I-interface ye-6AXX ye-Multicomponent ye-Sensor Manual Manual

Iseti ye-6AXX ye-Multicomponent Sensors iquka ii-sensor zamandla ezintandathu ezizimeleyo ezixhotyiswe nge-strain gauges. Ukusebenzisa imiqondiso emithandathu yoluvo, umgaqo wokubala usetyenziswa ukubala amandla ngaphakathi kwee-axes zesithuba ezintathu kunye nemizuzu emithathu ebangqongileyo. Uluhlu lomlinganiselo we-multicomponent sensor luchongiwe:

ngoluhlu lwemilinganiselo yamandla oluvo amathandathu azimeleyo, kunye
ngolungelelwaniso lwejiyometri yoluvo lwamandla amathandathu okanye ngedayamitha yesixhobo soluvo.

Iimpawu zomntu ngamnye ezivela kwii-sensor zamandla ezintandathu azikwazi ukudityaniswa ngokuthe ngqo namandla athile okanye umzuzu ngokuphindaphinda nge-scaling factor.

Umgaqo wokubala unokuchazwa ngokuchanekileyo kwimimiselo yezibalo ngemveliso enqamlezileyo evela kwi-matrix yokulinganisa kunye ne-vector yeempawu ze-sensor ezintandathu.

Le ndlela yokusebenza ine-advan elandelayotages:

Ingakumbi ukuqina okuphezulu,

Ukwahlula okusebenzayo ngokukodwa kwamacandelo amathandathu ("i-low cross-talk").

I-matrix yokulinganisa

I-matrix yokulinganisa A ichaza umdibaniso phakathi kweempawu zemveliso ezibonisiweyo U yomlinganiselo ampi-lifier kumajelo 1 ukuya ku-6 (u1, u2, u3, u4, u5, u6) kunye namacandelo 1 ukuya ku-6 (Fx, Fy, Fz, Mx, My, Mz) wevektha yomthwalo uL.

Ixabiso elilinganisiweyo: iimpawu zemveliso u1, u2, …u6 kutshaneli 1 ukuya ku-6	Umqondiso wesiphumo U
Ixabiso elibaliweyo: amandla Fx, Fy, Fz; imizuzu Mx, Wethu, Mz	Layisha iVector L
Umgaqo wokubala: Imveliso enqamlezileyo	L = A x U

I-matrix yokulinganisa i-Aij iquka izinto ezingama-36, ezicwangciswe kwimiqolo emi-6 (i=1..6) kunye neekholamu ezi-6 (j=1..6).
Iyunithi yezinto ze-matrix yi-N/(mV/V) kwimiqolo 1 ukuya ku-3 ye-matrix.
Iyunithi yezinto ze-matrix yi-Nm/(mV/V) kwimiqolo yesi-4 ukuya kweyesi-6 ye-matrix.
I-matrix yokulinganisa ixhomekeke kwiipropati ze-sensor kunye neyomlinganiselo ampisihlanguli.
Isebenza kumlinganiselo we-BX8 ampi-lifier nakubo bonke ampizilayidi, ezibonisa iimpawu zebhlorho yemveliso kwi-mV/V.
Iziqalelo zematrix zinokuphinda zilinganiswe kwezinye iiyunithi ngento eqhelekileyo ngokuphinda-phinda (usebenzisa "imveliso ye-scalar").
I-matrix yokulinganisa ibala ixesha elijikeleze imvelaphi yesixokelelwano esisezantsi.
Imvelaphi yenkqubo yokulungelelanisa ibekwe kwindawo apho i-z-axis idibanisa kunye nobuso obujongene nenzwa. I-1) Imvelaphi kunye nokuqhelaniswa kwee-axes kuboniswa ngokukrola kwindawo ejongene nayo yenzwa.

I-1) Isikhundla semvelaphi sinokuhluka kunye neentlobo ezahlukeneyo ze-sensor ye-6AXX. Imvelaphi ibhalwe kwiphepha lokulinganisa. EG imvelaphi ye-6A68 iphakathi kwenzwa.

ExampI-le ye-matrix yokulinganisa (6AXX, 6ADF)

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

Amandla ku-x-zalathiso abalwa ngokuphinda-phinda kwaye adibanise izinto zematrix zomqolo wokuqala u-a1j kunye nemigca yevektha yeempawu zemveliso 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

Umzekeloample: kuzo zonke iitshaneli zokulinganisa ezi-6 ngu-u1 = u2 = u3 = u4 = u5 = u6 = 1.00mV/V ebonisiwe. Emva koko kukho amandla Fx ka -13.7 N. Amandla kwicala lika-z abalwa ngokufanelekileyo ngokuphindaphinda kunye nokushwankathela umqolo wesithathu we-matrix a3j kunye nevektha yevolthi ebonisiweyo.tages 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.

