CN113267292A - Sliding sense sensing characteristic testing method and device based on magnetic effect - Google Patents
Sliding sense sensing characteristic testing method and device based on magnetic effect Download PDFInfo
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Abstract
The invention provides a method and a device for testing the sliding sense sensing characteristic based on the magnetic effect, comprising the following steps: determining a slip sensing characteristic index to be measured, wherein the slip sensing characteristic index to be measured comprises: a repeatability index, a sensitivity index, a stability index, a precision index, and a hysteresis characteristic index; applying pressure to a slippery sensation sensor to obtain the output quantity of the slippery sensation sensor; acquiring actual measurement data corresponding to the slip sensing characteristic index to be measured according to the magnitude of the applied pressure and the output quantity, and displaying the actual measurement data in real time; the method systematically and accurately measures the slip sensing characteristic index according to the input signal index, ensures the accuracy of the test result, is interactive in operation, and is simple and convenient.
Description
Technical Field
The invention relates to the field of sensor testing and application, in particular to a method and a device for testing the sliding sense sensing characteristic based on the magnetic effect.
Background
The sliding sense sensor is a detection device which can sense sliding information and convert the sensed sliding sense information into an electric signal or other required information output according to a certain rule so as to meet the requirements of information transmission, processing, storage, display, recording, control and the like. When evaluating the performance of the slip sensor, it is necessary to obtain a slip sensor characteristic index. Different performance indexes of the sliding sensor are different, and the magnetic chain type touch sensor is used as one of the touch sensors and needs to measure the sensitivity, the repeatability, the detection precision, the hysteresis characteristic, the mechanical consistency and other sensing indexes. The slip sensor as a brand new sensor needs a new sensing characteristic detection device and method to measure and evaluate the sensing characteristic. The traditional sensor monitoring device can only detect common force sense sensors.
Disclosure of Invention
In view of the problems in the prior art, the invention provides a method and a device for testing the slip sensation sensing characteristic based on the magnetic effect, and mainly solves the problem that the traditional testing method cannot be applied to detection and evaluation of a slip sensation sensor.
In order to achieve the above and other objects, the present invention adopts the following technical solutions.
A sliding sense sensing characteristic testing method based on a magnetic effect comprises the following steps:
determining a slip sensing characteristic index to be measured, wherein the slip sensing characteristic index to be measured comprises: a repeatability index, a sensitivity index, a stability index, a precision index, and a hysteresis characteristic index;
applying pressure to a slippery sensation sensor to obtain the output quantity of the slippery sensation sensor;
and acquiring actual measurement data corresponding to the slip sensing characteristic index to be measured according to the magnitude of the applied pressure and the output quantity, and displaying the actual measurement data in real time.
Optionally, the obtaining measured data of the repeatability index includes:
acquiring output quantities of a plurality of groups of slippery sensation sensors under the same test condition;
and acquiring the actually measured data of the repeatability index according to the ratio of the maximum difference between the multiple groups of output quantities to the rated output quantity.
Optionally, the repeatability index is expressed as:
wherein, deltaRIs an index of degree of repetition, yiIs the output quantity of the ith group,
for a reference quantity selected from a plurality of output quantities, YFSIs the rated output.
Optionally, acquiring measured data of the sensitivity index includes:
setting a pressure application range, dividing the pressure application range into a plurality of sections, respectively obtaining the variation of the output quantity of the sensor and the pressure application variation causing the variation of the output quantity within a period of time corresponding to each section of pressure application range, and obtaining the measured data of the sensitivity index according to the ratio of the two variations.
Optionally, the obtaining measured data of the accuracy index includes:
selecting a plurality of pressure points in the whole measuring range of the pressure applying device by taking the minimum scale of the pressure applying device as a starting point, recording the output quantity of the slippery sensation sensor corresponding to each pressure point, and determining the measured data of the precision index according to the average value of the output quantities.
Optionally, acquiring measured data of the stability index includes:
and applying a fixed load to the slip sensation sensor and keeping for a period of time, and acquiring the variation range of the output quantity within the keeping time to obtain the measured data of the stability index.
Optionally, acquiring measured data of the hysteresis characteristic index includes:
acquiring a first output force signal corresponding to the compression amount of the slip sensor in the continuous increasing process of the pressing load;
acquiring a second output force signal corresponding to the compression amount of the slip sensor in the process of continuously reducing the pressing load;
and acquiring the actually measured data of the hysteresis characteristic index according to the relative difference value of the first output force signal and the second output force signal.
