CN117949155B - Flexible hinge rigidity detection method - Google Patents
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- 238000001514 detection method Methods 0.000 title claims abstract description 8
- 238000000034 method Methods 0.000 claims abstract description 27
- 238000005259 measurement Methods 0.000 claims abstract description 18
- 230000009471 action Effects 0.000 claims abstract description 7
- 238000006073 displacement reaction Methods 0.000 claims description 19
- 238000013016 damping Methods 0.000 claims description 15
- 238000012546 transfer Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 9
- 230000005284 excitation Effects 0.000 claims description 6
- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical group C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 claims description 3
- 238000004458 analytical method Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 3
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- 238000005070 sampling Methods 0.000 claims description 3
- 230000023555 blood coagulation Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 102000009123 Fibrin Human genes 0.000 description 2
- 108010073385 Fibrin Proteins 0.000 description 2
- BWGVNKXGVNDBDI-UHFFFAOYSA-N Fibrin monomer Chemical compound CNC(=O)CNC(=O)CN BWGVNKXGVNDBDI-UHFFFAOYSA-N 0.000 description 2
- 210000004369 blood Anatomy 0.000 description 2
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- 230000007547 defect Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
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- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003071 parasitic effect Effects 0.000 description 1
- 229940012957 plasmin Drugs 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000010183 spectrum analysis Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
- G01M5/0066—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings by exciting or detecting vibration or acceleration
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H1/00—Measuring characteristics of vibrations in solids by using direct conduction to the detector
- G01H1/12—Measuring characteristics of vibrations in solids by using direct conduction to the detector of longitudinal or not specified vibrations
- G01H1/14—Frequency
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H17/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves, not provided for in the preceding groups
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
- G01M5/0075—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings by means of external apparatus, e.g. test benches or portable test systems
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Abstract
The invention discloses a method for detecting rigidity of a flexible hinge, which belongs to the technical field of rigidity detection, wherein a simple harmonic load is applied to a support end, the flexible hinge performs simple harmonic vibration under the action of the load of the support end, and vibration signals of the free end of the flexible hinge are collected; vibration signals under different mass loads are measured for multiple times, multiple measurement results are drawn in plane coordinates, a fitting straight line is made, the slope of the fitting straight line is k, the natural frequency of the stiffness of the flexible hinge is obtained by analyzing the vibration signals through the method, non-contact stiffness measurement is realized, the influence of equivalent mass uncertainty on stiffness measurement is reduced, the application range is wide, and the error is small.
Description
Technical Field
The invention relates to the technical field of rigidity detection, in particular to a method for detecting rigidity of a flexible hinge.
Background
Fibrin, platelets and blood cells form a three-dimensional cross-linked network structure in the blood coagulation process, and the fibrin is dissolved under the action of plasmin. In the process, the blood viscoelasticity can be changed, and the blood coagulation process can be qualitatively or quantitatively analyzed by detecting the change of the blood viscoelasticity in the blood coagulation process, so that doctors can be helped to know the blood coagulation function information of patients, and accurate diagnosis and treatment can be made.
The existing thrombus elasticity measuring device adopts a flexible hinge to replace a torsion spring and a bearing to support a measuring element, so as to solve the measurement error caused by parasitic movement of a suspension wire. The flexible hinge is a special kinematic pair which generates displacement by utilizing the deformation of materials, is used for providing limited angular displacement for complex motion around an axis, and has the advantages of no friction, no clearance, easy maintenance, high resolution, integrated processing and the like. However, the rigidity of the flexible hinge is usually solved through a contact force-displacement curve, and the method is not suitable for materials with low surface hardness, and non-contact online measurement cannot be realized. The natural frequency is calculated by adopting vibration signal spectrum analysis, and the rigidity of the flexible hinge can be calculated through the natural frequency, rigidity and equivalent mass; however, the equivalent mass of the flexible hinge vibration system cannot be directly measured, and the measurement accuracy of rigidity can be affected by the estimation error of the equivalent mass of the flexible hinge movable end. The rigidity of the flexible hinge can be calculated through finite element simulation, the result is influenced by materials and boundary conditions, and experimental data correction is needed.
