axis direction along horizontal direction
Move left and right), it moves forward and backward and adjusts unit 8 and be able to drive multiturn coil 1 and slid back and forth to inside and outside vertical direction (along Fig. 1
Middle x-axis direction is moved forward and backward).The device has function are as follows: 1) ability that front and rear, left and right, upper and lower displacement adjusted, and adjust position
The graduated scale of shifting；2) ability of rotation angle is adjusted around x-axis and y-axis, and adjusts the dial of rotational angle.Need three
Two angular adjustments such as a displacement adjusting, drift angle and the elevation angle are (since coil and permanent magnet opposing end surface are that axial symmetry does not need to roll
Angle adjust) method and apparatus.
The production method of electromagnetism constant force: electromagnetism is generated using coil and permanent magnet and demarcates power method.Using multiturn coil with
Permanent magnet combinations of pairs generates electromagnetic force (referred to as " multiturn coil+permanent magnet " method), and multiturn coil is electric by the low-power of standard
Source directly drives, and permanent magnet installation is rocked on rotatable parts in actual use.
Due to different coil turns, different permanent magnet diameter and thickness, different size of electromagnetism constant force can get, therefore,
It is adjusted according to coil turn, permanent magnet diameter and thickness is adjusted, the electromagnetism constant force of the available various range abilities of covering, Yi Jiyan
System covers the seriation electromagnetism constant force generation device of various ranges.
Therefore, electromagnetism constant force production method is the effective ways of miniaturization, high-precision, wide-range covering.
As Fig. 3 needs to establish electromagnetism constant force and control electricity to realize the purpose of control electromagnetism constant force by control electric current
Relationship between stream.Relationship between electromagnetism constant force and control electric current, generally uses linear fit method, is
f0(I)=a0+a1I+Δf0 (1)
In formula,For constant force error of fitting, zero-mean normal distribution is obeyed, it is quasi- according to " 3 σ " principle
Error is closed to be limited toFitting relative error is limited to
Using being gradually increased and reducing control current methods, electromagnetism constant force method is measured by multiple process and backhaul, is built
Relationship between vertical electromagnetism constant force and control electric current；Using linear regression method, electromagnetism constant force and control current relationship curve are obtained,
And linear fit error.
It is coil and the relative position of permanent magnet end face of electromagnetism constant force generation device such as Fig. 4.It is found according to Germicidal efficacy
The end slope angle of multiturn coil and permanent magnet opposing end surface, end face eccentric distance, end face spacing etc., by changing electromagnetic field
Distribution causes the error of electromagnetism constant force.Given electromagnetism constant force relative error is 1% or 1 ‰, then correspond to effective end face inclination angle (| θ
|≤θth), effective end face eccentric distance (| de|≤de,th), live end interplanar distance (| ds|≤ds,th) etc. parameter areas and formed altogether
Same envelope, when these state modulators are in the parameter area or common envelope, provided electromagnetism constant force relative error meet 1% or
1 ‰, to obtain high-precision electromagnetism constant force.
It therefore meets when electromagnetism constant force error of fitting is 1% or 1 ‰, electromagnetism constant force is with control current relationship
f0(I)=a0+a1I+Δf0(|θ|≤θth,|de|≤de,th,|ds|≤ds,th)
(3)
In formula,Or
Caused by electromagnetism constant force installation error is not as the quality of electromagnetism constant force generation device, but since permanent magnet is pacified
Caused by holding position is unreasonable, as shown in figure 5, being the schematic diagram of electromagnetism constant force installation error.Electromagnetism constant force f0Direction out of plumb
The rotatable parts plane of symmetry, drift angle α, f0x=f0Cos α is the component of the vertical rotatable parts plane of symmetry, f0y=f0Sin α is parallel
The component of the rotatable parts plane of symmetry, LfFor the arm of force, B point is permanent magnet installation site, deviates rotatable parts plane of symmetry distance and is
b。
As shown in figure 5, the vertical rotatable parts plane of symmetry (α=0) in electromagnetism constant force direction, and permanent magnet is mounted on rotation section
On the part plane of symmetry (b=0), under this ideal conditions, electromagnetism constant force f0To the torque M of fulcrum O0=f0Lf.If electric
The magnetic constant force direction out of plumb rotatable parts plane of symmetry, and permanent magnet installation site deviates the rotatable parts plane of symmetry, at this point, electromagnetism
Constant force f0Torque to fulcrum O is
M=(f0cosα)Lf-(f0sinα)b
=f0[cosα-(b/Lf)sinα]Lf (4)
Electromagnetism constant force is equivalent to by ideally f0Become f0p=f0[cosα-(b/Lf) sin α], cause constant force error.
