Ntuziaka ntuziaka 6AXX Multicomponent Sensor

Ntọala nke 6AXX Multicomponent Sensors nwere ihe mmetụta ike nwere onwe isii nke nwere ihe nlele. N'iji akara ngosi sensọ isii, a na-etinye usoro mgbako iji gbakọọ ike dị n'ime axes atọ na oge atọ gbara ha gburugburu. A na-ekpebi oke nha nke ihe mmetụta multicomponent:

site na nha nha nke ihe mmetụta ike nke isii nọọrọ onwe ya, na
site na nhazi geometric nke ihe mmetụta ike isii ma ọ bụ site na dayameta nke ihe mmetụta.

Enweghị ike ijikọ akara ngosi nke otu onye sitere na sensọ ike isii na ike ma ọ bụ oge a kapịrị ọnụ site n'ịba ụba na ihe na-eme ka ọ dị elu.

Enwere ike ịkọwa usoro mgbako nke ọma na usoro mgbakọ na mwepụ site na ngwaahịa obe sitere na matrix calibration na vector nke mgbaàmà sensọ isii.

Ụzọ a na-arụ ọrụ nwere advan na-esonụtages:

Karịsịa elu isiike,

Nkewa nke ọma nke ọma nke akụkụ isii ahụ (“obere okwu mkparịta ụka”).

Matrix calibration

Matrix calibration A na-akọwa njikọ dị n'etiti akara ngosi egosipụtara U nke nha amplifier na ọwa 1 ruo 6 (u1, u2, u3, u4, u5, u6) na components 1 ruo 6 (Fx, Fy, Fz, Mx, My, Mz) nke vector L.

Uru atụnyere: akara mmepụta u1, u2, …u6 na ọwa 1 ruo 6	mgbama mmepụta U
Uru agbakọtara: ike Fx, Fy, Fz; oge Mx, My, Mz	Ibu vector L
Usoro ngụkọ: Cross ngwaahịa	L = A x U

Matrix calibration Aij gụnyere ihe iri atọ na isii, ahaziri n'ahịrị 36 (i=6..1) na kọlụm 6 (j=6..1).
Akụkụ nke ihe matrix bụ N/(mV/V) n'ahịrị 1 ruo 3 nke matrik ahụ.
Akụkụ nke ihe matrix bụ Nm/(mV/V) n'ahịrị 4 ruo 6 nke matrik ahụ.
Matrix calibration na-adabere na njirimara nke ihe mmetụta na nke nha ampna -emegharị ihe.
Ọ na-emetụta maka nha BX8 amplifier na maka mmadụ niile amplifiers, nke na-egosi akara mmepụta àkwà mmiri na mV/V.
Enwere ike megharia ihe matriks ahụ na nkeji ndị ọzọ site na otu ihe na-emekarị site na mmụba (iji "ngwaahịa scalar").
Matriks mmezi ahụ na-agbakọ oge gburugburu mmalite nke usoro nhazi n'okpuru.
Mmalite nke usoro nhazi ahụ dị n'ebe ebe z-axis na-ejikọta na ihu ihu nke ihe mmetụta. 1) A na-egosi mmalite na nhazi nke axes site na ihe osise na ihu ihu nke ihe mmetụta.

1) Ọnọdụ nke mmalite nwere ike ịdị iche na ụdị ihe mmetụta 6AXX dị iche iche. Edere mmalite ya na mpempe nhazi. EG mmalite nke 6A68 dị n'etiti ihe mmetụta.

Example of a calibration matrix (6AXX, 6ADF)

	u1 na mV/V	u2 na mV/V	u3 na mV/V	u4 na mV/V	u5 na mV/V	u6 na mV/V
Fx na N/mV/V	-217.2	108.9	99.9	-217.8	109.2	103.3
Fy na N/mV/V	-2.0	183.5	-186.3	-3.0	185.5	-190.7
Fz na N/mV/V	-321.0	-320.0	-317.3	-321.1	-324.4	-323.9
Mx na Nm/mV/V	7.8	3.7	-3.8	-7.8	-4.1	4.1
My na Nm/mV/V	-0.4	6.6	6.6	-0.4	-7.0	-7.0
Mz na Nm/mV/V	-5.2	5.1	-5.1	5.1	-5.0	5.1