Disclosure of Invention
In order to overcome the defects of the prior art, one of the purposes of the invention is to provide a flexible hinge rigidity detection method which has wide application range and small error and can realize non-contact rigidity measurement.
One of the purposes of the invention is realized by adopting the following technical scheme:
Vibration signal acquisition: applying simple harmonic loading to a flexible hinge support end Y is the amplitude,/>Angular frequency, t is time; the flexible hinge performs simple harmonic vibration under the load action of the support end, and vibration signals x of the free end of the flexible hinge are collected;
natural frequency calculation: the length of the flexible hinge is changed into The speed of the free end relative to the supporting end isThe system dynamics equation is that
（1）
Wherein m is mass, c is damping coefficient, and k is rigidity; will beCarrying out formula (1) to obtain
（2）,
Order theA is the amplitude,/>As a phase angle of the light beam,Then
（3）,
（4）,
Beta is an angle parameter introduced in the formula conversion process, and the formula (3) is deformed intoForm (f) of (f)
（5）,
（6）,
Definition of displacement transmissibility(7) Bringing equation (5) into equation (7) to obtain
（8）,
By definition, the natural frequency of the systemAttenuation coefficient/>Damping ratio/>Frequency ratio ofObtaining
（9）,
When (when)Time,/>The displacement transfer coefficient is independent of the damping ratio, and thus the displacement transfer coefficient curve is dependent on/>The abscissa of the intersection point is/>Definition/> according to frequency ratioInput angular frequency/>Solving the natural frequency/>, of the system；
Stiffness fitting: measuring vibration signals under different mass loads multiple times, due to definition of natural frequencySolution/>Let/>Substituted/>Can be obtained，/>Is twice of different quality/>Is a difference in (2); let/>Solving for the resonance frequency ratioAt this time, Z is the maximum value, the frequency ratio is a constant related to the system damping ratio, and the resonance frequency ratio/> is determined from the displacement transfer coefficient peak valueAs can be seen from the damping ratio definition,/>，/>For additional mass/>Excitation frequency when Z takes maximum value,/>For/>Excitation frequency when Z is the maximum value;
Solving to obtain
（10）,
Substituting formula (10)Availability/>，
Thus, multiple measurements will be madePlotted in plane coordinates, cross/>And (0, 0) to make a fitting straight line, wherein the slope of the fitting straight line is k.
Further, in the stiffness fitting step, during the multiple measurement of vibration signals under different mass loads, due to
（11），
（12），
Therefore, the minimum mass variation should be satisfied
（13），
Is the minimum resolution of the vibration measuring instrument.
Further, in the vibration signal acquisition step, specifically: acquiring original signals of displacement x at time t (n)Wherein: /(I)，/>For sampling interval time,/>。
Further, in the step of collecting the vibration signal, the method further comprises the step of collecting the original signalThe pretreatment is carried out, specifically: from the original signal/>Subtracting the least squares best fit line from the original signal/>The linear trend is removed, and analysis can be concentrated on the vibration signal/>Is above the fluctuation of (c).
Further, the least squares best fit line equation is
（14）,
Wherein, （15）,
（16）,
Wherein,。
Compared with the prior art, the method for detecting the rigidity of the flexible hinge has the advantages that the simple harmonic load is applied to the support end, the flexible hinge performs simple harmonic vibration under the load action of the support end, and vibration signals of the free end of the flexible hinge are collected; vibration signals under different mass loads are measured for multiple times, multiple measurement results are drawn in plane coordinates, a fitting straight line is made, the slope of the fitting straight line is k, the natural frequency of the stiffness of the flexible hinge is obtained by analyzing the vibration signals through the method, non-contact stiffness measurement is realized, the influence of equivalent mass uncertainty on stiffness measurement is reduced, the application range is wide, and the error is small.