Optionally, the hysteresis characteristic indicator is represented as:
δH＝(Δymax/yFS)*100％
wherein, Δ ymaxIs the maximum relative difference, y, of the first output force signal and the second output force signalFSIs a nominal output force signal.
A slip sense sensing characteristic testing device based on a magnetic effect comprises:
the index selection module is used for determining the slip sensing characteristic index to be detected, wherein the slip sensing characteristic index to be detected comprises: a repeatability index, a sensitivity index, a stability index, a precision index, and a hysteresis characteristic index;
the pressure application module is used for applying pressure to the slippery sensation sensor to obtain the output quantity of the slippery sensation sensor;
and the test data management module is used for acquiring the actual measurement data corresponding to the slip sensation sensing characteristic index to be tested according to the pressure application size and the output quantity and displaying the actual measurement data in real time.
Optionally, the test data management module includes:
the device comprises a repeatability index calculation unit, a sensitivity index calculation unit, a stability index calculation unit, a precision index calculation unit, a hysteresis characteristic index calculation unit, a main control unit and a display unit; the repeatability index calculation unit, the sensitivity index calculation unit, the stability index calculation unit, the precision index calculation unit, the hysteresis characteristic index calculation unit and the display unit are respectively connected with the main control unit; the main control unit is also respectively connected with the index selection module and the pressure application module, and displays the acquired measured data corresponding to the slip sensation sensing characteristic index to be measured in real time through the display module.
As described above, the method and apparatus for measuring slip sense sensing characteristics based on the magnetic effect according to the present invention have the following advantages.
The slip sensing characteristic index measurement is systematically and accurately carried out according to the input signal index, the accuracy of a test result is guaranteed, and interactive operation is simple and convenient.
Drawings
Fig. 1 is a schematic flow chart of a method for measuring a slip sense sensing characteristic based on a magnetic effect according to an embodiment of the present invention.
FIG. 2 is a graph of throughput data corresponding to a repeatability index according to an embodiment of the present invention.
FIG. 3 is a graph of a repeatability index versus output according to an embodiment of the present invention.
Fig. 4 is a diagram illustrating data corresponding to a sensitivity index according to an embodiment of the invention.
FIG. 5 is a graph illustrating hysteresis characteristics according to an embodiment of the present invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
Referring to fig. 1, the present invention provides a method for measuring slip sense characteristics based on a magnetic effect, which includes steps S01-S03.
In step S01, a slip sensing characteristic index to be measured is determined, where the slip sensing characteristic index to be measured includes: a repeatability index, a sensitivity index, a stability index, a precision index, and a hysteresis characteristic index.
In one embodiment, the slip sensing characteristic index to be tested may be pre-selected, and after the index selection is completed, the system may start the corresponding test item according to the selected index.
In step S02, the slip sensation sensor is pressed to acquire the slip sensation sensor output amount.
In one embodiment, a pressure applying device (e.g., a universal press) may be used to apply pressure to the slip sensation sensor, and the slip sensation sensor deforms under the action of an external force, resulting in a change in resistance and a corresponding output.
In step S03, according to the magnitude of the applied pressure and the output quantity, the measured data corresponding to the slip sensation sensing characteristic index to be measured is obtained and displayed in real time.
In one embodiment, the repeatability indicator test:
repeatability is also called repeatability error and refers to the difference between sensor output readings obtained by continuous tests under the same load and the same environment. Therefore, the ratio of the maximum difference between the sensor output readings obtained by the continuous tests to the rated output signal value is the repeatability error in calculation. It follows that a smaller repeatability error indicates a better repeatability of the sensor. The repeatability index of a sensor reflects the error caused by internal mechanism defects. If the repeatability of the sensor is poor, the difference of the same load signal is large in the using process, and the consistency of the piezoresistive signal can be ensured only when the repeatability of the sensor is in a reasonable range. The repetition degree experiment was performed using the same displacement time curve. The repeatability measurement model can be expressed as:
wherein, deltaRIs an index of degree of repetition, yiIs the output quantity of the ith group,
for a reference quantity selected from a plurality of output quantities, YFSIs the rated output.
