JP2014074587A - Multi-component force measurement method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a highly precise multi-component force measurement method capable of correcting a measurement error based on a weight or a moment of a calibration tool by precisely calculating the weight and a center of gravity position of the calibration tool.SOLUTION: Six component force data (referred to as physical value of test tool) of a weight and moment of a calibration tool and a multi-component force detector used for a calibration test prior to an actual measurement is calculated using a linear calculation. A secondary interference correction coefficient on an output of a detector with respect to a load is calculated by adding a physical value of the test tool to the six component forces based on the weight load for the calibration test. A secondary interference correction coefficient is calculated for calculating the load from a detector output by subtracting an offset value of a secondary interference correction coefficient which is calculated by using a physical value of the test tool from an output of the detector with respect to the load. The secondary interference correction coefficient is applied to the multi-component force measurement with respect to any load which is applied to the object to be measured.

Description

  The present invention relates to a multi-component force measurement method for measuring a component force with high accuracy using a multi-component force detector having high-order mutual interference.

Considering an arbitrary point of an object where various external forces are acting, this external force is represented by the forces F _X , F _Y , F _Z in each axis direction of the X, Y, Z Cartesian coordinate system and the moment M _X around each axis. , M _Y , M _Z can be decomposed into six independent component components. An example is the Sting-type multi-component force measurement that is used for wind tunnel testing of aircraft models.

  If such a force is decomposed into individual component components and measured by a multi-component force detector attached to the object, an error is included in the detector output. Although this error includes various factors, it can be broadly classified into errors that can be corrected and errors that are difficult to correct. However, with recent advances in measurement technology, some errors that were previously difficult to correct can now be corrected, and there are parts that do not appear as errors, but there are many errors that cannot be corrected. It was. In the case of an error that can be corrected, the measurement performance can be drastically improved by appropriately performing the correction.

  Interference correction is inevitable for high-accuracy measurement, but the correction method has also been advanced from linear correction (primary correction) to secondary correction and higher-order correction. The following proposals have been made and patent applications have been filed by the same applicant as this type of technology (see Patent Documents 1 to 3).

  Patent Document 1 uses a Sting-type multi-component force measuring instrument for hydrodynamic property testing of a flying object, detects a difference in height at the center of the multi-component force measuring device that occurs when the attitude of an airframe model is changed, and A multiple force load device having an adjustment jig for correcting the difference in height is disclosed. FIG. 2 discloses the relationship between the sting-type multi-component force measuring instrument and the airframe model. FIGS. 4A and 5A show the multi-component force test apparatus and the calibration treatment used for the calibration test. A multi-component load device comprising a tool (load test body 32) is disclosed. This calibration jig is also applied to the present invention described later.

  Patent Document 2 states that “when measuring a component force applied to an object to be measured, an interference error caused by deformation in the multi-component force detector itself or an auxiliary device attached thereto, and an inherent interference error possessed by the multi-component force detector. "Providing a multi-component force detection method capable of dramatically improving the measurement accuracy of the component force by applying an optimal correction to the above". The following methods described in 1 and 2 are disclosed.

