Ibhukwana le-Interface 6AXX Multicomponent Lemiyalo Yezinzwa

Isethi ye-6AXX Multicomponent Sensors ihlanganisa izinzwa zamandla azimele ayisithupha afakwe ama-strain gauge. Kusetshenziswa amasignali enzwa ayisithupha, umthetho wokubala usetshenziswa ukuze kubalwe amandla angaphakathi kwama-eksisi ezindawo ezintathu kanye nezikhathi ezintathu eziwazungezile. Ububanzi bokulinganisa benzwa ye-multicomponent bunqunywa:

ngobubanzi besilinganiso sezinzwa zamandla azimele ayisithupha, kanye
ngohlelo lwejometri yezinzwa zamandla ayisithupha noma ngobubanzi benzwa.

Amasignali angawodwana avela kuzinzwa zamandla ayisithupha awakwazi ukuhlotshaniswa ngokuqondile namandla athile noma umzuzwana ngokuphindaphinda ngesici sokukala.

Umthetho wokubala ungachazwa ngokunembile ngokwezibalo ngomkhiqizo onqamulayo osuka ku-matrix yokulinganisa nge-vector yamasignali enzwa ayisithupha.

Le ndlela yokusebenza ine-advan elandelayotages:

Ukuqina okuphezulu kakhulu,

Ukuhlukaniswa okuphumelelayo kwezingxenye eziyisithupha ("inkulumo-mpikiswano ephansi").

I-matrix yokulinganisa

I-matrix yokulinganisa A ichaza ukuxhumana phakathi kwamasignali okukhiphayo abonisiwe U yesilinganiso ampi-lifier eziteshini 1 kuya ku-6 (u1, u2, u3, u4, u5, u6) kanye nezingxenye 1 kuya ku-6 (Fx, Fy, Fz, Mx, My, Mz) zevekhtha yokulayisha i-L.

Inani elilinganiselwe: amasignali okukhiphayo u1, u2, …u6 eziteshini 1 kuya ku-6	isignali ephumayo U
Inani elibaliwe: amandla Fx, Fy, Fz; izikhathi Mx, My, Mz	Layisha i-vector L
Umthetho wokubala: Umkhiqizo ophambanayo	L = A x U

I-matrix yokulinganisa i-Aij ihlanganisa izici ezingu-36, ezihlelwe ngemigqa engu-6 (i=1..6) namakholomu angu-6 (j=1..6).
Iyunithi yezinto ze-matrix ithi N/(mV/V) emigqeni 1 kuya ku-3 ye-matrix.
Iyunithi yezinto ze-matrix ingu-Nm/(mV/V) emigqeni yesi-4 kuye kweyesi-6 ye-matrix.
I-matrix yokulinganisa incike ezintweni zenzwa kanye naleyo yesilinganiso ampokokuphila.
Isebenza esilinganisweni se-BX8 ampi-lifier futhi kubo bonke ampama-lifiers, abonisa amasignali okukhipha ibhuloho ku-mV/V.
Izakhi ze-matrix zingase zilinganiswe kabusha kwamanye amayunithi ngento evamile ngokuphindaphinda (kusetshenziswa "umkhiqizo we-scalar").
I-matrix yokulinganisa ibala izikhathi ezizungeze umsuka wesistimu yokuhlanganisa engaphansi.
Imvelaphi yesistimu yokuxhumanisa itholakala endaweni lapho i-axis engu-z ihlangana khona nendawo ebheke yenzwa. 1) Umsuka nokuma kwezimbazo kuboniswa ngombhalo oqoshiwe endaweni ebheke phezulu yenzwa.

1) Isikhundla somsuka singahluka ngezinhlobo zezinzwa ezihlukene ze-6AXX. Umsuka ubhalwe eshidini lokulinganisa. EG umsuka we-6A68 uphakathi nendawo yenzwa.

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

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

Amandla ku-x-directional abalwa ngokuphindaphinda kanye nokwenza ingqikithi yezinto ze-matrix zomugqa wokuqala ongu-a1j nemigqa yevekhtha yamasignali okukhiphayo 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

Okwesiboneloample: kuzo zonke iziteshi zokulinganisa ezingu-6 ngu-u1 = u2 = u3 = u4 = u5 =u6 = 1.00mV/V kubonisiwe. Bese kuba namandla Fx angu- -13.7 N. Amandla ku-z isiqondiso abalwa ngokufanele ngokuphindaphinda nokufingqa umugqa wesithathu we-matrix a3j ngevektha yevolumu ebonisiwe.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 yezinzwa ze-6AXX / 6ADF

Uma usebenzisa inqubo yokulinganisa ye-“Matrix Plus”, kubalwa imikhiqizo emibili ephambanayo: i-matrix A x U + matrix B x U *

