CN206695791U - Quick regression magnetic liquid omniazimuthal horizontal obliquity sensor - Google Patents
Quick regression magnetic liquid omniazimuthal horizontal obliquity sensor Download PDFInfo
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- CN206695791U CN206695791U CN201720506774.0U CN201720506774U CN206695791U CN 206695791 U CN206695791 U CN 206695791U CN 201720506774 U CN201720506774 U CN 201720506774U CN 206695791 U CN206695791 U CN 206695791U
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Abstract
The utility model is a kind of quick regression magnetic liquid omniazimuthal horizontal obliquity sensor, and the sensor includes magnetic liquid measuring cell, support, horizontal base and stack permanent magnet；The magnetic liquid measuring cell includes closing spherical shell, three tunnel magneto resistance sensors, connecting rod, connection ring and magnetic liquid；Close spherical shell to be stacked and formed by 35 pieces of cylindrical permanent magnets built with the magnetic liquid and stack permanent magnet for accounting for spherical shell volume 40%~50%, described stack permanent magnet, middle one piece of cylindrical permanent magnet surrounding is uniformly distributed four recurrence bars.The design that the sensor passes through stack permanent magnet, solve the problems, such as uneven with tilt angle varied magnetic induction density B rate of change, considerably improve the measurement accuracy of sensor and the stability of sensor, and by returning the design of bar, stack permanent magnet is set quickly to return the operating efficiency that stable state improves sensor.
Description
Technical field
A kind of obliquity sensor is the utility model is related to, relates generally to a kind of quick regression magnetic liquid omniazimuthal horizontal
Obliquity sensor.
Background technology
With the continuous progress of science and technology, usually need accurately to measure working face relative to level in social production practice
The angle of inclination in face, for example, high-precision laser instrument leveling, engineering machinery leveling, dam monitoring, satellite missile launch angle,
Aircraft flight posture etc., therefore obliquity sensor has quite varied application prospect.The inclination angle industrially applied at present passes
Sensor can be divided into " solid pendulum ", " liquid pendulum ", three kinds of " Liquid Pendulum ".Sensed compared to " solid pendulum " and " liquid pendulum " formula inclination angle
Device, " Liquid Pendulum " formula obliquity sensor are easily disturbed by factors, therefore the performance of " Liquid Pendulum " formula obliquity sensor
Stability is poor, practical application rate is low.It is stagnant in the presence of machinery compared to " liquid pendulum " formula obliquity sensor, " solid pendulum " obliquity sensor
The problem of afterwards and wearing.
A kind of existing magnetic liquid sensor, it has a glass tube, and glass tube holds filled with non magnetic carrier fluid peace treaty half
The magnetic liquid of body product, the outer radial periphery of glass tube are wrapped excitation coil, difference induction coil.Excitation coil produces magnetic
, the magnetic liquid in magnetizing tube, when glass tube tilts, magnetic liquid moves under gravity, the winding of its periphery
Difference induction coil produces induced-current.The electric current is the function at sensor perturbations angle.Because this kind of obliquity sensor is merely able to
The inclination angle of a certain fixed-direction is measured, three-dimensional space slope angle is measured in actual use needs at least two to be mutually perpendicular to place
Obliquity sensor can just realize the measurement at three dimensions introversion oblique angle, the obliquity sensor can not realize that synchro measure tilts
Angle and deflection angle；Due to the limitation of this kind of sensor this body structure, magnetic liquid increases with inclination angle in obliquity sensor pipe
Movement under gravity is less and less, so the measurement accuracy of obliquity sensor can reduce with the increase at inclination angle, should
Obliquity sensor can not realize the measurement of ± 180 ° of full angles；Because this kind of sensor needs to produce magnetic field by excitation coil,
So needing to be equipped with corresponding excitation power supply using the obliquity sensor, the use difficulty and cost of obliquity sensor are added,
Conversion of the dip angle signal to electric signal is realized by difference induction coil, the volume and weight of sensor is added, is not easy to
Used in existing system.