That is, “the multi-force detector itself, interference between the multi-force detector and the object to be measured, or interference between detector outputs caused by deformation of each attached member that fastens the multi-force detector and the fixed end, and possibly In the method of detecting the multiple force applied to the object to be measured by the multiple force detector in a state where the inherent interference etc. possessed by the force detector is excluded, each output of the multiple force detector (EF _i ; i = 1 to 6) And the secondary value of the output (EF _i · EF _j ; i, j = 1 to 6) as a column vector, and a constant coefficient (B _ij ; i ≦ j; i, j = 0 to 0) for each element of the column vector 6), and a constant number (B ₀₀ ) is added and added together to form a calculation formula that gives a pseudo component force (BF _i ). In the calibration measurement, different sets of component forces (F _ik each component force output (EF _in) all calibration points maybe force detector at the time of loading) (n = 1~N; n = positive integer) obtained in advance for, for each calibration point Determining a difference similar component force (BF _in) and loaded component force _{(F in) (DF in)} , is integrated over all calibration points the squares of the difference (DF _in) (n), is the sum of squares The method is characterized in that the coefficient (B _ij ) is determined so as to be minimized and the optimum pseudo component force (BF _i ) is determined and applied to component force detection for an arbitrary load generated during measurement.
And "multiple force detector itself, interference between detector outputs caused by deformation of each attached member that fastens between the multi-force detector and the measured object, or between the multi-component force detector and the fixed end, and multi-component force In a method for detecting a multi-component force applied to an object to be measured by a multi-component force detector in a state where inherent interference or the like possessed by the detector is eliminated, a multi-component force (F _i ; i = 1 to 6) and a secondary force component The value (F _i · F _j ; i, j = 1 to 6) is a column vector, and each element of this column vector is multiplied by a certain coefficient (A _ij ; i ≦ j; i, j = 0 to 6). In addition, a certain number (A ₀₀ ) is added and integrated with each other to form a first-order pseudo component force output (AEF _i ). In calibration measurement, when different sets of component force outputs (BF _ik ) are output. previously obtained, is measured as a pseudo component force output at each calibration point (AEF _in) across; (n = positive integer n = 1 to n) each component force output (F _ik) all calibration points Calculated component force difference component of force (F _in) the (DF _in) was the square of this component force output difference (DF _in) is integrated over all of the calibration points (n), as the sum of squares is minimized A method characterized in that the optimum pseudo component force output (AEF _i ) is determined by obtaining the coefficient (A _ij ) and applied to component force output detection for an arbitrary load generated during measurement.

Patent Document 3 discloses a method in which the above method is improved with respect to offset (zero point adjustment). That is, the invention according to Patent Document 3 states that “a detector having a high-order mutual interference characteristic is subjected to a calibration test when an external force always acts or in the presence of an unknown offset. The following method is disclosed as a solution to the problem.
That is, “the unit of the multiple force detector 10 combined with the calibration jig 20 is attached to the mounting base 12 of the calibration device 14 and the posture of the calibration jig 20 is adjusted so as to apply a desired component force. Data of the component force output signal EF _in when the force F _in (i = 1 to 6; n = 1 to N) is applied to the multi-component force detector 10 is obtained, and a constant, A _i0 , primary coefficient, A _ij , and secondary coefficient A _ijk are obtained, and then the substitution data with substitution of EF _in −A _i0 ≡EF _in (β) is used, and F _i = Σ _{j = 1,6} B _ij EF _j + Σ _{j = 1,6} Σ _{k = j, 6} B _ijk EF _j EF _k (γ), and the primary coefficient B _ij and the secondary coefficient B _ijk are obtained by the least square method using the replacement data. From the measured component force output signal EF _i (i = 1 to 6), the component force F _i (i = 1 to 6) at that time is obtained using the equations (β) and (γ). ”

  By the way, in the methods disclosed in Patent Documents 2 and 3, the weight of the calibration jig or the like used for the calibration test is smaller than the measurement capacity of the object to be measured, that is, the load to be measured. It was processed by the linear approximation as it can be ignored. However, recently, there are cases where measurement errors based on the weight and moment of a calibration jig or the like cannot be ignored.

JP-A 64-16949 Japanese Examined Patent Publication No. 6-103236 Japanese Patent No. 2886832

  The present invention has been made in view of the above-mentioned conventional problems, and an object of the present invention is to obtain a measurement error based on the weight and moment of the calibration jig and the like by accurately obtaining the weight and the center of gravity position of the calibration jig and the like. Is to provide a multi-force measuring method with higher accuracy than before.

