CN113063537B - Multi-dimensional force sensor constant temperature system and control algorithm thereof - Google Patents
Multi-dimensional force sensor constant temperature system and control algorithm thereof Download PDFInfo
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- CN113063537B CN113063537B CN202110287372.7A CN202110287372A CN113063537B CN 113063537 B CN113063537 B CN 113063537B CN 202110287372 A CN202110287372 A CN 202110287372A CN 113063537 B CN113063537 B CN 113063537B
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- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
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Abstract
The invention provides a multi-dimensional force sensor constant temperature system, which comprises a shell at least provided with a chamber, and a temperature monitoring device, a processor, a temperature control device and a heating device which are arranged in the shell; the shell is provided with at least one detection position; the temperature monitoring device is configured to collect temperature data of the detection position and output a temperature signal according to the temperature data; the processor is connected with the temperature monitoring device and configured to receive the temperature signal and output a heating signal according to the relationship between the temperature signal and a preset threshold section; the temperature control device is connected with the processor and is configured to receive the heating signal and output an adjusting signal according to the heating signal; and the heating device is connected with the temperature control device and is configured to receive the adjusting signal and keep the temperature of the detection position within a preset temperature range according to the adjusting signal. According to the invention, the temperature of the multi-dimensional force sensor during calibration and test is kept constant through the constant temperature system, and the detection precision of the multi-dimensional force sensor is improved.
Description
Technical Field
The invention relates to a multi-dimensional force sensor constant temperature system.
Background
When the test model is used for performing a fluid mechanics mechanical test in a simulated wind field, the multi-dimensional force sensor is a key instrument for measuring test parameters. The strain of the existing multidimensional force sensor can be influenced by the change of the environmental temperature, and the heat-conducting property of the casing of the multidimensional force sensor is poor. Before the test, the parameters need to be calibrated under a constant room temperature environment. During the test, to avoid the effect of temperature stress, ideally the same temperature as during calibration should be maintained. However, in practical tests, the temperature of the monitoring point of the multi-dimensional force sensor is reduced by 10 ℃ within 2 minutes of test time under the influence of heat conduction, radiation and a small part of convection heat exchange, so that the generated temperature stress has a non-negligible influence on the precision of a test result.
Therefore, the multi-dimensional force sensor must be thermostatically controlled to maintain a constant temperature during calibration and testing.
In view of the above, the present inventors have specifically designed a multi-dimensional force sensor thermostat system, and have resulted in this disclosure.
Disclosure of Invention
In order to solve the problems, the technical scheme of the invention is as follows:
a first aspect of the embodiments of the present application provides a multi-dimensional force sensor constant temperature system, which includes a housing having at least one chamber, and a temperature monitoring device, a processor, a temperature control device, and a heating device, which are disposed inside the housing;
the shell is provided with at least one detection position;
the temperature monitoring device is connected with the shell and configured to collect temperature data of the detection position and output a temperature signal according to the temperature data;
the processor is connected with the temperature monitoring device and configured to receive the temperature signal and output a heating signal according to the relation between the temperature signal and a preset threshold section;
the temperature control device is connected with the processor and is configured to receive the heating signal and output an adjusting signal according to the heating signal;
and the heating device is connected with the temperature control device and is configured to receive the adjusting signal and keep the temperature of the detection position within a preset temperature range according to the adjusting signal.
In one embodiment, the heating device comprises a heater arranged in the cavity and liquid metal filled on the heater and the inner surface of the cavity.
In one embodiment, the chamber is cylindrical and the heater is rod-shaped.
In one embodiment, the heater is provided with a conduction part for improving the heat conduction efficiency between the heater and the shell.
In one embodiment, the conductive portion is made of a copper material or a vacuum vapor chamber.
In one embodiment, the temperature monitoring device comprises a temperature strain gauge and a temperature sensor, wherein the temperature strain gauge is arranged at the detection position, and the temperature sensor is arranged on the heater.
In one embodiment, the outer surface of the housing is provided with a thermal barrier coating.
In one embodiment, the housing is provided with four chambers along the length direction thereof, one end of each chamber is provided with a barrier, the other end of each chamber is provided with a heating device, and the barrier and the heating device seal the chambers.