Utility model content
For insufficient present in current techniques, the purpose of this utility model for provide it is a kind of be applied in three dimensions ±
180 ° of full angles, the obliquity sensor of multi-faceted measurement.The sensor solves existing by the design of magnetic liquid measuring cell
The liquid sensor measurement direction that is magnetic fixed single, the problems such as measurement range is narrow, the sensor can be with synchro measure three-dimensional space
Between introversion oblique angle and deflection angle and measurement range expand to ± 180 °, the applicability and work for significantly improving measuring system are imitated
Rate.The sensor solves uneven with tilt angle varied magnetic induction density B rate of change by the design of stack permanent magnet
Problem, the measurement accuracy of sensor and the stability of sensor are considerably improved, and by returning the design of bar, make stacking
Formula permanent magnet quickly returns stable state, reduces the magnetic liquid omniazimuthal horizontal obliquity sensor measurement stand-by period, improves
The operating efficiency of sensor.The sensor solves the object of reference of yawing moment by the design of compass on horizontal base
Problem, add the normalization of yawing moment angle measurement.
Technical solutions of the utility model are：
A kind of quick regression magnetic liquid omniazimuthal horizontal obliquity sensor, the sensor include magnetic liquid measurement member
Part, support, horizontal base and stack permanent magnet；The support is fixed on horizontal base by mounting hole；Magnetic liquid is surveyed
It is rack-mount to measure element；The stack permanent magnet is suspended in the magnetic liquid inside magnetic liquid measuring cell；Institute
Horizontal base is stated to be fixed on face to be detected by fixing bolt；
The magnetic liquid measuring cell includes closing spherical shell, tunnel magneto resistance (TMR) sensor a, tunnel magneto resistance
(TMR) sensor b, tunnel magneto resistance (TMR) sensor c, connecting rod, connection ring and magnetic liquid；Closing spherical shell is built with accounting for
The magnetic liquid and stack permanent magnet of spherical shell volume 40%~50%, and be connected by connecting rod with connection ring；4 connections
Bar is evenly distributed in closing spherical shell horizontal direction largest circumference, and one end of each connecting rod is vertically fixed on spherical shell；Connection
The other end of bar is connected with connection ring, the outside of largest circumference of the circular connection ring in the middle part of closing spherical shell；Tunnel magnetic
Resistance (TMR) sensor b is fixed on the bottommost on the outside of closing spherical shell, tunnel magneto resistance (TMR) sensor a, tunnel magneto resistance
(TMR) sensor c is respectively positioned at the outside of closing spherical shell horizontal direction largest circumference, and with the centre of sphere on same straight line；
The magnetic liquid is keryl Fe3O4Magnetic liquid, according to volume ratio Fe3O4：Kerosene=8：92 prepare；Four oxygen
Change three-iron is nano particle, and the scope of diameter is in 2~20nm.
Described stack permanent magnet is stacked with the order of radius from small to large by 3-5 blocks cylindrical permanent magnet and formed, circle
The thickness of post permanent magnet is identical, and the maximum cylinder permanent magnet of diameter is in the top；The cylinder permanent magnet of axial charging is by mutual
Between absorption affinity stack form an entirety；The central axis of permanent magnet overlaps；Wherein, the cylindrical permanent magnet bottom of bottom
A recurrence bar is fixed at face center, and middle one piece of cylindrical permanent magnet surrounding is uniformly distributed four recurrence bars；Described stacking
Formula permanent magnet is preferably to be made up of 5 pieces of cylindrical permanent magnets, and thickness is 2mm, radius be followed successively by 10mm, 8mm, 6mm, 4mm,
2mm；3rd piece of cylindrical permanent magnet surrounding is uniformly distributed four recurrence bars, and length is 4mm.The radius of described closing spherical shell
For 20mm.
Support is four legs, and every leg includes semi-circular pillar, pillar a, adjustable column, pillar b；The semi-circular branch
Post is used for supporting connection ring, and the pillar b is fixed in the corresponding foot mounting aperture of load level base；Pillar a non-threaded end
With being connected for semi-circular pillar, threaded end is connected with adjustable column, and the other end of adjustable column is connected with pillar b threaded ends
Connect.
The horizontal base of magnetic liquid omniazimuthal horizontal obliquity sensor includes four foot mounting apertures, four fixing bolts
Through hole, a compass mounting hole, compass is installed in hole.
Described magnetic liquid omniazimuthal horizontal obliquity sensor also includes A/D analog-digital converters and micro-control processor, often
Individual tunnel magneto resistance (TMR) sensor is connected with an A/D analog-digital converter, three A/D analog-digital converters with micro-control
Reason device is connected.
