Interface 6AXX Multicomponent Buka ea Taelo ea Sensor

Sehlopha sa 6AXX Multicomponent Sensors se na le li-sensor tse tšeletseng tse ikemetseng tse nang le li-gauge tsa khatello. Ho sebelisoa li-sensor tse ts'eletseng, ho sebelisoa molao oa lipalo ho bala matla ka har'a lilepe tse tharo le metsotso e meraro e li potileng. Lethathamo la litekanyo tsa sensor ea multicomponent le khethoa:

ka mekhahlelo ea tekanyo ea li-sensor tse tšeletseng tse ikemetseng tsa matla, le
ka tlhophiso ea geometri ea li-sensor tse matla tse tšeletseng kapa ka bophara ba kutlo.

Lipontšo tsa motho ka mong tse tsoang ho li-sensor tse tšeletseng tsa matla li ke ke tsa amahanngoa ka kotloloho le matla a khethehileng kapa motsotso ka ho atisa ka sekhahla sa sekhahla.

Molao oa lipalo o ka hlalosoa ka mokhoa o nepahetseng ka mantsoe a lipalo ka sehlahisoa sa sefapano se tsoang ho matrix a calibration le vector ea lipontšo tse tšeletseng tsa sensor.

Mokhoa ona o sebetsang o na le advan e latelangtages:

Haholo-holo rigidity e phahameng,

Karohano e atlehang haholo ea likarolo tse tšeletseng ("low cross-talk").

Matrix ea calibration

Matrix ea calibration A e hlalosa khokahano lipakeng tsa matšoao a hlahisoang U ea tekanyo amplifier ho likanale tsa 1 ho isa ho 6 (u1, u2, u3, u4, u5, u6) le likarolo tsa 1 ho isa ho 6 (Fx, Fy, Fz, Mx, My, Mz) ea vector ea mojaro L.

Boleng bo lekantsoeng: matshwao a tlhahiso u1, u2, …u6 ho dikanale 1 ho isa ho 6	lets'oao la tlhahiso U
Boleng bo baloang: mabotho Fx, Fy, Fz; metsotsoana Mx, My, Mz	Laela vector L
Molao oa lipalo: Sehlahisoa se fapaneng	L = A x U

Matrix ea calibration Aij e kenyelletsa likarolo tse 36, tse hlophisitsoeng ka mela e 6 (i=1..6) le litšiea tse 6 (j=1..6).
Yuniti ea likarolo tsa matrix ke N/(mV/V) meleng ea 1 ho isa ho 3 ea matrix.
Yuniti ea likarolo tsa matrix ke Nm/(mV/V) meleng ea 4 ho isa ho 6 ea matrix.
Matrix ea calibration e itšetlehile ka thepa ea sensor le ea tekanyo ampmoqhobi.
E sebetsa bakeng sa tekanyo ea BX8 ampmofenyi le bakeng sa bohle amplifiers, tse bonts'ang matšoao a tlhahiso ea borokho ho mV/V.
Likarolo tsa matrix li ka fokotsoa likarolong tse ling ka ntho e tloaelehileng ka ho atisa (ho sebelisa "sehlahisoa sa scalar").
Matrix ea calibration e lekanya linako tse mabapi le tšimoloho ea sistimi ea khokahanyo.
Tšimoloho ea tsamaiso ea li-coordinate e sebakeng seo z-axis e kopanang le sebaka se shebaneng sa sensor. 1) Tšimoloho le mekhoa ea lilepe li bonts'oa ka ho betla holim'a sefahleho sa sensor.

1) Boemo ba tšimoloho bo ka fapana le mefuta e fapaneng ea sensor ea 6AXX. Tšimoloho e ngotsoe leqepheng la calibration. EG tšimoloho ea 6A68 e bohareng ba kutlo.