In one embodiment, the heating device is connected with the shell through threads, and the threaded connection is provided with a sealing structure which is used for preventing liquid metal in the cavity from leaking.
A second aspect of the embodiments of the present application provides a multi-dimensional force sensor thermostat control method, which is applied to any one of the multi-dimensional force sensor thermostat systems in the first aspect, and includes:
step 1: acquiring temperature data of a detection position;
step 2: converting the temperature data into a temperature signal and outputting the temperature signal;
and step 3: acquiring a temperature signal, generating a heating signal according to the relation between the temperature signal and a preset threshold section, and outputting the heating signal;
and 4, step 4: acquiring a heating signal, converting the heating signal into an adjusting signal, and outputting the adjusting signal;
and 5: acquiring an adjusting signal, and converting the adjusting signal into the heating power of the heating device;
step 6: and returning to the step 1, and re-executing the step 1 to the step 6.
The multi-dimensional force sensor constant temperature system comprises a shell at least provided with a cavity, and a temperature monitoring device, a processor, a temperature control device and a heating device which are arranged in the shell, wherein the multi-dimensional force sensor constant temperature system forms a closed-loop control system through the sequence of the shell, the temperature monitoring device, the processor, the temperature control device, the heating device and the shell, the closed-loop control system monitors the temperature of a detection position of the shell in real time and compares the temperature with a preset threshold value to realize the control of the heating device, so that the temperature of the detection position is kept in a preset temperature range, and the detection precision of the multi-dimensional force sensor is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
Wherein:
FIG. 1 is a block diagram of an overall architecture provided by an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a prominent heating device according to an embodiment of the present invention, in which a portion of the housing and the surrounding wall are omitted;
FIG. 3 is a block diagram of a control flow provided by an embodiment of the present invention;
FIG. 4 is a monitoring interface diagram of an upper computer of the constant temperature system provided by the embodiment of the invention;
FIG. 5 is a schematic diagram of a temperature curve of a detection site according to an embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects of the present invention more clear and obvious, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1 to 2, a multi-dimensional force sensor constant temperature system according to an embodiment of the present invention is disclosed, in which the multi-dimensional force sensor refers to a force sensor capable of measuring force and moment components in two or more directions simultaneously, and the force and the moment can be respectively decomposed into three components in a cartesian coordinate system, and the multi-dimensional force sensor of the present disclosure includes, but is not limited to, a six-component sensor, i.e., a sensor capable of measuring three force components and three moment components simultaneously, and a sensor including less than six-dimensional force, such as three components; the multi-dimensional force sensor constant temperature system comprises a shell at least provided with a chamber, and a temperature monitoring device, a processor, a temperature control device and a heating device which are arranged in the shell; the shell is provided with at least one detection position; the temperature monitoring device is connected with the shell and configured to collect temperature data of the detection position and output a temperature signal according to the temperature data; the processor is connected with the temperature monitoring device, is internally provided with a software program and is configured to receive the temperature signal and output a heating signal according to the relation between the temperature signal and a preset threshold section; the temperature control device comprises a power regulator, a temperature sensor and a temperature sensor, wherein the power regulator is connected with the processor and is configured to receive a heating signal and output a regulating signal according to the heating signal; and the heating device is connected with the temperature control device and is configured to receive the adjusting signal and keep the temperature of the detection position within a preset temperature range according to the adjusting signal.
In this embodiment, the casing is generally shuttle-shaped, and at least one detection position is disposed on the casing, and for the detection accuracy, the detection positions may be increased according to the number of the chambers, including but not limited to that the casing is symmetrically provided with two detection positions corresponding to the sidewall portion of each chamber, for example, 2 chambers 4 detection positions, 4 chambers 6 detection positions, and 4 chambers 8 detection positions, where the detection positions are used for sensing the temperature on the sidewall of the casing, and the temperature is influenced by external and internal heating devices; during operation, firstly, the temperature monitoring device collects temperature data of a detection position to generate a temperature signal, then the processor receives the temperature signal and compares the temperature signal with a preset threshold value to generate a heating signal, the heating signal is converted into an adjusting signal through the temperature control device, finally, the heating device works according to the adjusting signal, the temperature monitoring still collects the temperature of the shell detection position while the heating device works, and the temperature monitoring still carries out feedback according to the route to control the heating power of the heating device in real time.