Fig. 2 is 6 sets of measured output quantities, a repeatability curve of the slip sensation sensor shown in fig. 3 can be obtained according to the output quantities of fig. 2, and analysis on the repeatability curve of the slip sensation sensor shows that the force resistance variation trends of the sensor are basically consistent, and the resistance has certain fluctuation (the fluctuation range is between 0 and 0.3 megaohms) along with the increase of the test times, and the fluctuation can be preliminarily judged to be caused by the jitter and the manufacturing process in the operation of a loading motor in a press. And accurately measuring according to the repeatability definition of the sliding sensor, and further realizing the evaluation of the repeatability of the sliding sensor.
In one embodiment, the sensitivity index test:
sensitivity refers to the changing relationship between the sensor input signal and the output signal. When the sensor is in a steady state, the ratio of the amount of change in the sensor output signal (resistance) to the amount of change in the input signal (force) that caused the change in the output signal at that time. The ratio of output quantity change delta y (resistance) to input quantity change delta x (force) under the condition of steady-state operation of the sensor, namely the ratio of the dimensions of the output quantity and the input quantity. The sensor sensitivity may also be measured as the slope of the output versus input characteristic. The sensitivity S is an approximate constant if there is a linear relationship between the output and the input of the sensor, otherwise it will vary with the input quantity. When the output and input quantities of the sensor have the same dimension, the sensitivity can be understood as a multiple of the change. The sensitivity is improved, and higher measurement precision can be obtained. However, the higher the sensitivity, the narrower the measurement range, and the poorer the stability. The sensitivity index may be expressed as:
referring to fig. 4, the sensitivity test can be calculated by the above model calculation method, and the test is divided into a first-stage sensitivity test, a middle-stage sensitivity test and a last-stage sensitivity test. The measuring range of the design of the slippage sensor is 0-5N, the slippage sensor is divided into three sections, the initial section is 0-1.6N, the middle section is 1.6-3.2N, the final section is 3.2-5.0N, the slippage sensor is increased in 0.02N steps in the range of the initial section, and the average change rate of the resistance of the initial section is 0.0338 megaohms; the resistance of the middle section is increased in a gradient manner by 0.02N within the range of the middle section, and the average change rate of the resistance of the middle section is 0.0308 megaohms; the resistance of the tail section is increased in a gradient manner by 0.02N within the range of the tail section, and the average change rate of the resistance of the tail section is 0.0294 megaohms; it was found that the average sensitivity in the first stage was 1.69, the average sensitivity in the middle stage was 1.54, the average sensitivity in the last stage was 1.47, and the average sensitivity was 1.56. It is known from experiments that the sensitivity of the sensor decreases with increasing amount of compression and force.
In one embodiment, the accuracy index test:
accuracy refers to the ability of a sensor to sense minimal changes in an input signal. If the input amount changes slowly from a certain non-zero value, the output of the sensor does not change when the input change value does not exceed a certain value, and the sensor cannot recognize the input signal. Only if the input is greater than the minimum accuracy will a signal be output. Accuracy, which is generally a combination of a/D, sensing circuitry, other factors, and error divided by the percentage of display, is affected by the accuracy of the a/D conversion, in addition to the minimum change that can be understood to be perceived.
In one embodiment, the minimum scale of the pressing device is used as a starting point, a plurality of pressure points are selected in the whole measuring range of the pressing device, the output quantity of the slip sensation sensor corresponding to each pressure point is recorded, the actually measured data of the precision index is determined according to the mean value of the output quantities, specifically, the minimum scale value of the press machine is taken to be 0.001N for pressure test, ten points are taken in the whole measuring range for measurement and averaging, and finally the average precision is measured.
In one embodiment, the stability index test:
the stability of a sensor is divided into short term stability and long term stability, which refers to the difference between the output of the sensor and the output at the time of initial calibration over a considerable time interval, such as a day, month or year, under its normal operating environment. Therefore, the instability of the sensor output is often used to characterize the stability of the sensor output. The ability of a sensor to perform without or with little degradation over time is referred to as stability. Factors affecting the long-term stability of the sensor are mainly related to the use environment of the sensor except the material and the structure of the sensor. Therefore, in order to have good stability of the sensor, the sensor must have strong environmental adaptability. Before the sensors are selected, the use environments of the sensors are investigated, and proper sensors are selected according to the specific use environments or proper measures are taken to reduce the influence of the environments.
In one embodiment, the stability measuring points are divided into three points, an initial point, a middle point and a final point, a load is given after the sensor is powered on except for initial prepressing, the load is kept unchanged until the measurement is finished, and the change of the resistance value is recorded in real time.
From the stability output graph, it can be seen that the piezoresistive stability of the slip sensor is attenuated with time, but the variation range is small.