Drawings
FIG. 1 is a flow chart of a method of flexible hinge stiffness detection of the present invention;
FIG. 2 is a mechanical model diagram of a method for detecting the stiffness of a flexible hinge according to the invention;
FIG. 3 is a graph of the displacement transfer coefficients of the method for detecting stiffness of a flexible hinge of the present invention;
Fig. 4 is a graph showing a vibration signal fit at different mass loads.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or be present as another intermediate element through which the element is fixed. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, a method for detecting rigidity of a flexible hinge includes the following steps:
Vibration signal acquisition: applying simple harmonic loading to a flexible hinge support end Y is the amplitude,/>Angular frequency, t is time; the flexible hinge performs simple harmonic vibration under the load action of the support end, and vibration signals x of the free end of the flexible hinge are collected;
natural frequency calculation: the length of the flexible hinge is changed into The speed of the free end relative to the supporting end isThe mechanical model of the flexible hinge is shown in figure 2, and the system dynamics equation is that
（1）,
Wherein m is mass, c is damping coefficient, and k is rigidity; will beCarrying out formula (1) to obtain
（2）,
Order theA is the amplitude,/>As a phase angle of the light beam,Then
（3）,
（4）,
Beta is an angle parameter introduced in the formula conversion process, and the formula (3) is deformed intoForm (f) of (f)
（5）,
（6）,
Definition of displacement transmissibility(7) Bringing equation (5) into equation (7) to obtain
（8）,
By definition, the natural frequency of the systemAttenuation coefficient/>Damping ratio/>Frequency ratio ofObtaining
（9）,
When (when)Time,/>In this case, the displacement transfer coefficient is independent of the damping ratio, and it is understood that the displacement transfer coefficient curve is dependent on/>, as shown in FIG. 3The abscissa of the intersection point is/>Definition/> according to frequency ratioInput angular frequencySolving the natural frequency/>, of the system；
Stiffness fitting: measuring vibration signals under different mass loads multiple times, due to definition of natural frequencySolution/>Let/>Substituted/>Can obtain/>，/>Is twice of different quality/>Is a difference in (2); let/>Solving for the resonance frequency ratioAt this time, Z is the maximum value, the frequency ratio is a constant related to the system damping ratio, and the resonance frequency ratio/> is determined from the displacement transfer coefficient peak valueAs can be seen from the damping ratio definition,/>，/>For additional mass/>Excitation frequency when Z takes maximum value,/>For/>When Z is the maximum value, the excitation frequency is adopted;
Solving to obtain
（10）,
Substituting formula (10)Availability/>,
Thus, multiple measurements will be madePlotted in plane coordinates, cross/>And (0, 0) as a fit straight line, as shown in fig. 4, the slope of which is k.
Specifically, in the vibration signal acquisition step, the original signal of the displacement x at the time t (n) is acquiredWherein:，/> for sampling interval time,/> . Original signal/>The waveform distortion caused by the baseline deviation is corrected after acquisition, and the interference and influence of high-frequency noise mixed in signals are eliminated through a band-pass filter. The preprocessing aims at eliminating trend terms, and linear trends represent systematic increases or decreases of data, usually systematic errors introduced by measurement links. The method comprises the following steps: from the original signal/>Subtracting the least squares best fit line from the original signal/>The linear trend is removed, and analysis can be concentrated on the vibration signal/>Is above the fluctuation of (c). The least squares best fit line equation is
（14）,
Wherein,（15）,
（16）,
Wherein,。
In the stiffness fitting step, in the process of measuring vibration signals under different mass loads for multiple times, the vibration signals are measured by
（11）,
（12）,
Therefore, the minimum mass variation should be satisfied
（13）
Is the minimum resolution of the vibration measuring instrument.