I-Matrix Plus ye-6AXX / 6ADF izinzwa

Xa usebenzisa inkqubo yolungelelwaniso “yeMatrix Plus”, kubalwa iimveliso ezimbini ezinqamlezileyo: imatrix A x U + matrix B x U *

Amaxabiso alinganisiweyo: iimpawu zemveliso u1, u2, … u6 iiatchaneli 1 ukuya 6	iimpawu zemveliso U
Amaxabiso alinganisiweyo ziimpawu zemveliso njengeemveliso ezixubeneyo: u1u2, u1u3, u1u4, u1u5, u1u6, u2u3 wamajelo 1 ukuya ku-6.	iimpawu zemveliso U*
Ixabiso elibaliweyo: Forces Fx, Fy, Fz;Moments Mx, My, Mz	Layisha iVector L.
Umgaqo wokubala: Imveliso enqamlezileyo	L = A x U + B x U*

ExampI-matrix yokulinganisa "B"

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

Amandla ku-x-zalathiso abalwa ngokuphindaphinda kunye nokushwankathela izinto zematrix Aof kumqolo wokuqala a1j kunye nemigca j yevektha yeempawu zemveliso uj kunye nezakhi zematrix B zomqolo wokuqala a1j kunye neerowu j zevektha ye iimpawu zemveliso exubeneyo:

Example ye 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

Exampkwi 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
Ingqalelo: Ukuqulunqwa kwemigqaliselo edibeneyo ye-quadratic inokutshintsha ngokuxhomekeke kwinzwa.

I-offset yemvelaphi

Imikhosi engasetyenziswanga kwimvelaphi yesixokelelwano solungelelwaniso iboniswa yi-anindicator ngendlela yeMx, My and Mz moments based on the lever arm.

Ngokuqhelekileyo, amandla asetyenziswa kumgama z ukusuka kwindawo ejongene nayo yenzwa. Indawo yosasazo lwamandla inokutshintshwa ku-x- kunye ne-zdirections njengoko kufuneka.

Ukuba amandla asetyenziswa kumgama x, y okanye z ukusuka kwimvelaphi yesixokelelwano solungelelwaniso, kunye nemizuzu ejikeleze indawo yothumelo lwamandla okuphelisa kufuneka iboniswe, ezi zilungiso zilandelayo ziyafuneka:

Imizuzu elungisiweyo Mx1, My1, Mz1 ilandela ukutshintshwa kwamandla (x, y, z) ukusuka kwimvelaphi

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

Phawula: Isivamvo sikwavezwa kumzuzu Mx, My and Mz, kunye nemizuzu Mx1, My1 kunye neMz1 ebonisiweyo. Amaxesha avumelekileyo Mx, My and Mz kufuneka angagqithiswa.

Ukulinganisa i-matrix yokulinganisa

Ngokubhekisa izinto zematriki kwiyunithi mV/V, ulungelelwaniso lwematriksi lunokusetyenziswa kokukhoyo. ampabaphilayo.

Ulungelelwaniso lwematriksi ene-N/V kunye ne-Nm/V isiqalelo sematriki sisebenza kumlinganiselo we-BSC8 ampi-lifier ene-input sensitivity ye-2 mV / V kunye nomqondiso wokuphuma kwe-5V kunye ne-2mV / V ye-input signal.

Uphinda-phindo lwazo zonke izinto ze-matrix nge-factor ye-2/5 isikali se-matrix ukusuka ku-N/(mV/V) kunye ne-Nm/(mV/V) yesiphumo se-5V kwi-input sensitivity ye-2 mV/V (BSC8).

Ngokuphinda-phinda zonke izinto ze-matrix ngomlinganiselo we-3.5/10, i-Matrix ilinganiswa ukusuka ku-N/(mV/V) kunye ne-Nm/(mV/V) yesiginali yemveliso ye-10V kubuntununtunu begalelo be-3.5 mV/V (BX8) )

Iyunithi yenqaku ngu (mV/V)/V
Iyunithi yeziqalelo zevektha yomthwalo (u1, u2, u3, u4, u5, u6) zivoltages kwi V

Example ye Fx

Imveliso ye-analog nge-BX8, ubuntununtunu begalelo 3.5 mV / V, isignali ye-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)

I-Matrix 6 × 12 yee-sensor ze-6AXX

Ngama-sensors 6A150, 6A175, 6A225, 6A300 kunokwenzeka ukusebenzisa i-matrix ye-6 × 12 endaweni ye-a6x6 matrix yokubuyisela iphutha.