In one embodiment, the hysteresis characteristic test:
in one embodiment, in the process of continuously increasing the pressing load, a first output force signal corresponding to the compression amount of the slip sensor is acquired; acquiring a second output force signal corresponding to the compression amount of the slip sensor in the process of continuously reducing the pressing load; and acquiring the actually measured data of the hysteresis characteristic index according to the relative difference value of the first output force signal and the second output force signal.
Specifically, the hysteresis characteristic is also called hysteresis error, and the hysteresis characteristic can reflect the degree of misalignment of the loading and unloading characteristic curves of the sensor during the forward (input amount increasing) stroke and the reverse (input amount decreasing) stroke. Referring to fig. 5, the compression amount of the input signal is taken as the X-axis, the corresponding output force signal increases during the stroke in which the compression amount continuously increases with time, and after the compression amount reaches a certain range, the compression amount decreasing force curve continuously decreases, and the difference between the loading force signal and the unloading force signal corresponding to the same compression curve is called the hysteresis phenomenon. The hysteresis error is one of main indexes of the sensing characteristic, the size of the error directly determines the unloading accuracy of the sensor, and the influence on the hysteresis characteristic must be reduced or eliminated in the production process of the sensor. The hysteresis characteristic model may be expressed as:
δH＝(Δymax/yFS)*100％
wherein, Δ ymaxIs the maximum relative difference, y, of the first output force signal and the second output force signalFSIs a nominal output force signal.
And accurately measuring according to the hysteresis definition of the slip sensor, and further realizing the evaluation of the hysteresis of the slip sensor.
The embodiment also provides a sliding sense sensing characteristic testing device based on the magnetic effect, which is used for executing the sliding sense sensing characteristic testing method based on the magnetic effect in the method embodiment. Since the technical principle of the embodiment of the apparatus is similar to that of the embodiment of the method, repeated description of the same technical details is omitted.
In one embodiment, the slip sense sensing characteristic testing device based on the magnetic effect comprises:
the index selection module is used for determining the slip sensing characteristic index to be detected, wherein the slip sensing characteristic index to be detected comprises: a repeatability index, a sensitivity index, a stability index, a precision index, and a hysteresis characteristic index;
the pressure application module is used for applying pressure to the slippery sensation sensor to obtain the output quantity of the slippery sensation sensor;
and the test data management module is used for acquiring the actual measurement data corresponding to the slip sensation sensing characteristic index to be tested according to the pressure application size and the output quantity and displaying the actual measurement data in real time.
Optionally, the test data management module includes:
the device comprises a repeatability index calculation unit, a sensitivity index calculation unit, a stability index calculation unit, a precision index calculation unit, a hysteresis characteristic index calculation unit, a main control unit and a display unit; the repeatability index calculation unit, the sensitivity index calculation unit, the stability index calculation unit, the precision index calculation unit, the hysteresis characteristic index calculation unit and the display unit are respectively connected with the main control unit; the main control unit is also respectively connected with the index selection module and the pressure application module, and displays the acquired measured data corresponding to the slip sensation sensing characteristic index to be measured in real time through the display module.
In one embodiment, the detection index is determined by the index selection module, and the determination of the detection index is helpful for designing and planning the hardware input end.
The detection indexes mainly include stability, sensitivity, precision, repeatability and hysteresis characteristics;
in one embodiment, the test data management module is mainly used for performing calculation control on an input signal so as to obtain a sensing characteristic evaluation value; the test data management module can be composed of a C51 singlechip and a plurality of wiring terminals;
in one embodiment, the display unit mainly comprises a display screen, and detection indexes can be input and detection curves and coefficients can be displayed and output through the display screen;
in one embodiment, the pressing module is mainly composed of a universal press and a conductive gasket.
The stability index calculation unit is mainly used for performing stability calculation and evaluation on the multiple detection signals;
the precision index calculation unit mainly performs precision calculation and evaluation on the minimum precision signal;
the repeatability index calculation unit is mainly used for calculating and evaluating the repeatability of the fitted curve;
the sensitivity index calculation unit mainly calculates and evaluates a ratio between a variation in the output quantity of the sensor and a variation in the pressure applied to cause the variation in the output quantity.