Compared with the prior art, the method for detecting the rigidity of the flexible hinge has the advantages that the simple harmonic load is applied to the support end, the flexible hinge performs simple harmonic vibration under the load action of the support end, and vibration signals of the free end of the flexible hinge are collected; vibration signals under different mass loads are measured for multiple times, multiple measurement results are drawn in plane coordinates, a fitting straight line is made, the slope of the fitting straight line is k, the natural frequency of the stiffness of the flexible hinge is obtained by analyzing the vibration signals through the method, non-contact stiffness measurement is realized, the influence of equivalent mass uncertainty on stiffness measurement is reduced, the application range is wide, and the error is small.
The foregoing examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, it is possible to make several modifications and improvements without departing from the concept of the present invention, which are equivalent to the above embodiments according to the essential technology of the present invention, and these are all included in the protection scope of the present invention.
Claims (5)
1. The method for detecting the rigidity of the flexible hinge is characterized by comprising the following steps of:
Vibration signal acquisition: applying simple harmonic loading to a flexible hinge support end ，/>For the amplitude,/>Is angular frequency,/>Time is; the flexible hinge makes simple harmonic vibration under the load action of the supporting end, and vibration signals/>, of the free end of the flexible hinge, are collected；
Natural frequency calculation: the length of the flexible hinge is changed intoThe speed of the free end relative to the support end is/>The system dynamics equation is that
（1），
Wherein,For quality,/>Is a damping coefficient,/>Is rigidity; will/>Carrying out formula (1) to obtain
（2），
Order the=/>，/>For the amplitude,/>For the phase angle, a=/>，Then
（3），
（4），
Beta is an angle parameter introduced in the formula conversion process, and the formula (3) is deformed intoForm (f) of (f)
（5），
（6），
Definition of displacement transmissibility(7) Bringing equation (5) into equation (7) to obtain
（8），
By definition, the natural frequency of the systemAttenuation coefficient/>Damping ratio/>Frequency ratio/>Obtaining
（9），
When (when)Time,/>The displacement transfer coefficient is independent of the damping ratio, and the displacement transfer coefficient curve is determined to beThe abscissa of the intersection point is/>Definition/> according to frequency ratioInput angular frequency/>Solving the natural frequency/>, of the system；
Stiffness fitting: measuring vibration signals under different mass loads multiple times, due to definition of natural frequencySolving to obtain，/>Let/>Substituted/>Can obtain/>，/>Is twice of different quality/>Is a difference in (2); let/>=0, Solving for the resonance frequency ratio/>At this time/>For maximum value, the frequency ratio is a constant related to the damping ratio of the system, and the resonance frequency ratio/> is determined according to the displacement transfer coefficient peak valueAs can be seen from the damping ratio definition,/>，/>For additional mass/>Time/>Excitation frequency at maximum value,/>For/>Time of dayThe excitation frequency is the maximum value;
Solving to obtain
（10），
Substituting formula (10)Availability/>，
Thus, multiple measurements will be madePlotted in plane coordinates, cross/>And (0, 0) to form a fitting straight line, wherein the slope of the fitting straight line is/>。
2. The flexible hinge stiffness detection method according to claim 1, wherein: in the stiffness fitting step, during the process of measuring vibration signals under different mass loads, the vibration signals are measured for a plurality of times （11），
（12），
Therefore, the minimum mass variation should be satisfied
（13），
Is the minimum resolution of the vibration measuring instrument.
3. The flexible hinge stiffness detection method according to claim 1, wherein: in the vibration signal acquisition step, specifically: acquisition of displacementAt/>Time of day original signal/>Wherein: /(I)，/>For sampling interval time,/>。
4. A method of detecting stiffness of a flexible hinge according to claim 3, wherein: in the vibration signal acquisition step, the method further comprises the step of acquiring an original signalThe pretreatment is carried out, specifically: from the original signal/>Subtracting the least squares best fit line from the original signal/>The linear trend is removed, and analysis can be concentrated on the vibration signal/>Is above the fluctuation of (c).
5. The method for detecting rigidity of flexible hinge according to claim 4, wherein: the least square best fit line equation is
（14），
Wherein, （15），
（16），
Wherein,，/>，/>。
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- 2024-03-26 CN CN202410345947.XA patent/CN117949155B/en active Active
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