In order to solve the above-described problem, according to the present invention, in a multi-component force measurement method for measuring a multi-component force applied to an object to be measured using a multi-component force detector having high-order mutual interference characteristics, a calibration test before actual measurement is performed. Calculation of 6 component force data (hereinafter referred to as “physical values of test jig”) of weight and moment of calibration jig and multiple force detector (hereinafter simply referred to as “detector”) used for the calculation using primary interference correction coefficient Obtained based on (linear calculation), adding the physical value of the test jig to the 6 component force based on the weight load for the calibration test, to determine the secondary interference correction coefficient related to the output of the detector for the load, A secondary for obtaining the load from the detector output by subtracting the offset value (Ai0 ′) of the secondary interference correction coefficient calculated by using the physical value of the test jig from the output of the detector with respect to the load. Find the interference correction factor and The present invention is characterized in that it is applied to multi-component force measurement with respect to an arbitrary load applied to an object to be measured.
This corrects the measurement error based on the physical values (weight and moment) of the test jig, and even when the physical value of the test jig cannot be ignored compared to the measurement capacity of the object to be measured. Accurate measurement is possible.

  In the multi-component force measuring method, the physical value of the test jig may be an average value of output data at four points at a position rotated by 90 ° around the horizontal axis as a reference of the detector. preferable. Using four or more points of data improves the correction accuracy, but using the average value of the four points of output data has no practical problem and has the advantage of simplifying the configuration of the calibration method and calibration jig. .

  In the multi-component force measurement method, the output of the detector when obtaining a secondary interference correction coefficient related to the output of the detector with respect to the load is an offset value calculated based on an average value of the output data of the four points. It is preferable to remove it. Thereby, in the said invention, the improvement effect regarding the offset (zero point adjustment) which concerns on the invention which concerns on patent document 3 is acquired.

  Further, in the multi-component force measurement method, further, a physical value of the test jig after secondary interference correction is obtained based on the secondary interference correction coefficient and the physical value of the test jig, and the calibration test is performed. The secondary interference correction coefficient related to the output of the detector with respect to the load is obtained by adding the physical value of the test jig after the secondary interference correction to the 6 component force based on the weight load of the detector, and the output of the detector with respect to the load 2 for subtracting the offset value (Ai0 ″) of the secondary interference correction coefficient calculated by using the physical value of the test jig after the secondary interference correction from the detector output to obtain the load from the detector output. It is preferable that a next interference correction coefficient is obtained and applied to multi-component force measurement for an arbitrary load applied to the object to be measured. Thereby, it is possible to measure with higher accuracy. Note that the measurement accuracy can be further improved by applying the correction procedure to higher-order correction.

ここで、EFiは検出器の出力（i=1〜6）である。
右辺のFx，Fy，FzおよびMx，My，Mzは、それぞれ、負荷のx,y,z方向の各軸方向の力および各軸回りのモーメントである。
Ai0'は、前記線型計算に基づいて求めた試験用治具の物理値を用いて計算して求めた二次干渉補正係数のオフセット値であり、Ai10'〜Ai66'は、前記二次干渉補正係数の変換行列（変換のためのマトリックス）である。

ここで、Fiは試験用治具の物理値を含めた負荷である。
右辺のEFx，EFy，EFzおよびEMx，EMy，EMzは、それぞれ、検出器のx,y,z方向の各軸方向の力の出力および各軸回りのモーメントの出力である。
Bi0'は、前記線型計算に基づいて求めた試験用治具の物理値を用いて計算して求めた二次干渉補正係数のオフセット値であり、Bi10'〜Bi66'は、前記二次干渉補正係数の変換行列（変換のためのマトリックス）である。 Furthermore, as the multi-component force measurement method specifying the method for calculating the secondary interference correction coefficient, the following method is preferable. That is, the calculation of the secondary interference correction coefficient regarding the output of the detector with respect to the load is performed using the following [Equation 1], and the calculation of the secondary interference correction coefficient for obtaining the load from the detector output is performed by the detector. After subtracting AiO ′ in [Expression 1] from the output of [Expression 1], the following [Expression 2] is used.

Here, EFi is the output of the detector (i = 1 to 6).
Fx, Fy, Fz and Mx, My, Mz on the right side are the forces in the axial directions of the load in the x, y, and z directions and the moments about the respective axes, respectively.
Ai0 ′ is an offset value of the secondary interference correction coefficient obtained by calculation using the physical value of the test jig obtained based on the linear calculation, and Ai10 ′ to Ai66 ′ are the secondary interference correction This is a coefficient conversion matrix (matrix for conversion).