Amanani akaliwe: amasiginali okukhiphayo u1, u2, … u6 ama-atchannel 1 kuya ku-6	amasignali okukhiphayo U
Amanani alinganiselwe amasignali okukhiphayo njengemikhiqizo exubile: u1u2, u1u3, u1u4, u1u5, u1u6, u2u3 wamashaneli 1 kuya ku-6	amasignali okukhiphayo U*
Inani elibaliwe: Forces Fx, Fy, Fz;Moments Mx, My, Mz	Layisha i-vector L.
Umthetho wokubala: Umkhiqizo ophambanayo	L = A x U + B x U*

ExampI-matrix yokulinganisa "B"

	u1·u2 ku-(mV/V)²	u1·u3 ku-(mV/V)²	u1·u4 ku-(mV/V)²	u1·u5 ku-(mV/V)²	u1·u6 ku-(mV/V)²	u2·u3 ku-(mV/V)²
Fx ku-N / (mV/V)²	-0.204	-0.628	0.774	-0.337	-3.520	2.345
Fy ku-N /(mV/V)²	-0.251	1.701	-0.107	-2.133	-1.408	1.298
Fz ku-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
I-My in Nm / (mV/V)²	0.050	0.016	0.223	0.036	0.023	-0.239
I-Mz nge-Nm / (mV/V)²	-0.081	-0.101	0.027	-0.097	-0.747	0.616

Amandla ku-x-direction ibalwa ngokuphindaphinda nokufingqa izici ze-matrix Aof the rowu yokuqala a1j nemigqa j yevekhtha yamasignali okukhiphayo uj kanye nezakhi ze-matrix B zomugqa wokuqala a1j nemigqa j yevekhtha ye amasignali okukhiphayo okuxubile:

Exampkwe 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

Exampkwe 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
Qaphela: Ukwakheka kwamagama axubile e-quadratic kungashintsha kuye ngenzwa.

I-offset yemvelaphi

Amandla angasetshenziswa kumsuka wesistimu yokuxhumanisa aboniswa i-anindicator ngendlela ye-Mx, My kanye ne-Mz izikhathi ezisuselwe engalweni ye-lever.

Ngokuvamile, amandla asetshenziswa ebangeni elingu-z ukusuka endaweni ebheke phezulu yenzwa. Indawo yokudluliselwa kwamandla ingase futhi igudluzwe ku-x- kanye nezikhombisi-ndlela ezidingekayo.

Uma amandla asetshenziswa ebangeni elingu-x, y noma z kusukela kumsuka wesistimu yokuxhumanisa, futhi izikhathi ezizungeze indawo yokudlulisela amandla okuphuma zidinga ukuboniswa, izilungiso ezilandelayo ziyadingeka:

Izikhathi ezilungisiwe Mx1, My1, Mz1 kulandela ukushintshwa kwamandla (x, y, z) ukusuka kumvelaphi

Mx1 = Mx + y*Fz – z*Fy
I-My1 = Yami + z*Fx – x*Fz
Mz1 = Mz + x*Fy – y*Fx

Qaphela: Inzwa iphinde ibonakale ezikhathini i-Mx, My and Mz, nezikhathi ezikhonjiswayo i-Mx1, My1 ne-Mz1. Izikhathi ezivumelekile Mx, My and Mz akumele zeqiwe.

Ukukalwa kwe-matrix yokulinganisa

Ngokubhekisa ama-elementi e-matrix kuyunithi mV/V, i-matrix yokulinganisa ingasetshenziswa kokutholakalayo. ampabagibeli.

I-matrix yokulinganisa enezici ze-matrix ye-N/V kanye ne-Nm/V isebenza esilinganisweni se-BSC8. ampi-lifier enokuzwela okokufaka okungu-2 mV/V kanye nesiginali yokuphuma engu-5V enesignali yokufaka engu-2mV/V.

Ukuphindaphinda kwazo zonke izici ze-matrix nge-factory engu-2/5 kukala i-matrix isuka ku-N/(mV/V) kanye ne-Nm/(mV/V) ngokukhipha okungu-5V ngokuzwela okokufaka okungu-2 mV/V (BSC8).