Through the cooperation and interaction of all modules, the slip sensing characteristic index can be systematically and accurately measured according to the input signal index, so that the slip sensing characteristic detection device and the method realize the breakthrough from scratch and have great significance on the development of the sensing field.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. A sliding sense sensing characteristic testing method based on a magnetic effect is characterized by comprising the following steps:
determining a slip sensing characteristic index to be measured, wherein the slip sensing characteristic index to be measured comprises: a repeatability index, a sensitivity index, a stability index, a precision index, and a hysteresis characteristic index;
applying pressure to a slippery sensation sensor to obtain the output quantity of the slippery sensation sensor;
and acquiring actual measurement data corresponding to the slip sensing characteristic index to be measured according to the magnitude of the applied pressure and the output quantity, and displaying the actual measurement data in real time.
2. The method for testing slip sensing characteristics based on the magnetic effect according to claim 1, wherein obtaining measured data of the repeatability index comprises:
acquiring output quantities of a plurality of groups of slippery sensation sensors under the same test condition;
and acquiring the actually measured data of the repeatability index according to the ratio of the maximum difference between the multiple groups of output quantities to the rated output quantity.
3. The method for testing slip sense sensing characteristics based on the magnetic effect according to claim 2, wherein the repeatability index is expressed as:
wherein, deltaRIs an index of degree of repetition, yiIs the output quantity of the ith group,
for a reference quantity selected from a plurality of output quantities, YFSIs the rated output.
4. The method for testing slip sense sensing characteristics based on the magnetic effect according to claim 1, wherein acquiring the measured data of the sensitivity index comprises:
setting a pressure application range, dividing the pressure application range into a plurality of sections, respectively obtaining the variation of the output quantity of the sensor and the pressure application variation causing the variation of the output quantity within a period of time corresponding to each section of pressure application range, and obtaining the measured data of the sensitivity index according to the ratio of the two variations.
5. The method for testing slip sensing characteristics based on the magnetic effect according to claim 1, wherein the obtaining of the measured data of the accuracy index comprises:
selecting a plurality of pressure points in the whole measuring range of the pressure applying device by taking the minimum scale of the pressure applying device as a starting point, recording the output quantity of the slippery sensation sensor corresponding to each pressure point, and determining the measured data of the precision index according to the average value of the output quantities.
6. The method for testing slip sensing characteristics based on the magnetic effect according to claim 1, wherein obtaining measured data of the stability index comprises:
and applying a fixed load to the slip sensation sensor and keeping for a period of time, and acquiring the variation range of the output quantity within the keeping time to obtain the measured data of the stability index.
7. The method for testing slip sensing characteristics based on the magnetic effect according to claim 1, wherein obtaining the measured data of the hysteresis characteristic index comprises:
acquiring a first output force signal corresponding to the compression amount of the slip sensor in the continuous increasing process of the pressing load;
acquiring a second output force signal corresponding to the compression amount of the slip sensor in the process of continuously reducing the pressing load;
and acquiring the actually measured data of the hysteresis characteristic index according to the relative difference value of the first output force signal and the second output force signal.
8. The method for testing a slip sensing characteristic based on a magnetic effect according to claim 7, wherein the hysteresis characteristic index is expressed as:
δH＝(Δymax/yFS)*100％
wherein, Δ ymaxIs the maximum relative difference, y, of the first output force signal and the second output force signalFSIs a nominal output force signal.
9. A slip sense sensing characteristic testing device based on a magnetic effect is characterized by comprising:
the index selection module is used for determining the slip sensing characteristic index to be detected, wherein the slip sensing characteristic index to be detected comprises: a repeatability index, a sensitivity index, a stability index, a precision index, and a hysteresis characteristic index;
the pressure application module is used for applying pressure to the slippery sensation sensor to obtain the output quantity of the slippery sensation sensor;
and the test data management module is used for acquiring the actual measurement data corresponding to the slip sensation sensing characteristic index to be tested according to the pressure application size and the output quantity and displaying the actual measurement data in real time.
10. The apparatus for testing a slip sensing characteristic based on a magnetic effect according to claim 9, wherein the test data management module comprises:
the device comprises a repeatability index calculation unit, a sensitivity index calculation unit, a stability index calculation unit, a precision index calculation unit, a hysteresis characteristic index calculation unit, a main control unit and a display unit; the repeatability index calculation unit, the sensitivity index calculation unit, the stability index calculation unit, the precision index calculation unit, the hysteresis characteristic index calculation unit and the display unit are respectively connected with the main control unit; the main control unit is also respectively connected with the index selection module and the pressure application module, and displays the acquired measured data corresponding to the slip sensation sensing characteristic index to be measured in real time through the display module.
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