Example ea matrix ea calibration (6AXX, 6ADF)

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

Matla a ho x-direction a baloa ka ho atisa le ho etsa kakaretso ea likarolo tsa matrix tsa mola oa pele a1j le mela ea vector ea lipontšo tsa tlhahiso 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

Bakeng sa mohlalaample: likanaleng tsohle tse 6 tsa tekanyo ke u1 = u2 = u3 = u4 = u5 =u6 = 1.00mV/V e bontšitsoeng. Joale ho na le matla a Fx a -13.7 N. Matla a lehlakoreng la z a baloa ho latela ka ho atisa le ho akaretsa mola oa boraro oa matrix a3j le vector ea vol e bontšitsoeng.tagke 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 bakeng sa li-sensor tsa 6AXX / 6ADF

Ha u sebelisa mokhoa oa ho lekanya "Matrix Plus", lihlahisoa tse peli tsa sefapano li baloa: matrix A x U + matrix B x U *

Maemo a lekantsoeng: matšoao a tlhahiso u1, u2, ... u6 li-atchannels 1 ho isa ho 6	matshwao a tlhahiso U
Litekanyetso tse lekantsoeng ke matšoao a tlhahiso e le lihlahisoa tse tsoakiloeng: u1u2, u1u3, u1u4, u1u5, u1u6, u2u3 ea likanale 1 ho isa ho 6.	matshwao a tlhahiso U*
Boleng bo baliloeng: Forces Fx, Fy, Fz;Moments Mx, My, Mz	Kenya vector L.
Molao oa lipalo: Sehlahisoa se fapaneng	L = A x U + B x U*

Exampleano la matrix "B"

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

Matla a ho x-direction a baloa ka ho atisa le ho akaretsa likarolo tsa matrix Aof mola oa pele a1j le mela j ea vector ea lipontšo tsa tlhahiso uj hammoho le likarolo tsa matrix B tsa mola oa pele a1j le mela j ea vector ea matšoao a motsoako oa motsoako oa motsoako:

Exampea 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

Example 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
Tlhokomeliso: Sebopeho sa mantsoe a tsoakiloeng a quadratic se ka fetoha ho latela sensor.

Offset ea tšimoloho

Matla a sa sebelisoeng tšimolohong ea mokhoa oa ho hokahanya a bontšoa ke anindicator ka mokhoa oa Mx, My le Mz metsotsoana e thehiloeng ho letsoho la lever.

Ka kakaretso, matla a sebelisoa hole z ho tloha sebakeng se shebileng sa sensor. Sebaka sa phetisetso ea matla le sona se ka fetoloa ho x- le zdirections ha ho hlokahala.

Haeba matla a sebelisoa hole x, y kapa z ho tloha tšimolohong ea tsamaiso ea khokahanyo, 'me linako tse potolohileng sebaka sa phetisetso ea matla li lokela ho bontšoa, ho hlokahala litokiso tse latelang:

Metsotso e lokisitsoeng Mx1, My1, Mz1 kamora phetoho ea phetisetso ea matla (x, y, z) ho tloha qalong

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

Hlokomela: Sensor e boetse e pepesetsoa nako ea Mx, My le Mz, ka nako ea Mx1, My1 le Mz1 e bonts'itsoeng. Metsotso e lumelletsoeng Mx, My le Mz ha ea tlameha ho fetisoa.

Ho eketseha ha matrix a calibration

Ka ho lebisa likarolo tsa matrix ho unit mV/V, matrix ea calibration e ka sebelisoa ho fumaneha. amplifiers.

Matrix ea calibration e nang le likarolo tsa matrix tsa N/V le Nm/V e sebetsa ho methang ea BSC8. amplifier e nang le kutlo ea 2 mV / V le lets'oao la 5V le nang le lets'oao la ho kenya la 2mV/V.

Katiso ea likarolo tsohle tsa matrix ka ntlha ea 2/5 sekala sa matrix ho tloha ho N/(mV/V) le Nm/(mV/V) bakeng sa tlhahiso ea 5V ka kutloisiso ea 2 mV/V (BSC8).

Ka ho atisa likarolo tsohle tsa matrix ka ntlha ea 3.5/10, Matrix e lekantsoe ho tloha ho N/(mV/V) le Nm/(mV/V) bakeng sa lets'oao la tlhahiso ea 10V ho kutlo ea 3.5 mV/V (BX8). )

Karolo ea ntlha ke (mV/V)/V
Karolo ea likarolo tsa vector ea mojaro (u1, u2, u3, u4, u5, u6) ke vol.tagke V

Exampea Fx

Sehlahisoa sa analog se nang le BX8, kutloisiso ea ho kenya 3.5 mV / V, lets'oao la 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 bakeng sa li-sensor tsa 6AXX

Ka li-sensor 6A150, 6A175, 6A225, 6A300 hoa khoneha ho sebelisa 6 × 12 matrix sebakeng sa matrix a6x6 bakeng sa matšeliso a phoso.