A na-agbakọ ike dị na ntụzịaka x site n'ịba ụba na ikpokọta ihe matriks nke ahịrị mbụ a1j nwere ahịrị vector nke akara ngosi uj.
Fx =
-217.2 N/(mV/V) u1+ 108.9 N/(mV/V) u2 + 99.9 N/(mV/V) u3
-217.8 N/(mV/V) u4+ 109.2 N/(mV/V) u5 +103.3 N/(mV/V) u6

Maka example: na ọwa nha nha 6 niile bụ u1 = u2 = u3 = u4 = u5 = u6 = 1.00mV/V gosipụtara. Mgbe ahụ enwere ike Fx nke -13.7 N. A na-agbakọ ike dị na ntụziaka z n'otu aka ahụ site n'ịba ụba na nchikota nke atọ nke matrix a3j na vector nke vol na-egosi.tagna uj:
Fz =
-321.0 N/(mV/V) u1 -320.0 N/(mV/V) u2 -317.3 N/(mV/V) u3
-321.1 N/(mV/V) u4 -324.4 N/(mV/V) u5 -323.9 N/(mV/V) u6.

Matrix Plus maka ihe mmetụta 6AXX / 6ADF

Mgbe ị na-eji usoro mmezi “Matrix Plus”, a na-agbakọ ngwaahịa obe abụọ: matrix A x U + matrix B x U *

Ụkpụrụ atụnyere: mgbama mmepụta u1, u2, … u6 atchannels 1 ruo 6	mgbama mmepụta U
Ụkpụrụ atụnyere bụ akara mmepụta dị ka ngwaahịa agwakọtara: u1u2, u1u3, u1u4, u1u5, u1u6, u2u3 nke ọwa 1 ruo 6	mgbama mmepụta U*
Uru agbakọrọ: Forces Fx, Fy, Fz; Oge Mx, My, Mz	Ibu vector L.
Usoro ngụkọ: Cross ngwaahịa	L = A x U + B x U*

Example of a calibration matrix "B"

	u1·u2 na (mV/V)²	u1·u3 na (mV/V)²	u1·u4 na (mV/V)²	u1·u5 na (mV/V)²	u1·u6 na (mV/V)²	u2·u3 na (mV/V)²
Fx na N/ (mV/V)²	-0.204	-0.628	0.774	-0.337	-3.520	2.345
Fy na N /(mV/V)²	-0.251	1.701	-0.107	-2.133	-1.408	1.298
Fz na N/ (mV/V)²	5.049	-0.990	1.453	3.924	19.55	-18.25
Mx na Nm /(mV/V)²	-0.015	0.082	-0.055	-0.076	0.192	-0.054
My na Nm/ (mV/V)²	0.050	0.016	0.223	0.036	0.023	-0.239
Mz na Nm/ (mV/V)²	-0.081	-0.101	0.027	-0.097	-0.747	0.616

A na-agbakọ ike dị na ntụzịaka x site n'ịba ụba na ikpokọta ihe matrix Aof nke mbụ ahịrị a1j na ahịrị j nke vector nke mmepụta akara uj plus matrix ọcha B nke mbụ ahịrị a1j na ahịrị j nke vector nke mgbama mmepụta agwakọta quadratic:

Exampnke Fx

Fx =
-217.2 N/(mV/V) u1 + 108.9 N/(mV/V) u2 + 99.9 N/(mV/V) u3
-217.8 N/(mV/V) u4 + 109.2 N/(mV/V) u5 +103.3 N/(mV/V) u6
-0.204 N/(mV/V)² u1u2 0.628 N/(mV/V)² u1u3 + 0.774 N/(mV/V)² u1u4
-0.337 N/(mV/V)² u1u5 3.520 N/(mV/V)² u1u6 + 2.345 N/(mV/V)² u2u3

Exampnke Fz

Fz =
-321.0 N/(mV/V) u1 -320.0 N/(mV/V) u2 -317.3 N/(mV/V) u3
-321.1 N/(mV/V) u4 -324.4 N/(mV/V) u5 -323.9 N/(mV/V) u6.
+5.049 N/(mV/V)² u1u2 -0.990 N/(mV/V)² u1u3
+1.453 N/(mV/V)² u1u4 +3.924 N/(mV/V)² u1u5
+19.55 N/(mV/V)² u1u6 -18.25 N/(mV/V)² u2u3
Nlebara anya: Ngwakọta nke okwu quadratic agwakọtara nwere ike ịgbanwe dabere na ihe mmetụta.