Clearly as the electromagnetism constant force direction out of plumb rotatable parts plane of symmetry and permanent magnet installation site deviation rotatable parts are symmetrical
Face, caused constant force error are known as electromagnetism constant force installation error.
In summary:
(1) electromagnetism constant force generation device has structure simple and quality is small, is easily installed and debugs, constant force range covering model
Enclose big feature.
(2) electromagnetism constant force error of fitting reflection fitting repeatability error, influence factor have end slope, end face eccentric, end
Interplanar distance etc., i.e. electromagnetism constant force error of fitting include end slope error, end face eccentric error and end face interval error.
(3) reasonability that electromagnetism constant force installation error reflection electromagnetism constant force generation device is installed and used, influence factor have perseverance
Whether the whether vertical rotatable parts plane of symmetry in power direction, permanent magnet installation site deviate the rotatable parts plane of symmetry, i.e. electromagnetism constant force
Installation error includes constant force deflection error and constant force location error.
Electromagnetism constant force error of fitting analysis method and cutting method
In the constant force scaling method of system parameter, electromagnetism constant force production method can provide high precision constant force, effectively cut down
System parameter calibration constant force error, electromagnetism constant force error include electromagnetism constant force error of fitting and electromagnetism constant force installation error, the former
And electromagnetism constant force production method reflection electromagnetism constant force related with device design generates quality height, and the latter and electromagnetism constant force generate dress
The installation set and reasonable employment is reflected whether using related, therefore, cutting down electromagnetism constant force error should pay the utmost attention to cut down and control
Electromagnetism constant force error of fitting.
The analysis of Influential Factors of electromagnetism constant force
As shown in figure 4, for end slope, the schematic diagram of end face eccentric, end face spacing.End slope refers to coil and permanent magnetism
Two end faces of iron are not parallel, caused electromagnetism constant force error, which is known as electromagnetism constant force end slope error；End face eccentric
Refer to that two end faces parallel condition lower end surface center offsets with one another certain distance, caused electromagnetism constant force error, which is known as
Electromagnetism constant force end face eccentric error；End face spacing refers to that two end faces are parallel and distance between condition lower end surface without acceptance of persons, also can
Magnet signal constant force size is influenced, error is known as electromagnetism constant force end face interval error.
Therefore, it influences electromagnetism constant force and the principal element of error is caused to have: end slope, end face eccentric, end face spacing.
The methods of the leveling of end slope, the correction of end face eccentric, the setting of end face spacing
As shown in fig. 6, for the schematic diagram of end slope leveling, end face eccentric correction, the setting of end face spacing.Experimental study table
Bright: 1) when end face is parallel, electromagnetic force is maximum, reduces as drift angle and the elevation angle increase electromagnetic force, and electromagnetic force about drift angle,
The elevation angle be it is symmetrical, this is the leveling experimental basis of end slope；2) under the parallel condition of end face, when end face center is overlapped
When electromagnetic force it is minimum, increase as end face eccentric distance increases electromagnetic force, and electromagnetic force is symmetrical about end face eccentric distance
Distribution, this is the correction experimental basis of end face eccentric；3) under the conditions of end slope leveling, end face eccentric correction, with end
Identity distance is gradually increased from ascending, and electromagnetic force undergoes ascending, descending process, electromagnetism in in-between convex section
Power variation is slower, and the setting of end face spacing should be in the end face spacing range, this is the experimental basis of end face spacing setting.
