基于Kane方法的并联式六维加速度传感器动态特性研究

Research on the dynamic characteristics of parallel six-axis accelerometer based on Kane's method

六维加速度传感器因其系统的复杂性,对其动态特性的研究较少。针对所研究的并联式六维加速度传感器(以下简称并联惯性传感器),建立基于Kane方法的动力学模型,对并联惯性传感器的动态特性进行理论分析,通过传感器理论模型的结构简化和忽略系统阻尼的影响,建立动力学模型的解析解方程,推导传感器的固有频率和振型,与有限元法仿真环境下得到的试验数据进行比对,验证所建立动力学模型的准确性。在传感器工作频率带宽内,采用一定频率的加速度荷载进行标定试验,试验结果表明线加速度测量精度为1.3%。

There were rare researches on the dynamic characteristics of six-axis accelerometers due to its system complexity. A dynamic model based on the Kane＇ s method is established to analyze the dynamic characteristics of the six-axis accelerometer with parallel mechanism. By simplifying the structure of the elastic element and ignoring the system damping, the analytic equation of the dynamic model is established to derive the first-six natural frequencies and vibration modes of the accelerometer. Then, the computed natural frequencies are compared with the simulated natural frequencies using the finite element method （FEM） to verify the accuracy of the dynamic model. Within the working frequency bandwidth of the accelerometer, the calibration experiment was conducted with a certain frequency acceler- ation load, the experiment results for the six-axis accelerometer prototype indicate that the measurement accuracy of linear acceleration is 1.3%.