6 × 12 matrix e fana ka ho nepahala ho phahameng ka ho fetisisa le crosstalk e tlaase ka ho fetisisa, 'me e khothaletsoa bakeng sa li-sensor tse tsoang ho 50kN matla.

Tabeng ena, li-sensor li na le kakaretso ea litekanyo tse 12 tsa ho lekanya le lihokelo tse peli. Sehokelo se seng le se seng se na le sensor ea torque e ikemetseng ea motlakase e nang le matšoao a sensor a 6. E 'ngoe le e' ngoe ea lihokelo tsena e hokahane le tekanyo ea eona. ampSehlahisoa sa BX8.

Sebakeng sa ho sebelisa matrix a 6 × 12, sensor e ka sebelisoa feela ka sehokelo A, kapa ka sehokelo B feela, kapa ka lihokelo ka bobeli bakeng sa litekanyo tse sa hlokahaleng. Tabeng ena, 6 × 6 matrix e fanoa bakeng sa sehokelo A le bakeng sa sehokelo B. Matrix a 6 × 6 a fanoa e le mokhoa o tloaelehileng.

Khokahano ea data e lekantsoeng e ka ba mohlala ka thuso ea thapo ea khokahano. Bakeng sa amplifiers tse nang le sebopeho sa EtherCat ho hokahanya ka mela ea BUS hoa khoneha.

Matla Fx, Fy, Fz le moments Mx, My, Mz li baloa ho software BlueDAQ. Moo likanale tse 12 tsa ho kenya u1…u12 li atisoa ke 6×12 matrix A ho fumana likanale tse 6 tsa tlhahiso ea vector ea L.

Likanale tsa sehokelo "A" li abetsoe likanale 1…6 ho software ea BlueDAQ.
Kamora ho kenya le ho kenya tšebetsong matrix 6 × 12 ho software ea BlueDAQ, matla le linako li hlahisoa liteisheneng tsa 1 ho isa ho 6.
Mecha ea 7…12 e na le data e tala ea sehokelo B 'me ha e bohlokoa bakeng sa tlhahlobo e eketsehileng. Liteishene tsena (tse nang le lebitso la "dummy7") ho "dummy12") li ka patoa li ka patoa Ha u sebelisa matrix ea 6 × 12, matla le linako li baloa feela ke software, kaha e entsoe ka data ho tsoa methalong e 'meli e fapaneng. amplifiers.

Keletso: Ha u sebelisa software ea BlueDAQ, ho hlophisoa le ho hokahanya le matrix a 6 × 12 ho ka etsoa ka "Save Session". mme "Open Session" e tlanya. e le hore tlhophiso ea sensor le mocha e tlameha ho etsoa hang feela.

Matrix a thata

Example la matrix a thatafala

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

Ha e laetsoe ka 5kN ho x-direction, phetoho ea 5 / 93.8 mm = 0.053 mm ka lehlakoreng la x, 'me ho sotha ha 5 kN / 3750 kN = 0.00133 rad ho fella ka tsela ea y.
Ha e laetsoe ka 15kN ho z-direction, phetoho ea 15 / 387.9 mm = 0.039 mm ka tsela ea z (mme ha e sothehe).
Ha Mx 500 Nm ho sotha 0,5kNm / 505,2kNm = 0.00099 rad ho hlahisa x-axis, le ashift ho tloha 0,5kNm / -3750 kN = -0,000133m = -0,133mm.
Ha e laetse Mz 500Nm liphetho tse sothang tsa 0,5kNm / 343.4 kNm = 0.00146 rad mabapi le z-axis (mme ha ho phetoho).

Calibration Matrix bakeng sa li-Sensors tsa 5AR

Li-sensor tsa mofuta oa 5ARLumella tekanyo ea matla a Fz le nako ea Mxand My.
Li-sensor 5AR li ka sebelisoa bakeng sa ho bonts'a matla a 3 a orthogonal Fx, Fy, le Fz, ha li-torque tse lekantsoeng li aroloa ke lever arm z (bohole ba kopo ea matla Fx, Fy ea theorigin ea sistimi e hokahanyang).