Compared with prior art, the beneficial effects of the utility model are：
1st, magnetic liquid measuring cell designs in the utility model, not only can be by spherical shell structure to internal magnetic liquid
Body and it is suspended in stack permanent magnet therein, there is provided the stable environment not influenceed by extraneous factor, return outside spherical shell
Tunnel magneto resistance (TMR) sensor that side is fixed provides ± 180 ° of full angle measurement spaces, and magnetic liquid can be made comprehensive
Horizon sensor measures inclination angle and deflection angle in three dimensions simultaneously, effectively simplifies the survey of three dimensions introversion oblique angle
The process of amount, the range of obliquity sensor is extended to greatest extent, realize the comprehensive measurement in three dimensions.
2nd, excite magnetic field using stack permanent magnet in the utility model, first, stack permanent magnet design solve with
The problem of tilt angle varied magnetic induction density B rate of change is uneven, the notable precision for improving sensor, when inclination angle occurs
During minor variations, magnetic induction density B change is obvious.Secondly, it is not necessary to extrinsic motivated source, simplify the behaviour using obliquity sensor
Make process, reduce the structure of obliquity sensor.Compared with existing magnetic liquid obliquity sensor, the comprehensive water of magnetic liquid
Flat obliquity sensor operating procedure is more convenient.
3rd, the utility model measures the size of magnetic induction density B using tunnel magneto resistance (TMR) sensor, to realize angle
Conversion of the signal to electric signal.Tunnel magneto resistance (TMR) sensor uses LGA (4mm × 4mm × 2.5mm) packing forms, with
It is many that difference induction coil compares small volume.Tunnel magneto resistance (TMR) sensor has very high sensitivity, using 5V direct currents
Power supply is powered for it, and its sensitivity K is 5mV/Gs.Tunnel magneto resistance (TMR) sensor can accurately complete the collection of signal,
Magnetic liquid omniazimuthal horizontal transducer sensitivity precision is lifted, simplifies sensor overall structure.
4th, the utility model proposes recurrence bar design, stack permanent magnet can be made quickly to revert to stable state, reduce
Stand-by period in magnetic liquid omniazimuthal horizontal obliquity sensor measurement process, improve the work effect of obliquity sensor
Rate, time of measuring is saved.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the utility model magnetic liquid omniazimuthal horizontal obliquity sensor；
Fig. 2 is that the structure of the magnetic liquid measuring cell of the utility model magnetic liquid omniazimuthal horizontal obliquity sensor is shown
It is intended to；
Fig. 3 is that the vertical of the magnetic liquid measuring cell of the utility model magnetic liquid omniazimuthal horizontal obliquity sensor cuts open
Face structural representation；
Fig. 4 is a kind of embodiment party of the stack permanent magnet of the utility model magnetic liquid omniazimuthal horizontal obliquity sensor
Formula structural representation；
Fig. 5 is the establishment of coordinate system schematic diagram of the utility model magnetic liquid omniazimuthal horizontal obliquity sensor；
Fig. 6 is the structural representation of the leg of the utility model magnetic liquid omniazimuthal horizontal obliquity sensor；
Fig. 7 is the horizontal base structural representation of the utility model magnetic liquid omniazimuthal horizontal obliquity sensor；
Fig. 8 is the magnetic liquid measuring cell a quarter of the utility model magnetic liquid omniazimuthal horizontal obliquity sensor
Function relation curve between circumference introversion bevel angle θ and magnetic induction density B；
Fig. 9 is the principle schematic of the utility model magnetic liquid omniazimuthal horizontal obliquity sensor measurement deflection angle；
Figure 10 is that the utility model magnetic liquid omniazimuthal horizontal obliquity sensor resolves deflection angle schematic diagram；
In figure, 1. magnetic liquid measuring cells, 2. supports, 3. horizontal bases, 4. stack permanent magnets, 1-1. closure balls
Shell, 1-2. tunnel magneto resistances (TMR) sensor a, 1-3. tunnel magneto resistance (TMR) sensor b, 1-4. tunnel magneto resistance (TMR)
Sensor c, 1-5. connecting rod, 1-6. connection rings, 1-7. magnetic liquids, 4-1. cylinder permanent magnet a, 4-2. cylinder permanent magnets b, 4-
3. cylinder permanent magnet c, 4-4. cylinder permanent magnet d, 4-5. cylinder permanent magnet e, 4-6. return bar, 2-1. semi-circulars pillar, 2-2.
Pillar a, 2-3. adjustable column, 2-4. pillar b, 3-1. leg a mounting holes, 3-2. leg b mounting holes, 3-3. compasses mounting hole,
3-4. leg c mounting holes, 3-5. leg d mounting holes, 3-6. fixing bolt through hole a, 3-7. fixing bolt through holes b, 3-8. are fixed
Bolt hole c, 3-9. fixing bolt through hole d.
