| 六维力传感器动态测试电磁激励力控制电路设计与分析 |
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| 引用本文： | 张家敏,许德章,董跃龙.六维力传感器动态测试电磁激励力控制电路设计与分析[J].井冈山大学学报（自然科学版）,2015(6):66-70. |
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| 作者姓名： | 张家敏 许德章 董跃龙 |
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| 作者单位： | 安徽工程大学机械与汽车工程学院, 安徽, 芜湖 241000;安徽工程大学先进数控和伺服驱动技术实验室, 安徽, 芜湖 241000;芜湖安普机器人产业技术研究院有限公司, 安徽, 芜湖 241007,安徽工程大学机械与汽车工程学院, 安徽, 芜湖 241000;安徽工程大学先进数控和伺服驱动技术实验室, 安徽, 芜湖 241000;芜湖安普机器人产业技术研究院有限公司, 安徽, 芜湖 241007,安徽工程大学机械与汽车工程学院, 安徽, 芜湖 241000;安徽工程大学先进数控和伺服驱动技术实验室, 安徽, 芜湖 241000 |
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| 基金项目： | 国家自然科学基金项目(51175001);安徽省自然科学基金项目(11040606M144) |
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| 摘 要： | 针对脉冲激励和单位阶跃法测试六维力传感器动态性能时输出力单一,力值大小调节较困难,且负载信号的检测不理想等问题,采用电磁激振原理,致力于谐波激励装置的研制。针对电磁滞后特性,以及电磁激励力随频率增加呈衰减特性,采用双闭环控制方案,即内环为电流环,外环为激励力反馈环,设计了一款六维力传感器动态测试电磁激励力控制电路。该电路测试结果表明电磁激励力输出幅度在传感器工作带宽内保持恒定,完全满足基于谐波激励法六维力传感器动态性能测试要求。
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| 关 键 词： | 六维力传感器 谐波激励装置 双闭环控制 电路 动态性能测试 |
| 收稿时间： | 7/7/2015 12:00:00 AM |
| 修稿时间： | 2015/9/18 0:00:00 |
DESIGN AND ANALYSIS OF CONTROL CIRCUIT BASED ON SIX-AXIS FORCE SENSOR DYNAMIC TEST EXCITATION FORCE |
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| ZHANG Jia-min,XU De-zhang and DONG Yue-long.DESIGN AND ANALYSIS OF CONTROL CIRCUIT BASED ON SIX-AXIS FORCE SENSOR DYNAMIC TEST EXCITATION FORCE[J].Journal of Jinggangshan University(Natural Sciences Edition),2015(6):66-70. |
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| Authors: | ZHANG Jia-min XU De-zhang and DONG Yue-long |
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| Institution: | School of Mechanical and Automotive Engineering, Anhui Polytechnic University, Wuhu, Anhui 241000, China;Advanced Numerical & Servo Technology, Anhui Polytechnic University, Wuhu, Anhui 241000, China;Wuhu anpu robot technology research institute co., LTD, Wuhu, Anhui 241007, China,School of Mechanical and Automotive Engineering, Anhui Polytechnic University, Wuhu, Anhui 241000, China;Advanced Numerical & Servo Technology, Anhui Polytechnic University, Wuhu, Anhui 241000, China;Wuhu anpu robot technology research institute co., LTD, Wuhu, Anhui 241007, China and School of Mechanical and Automotive Engineering, Anhui Polytechnic University, Wuhu, Anhui 241000, China;Advanced Numerical & Servo Technology, Anhui Polytechnic University, Wuhu, Anhui 241000, China |
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| Abstract: | According to the existing problems of the driving device with single, narrow bandwidth and undesirability load signal detection in the dynamic performance test of six-axis force sensor. Based on the method of pulse excitation and unit step change, we develop the harmonic excitation device based on the principle of electromagnetic vibration. According to the characteristics of electromagnetic hysteresis and the electromagnetic force attenuation with the frequency increasing, we adopted double closed-loop control scheme with the inner for the current loop, the outer for the exciting feedback loop. We also designed a kind of electromagnetic excitation control circuit for dynamic test of six-axis force sensor. The test results show that the electromagnetic excitation force output amplitude remains constant over a bandwidth of sensor and fully meet the dynamic test of six-axis force sensor based on harmonic excitation. |
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| Keywords: | six-axis force sensor harmonic excitation device double closed-loop control circuit dynamic test |
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