Here, Fi is a load including the physical value of the test jig.
EFx, EFy, EFz and EMx, EMy, EMz on the right side are an output of a force in each axis direction in the x, y, and z directions and an output of a moment around each axis, respectively.
Bi0 ′ is the offset value of the secondary interference correction coefficient obtained by calculation using the physical value of the test jig obtained based on the linear calculation, and Bi10 ′ to Bi66 ′ are the secondary interference correction This is a coefficient conversion matrix (matrix for conversion).

Moreover, the following method is more preferable. That is, the calculation of the secondary interference correction coefficient related to the output of the detector with respect to the load obtained by adding the physical values of the test jig after the secondary interference correction is performed using the following [Equation 3], from the detector output. The calculation of the secondary interference correction coefficient for obtaining the load is performed using [Equation 4] below after subtracting AiO '' in [Equation 3] from the output of the detector.
The codes in [Equation 3] and [Equation 4] below are the same as those in [Equation 1] and [Equation 2], but in [Equation 3] and [Equation 4] Since the physical values of the test jig are added, the superscript “′” in [Equation 1] and [Equation 2] is expressed as “″”.

  According to the present invention, it is possible to correct a measurement error based on the weight or moment of a calibration jig or the like by accurately obtaining the weight or center of gravity position of the calibration jig or the like, and provide a multi-force measurement method with higher accuracy than before. I can.

Diagram showing the definition of the coordinate system and center of gravity of the test jig (calibration jig not shown), the 6 component force of the load, and the symbol of the detector output The figure which shows the calculation formula of the load from the output at the time of load and the output in the linear calibration test of the detector FIG. 4 is a diagram showing the relationship between the actual load by the detector test jig and the output of the detector with respect to four points of data, and a diagram showing the general relationship between the acting load and the output of the detector FIG. 4 is a view similar to FIG. 3, showing a relationship when a physical value of a test jig is acting as an actual load. FIG. 5 is a diagram calculated based on FIG. 4, and shows a calculation result of an approximate value of offset FIG. 5 is a diagram similar to FIG. 4, showing the relationship between the actual load and the detector output after offset removal. The figure which shows the actual load excluding the physical value of the test jig and the output of the detector when a predetermined weight load is applied using the test jig in the calibration test The figure which shows the actual load and the output of a detector at the time of adding the physical value of a test jig to the actual load of FIG. The figure which shows [Formula 1] concerning calculation of the secondary interference correction coefficient regarding the output of the detector with respect to load The figure which changed the notation of the output which subtracted offset value Ai0 'from the output of the detector of FIG. 8, and subtracted The figure which shows [Formula 2] which concerns on calculation of the secondary interference correction coefficient for calculating | requiring load from a detector output The figure which shows the actual load and the output of a detector at the time of adding the physical value of the test jig after secondary interference correction to the actual load of FIG. The figure which shows [Formula 3] which concerns on calculation of the secondary interference correction coefficient regarding the output of the detector with respect to the load which added the physical value of the test jig after secondary interference correction Figure of subtracting the offset value AiO '' from the output of the detector in Fig. 8 and changing the notation of the subtracted output The figure which shows [Formula 4] concerning calculation of the secondary interference correction coefficient for calculating | requiring load from a detector output.

  An embodiment of the present invention will be described below based on FIGS. The present invention is not limited to the following embodiments, and appropriate different embodiments can be employed within the scope of the technical idea of the present invention.

First, the form until obtaining the physical value of the test jig before the calibration test will be described.
FIG. 1 is a diagram showing the definition of the coordinate system and the center of gravity of the test jig, the six component forces of the load, and the symbols of the detector output. Although the calibration jig is not shown in FIG. 1, in the calibration test, the calibration jig 20 is attached to the detector 10 as shown in FIG. In FIG. 1, regarding the load, the forces in the directions of the respective axes of the X, Y, Z orthogonal coordinate system are indicated by F _X , F _Y , F _Z , and the moments about the respective axes are indicated by M _X , M _Y , M _Z. It shows with. The center of gravity of the test jig is indicated by G.