Embodiment
With reference to embodiments and its accompanying drawing is further described to the utility model：
As shown in figure 1, the overall knot of quick regression magnetic liquid omniazimuthal horizontal obliquity sensor of the present utility model
Structure, including magnetic liquid measuring cell 1, support 2, horizontal base 3 and stack permanent magnet 4；The support 2 is consolidated by mounting hole
It is scheduled on horizontal base；Magnetic liquid measuring cell 1 is arranged on support 2；The stack permanent magnet 4 is suspended in magnetic liquid
In magnetic liquid inside measuring cell 1；The horizontal base 3 is fixed on face to be detected by fixing bolt；
As shown in Fig. 2 the magnetic liquid measuring cell 1 includes closing spherical shell 1-1, tunnel magneto resistance (TMR) sensor a
1-2, tunnel magneto resistance (TMR) sensor b 1-3, tunnel magneto resistance (TMR) sensor c 1-4, connecting rod 1-5, connection ring 1-6
With magnetic liquid 1-7；External diameter 40mm closing spherical shell is built with the magnetic liquid 1-7 and stacking for accounting for spherical shell volume 40%~50%
Formula permanent magnet 4, and be connected by connecting rod 1-5 with connection ring 1-6；4 connecting rod 1-5 are evenly distributed on closing spherical shell 1-1
In horizontal direction largest circumference, each connecting rod 1-5 one end is vertically fixed on spherical shell；The connecting rod 1-5 other end and company
Meet ring 1-6 to be connected, the outside of largest circumferences of the circular connection ring 1-6 in the middle part of closing spherical shell 1-1；Tunnel magneto resistance
(TMR) sensor b 1-3 are fixed on the bottommost on the outside of closing spherical shell 1-1, tunnel magneto resistance (TMR) sensor a 1-2, tunnel
Magneto-resistor (TMR) sensor c 1-4 are located at the outside of closing spherical shell 1-1 horizontal direction largest circumferences, and the two and ball respectively
The heart is on same straight line；
As shown in figure 3, the magnetic liquid measuring cell of the utility model magnetic liquid omniazimuthal horizontal obliquity sensor
Sectional elevation structure, including closing spherical shell 1-1, tunnel magneto resistance (TMR) sensor a 1-2, tunnel magneto resistance (TMR) sensor
B 1-3, tunnel magneto resistance (TMR) sensor c 1-4, stack permanent magnet 4, magnetic liquid 1-7；The magnetic liquid 1-7 is
A kind of new functional material, specially a kind of keryl Fe3O4Magnetic liquid, according to volume ratio Fe3O4：Kerosene=8：92 match somebody with somebody
System, density 1.13g/cm3, viscosity 3.25mPas, saturation magnetization 381.5Gs, ferroso-ferric oxide is nano particle,
For the scope of diameter in 2~20nm, its average value is 10nm.Described keryl Fe3O4Magnetic liquid has and can suspended than its own
The characteristic of the big magnetisable material of density, can be used for stack permanent magnet provide one can the static suspension in relative gravity direction
Environment；The static suspension in magnetic field that stack permanent magnet 4 is excited using itself and the relative gravity direction that magnetic liquid provides
Environment, provide the relative gravity that can a be measured direction static magnetic field for tunnel magneto resistance (TMR) sensor.
Described stack permanent magnet 4 is by order of 3~5 pieces of thickness identical cylindrical permanent magnets with radius from small to large
Composition is stacked, wherein, the thickness of every piece of cylindrical permanent magnet should be closed in spherical shell radius at 0.05~0.14 times, stack
The gross thickness of permanent magnet should in 0.25~0.7 times of closing spherical shell radius, the radius of cylindrical permanent magnet for 0.05~
In 0.6 times of closing spherical shell radius；A recurrence bar, the 3rd piece of circle are fixed by wherein first piece of cylindrical permanent magnet bottom center
Cylindricality permanent magnet surrounding is uniformly distributed four recurrence bars；As shown in figure 4, the utility model magnetic liquid omniazimuthal horizontal inclination angle passes
A kind of embodiment of the stack permanent magnet of sensor, described closing spherical shell radius are 20mm, and stack permanent magnet includes circle
Post permanent magnet a 4-1, cylinder permanent magnet b 4-2, cylinder permanent magnet c 4-3, cylinder permanent magnet d 4-4, cylinder permanent magnet e 4-
5；The thickness of five pieces of cylinder permanent magnets is 2mm, and radius is followed successively by 10mm, 8mm, 6mm, 4mm, 2mm；The circle of five pieces of axial chargings
Post permanent magnet stacks by mutual absorption affinity and forms an entirety；The central axis of five pieces of permanent magnets overlaps.First piece
The a length of 2mm of recurrence bar that cylindrical permanent magnet bottom center is fixed, the 3rd piece of equally distributed four of cylindrical permanent magnet surrounding
The a length of 4mm of bar is returned, material is resin；The permanent magnet perigee distance spherical shell minimum point 3mm in above-mentioned specific embodiment.But
Height of the permanent magnet in magnetic liquid is arbitrary in general embodiments.