I-6 × 12 matrix inikezela ngokuchaneka okuphezulu kunye neyona ndlela isezantsi yokuwela, kwaye iyacetyiswa kwiinzwa ezivela kwi-50kN force.

Kule meko, abenzi boluvo banamatshaneli okulinganisa angama-12 kunye nezixhumi ezimbini. Isidibanisi ngasinye siqulethe i-sensor ye-torque ezimeleyo ngombane kunye neempawu ze-6 ze-sensor. ampisiqhumiso BX8.

Esikhundleni sokusebenzisa i-matrix ye-6 × 12, inzwa ingasetyenziswa kuphela kunye ne-connector A, okanye ngokukodwa kunye ne-connector B, okanye zombini izihlanganisi zokulinganisa okungafunekiyo. Kule meko, i-matrix ye-6 × 6 inikezelwa kwi-connector A kunye ne-connector B. I-matrix ye-6 × 6 inikezelwa njengomgangatho.

Ungqamaniso lwedatha elinganisiweyo ingaba umz ngoncedo lwentambo yongqamaniso. Kuba ampiilifiers nge EtherCat ujongano ungqamaniso nge BUS imigca kunokwenzeka.

Imikhosi Fx, Fy, Fz kunye nemizuzu Mx, My, Mz ibalwa kwi-software BlueDAQ. Apho amajelo ali-12 u1…u12 aphinda-phinda nge-6×12 matrix A ukufumana amajelo ama-6 emveliso yevektha yomthwalo L.

Imijelo yokudibanisa "A" inikwe iziteshi 1 ... 6 kwi-software ye-BlueDAQ .. Iziteshi ze-connector "B" zinikwe iziteshi 7 ... 12 kwi-software ye-BlueDAQ.
Emva kokulayisha kunye nokusebenza kwe-matrix 6 × 12 kwi-software ye-BlueDAQ, imikhosi kunye namaxesha aboniswa kumajelo 1 ukuya kwi-6.
Imijelo 7…12 iqulethe idatha ekrwada yesiqhagamshelo B kwaye ayihambelani novavanyo olongezelelweyo. Ezi tshaneli (ezinegama elithi “dummy7”) ukuya “dummy12”) zinokufihlwa zinokufihlwa Xa usebenzisa i-6×12 matrix, amandla kunye namaxesha abalwa ngokukodwa ngesoftware, kuba yenziwe ngedatha evela kwimilinganiselo emibini eyahlukeneyo. ampabaphilayo.

Ingcebiso: Xa usebenzisa i-software ye-BlueDAQ, ukucwangciswa kunye nokudibanisa kwi-matrix ye-6 × 12 kungenziwa ngokuthi "Gcina iSeshini". kwaye "Vula iSeshini" icinezelwe. ukuze uluvo kunye noqwalaselo lwetshaneli kufuneka lwenziwe kube kanye kuphela.

Ukuqina kweMatrix

Exampi-matrix yokuqina

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	phi
0,0	0,0	0,0	0,0	0,0	343,4 kNm	phiz

Xa ilayishwe nge-5kN kwi-x-direction, i-shift ye-5 / 93.8 mm = 0.053 mm kwicala le-x, kunye ne-twist ye-5 kN / 3750 kN = 0.00133 imiphumo ye-rad kwi-y-direction.
Xa ilayishwe nge-15kN kwi-z-direction, i-shift ye-15 / 387.9 mm = 0.039 mm kwicala le-z (kwaye akukho twist).
Xa i-Mx 500 Nm i-twisting ye-0,5kNm / 505,2kNm = 0.00099 rad iphumela kwi-x-axis, kunye ne-ashift ukusuka ku-0,5kNm / -3750 kN = -0,000133m = -0,133mm.
Xa ilayishwe nge-Mz 500Nm iziphumo ezijijekileyo ze-0,5kNm / 343.4 kNm = 0.00146 rad malunga ne-z-axis (kwaye akukho shift).