Specifically, the target threshold segment is 40 ± 1 ℃, where the preset threshold segment will be encompassed by the target threshold segment, such as 40 ± 0.5 ℃; when the real-time temperature transmitted by the detection position of the shell is higher than 40.5 ℃, the processor outputs a heating signal for reducing the heating power, and the heating device reduces the heat generation through the temperature control device so as to reduce the temperature of the detection position; on the contrary, when the real-time temperature transmitted by the shell detection position is lower than 39.5 ℃, the processor outputs a heating signal for improving the heating power, so that the temperature of the detection position is increased, and the shell detection device has the advantages of strong anti-interference capability, quick system response and good control precision.
In the prior application, according to measurement, the temperature drop amplitude of the multi-dimensional force sensor is up to 10 ℃ within 2 minutes of test time, and the cooling rate is high. The multidimensional force sensor is made of stainless steel, the thermal conductivity is about 15W/(m.k), and the thermal conductivity is only one tenth of that of aluminum. The lower thermal conductivity is an insurmountable obstacle to the temperature-controlled transmission path. Therefore, it is necessary to increase the heat transfer rate at other positions as much as possible.
Compared with the prior art, in one embodiment, the heating device comprises a heater arranged in the cavity and liquid metal filled on the heater and the inner surface of the cavity.
In this embodiment, due to the installation requirement and the influence of expansion with heat and contraction with cold, the heating device and the testing equipment are difficult to be tightly attached, so that the heat conduction is seriously influenced by the large interface thermal resistance. Therefore, non-toxic liquid metal with high thermal conductivity (30W/(m.k)) is filled between the heating device and the multidimensional force sensor, the liquid metal is gallium or alloy thereof, the influence of interface thermal resistance can be greatly eliminated, the liquid metal does not completely fill the cavity, about 3-10% of space is left, and the liquid metal is prevented from overheating and expanding.
In contrast to the prior art, in one embodiment, the chamber is cylindrical and the heater is rod-like in configuration.
In this embodiment, the chamber is designed to be cylindrical, and the heating rod is correspondingly designed to be rod-shaped, so as to uniformly conduct the heat generated by the heater to the housing, so that each part of the housing can maintain a similar temperature, and the temperature of different areas cannot be greatly deviated, which is beneficial to further improving the detection precision.
Compared with the prior art, in one embodiment, the heater is provided with the conduction part which is a rod-shaped shell and used for improving the heat conduction efficiency between the heater and the shell, the conduction part is made of copper materials or vacuum soaking plates, the copper materials include, but are not limited to, red copper and brass, the heat transfer rate can be improved by 2-6 times through the conduction part, and the internal heat can be rapidly transferred to the outside of the heating device.
Therefore, the heating rod and the liquid metal are filled in the cavity of the cylindrical hole, so that the interface thermal resistance can be effectively reduced, and the heat conduction is enhanced by arranging the conduction part on the heating rod, so that the heat conductivity is effectively improved, the heat is quickly transferred, and the temperature of a monitoring point is kept constant.
In one embodiment, the temperature monitoring device comprises a temperature strain gauge and a temperature sensor, wherein the temperature strain gauge is arranged at the detection position, and the temperature sensor is arranged on the heater.
The strain gauge is an element for measuring strain, which is formed of a sensitive grid or the like. The working principle of the resistance strain gauge is based on the strain effect, namely when a conductor or a semiconductor material deforms under the action of external factors, the resistance value of the conductor or the semiconductor material correspondingly changes, and when the external factors of the action are temperature, the conductor or the semiconductor material is the temperature strain gauge.
In the embodiment, a temperature strain gauge is attached to the detection position of the multi-dimensional force sensor to monitor the temperature value of the multi-dimensional force sensor. A current and voltage meter, i.e., a temperature sensor, is provided at the front end of the heating rod to monitor the heating power. The temperature monitoring device carries out real-time online monitoring on the temperature and the heating power of the detection position and sends temperature data to the processor.