Described magnetic liquid omniazimuthal horizontal obliquity sensor also includes A/D analog-digital converters and micro-control processor, institute
Three tunnel magneto resistance (TMR) sensor groups stated into identical, each tunnel magneto resistance (TMR) sensor with an A/D mould
Number converter is connected, and three A/D analog-digital converters are connected with micro-control processor.
The analog electrical signal of three tunnel magneto resistance output, digital electricity is converted to by A/D analog-digital converters ADS1256 successively
Signal, and be sent to micro-control processor STM32 and carry out calculating processing, micro-control processor will be settled accounts by RS232 Serial Port Lines tie again
Fruit is sent to PC and shown.
Tunnel magneto resistance (TMR) sensor is a commercially available known electronic device, and the sensor has x ', y ', z '
The linear magnetic sensor of three orthogonal magnetic susceptibility direction of principal axis, when the magnetic line of force in magnetic field is in the same direction with magnetic susceptibility axle, according to
Tunneling magnetoresistance has：
Vx=KBx (1)
Wherein, Vx、Bx, K be respectively the axial output voltages of tunnel magneto resistance (TMR) sensor x ', magnetic flux density measurement
Value, sensitivity；Magnetic induction density B on spherical shell may be divided into three orthogonal components Bx、By、Bz, have：
According to such relation, tunnel magneto resistance (TMR) sensor can measure the magnetic induction density B on spherical shell.This reality
The sensitivity K for applying tunnel magneto resistance in example is 5mV/Gs.
In order to better illustrate the measurement direction of the respective magnetic susceptibility axle of three tunnel magneto resistance (TMR) sensors on spherical shell,
Rectangular coordinate system in space as shown in Figure 5 is established, i.e., using the centre of sphere O of magnetic liquid measuring cell 1 as rectangular coordinate system in space
Origin, centre of sphere O and the connecting line of tunnel magneto resistance (TMR) sensor c 1-4 measurement points are Y-axis, centre of sphere O and tunnel magneto resistance
(TMR) connecting line of sensor b 1-3 measurement points is Z axis, the plane that X-axis forms perpendicular to Y, Z axis；Original state tunnel magnetoelectricity
The direction for hindering the coordinate system of (TMR) sensor b 1-3 measurement direction x ', y ', z ' axles with establishing is consistent；Magnetic liquid measurement member
Part 1 is turned clockwise 90 ° centered on X-axis, now tunnel magneto resistance (TMR) sensor c 1-4 measurement direction x ', y ', z '
Axle is consistent with tunnel magneto resistance (TMR) sensor b 1-3 measurement direction；The inverse time centered on X-axis of magnetic liquid measuring cell 1
Pin is rotated by 90 °, now tunnel magneto resistance (TMR) sensor a 1-2 measurement direction x ', y ', z ' axles and tunnel magneto resistance (TMR)
Sensor b 1-3 measurement direction is consistent.Tunnel magneto resistance (TMR) sensor has x ' axles, y ' axles, three, z ' axles mutually
Vertical measurement direction, three tunnel magneto resistance (TMR) sensor x ' axles being fixed on spherical shell are consistent with X-direction, z ' axles
The centre of sphere of spherical shell is pointed to, y ' axles observe the right-hand rule perpendicular to plane where x ' axles, z ' axles；
Support 2 is four legs, the structure of every leg as shown in fig. 6, including semi-circular pillar 2-1, pillar a 2-2,
Adjustable column 2-3, pillar b 2-4；Pillar a 2-2 non-threaded end is connected with semi-circular pillar 2-1's, threaded end and regulation
Post 2-3 is connected, and the adjustable column 2-3 other end is connected with pillar b 2-4 threaded ends.Turn clockwise adjustable column 2-3 when
Pillar a 2-2 are moved upwards, and obliquity sensor is realized so as to adjust the relative position of magnetic liquid measuring cell and horizontal base
The purpose of zeroing.Pillar b2-4 one end is connected with horizontal base 3, in the leg installation through-hole of fixed load level base.