FIG. 2 is a diagram showing a calculation formula for the load from the output and output at the load in the linear calibration test of the detector. The first stage (1) in FIG. 2 is the output at the load, and the second stage (2) is from the output. This is an expression for calculating the load. Here, EF _{X to} EM _Z are detector outputs (EFi), F _{X to} M _Z are loads (Fi) applied to the detector, and A _{11 to} A ₆₆ are transformation matrices [Aij]. B _{11 to} B ₆₆ are inverse transformation matrices [Bij] (see page 2 of Patent Document 2).

FIG. 3 is a diagram showing the relationship between the actual load by the detector test jig and the output of the detector with respect to four points of data, and a diagram showing a general relationship regarding the acting load and the output of the detector. is there.
The four points of data are four points of data (No. 1 to No. 1 in FIG. 3) at a horizontal axis (longitudinal axis of the detector) serving as a reference of the detector and a position rotated by 90 ° around the horizontal axis. 4 data). The position of the detector in No.1 to No.4 is + Fz upward for No.1, + Fy is upward for No.3, + Fz is downward for No.3, In No.4, + Fy is downward. This detector position is the same as in FIGS. 4 and 6 described later.
Although it is obvious that the correction accuracy improves as the data is based on more data, such as data on 8 points at a position rotated by 45 ° than the data on 4 points, the calibration method From the viewpoint of simplifying the configuration of the calibration jig, it is preferable to use four points of data for practical use. In addition, it is not necessary to measure the entire circumference, but it is also possible to use the results measured for an arbitrary plurality of angles.

FIG. 4 is a view similar to FIG. 3 and shows the relationship when the physical value of the test jig is acting as an actual load. The output of the right detector in FIG. 4 shows the output after the offset (EFj0) is removed. In FIG. 4, W is the weight of the test jig, and X, Y, and Z are the positions of the center of gravity of the test jig (see FIG. 1).
EFxi, EFyi, EFzi, EMxi, EMyi, EMzi (i = 1 to 4) are detector outputs when the test jig is attached to the detector, and EFx0, EFy0, EFz0, EMx0, EMy0 and EMz0 are outputs (no-load output / offset) when no load is applied to the detector.

  Next, calculation of the approximate value of offset will be described. FIG. 5 is a diagram showing the calculation result of the approximate value of the offset, and is a diagram calculated based on FIG. The total sum of each data of No. 1 to No. 4 in FIG. 4 is approximately shown in the upper part of FIG. Then, the approximate offset value of each component force output is 1/4, and is shown in the lower part of FIG. The above “approximate” actually means that it is necessary to consider the influence of higher-order component interference, but here, it means that the calculation is simple.

FIG. 6 is a diagram in which the notation of the output after removing the offset (EFj0) in FIG. 4 is changed.
Here, by substituting each data of No. 1 to No. 4 of FIG. 6 into (calculation formula of load from output) of FIG. 2 (2), W, X * of No. 1 to No. 4 W, Y * W, Z * W are required. Then, when these obtained values are averaged, the physical value of the test jig obtained using the primary interference correction coefficient, that is, based on the linear calculation is obtained.

  The above is description of the form until the physical value of the test jig is obtained. Next, the calibration test will be described below. First, a predetermined weight load is applied using a test jig. FIG. 7 shows the actual load excluding the physical value of the test jig at this time and the output of the detector. FIG. 8 shows the actual load and the output of the detector when the physical value of the test jig is added to the actual load of FIG.

    The secondary interference correction coefficient related to the output of the detector with respect to the load can be calculated as shown in FIG. 9 based on the method described in Patent Document 3. The calculation formula shown in FIG. 9 is the same as the above [Equation 1], EFi is the output of the detector (i = 1 to 6), and Fx, Fy, Fz and Mx, My, Mz on the right side thereof Are the axial force and the moment about each axis in the x, y, and z directions of the load, respectively, and Ai0 'is calculated using the physical values of the test jig obtained based on the linear calculation. The secondary interference correction coefficient offset values obtained in this manner, and Ai10 ′ to Ai66 ′ are transformation matrices (matrix for conversion) of the secondary interference correction coefficients.