In one embodiment, the outer surface of the housing is provided with a thermal barrier coating.
It should be noted that the temperature change of the housing is caused by heat conduction, accompanied by a small portion of heat convection and radiation heat exchange. In order to reduce the influence of external disturbance on the closed-loop control system, a heat insulation measure, namely a heat insulation coating, needs to be established for the multi-dimensional force sensor body, so that the multi-dimensional force sensor is ensured to be in a constant temperature state, and the heat conduction area of heat conduction is reduced as much as possible.
In the present embodiment, the thermal barrier coating includes, but is not limited to, spraying thermal barrier paint on the multi-dimensional force sensor body, and wrapping aerogel nano-insulation material.
In one embodiment, the housing is provided with four chambers along the length direction thereof, one end of each chamber is provided with a barrier, the other end of each chamber is provided with a heating device, and the barrier and the heating device seal the chambers.
As shown in fig. 2, in this embodiment, four chambers are disposed inside the housing along the length direction thereof, that is, the large heating zones at two ends and the small heating zones in the middle, the two ends of the chambers are both provided with walls, for the sake of convenient assembly, threaded holes are correspondingly disposed on the walls, and cocks are disposed in the threaded holes, that is, in practical applications, all the walls may be provided with cocks, or none of the threaded holes may be provided with a cock for the middle wall, and the walls on the two sides are both provided with threaded holes and a cock, so that the wall or the combination of the wall and the cock forms a barrier, the heating device is a heating rod and liquid metal filled in the heating rod and the inner surface of the housing chamber, the heating rod includes two groups of large heating rods and two groups of small heating rods, wherein the large heating rod corresponds to the large heating zone, and the small heating rod corresponds to the small heating zone. The heating rod is provided with a temperature monitoring device which can automatically monitor the temperature value of the heating area in real time. The shell can bear severe shaking in the working process, the heating device adopts four independent parts to avoid middle flexible connection, the temperature of each section of the shell can be precisely controlled, and the heating power can be adjusted in real time.
In a further embodiment, the heating device is connected with the shell through threads, and the threaded connection is provided with a sealing structure which is used for preventing liquid metal in the cavity from leaking. Namely, the fastening connection mode of the heating rod and the surrounding wall adopts thread sealing connection. Where sealing and strengthening of the thread is prior art.
In actual assembly, the method for assembling the heating device in the shell is as follows: firstly, filling the liquid metal in the two groups of small heating areas into the small heating areas respectively. And a small heating rod is plugged into the middle cavity from one end of the shell to the inner thread of the small heating area, so that the outer thread of the heating rod is prevented from scraping the surface of the inner hole. And the thread fastening glue is coated, the heating rod is screwed tightly without loosening, and the connection is reliable and firm. And then, coating thread fastening glue on the two groups of cocks, plugging the cocks into the middle cavity, screwing without loosening, and connecting and fastening reliably. And then filling the liquid metal in the large heating areas into the large heating areas respectively. And finally, inserting two groups of large heating rods into the middle cavity from one end of the shell to the inner thread of the large heating area respectively to ensure that the outer threads of the heating rods are not scraped with the surface of the inner hole. And the thread fastening glue is coated, the heating rod is screwed tightly without loosening, and the connection is firm and reliable.
Referring to fig. 3 to 5, a multi-dimensional force sensor constant temperature control method according to an embodiment of the present invention includes:
step 1: acquiring temperature data of a detection position;
in this embodiment, the housing is preheated to a predetermined temperature, such as 40 ℃ before the test is initiated.
Step 2: converting the temperature data into a temperature signal and outputting the temperature signal;
in this embodiment, it should be noted that the housing is a whole, and the temperature of the detection site is not only determined by the heating effect of the adjacent heating rod, but also related to the rest of the heating rods. The heating effect of the adjacent heating rods has the greatest influence on the adjacent detection positions, which is related to the structural design of the shell and the heating distance of the heating rods. The temperature of the detection position in the middle position can be simultaneously influenced by the heating rods at the left end and the right end. The detection positions at two ends of the figure are mainly influenced by the heating rod at the position, but the detection position at the position is slightly influenced by the other heating rods.