Semi-circular pillar 2-1 one end is connected in connection ring 1-6, plays a part of support magnetic liquid measuring cell.
As shown in fig. 7, the structural representation of the horizontal base of magnetic liquid omniazimuthal horizontal obliquity sensor, including four
Foot mounting aperture, leg a 3-1, leg b 3-2, leg c 3-4, leg d 3-5, four fixing bolt through holes, through hole a 3-
6th, through hole b 3-7, through hole c 3-8, compass is installed in through hole d 3-9, compass a mounting hole 3-3, mounting hole 3-3.
Leg is installed in corresponding mounting hole, the water by fixing bolt through hole magnetic liquid omniazimuthal horizontal obliquity sensor
Flat bed is fixed on tested surface, be should be noted when fixed and be should ensure that the direction north shown in compass passes with tunnel magneto resistance (TMR)
Sensor b 1-2x ' axle measurement directions are consistent.
As shown in figure 8, use finite element method calculate using on spherical shell using minimum point as origin, at intervals of 0.4 °, four points
One of the size of magnetic induction density B (as shown in phantom in Figure 3) in spherical shell distal extent；As θ=0, magnetic induction density B is most
Greatly, maximum 895.7Gs；When θ=90 °, magnetic induction density B is minimum, minimum value 143.3Gs；Using polynomial regression
Analytic approach determines that the functional relation between magnetic induction density B and tiltangleθ is：
B=f (the θ)=θ of 877.927-14.713 θ+0.0752(90 ° of 0 ° of ＞ θ ＞) (3)
Coefficient R-Square=0.99529, data have the very high degree of correlation；Formula can calculate inclination angle accordingly
θ。
Device of the present utility model can measure tiltangleθ and deflection angle β in three dimensions.Two corners are introduced separately below
The measurement solution process of degree.
The utility model measures tiltangleθ (relative to the angle of Z axis in rectangular coordinate system in space O) solution process, according to
The magnetic induction density B on three positions that tunnel magneto resistance (TMR) sensor a 1-2, b 1-3, c 1-4 are measureda、Bb、Bc, and
Formula (3), according to three magnetic induction density Bsa、Bb、BcMagnitude relationship is determined to calculate function, wherein maximum will substituted into accordingly
Formula (4), calculate tiltangleθ.
The utility model measurement deflection angle β is (relative to the angle of X-axis in rectangular coordinate system in space O, i.e., under original state
X ') solution process, as shown in Fig. 9 measurement deflection angles β principle schematic, when calculating tiltangleθ, it make use of three magnetic induction strong
Spend Ba、Bb、BcIn maximum, the measurement point that this is most worth is rotated by 360 ° centered on Z axis, has determined that it can on spherical shell
Can position, the possible position forms circle of the center of circle on Z axis, as circle O ' is shown in Fig. 9, straight line OO ' perpendicular to disc,
Intersection point is O ' points；Measurement point O1、O3、O4For circle O ' and two axial planes of XZ, YZ in rectangular coordinate system in space intersection point, O2For O1With O3
Between any point.As measurement point is different, deflection angle β and tunnel magneto resistance (TMR) sensor x ', y ', z ' three-axis measurements
Direction changes；Due to being symmetrical magnetic field caused by stack permanent magnet 3-5, the angle between z ' axles and straight line OO ' is
Tiltangleθ keeps constant, so magnetic induction density B size corresponding to the upper arbitrfary points of circle O ' is all equal and can be analyzed to two perseverances
Determine component Bxy、Bz, as in figure to O1Shown in the decomposition of measurement point magnetic induction density B.
As shown in Figure 10, to stationary component B in x '-y ' planesxySynthesis and decomposition and deflection angle β carry out specifically
It is bright；Wherein B1、B2、B3、B4Represent respectively, the O on circle O '1、O2、O3、O4The stationary component B of different measurement point positionsxy；Constant point
Measure BxySize is constant in x '-y ' planes, but direction changes with deflection angle β；Original state defines stationary component BxyIt is same with x ' axles
To deflection angle β is stationary component BxyWith the angle of x ' axles；By to stationary component BxyIn O2Measurement point B2 carries out orthogonal point
Solution, it is known that now deflection angle β is：
Wherein | By| and | Bx| it is the absolute value of magnetic induction density B component on x ', y ' axle on spherical shell respectively.Formula (5)
It is generalized to and is applied to ± 180 ° of full angles.