The method of end slope leveling, the end face eccentric correction, the setting of end face spacing of electromagnetism constant force are as follows:
(1) leveling method (leveling method rotated and reverse) of end slope.It is divided into drift angle leveling and elevation angle leveling two
A process is illustrated so that drift angle levels as an example, firstly, gradually positive adjust drift angle, the electromagnetic force measured is gradually reduced,
1. in-position, records electromagnetic force size；Secondly, reversely adjusting drift angle since position is 1., the electromagnetic force measured is gradually
Increase, be gradually reduced again later, when occur with 1. electromagnetic force is equal for position when, 2. in-position, records from position and 1. reaches position
Set corner α 2.；Finally, 2. reversely rotating α/2 again from position, reach position 3., realizes the purpose of drift angle leveling (referring to third
Zhang Zhong, sensor cut down the alignment methods that deflection error method-rotates and reverse).Elevation angle leveling method and drift angle leveling method
It is identical, it is leveled by drift angle leveling and the elevation angle, reaches the leveling purpose of end slope.
(2) method for correcting error (method for correcting error of forward direction movement and reverse movement) of end face eccentric.It is divided into entangling for left and right bias
Eccentric two processes of correction partially and up and down are illustrated, in the leveling of end slope angle by taking the eccentric correction in left and right as an example
Later, firstly, gradually left-hand adjusts displacement, the electromagnetic force measured is gradually increased, and 1., record electromagnetic force is big for in-position
It is small；Secondly, dextrad adjusts displacement since position is 1., the electromagnetic force measured is gradually reduced, and is gradually increased again later, when out
When now 1. electromagnetic force is equal with position, 2., record is from the position 1. displacement w of in-position 2. for in-position；Finally, 2. from position
It is reversed again to adjust displacement w/2, reach position 3., realizes the purpose of the eccentric correction in left and right.Upper and lower eccentric method for correcting error is therewith
It is identical, by the eccentric correction in left and right and correction eccentric up and down, reach the correction purpose of end face eccentric.
(3) method of end face spacing setting.After the leveling of end slope, the correction of end face eccentric, it is ascending by
Gradually change end face spacing, searches out the more slow convex section of electromagnetism calibration power variation, the setting of end face spacing should be in the section
It is interior.
The error of fitting analysis method of electromagnetism constant force and control electric current
The influence factor of electromagnetism constant force error has end slope, end face eccentric, end face spacing etc., establishes electromagnetism constant force and control
Current relationship processed, it is necessary to indicate effective end face inclination angle (effective drift angle and the elevation angle indicate), the effective end face eccentric that the relationship is set up
The conditions such as distance, live end interplanar distance.
The method for establishing electromagnetism constant force and controlling current relationship, analyzing error of fitting are as follows:
(1) electromagnetism constant force error is given, generally given relative error is 1% or 1 ‰.
(2) under the conditions of the leveling of end slope, the correction of end face eccentric, by being gradually increased or reducing end face spacing,
Establish electromagnetism constant force and end face spaced relationship f0-ds, change in more slow section in electromagnetism constant force, set some end face spacing
ds0, that is, have when live end interplanar distance | ds-ds0|≤ds,thWhen, electromagnetism constant force error is 1% or 1 ‰.
(3) within the scope of live end interplanar distance | ds-ds0|≤ds,th, drift angle α is gradually increased by end face leveling position respectively
With elevation angle β, α-d is established respectivelysWith β-dsRelation curve, when determining that electromagnetism constant force error is 1% or 1 ‰, effective end face drift angle is
αthIt is β with the elevation angleth, that is, have when effective end face drift angle | α |≤αthThe elevation angle and | β |≤βthWhen, electromagnetism constant force measurement error is 1%
Or 1 ‰.
(4) within the scope of live end interplanar distance | ds-ds0|≤ds,th, it is gradually increased respectively partially by end face eccentric correction position
Heart distance de, establish de-dsRelation curve, when determining that electromagnetism constant force error is 1% or 1 ‰, effective end face eccentric distance de,th,
Have when effective eccentricity is from | de|≤de,thWhen, electromagnetism constant force error is 1% or 1 ‰.
(5) with required electromagnetism constant force range f0d≤f0≤f0uFor target, control curent change section I is determinedd≤I≤Iu,
And control current sample point Ii(i=1,2 ..., n), in the process and backhaul for being gradually increased or reducing control electric current, to every
A current sample point IiMeasurement electromagnetic force method is repeated several times in (i=1,2 ..., n) sampling, utilizes step (1) to step (4) side
Method, determine live end interplanar distance, effective drift angle and the elevation angle, effective eccentricity from etc. common enclosing interval.