Ngokuphindaphinda zonke izici ze-matrix nge-factor engu-3.5/10, i-Matrix ikalwa isuka ku-N/(mV/V) kanye ne-Nm/(mV/V) ukuze uthole isignali ephumayo engu-10V ekuzweleni okokufaka okungu-3.5 mV/V (BX8) )

Iyunithi yesici ngu (mV/V)/V
Iyunithi yezakhi zevekhtha yomthwalo (u1, u2, u3, u4, u5, u6) ingu-voltages e V

Exampkwe fx

Ukukhishwa kwe-analog nge-BX8, ukuzwela okokufaka 3.5 mV / V, isignali yokuphuma engu-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 yezinzwa ezingu-6AXX

Ngezinzwa 6A150, 6A175, 6A225, 6A300 kungenzeka ukusebenzisa i-matrix engu-6×12 esikhundleni se-a6x6 matrix ukuze uthole isinxephezelo sephutha.

I-6×12 matrix inikeza ukunemba okuphezulu kakhulu kanye ne-crosstalk ephansi kakhulu, futhi inconyelwa izinzwa ezivela kumandla angu-50kN.

Kulokhu, izinzwa zinenani leziteshi zokulinganisa eziyi-12 nezixhumi ezimbili. Isixhumi ngasinye siqukethe inzwa ye-torque esebenza ngogesi ezimele enezinzwa eziyi-6. Isixhumi ngasinye salezi sixhunywe esilinganisweni saso. ampI-lifier BX8.

Esikhundleni sokusebenzisa i-matrix engu-6×12, inzwa ingasetshenziswa kuphela nesixhumi A, noma ngesixhumi esingu-B kuphela, noma ngazo zombili izixhumi zokulinganisa okungafuneki. Kulokhu, i-matrix engu-6×6 inikezwa isixhumi A kanye nesixhumi B. I-matrix engu-6×6 inikezwa njengendlela evamile.

Ukuvumelanisa idatha elinganisiwe kungaba isb ngosizo lwekhebula lokuvumelanisa. Ngoba ampama-lifiers ane-interface ye-EtherCat ukuvumelanisa ngemigqa ye-BUS kungenzeka.

Amandla okuthi Fx, Fy, Fz kanye nezikhathi Mx, My, Mz abalwe kusofthiwe ye-BlueDAQ. Lapho amashaneli okufakwayo angu-12 u1…u12 aphindaphindwa nge-matrix A engu-6×12 ukuze athole amashaneli angu-6 okukhiphayo evektha yokulayisha engu-L.

Iziteshi zesixhumi esithi “A” zinikezwe amashaneli 1…6 ku-software ye-BlueDAQ. Iziteshi zesixhumi “B” zinikezwe amashaneli 7…12 ku-software ye-BlueDAQ.
Ngemva kokulayisha nokwenza kusebenze i-matrix 6×12 kusofthiwe ye-BlueDAQ, amandla nezikhathi kuboniswa eziteshini 1 kuya ku-6.
Amashaneli 7…12 aqukethe idatha eluhlaza yesixhumi B futhi awahambisani nokuhlolwa okwengeziwe. Lezi ziteshi (ezinegama elithi “dummy7”) zithi “dummy12”) zingafihlwa zingafihlwa Uma usebenzisa i-matrix engu-6×12, amandla nezikhathi zibalwa nge-software kuphela, njengoba yakhiwe idatha evela kuzilinganiso ezimbili ezihlukene. ampabagibeli.

Ithiphu: Uma usebenzisa isofthiwe ye-BlueDAQ, ukumisa nokuxhuma ku-matrix engu-6×12 kungenziwa ngokuthi “Londoloza Isikhathi”. futhi “Open Session” icindezelwe. ukuze inzwa nokucushwa kwesiteshi kufanele kwenziwe kanye kuphela.

Ukuqina kwe-Matrix

Example ye-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

Uma ilayishwa ngo-5kN ku-x-direction, ukuguquka okungu-5 / 93.8 mm = 0.053 mm ohlangothini luka-x, kanye nokusonteka okungu-5 kN / 3750 kN = 0.00133 rad kuphumela ku-y-direction.
Uma ilayishwa ngo-15kN ku-z-direction, ukushintsha okungu-15 / 387.9 mm = 0.039 mm ku-z direction (futhi akukho ukusonteka).
Uma i-Mx 500 Nm i-twisting engu-0,5kNm / 505,2kNm = 0.00099 rad iphumela ku-x-axis, kanye ne-ashift isuka ku-0,5kNm / -3750 kN = -0,000133m = -0,133mm.
Uma ilayishwe nge-Mz 500Nm imiphumela ejikajikayo engu-0,5kNm / 343.4 kNm = 0.00146 rad mayelana ne-axis (futhi akukho shift).

I-Calibration Matrix yezinzwa ze-5AR

Izinzwa zohlobo 5AR zivumela ukulinganiswa kwamandla Fz kanye nezikhathi Mxand My.
Izinzwa ezingu-5AR zingase zisetshenziselwe ukubonisa amandla angu-3 we-orthogonal Fx, Fy, kanye ne-Fz, lapho ama-torques akalwayo ehlukaniswa ngengalo ye-lever z (ibanga lesicelo samandla Fx, Fy of theorigin of the coordinate system).