And step 3: acquiring a temperature signal, generating a heating signal according to the relation between the temperature signal and a preset threshold section, and outputting the heating signal;
in this embodiment, the processor receives the temperature signal, and converts the temperature signal into the heating signal through a built-in software and a software algorithm, wherein the specific software algorithm needs to be determined in consideration of the material, size and structural design characteristics of the shell, and further comprises liquid metal and a heating rod of the heating device inside the shell.
Therefore, the processor reasonably calculates the heating influence of the preset heating rod on a detection position according to the actual situation, reasonably determines the temperature transfer coefficient and the temperature influence coefficient through regression analysis, and reasonably adjusts the heating power of each heating rod to achieve the temperature control target.
And 4, step 4: acquiring a heating signal, converting the heating signal into an adjusting signal, and outputting the adjusting signal;
and 5: acquiring an adjusting signal, and converting the adjusting signal into the heating power of the heating device;
step 6: and returning to the step 1, and re-executing the step 1 to the step 6.
In this embodiment, as shown in fig. 4, the constant temperature system is further connected to an upper computer, and the upper computer is provided with a monitoring interface for displaying temperature changes, so as to monitor the temperature state of the multidimensional force sensor in the working process in real time.
In particular toIn step 3, the temperature transfer coefficient algorithm is as follows: the heat of the heating device is mainly transferred to the detection position from the heating device in a conduction mode, and a transfer path passes through multiple materials and multiple interfaces, so that the transfer coefficient is a comprehensive representation including the factors. The transfer coefficient is related to the current temperature but has little effect and can be corrected by the heating control algorithm and thus can be considered constant. The system designs a full-automatic transfer coefficient correction algorithm, and accurately calculates the transfer coefficient through the temperature change feedback of the heating power and the detection position; during calibration, the housing is heated in a constant temperature test environment. Let the heating power be P, the heating time be Deltat, and the temperature change before and after calibration be DeltaT 0 、ΔT 1 (ii) a Defining a transfer coefficient of
Then there are:
the temperature transfer coefficient of the detection bit can be obtained by taking the weighted average value through multiple measurements;
specifically, in step 3, the temperature influence coefficient algorithm is as follows: the detection bit temperature is mainly determined by the ambient temperature and the heating power. For example, the target threshold is 39-41 ℃, the set constant temperature is 40 ℃, and the exceeding ambient temperature reaches a level, so that the influence of the environment on the shell is mainly temperature reduction, while the influence of the heating device on the shell is mainly temperature rise, and the combined influence of the two is mainly reflected on the temperature change rate of the detection position. Setting: the current temperature is T 0 The temperature change rate is T ∈ A transmission coefficient of
The heating power is P and the heating time is delta t. Then there are:
Take the inside cavity of seting up four along its length direction of casing as the example, the large size zone of heating and two middle small size zones of heating of both ends promptly, and be equipped with the large size heating rod and correspond the large size zone of heating, the small size heating rod corresponds the small size zone of heating, sets up 4 in addition and detects the position, is located the both ends of the small size zone of heating respectively, and every end is 2 altogether. As shown in fig. 5, the ordinate represents temperature (unit: celsius degree), the abscissa represents time (unit: minute), 4 curves respectively correspond to 4 detection positions, the temperature reduction is differentiated because the positions of the detection positions relative to the simulated wind field are different, the initial heating rod starts to work for heating, the temperature of the detection position is in a slightly descending trend, which is caused by external disturbance, and the effect of the external disturbance is greater than the heating effect of the heating rod. In the middle period, the heating effect of the heating rod is larger than the cooling effect caused by external disturbance, and temperature compensation is carried out. The temperature of the detection position shows an obvious rising trend and meets the requirement of temperature compensation. From the graph, it can be known that the temperature curve is in fluctuation, the temperature range is between 39 ℃ and 41 ℃, and the temperature control device can play a role in regulation and ensure that the temperature of the detection position is within the range of the design requirement.