Nkwụsị nke mmalite

A na-egosi ndị agha na-etinyeghị na mmalite nke usoro nhazi site na anindicator n'ụdị oge Mx, My na Mz dabere na ogwe aka lever.

N'ikwu okwu n'ozuzu, a na-etinye ike ndị ahụ n'ebe dị anya z site na ihu ihu nke ihe mmetụta. Enwere ike gbanwee ọnọdụ nnyefe ike na x- na zdirections ka achọrọ.

Ọ bụrụ na etinyere ike ndị a n'ebe dị anya x, y ma ọ bụ z site na mmalite nke usoro nhazi ahụ, na oge dị n'akụkụ ebe nnyefe ike mgbaghara kwesịrị igosi, a chọrọ mmezi ndị a:

Oge emeziri Mx1, My1, Mz1 na-esochi ngbanwe na nnyefe ike (x, y, z) site na mmalite.

Mx1 = Mx + y*Fz – z*Fy
My1 = My + z*Fx – x*Fz
Mz1 = Mz + x*Fy – y*Fx

Mara: A na-ekpughekwa ihe mmetụta ahụ na oge Mx, My na Mz, yana oge Mx1, My1 na Mz1 gosipụtara. Agafebeghị oge ikike Mx, My na Mz.

Ịtụle matriks mmezi

Site n'ịtụ aka na ihe matriks na unit mV/V, enwere ike itinye matrix calibration na dịnụ. ampndị na -enye ndụ.

Matrix calibration nwere ihe matrix N/V na Nm/V na-emetụta nha BSC8. amplifier nwere mmetụta ntinye nke 2 mV / V yana mgbama mmepụta nke 5V nwere mgbama ntinye 2mV/V.

Mmụba nke ihe matriks niile site na 2/5 akpịrịkpa matrix si N/(mV/V) na Nm/(mV/V) maka mpụta 5V na ntinye uche nke 2 mV/V (BSC8).

Site n'ịba ụba ihe niile matriks site na 3.5/10, a na-eme ka Matrix si N/(mV/V) na Nm/(mV/V) maka mgbama mmepụta nke 10V na ntinye uche nke 3.5 mV/V (BX8). )

Otu ihe kpatara ya bụ (mV/V)/V
Ngalaba nke ihe nke vector ibu (u1, u2, u3, u4, u5, u6) bụ vol.tagdị na V

Exampnke Fx

Mmepụta analog na BX8, ntinye uche 3.5 mV / V, mgbama mmepụta 10V:
Fx =
3.5/10 (mV/V)/V
(-217.2 N/(mV/V) u1 + 108.9 N/(mV/V) u2 + 99.9 N/(mV/V) u3
-217.8 N/(mV/V) u4 + 109.2 N/(mV/V) u5 +103.3 N/(mV/V) u6 ) + (3.5/10) ² ( (mV/V)/V)²
(-0.204 N/(mV/V)² u1u2 0.628 N/(mV/V)² u1u3 + 0.774 N/(mV/V)² u1u4
-0.337 N/(mV/V)² u1u5 3.520 N/(mV/V)² u1u6 + 2.345 N/(mV/V)² u2u3)

Matrix 6 × 12 maka sensọ 6AXX

Na sensọ 6A150, 6A175, 6A225, 6A300 ọ ga-ekwe omume iji a 6×12 matrix kama a6x6 matrix maka njehie akwụ ụgwọ.

Matrix 6 × 12 na-enye izi ezi kachasị elu na okwu mkparịta ụka dị ala, a na-akwadokwa ya maka ihe mmetụta sitere na ike 50kN.

N'okwu a, sensọ nwere ngụkọta nke ọwa nha 12 na njikọ abụọ. Njikọ ọ bụla nwere ihe mmetụta ike-torque nke nọọrọ onwe ya na eletrik nwere akara sensọ 6. Njikọ ndị a jikọtara ya na nha nke ya. ampMkpebi BX8.