(6) in common enclosing interval, sampling linear approximating method establishes electromagnetism constant force and control current relationship, and really
Determine error of fitting, indicate envelope boundary condition and error of fitting, to obtain electromagnetism constant force and control current relationship.
Electromagnetism constant force with control current relationship be
f0(I)=a0+a1I+Δf0(|α|≤αth,|β|≤βth,|de|≤de,th,|ds-ds0|≤ds,th)
(5)
In formula,For electromagnetism constant force error of fitting, zero-mean normal distribution is obeyed, according to " 3 σ " original
Reason error of fitting is limited toFitting relative error is limited to
Therefore, electromagnetism constant force and control current relationship are established, firstly, it is necessary to which using electromagnetism constant force measurement method, searching has
End face inclination angle, effective eccentricity are imitated from, effective spacing；Secondly, repeatedly being weighed in effective enclosing interval using process and backhaul
Measurement method again is combined with using sectional linear fitting method, is established electromagnetism constant force and control current relationship and is determined fitting
Error.
In order to reduce error of fitting, obtain higher precision, sectional linear fitting method can be used.It cuts down and control electromagnetism is permanent
Power error of fitting method exactly selects and controls common envelope area size, and common envelope region is smaller, and the fitting of electromagnetism constant force misses
Difference is smaller, but stringenter to the constraints such as effective end face drift angle and the elevation angle, effective end face eccentric distance, live end interplanar distance.
Electromagnetism constant force error of fitting analysis method, mainly solves the problems, such as how to generate high-precision electromagnetism constant force, later
High-precision electromagnetism constant force could be obtained by relating to how to install and use, that is, be related to electromagnetism constant force installation error problem analysis.Electromagnetism is permanent
Power error includes error of fitting and installation error, and installation error includes deflection error and location error again.
Electromagnetism constant force installation error includes deflection error and location error, needs to miss electromagnetism constant force deflection error and position
Difference is described.As shown in fig. 7, being YOZ plane to rock the rotatable parts plane of symmetry when equilbrium position, rocking shaft as Z axis, build
Vertical right-handed coordinate system, rocks the rotatable parts plane of symmetry and encloses and turn about the Z axis, and torsion angle is that (hand thumb is directed toward Z-direction, index finger to θ
It is directed toward and is counterclockwise positive)；Electromagnetism constant force direction is AB, and drift angle is that (AB is projected in XOY plane to the right to be positive, to the left is α
It is negative), the elevation angle is β (looks up be positive, overlooks be negative), i.e., electromagnetism constant force deflection error is using drift angle and elevation angle expression；Permanent magnet peace
At the B point of rotatable parts surface, B point deviate the rotatable parts plane of symmetry distance be b, i.e., using deviate the rotatable parts plane of symmetry away from
From expression permanent magnet error in mounting position.
At this point, electromagnetism demarcates power f0Component be
f0xy=f0Cos β, f0z=f0sinβ (7)
In formula, f0xyFor f0It is projected in XOY plane, generates torque, f to shaft Z is rocked0zPower is not generated to shaft Z is rocked
Square axis.Under the ideal conditions of α=β=0, electromagnetism constant force is f0It is M with torque0=f0Lf, LfFor the arm of force.
Initial coordinate (the x of intersection points B as α=β=0B0,yB0,zB0) be
xB0=b, yB0=Lf, zB0=zB0
VectorIt is represented byUnit
Direction vector is
AB linear equation is
AB straight line projection equation in XOY plane is
(tanα)x+y-Lf(tan α) b=0 (9)
The distance of origin O to AB linear projection is
Torque is
M=(f0cosβ)dAB=f0cosβcosα|1+(tanα)(b/Lf)|Lf (11)
Generate torque electromagnetism constant force be
f0p=f0cosβcosα|1+(tanα)(b/Lf)| (12)
Due to electromagnetism constant force installation error, caused electromagnetism constant force error is
Cut down installation error method
Initial parameter selection: 1) it is easily controllable in | b to deviate rotatable parts plane of symmetry position for permanent magnet | and≤1mm is horizontal,
Rock L in measuring systemf>=10cm can use | b/Lf|=0.01；2) when electromagnetism constant force error is 1 ‰ or 1%, corresponding drift angle and
The elevation angle is 0.3 °~0.6 ° desirable.