  Next, subtraction of the offset value Ai0 ′ of the secondary interference correction coefficient obtained by calculation using the physical value of the test jig obtained based on the linear calculation will be described from the output of the detector. 10 is obtained by subtracting Ai0 ′ from the output of the detector shown in FIG. 8, and the notation of the subtracted output shown on the right side of the upper stage of FIG. Shown below.

  FIG. 11 shows a calculation formula of the secondary interference correction coefficient for calculating the load from the detector output, which is calculated based on the lower part of FIG. The calculation formula shown in FIG. 11 is the same as the above [Equation 2], Fi is a load including the physical value of the test jig, and EFx, EFy, EFz and EMx, EMy, EMz is the output of the force in each axial direction of the detector in the x, y, and z directions and the output of the moment about each axis, and Bi0 'is the test jig obtained based on the linear calculation. The offset value of the secondary interference correction coefficient calculated by using the physical value, and Bi10 ′ to Bi66 ′ are the transformation matrix (matrix for conversion) of the secondary interference correction coefficient.

  By obtaining a secondary interference correction coefficient for obtaining a load from the detector output as described above and applying this to a multi-component force measurement for an arbitrary load applied to the object to be measured, the physical value of the test jig ( Even when the measurement error based on weight and moment) is corrected and the physical value of the test jig cannot be ignored compared to the measurement capacity of the object to be measured, high-precision measurement is possible.

  Next, in order to further improve the measurement accuracy, based on the secondary interference correction coefficient and the physical value of the test jig, further determine the physical value of the test jig after secondary interference correction, The procedure for obtaining the secondary interference correction coefficient of the detector by adding the physical value of the test jig after the secondary interference correction to 6 component forces based on the actual load for the calibration test will be described.

  First, by substituting each data of No. 1 to No. 4 of FIG. 6 into the calculation formula of FIG. 11, W ′, X ′ * W ′, Y ′ * W of No. 1 to No. 4 are obtained. ', Z' * W 'is required. Then, when these obtained values are averaged, the physical value of the test jig using the secondary interference correction coefficient is obtained.

  Next, FIG. 12 is obtained by adding the physical value of the test jig using the secondary interference correction coefficient to the load FIG. 7 at the time of the calibration test.

  The secondary interference correction coefficient relating to the output of the detector with respect to the load, calculated based on FIG. 12, can be calculated using FIG. The calculation formula shown in FIG. 13 is the same as [Formula 3]. The details of each symbol in the mathematical formula are as described above.

  Similar to the above-described procedure, by subtracting AiO ″ in FIG. 13 from the output of the detector shown in FIG. 8, the result shown in the upper part of FIG. 14 is obtained, and the output of the subtracted output shown on the right side of the upper part is obtained. As what changed the notation, what is shown in the lower part of FIG. 14 is obtained.

  FIG. 15 shows the calculation formula of the secondary interference correction coefficient for calculating the load from the detector output, which is calculated based on the lower part of FIG. The calculation formula shown in FIG. 15 is the same as the above [Equation 4].

As described above, the physical value of the test jig after the secondary interference correction is obtained, and the physical value of the test jig after the secondary interference correction is added to the 6 component force based on the weight load for the calibration test. Then, a secondary interference correction coefficient related to the output of the detector with respect to the load is obtained, and the secondary obtained by calculating from the output of the detector with respect to the load using the physical value of the test jig after the secondary interference correction. Subtract the offset value (Ai0 '') of the interference correction coefficient to obtain the secondary interference correction coefficient for obtaining the load from the detector output,
By applying this to multi-component force measurement for any load applied to the object to be measured, the measurement error based on the physical values (weight and moment) of the test jig is highly corrected, and the physical values of the test jig Even when the measurement capacity is not negligible compared to the measurement capacity of the object to be measured, it is possible to measure with higher accuracy.
As an example of the measurement error when the weight of the calibration jig or the like used for the calibration test is relatively large and cannot be ignored with respect to the measurement capacity of the object to be measured, By the correction method of the present invention, it was possible to reduce to 0.1%.