The application process of described magnetic liquid omniazimuthal horizontal obliquity sensor, comprises the following steps：
(1) magnetic liquid omniazimuthal horizontal obliquity sensor is placed, makes tunnel magneto resistance (TMR) sensor of its foot
Direction north shown in x ' axles measurement direction and compass is consistent, now by fixing bolt by magnetic liquid omniazimuthal horizontal inclination angle
Sensor is fixed on the tested surface for needing to measure inclination angle and deflection angle；
Wherein, centre of sphere O and the connecting line of tunnel magneto resistance (TMR) sensor c 1-4 measurement points are Y-axis, centre of sphere O and tunnel
The connecting line of magneto-resistor (TMR) sensor b 1-3 measurement points is Z axis, the plane that X-axis forms perpendicular to Y, Z axis；
(2) zeroing of adjustable column obliquity sensor is rotated：The adjustable column on four legs is rotated, is made at tunnel magneto resistance a, c
In three magnetic susceptibility direction of principal axis of same horizontal line, the now respective x ' of tunnel magneto resistance (TMR) sensor a, c, y ', z '
On, the outputting measurement value of respective shaft is equal in three axles；Total magnetic induction density B of tunnel magneto resistance (TMR) sensor b measurementsbDeng
In 895.7Gs；Realize that magnetic liquid omniazimuthal horizontal obliquity sensor returns to zero；
Wherein, it is orthogonal to be respectively provided with x ' axles, y ' axles, three, z ' axles for three tunnel magneto resistances (TMR) sensor
Measurement direction, three tunnel magneto resistance (TMR) sensor x ' axles being fixed on spherical shell are consistent with X-direction, and z ' axles point to ball
The centre of sphere of shell, y ' axles observe the right-hand rule perpendicular to plane where x ' axles, z ' axles；
(3) after tested surface tilts, 20~30 seconds are stood, treats that obliquity sensor is stable；
(4) tunnel magneto resistance (TMR) sensor output voltage, calculated magnetic induction intensity B are gathereda、Bb、BcSize：Micro-control
Processor STM32 is gathered three tunnel magneto resistance (TMR) sensors, amounted to by A/D analog-digital converter ADS1256 successively
Nine road differential output voltage signals；Analog voltage signal is converted to digital voltage signal by analog-digital converter, is forwarded at micro-control
Manage device STM32；Micro-control processor STM32 is by nine digital differential output voltages, according to formula (1) Vx=KBx, calculate respectively
Go out the respective x ' of three tunnel magneto resistance (TMR) sensors, y ', z ', the magnetic induction intensity component B of three axlesx、By、Bz, Ran Houzai
Utilize formula (2)Calculate tunnel magneto resistance (TMR) sensor a, b, c measurement
Magnetic induction density B on three positionsa、Bb、Bc；
Wherein, Vx、Bx, K be respectively the axial output voltages of tunnel magneto resistance (TMR) sensor x ', magnetic flux density measurement
Value, sensitivity；Bx、By、BzFor three components of magnetic induction density B on spherical shell；
(5) micro-control processor STM32 judges magnetic induction density Ba、Bb、BcMagnitude relationship：Maximum therein is substituted into
In the corresponding function of formula (4), resolve tiltangleθ and checkout result is sent to by PC by RS232 Serial Port Lines and show；
Wherein, θ is inclination angle；Ba、Bb、BcMagnetic strength respectively on the position of tunnel magneto resistance (TMR) sensor a, b, c tri-
Answer intensity measurements；
(6) micro-control processor SIM32 is completed after tiltangleθ calculates, then by magnetic induction density Ba、Bb、BcIn, maximum
Two magnetic induction intensity component By、Bx, substitute into the corresponding function of formula (6), resolving deflection angle β will be tied by RS232 Serial Port Lines
Calculation result is sent to PC and shown；
Wherein, β is deflection angle；By、BxRespectively three magnetic induction density Bsa、Bb、BcX ', y ' magnetic corresponding to middle maximum
Induction component.
(7) two values all obtain, and measurement terminates.
It is emphasized that embodiment described in the utility model is illustrative, rather than it is limited, therefore this reality
It is every new according to this practicality by those skilled in the art with the new embodiment including being not limited to described in embodiment
The other embodiment that the technical scheme of type is drawn, also belong to the application protective scope of the claims.