The multi-dimensional force sensor constant temperature system comprises a shell at least provided with a cavity, and a temperature monitoring device, a processor, a temperature control device and a heating device which are arranged in the shell, wherein the multi-dimensional force sensor constant temperature system forms a closed-loop control system through the sequence of the shell, the temperature monitoring device, the processor, the temperature control device, the heating device and the shell, the closed-loop control system monitors the temperature of a detection position of the shell in real time and compares the temperature with a preset threshold value to realize the control of the heating device, so that the temperature of the detection position is kept in a preset temperature range, and the detection precision of the multi-dimensional force sensor is improved.
The present invention has been described in detail with reference to the accompanying drawings, and it is to be understood that the invention is not limited to the specific embodiments described above, and that various insubstantial modifications of the inventive concepts and solutions, or their direct application to other applications without modification, are intended to be covered by the scope of the invention.
Claims (9)
1. The multi-dimensional force sensor constant temperature system is characterized by comprising a shell, and a temperature monitoring device, a processor, a temperature control device and a heating device which are arranged in the shell;
the shell is provided with four chambers along the length direction, and the shell is symmetrically provided with two detection positions corresponding to the side wall part where each chamber is located;
the temperature monitoring device is connected with the shell and configured to collect temperature data of the detection position and output a temperature signal according to the temperature data;
the processor is connected with the temperature monitoring device, is configured to receive the temperature signal and output a heating signal according to the relation between the temperature signal and a preset threshold section;
the temperature control device is connected with the processor and is configured to receive the heating signal and output an adjusting signal according to the heating signal;
the heating device is connected with the temperature control device and is configured to receive the adjusting signal and keep the temperature of the detection position within a preset temperature range according to the adjusting signal;
one end of the cavity is provided with a blocking piece, the other end of the cavity is provided with a heating device, and the blocking piece and the heating device seal the cavity.
2. The multi-dimensional force sensor thermostatic system according to claim 1, wherein the heating device comprises a heater disposed in the chamber and a liquid metal filled in the heater and the inner surface of the chamber.
3. The multi-dimensional force sensor thermostat system of claim 2, wherein the chamber is cylindrical and the heater is a rod-like structure.
4. The multi-dimensional force sensor constant temperature system according to claim 2, wherein the heater is provided with a conduction portion for improving heat conduction efficiency between the heater and the housing.
5. The multi-dimensional force sensor constant temperature system according to claim 4, wherein the conductive portion is made of a copper material or a vacuum soaking plate.
6. The multi-dimensional force sensor thermostat system of claim 2, wherein the temperature monitoring device comprises a temperature strain gauge disposed at a detection site and a temperature sensor disposed on the heater.
7. The multi-dimensional force sensor thermostat system of claim 1, wherein the housing outer surface is provided with a thermal barrier coating.
8. The multi-dimensional force sensor constant temperature system of claim 1, wherein the heating device is threadably coupled to the housing, and wherein the threaded coupling is provided with a sealing structure for preventing liquid metal within the chamber from leaking.
9. A multi-dimensional force sensor thermostat control method applied to the multi-dimensional force sensor thermostat system according to any one of claims 1 to 8, comprising:
step 1: acquiring temperature data of the detection position;
and 2, step: converting the temperature data into a temperature signal and outputting the temperature signal;
and step 3: acquiring a temperature signal, generating a heating signal according to the relation between the temperature signal and a preset threshold section, and outputting the heating signal;
the processor receives the temperature signal and converts the temperature signal into a heating signal through an algorithm of built-in software, wherein the algorithm of the software comprises the following steps: the processor calculates the heating influence of a preset heating rod on each detection position according to the actual condition, determines a temperature transfer coefficient and a temperature influence coefficient through regression analysis, and adjusts the heating power of the heating rod according to the relation between a temperature signal and a preset threshold section to achieve a temperature control target;
and 4, step 4: acquiring a heating signal, converting the heating signal into an adjusting signal, and outputting the adjusting signal;
and 5: acquiring an adjusting signal, and converting the adjusting signal into the heating power of the heating device;
step 6: and returning to the step 1, and re-executing the step 1 to the step 6.
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| CN113063537A (en) | 2021-07-02 |
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