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

Matla a lehlakoreng la z a baloa ka ho atisa le ho akaretsa likarolo tsa matrix tsa mola oa pele A1J ka mela ea thevector ea lipontšo tsa tlhahiso uj.

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

Example: likanaleng tsohle tse 6 tsa tekanyo ke u1 = u2 = u3 = u4 = 1.00 mV/V e bontšitsoeng. Ebe u qobella liphetho tsa Fz tsa 400 N.

Matrix ea calibration A ea sensor ea 5AR e na le boholo ba 4 x. 4
Vector u ea matšoao a tlhahiso ea ho lekanya ampLifier e na le boholo ba 4 x. 1 Vector ea sephetho (Fz, Mx, My, H) e na le boholo ba 4 x. 1 Ho liphetho tsa ch1, ch2 le ch3 ka mor'a ho sebelisa matrix a calibration, matla a Fz le metsotsoana ea Mx le My lia bontšoa. Ho Channel 4 tlhahiso ea H e lula e bontšoa 0V ka mola oa bone.

Ho kenngoa ha sensor

Software ea BlueDAQ e sebelisoa ho bonts'a matla le linako tse lekantsoeng. BlueDAQsoftware le libuka tse amanang le tsona li ka kopitsoa ho tsoa ho websebaka.

Mohato	Tlhaloso
1	Ho kenya software ea Blue DAQ
2	Kopanya ho lekanya ampLifier BX8 ka koung ea USB; Hokela sensor 6AXX ho metha ampmoqhobi. Qala ho lekanya ampmoqhobi.
3	Kopitsa bukana e nang le matrix ea calibration (e fanoeng thupa ea USB) ho drive e loketseng le tsela.
4	Qala software ea Blue DAQ
5	Fesetere e kholo: Konopo Eketsa Channel; Khetha mofuta oa sesebelisoa: BX8 Khetha sebopeho: bakeng sa mohlalaample COM3Khetha kanale 1 ho isa ho 6 ho bula Button Connect
6	Fesetere e kholo: Sensor e Khethehileng ea Konopo Khetha sensor e tšeletseng ea axis
7	Fesetere "Litlhophiso tsa sensor ea li-axis tse tšeletseng: Konopo Eketsa Sensor
8	a) Konopo Fetola Dir Khetha bukana e nang le files Nomoro ea serial.dat le nomoro ea serial. Matrix. b) Konopo Khetha Sensor ebe u khetha nomoro ea serial c) Konopo Auto Renaha Dikanale d) ha ho hlokahala. Khetha phalliso ea sebaka sa ts'ebeliso ea matla. e) Konopo OK Numella Sensor ena
9C	Khetha fensetere ea Recorder Yt, qala tekanyo;

Ho hlahisoa ha sensor ea 6 × 12

Ha o laela sensor ea 6 × 12, liteishene tse 1 ho isa ho tse 6 tsa ho lekanya ampLifier atconnector "A" e tlameha ho abeloa likarolo tsa 1 ho isa ho 6.

Likanale 7…12 tsa ho metha ampLifier ho sehokelo "B" li abetsoe likarolo tsa 7 ho isa ho 12.

Ha o sebelisa thapo ea khokahano, likhokahano tsa basali tsa 25-pin SUB-D (tse motona) ka morao ho ampLifier li hoketsoe thapong ea kamahanyo.

Mohala oa kamahanyo o hokela likou no. 16 ea ho lekanya amplifiers A le B with each other.

Bakeng sa amplifier Boema-kepe ba 16 bo hlophisitsoe joalo ka tlhahiso bakeng sa ts'ebetso e le master, bakeng sa amplifier Bport 16 e hlophisitsoe joalo ka kenyelletso bakeng sa ts'ebetso e le lekhoba.

Litlhophiso li ka fumanoa tlas'a "Sesebelisoa" Advanced Setting" Dig-IO.

Tlhahiso: Tlhophiso ea maqhubu a data e tlameha ho etsoa ho "Master" hammoho le "Lekhoba". Le ka mohla tekanyo ea ho metha ea monghali ha ea lokela ho ba holimo ho feta lebelo la ho metha la lekhoba.