Kama iji matrix 6 × 12, ihe mmetụta ahụ nwekwara ike iji naanị njikọ A, naanị ya na njikọ B, ma ọ bụ jiri njikọ abụọ ahụ maka nha na-enweghị atụ. N'okwu a, a na-enye matrix 6 × 6 maka njikọ A na maka njikọ B. A na-enye 6 × 6 matrix dị ka ọkọlọtọ.

Mmekọrịta nke data atụtara nwere ike ịbụ ọmụmaatụ site n'enyemaka nke eriri mmekọrịta. Maka amplifers na EtherCat interface mmekọrịta site na ahịrị BUS ga-ekwe omume.

A na-agbakọ ikike Fx, Fy, Fz na oge Mx, My, Mz na ngwanrọ BlueDAQ. N'ebe ahụ, a na-amụba ọwa ntinye 12 u1 ... u12 site na 6 × 12 matrix A iji nweta ọwa mmepụta 6 nke vector L.

A na-ekenye ọwa njikọ "A" na ọwa 1…6 na ngwanrọ BlueDAQ.. A na-ekenye ọwa njikọ "B" na ọwa 7…12 na ngwanrọ BlueDAQ.
Mgbe nbudata na ịgbalite matrix 6 × 12 na ngwanrọ BlueDAQ, a na-egosipụta ike na oge na ọwa 1 ruo 6.
Ọwa 7…12 nwere data raw nke njikọ B na ọ dịghị mkpa maka nleba anya n'ihu. Enwere ike zoo ọwa ndị a (ya na aha "dummy7") na "dummy12") nwere ike zoo mgbe ị na-eji matrix 6 × 12, a na-agbakọ ike na oge naanị site na ngwanrọ, ebe ọ bụ data sitere na nha abụọ dị iche iche. ampndị na -enye ndụ.

Ndụmọdụ: Mgbe ị na-eji ngwanrọ BlueDAQ, nhazi na njikọ na 6 × 12 matrix nwere ike ime site na "Save Session". na "Open Session" na-pịa. nke mere na ihe mmetụta sensọ na nhazi ọwa ga-eme naanị otu ugboro.

Matrix isi ike

Example nke matrix isi ike

6A130 5kN/500Nm

Fx	Fy	Fz	Mx	My	Mz
93,8 kN/mm	0,0	0,0	0,0	3750 kN	0,0	Ux
0,0	93,8 kN/mm	0,0	-3750 kN	0,0	0,0	Uy
0,0	0,0	387,9 kN/mm	0,0	0,0	0,0	Uz
0,0	-3750 kN	0,0	505,2 kNm	0,0	0,0	phix
3750 kN	0,0	0,0	0,0	505,2 kNm	0,0	phiy
0,0	0,0	0,0	0,0	0,0	343,4 kNm	phiz

Mgbe ejiri 5kN na ntụzịaka x, ngbanwe nke 5 / 93.8 mm = 0.053 mm na ntụzịaka x, na ntụgharị nke 5 kN / 3750 kN = 0.00133 rad na-arụpụta na y-direction.
Mgbe etinyere ya na 15kN na z-direction, ngbanwe nke 15 / 387.9 mm = 0.039 mm na ntụziaka z (na enweghị ntụgharị).
Mgbe Mx 500 Nm ntụgharị nke 0,5kNm / 505,2kNm = 0.00099 rad rụpụtara na axis x, na mgbanwe site na 0,5kNm / -3750 kN = -0,000133m = -0,133mm.
Mgbe etinyere ya na Mz 500Nm, nsonaazụ ntụgharị nke 0,5kNm / 343.4 kNm = 0.00146 rad banyere z-axis (na enweghị mgbanwe).

Matrix calibration maka ihe mmetụta 5AR

Ihe mmetụta nke ụdị 5ARA na-enye ohere ịlele ike Fz na oge Mxand My.
Enwere ike iji ihe mmetụta 5AR maka igosipụta 3 orthogonal Force Fx, Fy, na Fz, mgbe ejiri lever ogwe aka z kewara ike a tụrụ atụ (anya nke ngwa ike Fx, Fy nke mmalite nke sistemu nhazi).

	ch1	ch2	ch3	ch4
Fz na N/mV/V	100,00	100,00	100,00	100,00
Mx na Nm/mV/V	0,00	-1,30	0,00	1,30
My na Nm/mV/V	1,30	0,00	-1,30	0,00
H	0,00	0,00	0,00	0,00

A na-agbakọ ike dị na ntụziaka z site n'ịba ụba na ichikota ihe matriks nke nke mbụ A1J na ahịrị nke thevector nke mmepụta akara uj.