As shown in figure 8, electromagnetism constant force installation error changes when being b/Lf=0.01,0.3 °~0.6 ° is taken in drift angle and the elevation angle
In range, the constant force error due to caused by electromagnetism constant force installation error is less than 0.21 ‰.As shown in figure 9, being b/Lf=-0.01
When electromagnetism constant force installation error change, constant force error caused by electromagnetism constant force installation error is less than 0.21 ‰, and error is total
It is about the elevation angle is symmetrical.
By discussed above it is found that as long as the drift angle of electromagnetism constant force and elevation angle control are within the scope of 0.3 °~0.6 °, permanent magnetism
Iron deviates rotatable parts plane of symmetry distance and meets | b/Lf|=0.01, electromagnetism constant force error is negligible, can only consider electromagnetism
Constant force error of fitting influences, to eliminate the influence of electromagnetism constant force installation error.
The application is not limited to content defined by description and claims word segment, public affairs within the scope of any this field
The modifications and variations known belong to scope of the present application, and specification specific embodiment part is illustratively said to the present invention
It is bright, it is not to specific restriction of the invention.
Claims (10)
1. a kind of high-accuracy electromagnetic force generation device, which is characterized in that described device includes electromagnetic coil, permanent magnet and position control
Mechanism processed；
Wherein, the position control mechanism is connect with the electromagnetic coil, for adjusting position and the angle of the electromagnetic coil,
The electromagnetic coil is suspended from above the permanent magnet by the position control mechanism.
2. high-accuracy electromagnetic force generation device according to claim 1, which is characterized in that the position control mechanism includes
Three displacements adjust unit and two angle regulating units；
Wherein, three displacements adjust the front and rear, left and right that unit is used to adjust the electromagnetic coil from three Spatial Dimensions
It is displaced with height；Described two angle regulating units are used to adjust the drift angle and the elevation angle of the electromagnetic coil.
3. a kind of method for generating high-accuracy electromagnetic force, which is characterized in that the described method comprises the following steps:
1) high-accuracy electromagnetic force generation device of any of claims 1 or 2 is mounted on device for measuring force, wherein by described in forever
Magnet is mounted on the induction part of device for measuring force；
2) angle leveling is carried out to the electromagnetic coil by position control mechanism and displacement is rectified a deviation；
3) spacing for changing the permanent magnet and the electromagnetic coil, when electromagnetic force maximum time away from be set as the permanent magnet and
The spacing of the electromagnetic coil.
4. the method according to claim 3 for generating high-accuracy electromagnetic force, which is characterized in that the angle leveling includes inclined
Angle leveling and elevation angle leveling.
5. the method according to claim 4 for generating high-accuracy electromagnetic force, which is characterized in that described in the step 2)
Specific step is as follows for drift angle leveling:
The drift angle for gradually adjusting the electromagnetic coil, the electromagnetic force for obtaining measurement are gradually reduced, and reach the first drift angle position, note
Record electromagnetic force size；Then drift angle is reversely adjusted since the first drift angle position, the electromagnetic force measured is gradually increased, later
Be gradually reduced again, when occur it is equal with the first drift angle position electromagnetic force when, reach the second drift angle position, record from first position to
Up to the corner α of the second drift angle position1；Finally, reversely rotating α again from the second drift angle position1/ 2, reach third drift angle position, realizes
Drift angle leveling；
Specific step is as follows for the elevation angle leveling
The elevation angle for gradually adjusting the electromagnetic coil, the electromagnetic force for obtaining measurement are gradually reduced, and reach the first elevation location, note
Record electromagnetic force size；Then drift angle is reversely adjusted since first position, the electromagnetic force measured is gradually increased, later again by
It is decrescence small, when occurring equal with the first elevation location electromagnetic force, reach the second elevation location, record is from first position arrival the
The corner α of two elevation locations2；Finally, reversely rotating α again from the second elevation location2/ 2, reach third elevation location, realizes angle
Leveling:.