Ulungelelwaniso lweMatrix yeeSensori ze-5AR

Abenzi boluvo bohlobo 5AR bavumela umlinganiselo wamandla Fz kunye nemizuzu Mxand My.
Iinzwa ze-5AR zingasetyenziselwa ukubonisa i-3 ye-orthogonal force Fx, Fy, kunye ne-Fz, xa iitorque ezilinganisiweyo zahlulwe ngengalo ye-lever z (umgama wesicelo samandla Fx, i-Fy ye-theorigin yenkqubo yokulungelelanisa).

	ikh1	ikh2	ikh3	ikh4
Fz kwi-N/mV/V	100,00	100,00	100,00	100,00
Mx kwi-Nm / mV/V	0,00	-1,30	0,00	1,30
Eyam kwi-Nm/mV/V	1,30	0,00	-1,30	0,00
H	0,00	0,00	0,00	0,00

Amandla kwicala lika-z abalwa ngokuphinda-phinda kwaye ushwankathele izakhi zematrix zomqolo wokuqala A1J kunye nemigca yevektha yeziphumo zemiqondiso uj

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

Example: kuzo zonke iitshaneli zokulinganisa ezi-6 ngu-u1 = u2 = u3 = u4 = 1.00 mV/V ebonisiwe. Emva koko aforce Fz iziphumo ze-400 N.

I-matrix yokulinganisa i-A ye-5AR sensor inemilinganiselo ye-4 x. 4
Ivektha u yeempawu zemveliso yokulinganisa ampI-lifier inemilinganiselo 4 x. 1 Ivektha yesiphumo (Fz, Mx, My, H) inomlinganiselo we-4 x. 1 Kwiziphumo ze-ch1, ch2 kunye ne-ch3 emva kokufaka i-matrix yokulinganisa, amandla e-Fz kunye nemizuzu ethi Mx kunye ne-My iyaboniswa. Kwi-Channel 4 imveliso ye-H iboniswa rhoqo i-0V ngomgca wesine.

Ukumiselwa kwenzwa

Isoftware yeBlueDAQ isetyenziselwa ukubonisa amandla alinganisiweyo kunye namaxesha. I-BlueDAQsoftware kunye neencwadana ezinxulumene nazo zinokukhutshelwa kwi webindawo.

Inyathelo	Inkcazo
1	Ukufakwa kwesoftware yeBlue DAQ
2	Qhagamshela imilinganiselo ampi-lifier BX8 nge-USB port; Xhuma inzwa 6AXX kumlinganiselo ampisihlanguli. Vula imilinganiselo ampisihlanguli.
3	Khuphela uvimba weefayili onematriki yolungelelaniso (ubonelelo lwe-USB) kwidrive efanelekileyo kunye nendlela.
4	Qala Blue DAQ software
5	Ifestile engundoqo: Iqhosha lokongeza umjelo; Khetha uhlobo lwesixhobo: BX8 Khetha ujongano: umzekeloample COM3Khetha isitishi 1 ukuya ku-6 ukuvula iQhagamshelana leQhosha
6	Ifestile engundoqo: Iqhosha loluvo oluKhethekileyo Khetha isivamvo se-axis ezintandathu
7	Ifestile “Isetingi zoluvo lwe-axis ezintandathu: Iqhosha lokongeza iSensor
8	a) Iqhosha Guqula iDir Khetha ulawulo nge files Inombolo yothotho.dat kunye nenombolo yothotho. Imatrix. b) Iqhosha Khetha iSeva kwaye ukhethe inombolo yothotho c) Iqhosha lokuQamba ngokutsha iiChaneli d) ukuba kuyimfuneko. Khetha ukufuduswa kwendawo yesicelo samandla. e) Iqhosha Kulungile Vulela le Sensom
9C	Khetha iRecorder Yt” window, qala umlinganiselo;

Ukumiselwa kwe-6 × 12 inzwa

Xa ugunyazisa i-6 × 12 inzwa, iziteshi 1 ukuya kwi-6 yokulinganisa ampIsiqhagamsheli se-lifier "A" kufuneka sabelwe kumacandelo 1 ukuya ku-6.

Imijelo 7…12 yomlinganiselo ampI-lifier kwisinxibelelanisi "B" zabelwe amacandelo 7 ukuya kwe-12.

Xa usebenzisa intambo yongqamaniso, i-25-pin SUB-D iziqhagamshelo zabasetyhini (indoda) ngasemva ampI-lifier iqhagamshelwe kwintambo yongqamaniso.

Intambo yongqamaniso idibanisa izibuko no. I-16 yokulinganisa amplifiers A kunye B with omnye komnye.

Kuba amplifier Izibuko 16 iqwalaselwe njengemveliso yomsebenzi njengenkosi, ye ampi-lifier Bport 16 iqwalaselwe njengegalelo lomsebenzi njengekhoboka.

Izicwangciso zingafumaneka phantsi kwe "Isixhobo" Ukuseta okuPhezulu "Dig-IO.

Ingcebiso: Ukucwangciswa kwedatha rhoqo kufuneka kwenziwe kwi-"Master" kunye "nakwikhoboka". Umlinganiselo wokulinganisa wenkosi awufanelanga ube phezulu kunomlinganiselo wekhoboka.