基于离心原理的力传感器动态标定系统辨识与分析

Identification and analysis of dynamic calibration system of force sensor based on centrifugal theory

针对静态校准过的传感器用来测量动态力时,可能会出现较大误差的情况,设计了基于水平正弦力加载的力传感器动态标定装置,动态力由旋转的偏心轮产生。通过分析建立了系统的动力学模型,使用最小二乘辨识方法得到了系统传递函数模型参数,并在多组频率下分别验证模型的准确性。实验结果表明:建立并辨识得到的系统模型可以较好地逼近实际物理系统,并且根据频率改变参数得到的模型比固定参数模型具有更高的精度。

Aiming at the situation that large errors may occur when using static calibrated sensors to measure dynamic forces,a dynamic calibration device of force sensor based on horizontal sinusoidal force is designed. The dynamic force is generated by rotating eccentric. Through analysis,establish dynamics model for system. Least squares identification method is used to obtain system transfer function model parameters,and the accuracy of the model is verified under multiple sets of frequencies. Experimental results indicate that the established and identified system model can be well approximated to the actual physical system,and the model obtained by changing the parameters according to the frequency has higher precision than the fixed parameter model.