6. the method according to claim 3 for generating high-accuracy electromagnetic force, which is characterized in that before the displacement correction includes
It rectifies a deviation afterwards and left and right is rectified a deviation.
7. the method according to claim 3 for generating high-accuracy electromagnetic force, which is characterized in that rectify a deviation specific the front and back
Steps are as follows:
It gradually adjusts and is displaced to side, the electromagnetic force for obtaining measurement is gradually increased, and is reached first and is moved forward and backward, records electromagnetic force
Size；It is displaced secondly, being adjusted from first moves forward and backward to the other side, the electromagnetic force measured is gradually reduced, later
Be gradually increased again, when with first move forward and backward electromagnetic force it is equal when, reach and second move forward and backward, record reaches the from the first displacement
The two displacement w moved forward and backward1；Finally, moving forward and backward again reversed adjust from second is displaced w1/ 2, reach third and move forward and backward, realizes
Displacement correction；
Specific step is as follows for the left and right correction:
Left and right displacement gradually is adjusted to side, the electromagnetic force for obtaining measurement is gradually increased, and reaches the first left and right displacement, record electricity
Magnetic force size；It being displaced secondly, being adjusted from the first left and right displacement to the other side, the electromagnetic force measured is gradually reduced,
It is gradually increased again later, when equal with the first left and right displacement electromagnetic force, reaches the second left and right displacement, record from the first or so position
Move on to the displacement w up to the second left and right displacement2；Finally, reversely adjusting displacement w again from the second left and right displacement2/ 2, reach third or so
Displacement correction is realized in displacement.
8. pair using described in claims 1 or 22 generation high-accuracy electromagnetic force device generate high-accuracy electromagnetic force miss
The method that difference is cut down, which is characterized in that the described method includes:
A) electromagnetism constant force relative error is given；
B) effective enclosing interval is determined using electromagnetism constant force measurement method, effective enclosing interval include effective end face inclination angle,
Effective end face eccentric and live end identity distance from；Wherein:
Effective end face inclination angle is to meet electromagnetism constant force error less than the electromagnetism constant force relative error given in the step a)
When, the inclination angle where the electromagnetic coil and the permanent magnet between plane, including drift angle and the elevation angle；
Effective end face eccentric is to meet electromagnetism constant force error less than the electromagnetism constant force relative error given in the step a)
When, the Departure displacement of the end face center of the electromagnetic coil and the permanent magnet；
The live end identity distance is from being to meet electromagnetism constant force error less than the electromagnetism constant force relative error given in the step a)
When, the distance between plane where the electromagnetic coil and the permanent magnet；
C) it in effective enclosing interval, using linear fit method, establishes electromagnetism constant force and controls the relationship of electric current, and really
Determine error of fitting.
9. error cutting method according to claim 8, which is characterized in that in the step c), the linear fit
Method is Sectioned linear fitting method.
10. error cutting method according to claim 8, which is characterized in that the method also includes cutting down the generation
The cutting method of the installation error of high-accuracy electromagnetic force device, the installation error is to keep electromagnetic coil and the permanent magnet
Drift angle between the plane of place and the elevation angle control in the range of 0.3 °~0.6 °, and permanent magnet deviate the rotatable parts plane of symmetry away from
From satisfaction | b/Lf|=0.01 wherein, and b is the distance that permanent magnet deviates the device for measuring force induction part plane of symmetry, LfFor electromagnetic force
In the arm of force of device for measuring force induction part.
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| CN111557145A (en) * | 2020-06-07 | 2020-08-21 | 段锐 | Ditching machine with adjustable ditching plow spacing and adjusting method |
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| CN105910755A (en) * | 2016-05-23 | 2016-08-31 | 中国人民解放军装备学院 | Calibration device applicable to micro thrust measurement system electromagnetic force application device |
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| CN105910755A (en) * | 2016-05-23 | 2016-08-31 | 中国人民解放军装备学院 | Calibration device applicable to micro thrust measurement system electromagnetic force application device |
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| CN111557145A (en) * | 2020-06-07 | 2020-08-21 | 段锐 | Ditching machine with adjustable ditching plow spacing and adjusting method |
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