Fz =
100 N/mV/V u1 + 100 N/mV/V u2 + 100 N/mV/V u3 + 100 N/mV/V u4

Example: na ọwa nha nha 6 niile bụ u1 = u2 = u3 = u4 = 1.00 mV/V gosipụtara. Mgbe ahụ kpalie nsonaazụ Fz nke 400 N.

Matrix calibration A nke ihe mmetụta 5AR nwere akụkụ 4 x. 4
The vector u nke mmepụta akara nke nha amplifier nwere akụkụ 4 x. 1 vector nsonaazụ (Fz, Mx, My, H) nwere akụkụ nke 4 x. 1 Na nsonaazụ nke ch1, ch2 na ch3 ka etinyere matrix calibration, a na-egosipụta ike Fz na oge Mx na My. Na Channel 4 mmepụta H na-egosipụta mgbe niile 0V site na nke anọ ahịrị.

Ịrụ ọrụ nke sensọ

A na-eji ngwanro BlueDAQ gosi ike na oge a tụrụ atụ. Enwere ike ibudata BlueDAQsoftware na akwụkwọ ntuziaka ndị metụtara ya na nke websaịtị.

Nzọụkwụ	Nkọwa
1	Nwụnye ngwanrọ Blue DAQ
2	Jikọọ nha amponye na-ebu BX8 site na ọdụ ụgbọ mmiri USB; Jikọọ ihe mmetụta 6AXX na nha amponye ndu. Gbanwuo nha ampna -emegharị ihe.
3	Jiri matrix calibration detuo ndekọ (mkpara USB ewepụtara) ka ọ bụrụ draịva na ụzọ dabara adaba.
4	Malite Blue DAQ software
5	Isi mpio: bọtịnụ Tinye ọwa; Họrọ ụdị ngwaọrụ: BX8 Họrọ interface: maka exampna COM3Họrọ ọwa 1 ruo 6 imepe bọtịnụ Jikọọ
6	Isi mpio: Bọtịnụ ihe mmetụta pụrụ iche Họrọ sensọ axis isii
7	Ohere “Ntọala sensọ axis isii: bọtịnụ Tinye sensọ
8	a) Button Change Dir Họrọ ndekọ na files Serial number.dat na Oghere Usoro nọmba. Matrix. b) Bọtịnụ Họrọ sensọ wee họrọ Nọmba Oghere Usoro c) Bọtịnụ Nchekwa onwe nyegharịa ọwa d) ọ bụrụ na ọ dị mkpa. Họrọ ngbanwe nke ebe ngwa ike. e) Bọtịnụ OK Kwado ihe mmetụta a
9C	Họrọ ihe ndekọ Yt window, malite nha;

Nrụpụta nke ihe mmetụta 6 × 12

Mgbe ị na-enye ihe mmetụta 6 × 12, ọwa 1 ruo 6 nke nha ampA ga-ekenye onye na-ahụ maka njikọ “A” na akụrụngwa 1 ruo 6.

Ọwa 7…12 nke nha ampA na-ekenye ọkụ na njikọ "B" na components 7 ruo 12.

Mgbe ị na-eji eriri mmekọrịta, njikọ nwanyị SUB-D 25-pin (nwoke) dị n'azụ ampejikọrọ lifier na eriri mmekọrịta.

Igwe mmekọrịta na-ejikọ ọdụ ụgbọ mmiri mba. 16 nke nha amplifiers A na B na ibe ha.

Maka amplifier A na-ahazi ọdụ ụgbọ mmiri 16 ka ọ bụrụ mmepụta maka ọrụ dị ka nna ukwu, maka ampA haziri lifier Bport 16 ka ọ bụrụ ntinye maka ọrụ dị ka ohu.

Enwere ike ịchọta ntọala n'okpuru "Ngwaọrụ" Ntọala dị elu" Dig-IO.

Ntuziaka: A ghaghị ime nhazi nke ugboro data na "Master" yana na "Ohu". Ugboro nha nke nna ukwu ekwesịghị ịdị elu karịa ugboro ole ohu ahụ.