摘要
为实现六维加速度的测量,设计一种能实现六维加速度测量的传感器原型。加速度传感器以六自由度并联机构作为弹性机体,以压电陶瓷作为敏感单元,建模过程中充分考虑了传感器中心质量块坐标系、传感器外壳坐标系及参考惯性系之间的关系,在运动学分析的基础上基于Kane方法建立了该传感器的数学建模,得到了包含六维加速度信号的2阶非线性微分方程组,利用数值计算法完成六维加速度的计算。在激振试验台上的测试结果显示,与给定输入的加速度信号相比,六维加速度的测量误差约为0.2%,实验表明并联式六维加速度传感器数学模型的正确性及测量方法的可行性。
A prototype of the accelerometer was designed to measure the 6-dof acceleration.The accelerometer took the 6-dof parallel mechanism as the elastic structure,and the piezoelectric ceramic as the sensing element.The relationship among the central mass coordinate,the shell coordinate and the inertial reference coordinate was considered fully during the modeling.The dynamic model of the accelerometer was analyzed based on the Kane method after the kinematic model was built,and the second-order nonlinear derivative equations were obtained.The 6-dof acceleration can be derived with the numerical calculation.The test results of vibration showed that the measurement errors of six-axis accelerations were about 0.2% compared with the given input signs,which verified the correctness of mathematic model of the accelerometer and feasibility of measurement method.
出处
《压电与声光》
CSCD
北大核心
2011年第6期898-900,905,共4页
Piezoelectrics & Acoustooptics
基金
江苏省数字化制造技术重点实验室课题基金资助项目(HGDML-0604)
关键词
六维加速度传感器
动力学
数学模型
测量误差
six-axis accelerometers
dynamics
mathematic models
measurement errors