Claims (6)

  In a multi-component force measurement method for measuring multi-component force applied to an object to be measured using a multi-component force detector having high-order mutual interference characteristics, a calibration jig and multi-component force detector (hereinafter simply referred to as a pre-measurement calibration test) are used. 6 component force data of weight and moment (hereinafter referred to as “physical value of test jig”) of the detector) is obtained based on a calculation (linear calculation) using a primary interference correction coefficient, and a weight for calibration test. The physical value of the test jig is added to the 6 component force based on the load to obtain a secondary interference correction coefficient related to the output of the detector with respect to the load, and the physical of the test jig is calculated from the output of the detector with respect to the load. Subtract the offset value (Ai0 ′) of the secondary interference correction coefficient obtained by calculation using the value to obtain a secondary interference correction coefficient for obtaining the load from the detector output, and add this to the object to be measured Maybe for any load It is applied to force measurement.   2. The method according to claim 1, wherein the physical value of the test jig is an average of output data of four points at a position rotated by 90 ° around the horizontal axis serving as a reference of the detector. A method for measuring the force of force, characterized by using a value.   The multi-component force measurement method according to claim 2, wherein an output of the detector when obtaining a secondary interference correction coefficient related to the output of the detector with respect to the load is calculated based on an average value of the output data of the four points. A multi-force measuring method, wherein the offset value is removed.   The multi-component force measuring method according to claim 1, further comprising obtaining a physical value of the test jig after secondary interference correction based on the secondary interference correction coefficient and the physical value of the test jig, The secondary interference correction coefficient related to the output of the detector with respect to the load is obtained by adding the physical value of the test jig after the secondary interference correction to the 6 component force based on the weight load for the calibration test, and detection for the load Subtract the offset value (Ai0 ″) of the secondary interference correction coefficient calculated by using the physical value of the test jig after secondary interference correction from the output of the detector to obtain the load from the detector output A multi-component force measuring method for obtaining a multi-component interference correction coefficient for applying to a multi-component force measurement for an arbitrary load applied to the object to be measured. 4. The method for measuring force of multiple applications according to claim 3, wherein the calculation of the secondary interference correction coefficient relating to the output of the detector with respect to the load is performed using the following [Equation 1], and a secondary for obtaining the load from the detector output. The interference correction coefficient is calculated by subtracting AiO ′ in [Expression 1] from the output of the detector and then using the following [Expression 2].

Here, EFi is the output of the detector (i = 1 to 6).
Fx, Fy, Fz and Mx, My, Mz on the right side are the forces in the axial directions of the load in the x, y, and z directions and the moments about the respective axes, respectively.
Ai0 ′ is an offset value of the secondary interference correction coefficient obtained by calculation using the physical value of the test jig obtained based on the linear calculation, and Ai10 ′ to Ai66 ′ are the secondary interference correction This is a coefficient conversion matrix (matrix for conversion).

Here, Fi is a load including the physical value of the test jig.
EFx, EFy, EFz and EMx, EMy, EMz on the right side are an output of a force in each axis direction in the x, y, and z directions and an output of a moment around each axis, respectively.
Bi0 ′ is the offset value of the secondary interference correction coefficient obtained by calculation using the physical value of the test jig obtained based on the linear calculation, and Bi10 ′ to Bi66 ′ are the secondary interference correction This is a coefficient conversion matrix (matrix for conversion). 5. The multi-component force measurement method according to claim 4, wherein the calculation of the secondary interference correction coefficient relating to the output of the detector with respect to the load obtained by adding the physical values of the test jig after the secondary interference correction is expressed by the following [Equation 3]. The secondary interference correction coefficient for obtaining the load from the detector output is calculated by subtracting AiO ″ in the [Equation 3] from the output of the detector, and the following [Equation 4]. ], Which is performed using the method.
The codes in [Equation 3] and [Equation 4] below are the same as those in [Equation 1] and [Equation 2], but in [Equation 3] and [Equation 4] Since the physical values of the test jig are added, the superscript “′” in [Equation 1] and [Equation 2] is expressed as “″”.

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