The utility model does not address part and is applied to prior art.
Claims (3)
- A kind of 1. quick regression magnetic liquid omniazimuthal horizontal obliquity sensor, it is characterized in that the sensor includes magnetic liquid Measuring cell, support, horizontal base and stack permanent magnet；The support is fixed on horizontal base by mounting hole；Magnetic Liquid measure element is rack-mount；The stack permanent magnet is suspended in the magnetic liquid inside magnetic liquid measuring cell In；The horizontal base is fixed on face to be detected by fixing bolt；The magnetic liquid measuring cell includes closing spherical shell, tunnel magneto resistance (TMR) sensor a, tunnel magneto resistance (TMR) and passed Sensor b, tunnel magneto resistance (TMR) sensor c, connecting rod, connection ring and magnetic liquid；Closing spherical shell is built with accounting for spherical shell volume 40%~50% magnetic liquid and stack permanent magnet, and be connected by connecting rod with connection ring；4 connecting rods are uniformly divided In closing spherical shell horizontal direction largest circumference, one end of each connecting rod is vertically fixed on spherical shell cloth；Connecting rod it is another End is connected with connection ring, the outside of largest circumference of the circular connection ring in the middle part of closing spherical shell；Tunnel magneto resistance (TMR) Sensor b is fixed on the bottommost on the outside of closing spherical shell, tunnel magneto resistance (TMR) sensor a, tunnel magneto resistance (TMR) sensing Device c is respectively positioned at the outside of closing spherical shell horizontal direction largest circumference, and with the centre of sphere on same straight line；Described stack permanent magnet is stacked with the order of radius from small to large by 3-5 blocks cylindrical permanent magnet and formed, and cylinder is forever The thickness of magnet is identical, and the maximum cylinder permanent magnet of diameter is in the top；The cylinder permanent magnet of axial charging is by mutual Absorption affinity stack form an entirety；The central axis of permanent magnet overlaps；Wherein, in the cylindrical permanent magnet bottom surface of bottom The heart fixes a recurrence bar, and middle one piece of cylindrical permanent magnet surrounding is uniformly distributed four recurrence bars；Support is four legs, and every leg includes semi-circular pillar, pillar a, adjustable column, pillar b；The semi-circular pillar is used To support connection ring, the pillar b is fixed in the corresponding foot mounting aperture of load level base；Pillar a non-threaded end and half Turned legs are connected, and threaded end is connected with adjustable column, and the other end of adjustable column is connected with pillar b threaded ends；The horizontal base of magnetic liquid omniazimuthal horizontal obliquity sensor includes four foot mounting apertures, and four fixing bolts lead to Hole, a compass mounting hole, compass is installed in hole；Described magnetic liquid omniazimuthal horizontal obliquity sensor also includes A/D analog-digital converters and micro-control processor, each tunnel Road magneto-resistor (TMR) sensor is connected with an A/D analog-digital converter, and three A/D analog-digital converters are and micro-control processor It is connected.
- 2. quick regression magnetic liquid omniazimuthal horizontal obliquity sensor as claimed in claim 1, it is characterized in that the magnetic Property liquid is keryl Fe3O4Magnetic liquid, according to volume ratio Fe3O4：Kerosene=8：92 prepare；Ferroso-ferric oxide is nanometer Grain, the scope of diameter is in 2~20nm.
- 3. quick regression magnetic liquid omniazimuthal horizontal obliquity sensor as claimed in claim 1, it is characterized in that described Stack permanent magnet is made up of 5 pieces of cylindrical permanent magnets, and thickness is 2mm, and radius is followed successively by 10mm, 8mm, 6mm, 4mm, 2mm； 3rd piece of cylindrical permanent magnet surrounding is uniformly distributed four recurrence bars, and length is 4mm；The radius of described closing spherical shell is 20mm。
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106989725A (en) * | 2017-05-09 | 2017-07-28 | 河北工业大学 | Quick regression magnetic liquid omniazimuthal horizontal obliquity sensor |
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2017
- 2017-05-09 CN CN201720506774.0U patent/CN206695791U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106989725A (en) * | 2017-05-09 | 2017-07-28 | 河北工业大学 | Quick regression magnetic liquid omniazimuthal horizontal obliquity sensor |
| CN106989725B (en) * | 2017-05-09 | 2022-12-20 | 河北工业大学 | Quick return type magnetic liquid omnibearing horizontal inclination angle sensor |
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