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

Amandla kusiqondisindlela sika-z abalwa ngokuphindaphinda nokufingqa izici ze-matrix zomugqa wokuqala A1J nemigqa ye-vector yezimpawu zokuphumayo 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 iziteshi zokulinganisa ezingu-6 ngu-u1 = u2 = u3 = u4 = 1.00 mV/V ebonisiwe. Bese ucindezela imiphumela ye-Fz ye-400 N.

I-matrix yokulinganisa A yenzwa engu-5AR inobukhulu obungu-4 x. 4
Ivekhtha u yamasignali okukhiphayo wokulinganisa ampI-lifier inobukhulu obungu-4 x. 1 Ivekhtha yomphumela (Fz, Mx, My, H) inobukhulu obungu-4 x. 1 Kokuphumayo kwe-ch1, ch2 ne-ch3 ngemva kokusebenzisa i-matrix yokulinganisa, amandla e-Fz kanye nezikhathi Mx nethi My kuyaboniswa. Ku-Channel 4 okukhiphayo u-H uboniswa njalo u-0V ngomugqa wesine.

Ukukhishwa kwenzwa

Isoftware yeBlueDAQ isetshenziswa ukukhombisa amandla alinganisiwe nezikhathi. I-BlueDAQsoftware kanye namabhukwana ahlobene angalandwa kufayela le webindawo.

Isinyathelo	Incazelo
1	Ukufakwa kwesofthiwe ye-Blue DAQ
2	Xhuma ukulinganisa ampi-lifier BX8 ngembobo ye-USB; Xhuma inzwa engu-6AXX esilinganisweni ampi-lifier. Vula ukulinganisa ampokokuphila.
3	Kopisha uhla lwemibhalo olune-matrix yokulinganisa (induku ye-USB ehlinzekiwe) kudrayivu efanelekile nendlela.
4	Qala isofthiwe ye-Blue DAQ
5	Iwindi eliyinhloko: Inkinobho Yokwengeza Isiteshi; Khetha uhlobo lwedivayisi: BX8 Khetha isixhumi esibonakalayo: ngokwesiboneloample COM3Khetha isiteshi 1 ukuya ku-6 ukuze uvule Inkinobho Yokuxhuma
6	Iwindi elikhulu: Inkinobho Yenzwa Ekhethekile Khetha inzwa eyisithupha ye-eksisi
7	Iwindi “Izilungiselelo zenzwa ye-axis eyisithupha: Inkinobho Yokungeza Inzwa
8	a) Inkinobho Guqula i-Dir Khetha umkhombandlela nge files Inombolo ye-serial.dat kanye nenombolo ye-serial. I-Matrix. b) Inkinobho Khetha Inzwa bese ukhetha inombolo ye-serial c) Inkinobho Yokuqamba Kabusha Iziteshi d) uma kunesidingo. Khetha ukugudluzwa kwephoyinti lesicelo sokuphoqelela. e) Inkinobho KULUNGILE Nika amandla le Senzwa
9C	Khetha iwindi le-Recorder Yt, qala ukulinganisa;

Ukwakhiwa kwenzwa engu-6 × 12

Lapho usebenzisa inzwa engu-6 × 12, iziteshi 1 kuya ku-6 zokulinganisa ampi-lifier atconnector “A” kufanele yabelwe izingxenye 1 kuya ku-6.

Iziteshi 7…12 zokulinganisa ampi-lifier kusixhumi esithi “B” zabelwe izingxenye 7 kuya ku-12.

Uma usebenzisa ikhebula lokuvumelanisa, izixhumi zesifazane ezingama-25-pin SUB-D (owesilisa) ngemuva ampI-lifier ixhunywe kukhebuli yokuvumelanisa.

Ikhebula lokuvumelanisa lixhuma izimbobo no. 16 wokulinganisa ampama-lifiers A no-B nomunye nomunye.

Ngoba ampI-lifier Imbobo engu-16 ilungiselelwe njengokuphumayo komsebenzi njengokuyinhloko, ye ampi-lifier Bport 16 ilungiselelwe okokufaka komsebenzi njengesigqila.

Izilungiselelo zingatholakala ngaphansi kokuthi “Idivayisi” Isilungiselelo Esithuthukile” Dig-IO.

Ukusikisela: Ukumiswa kwemvamisa yedatha kufanele kwenziwe kokuthi “Master” kanye “naseSigqileni”. Imvamisa yokulinganisa yenkosi akufanele neze ibe phezulu kunobuningi bokulinganisa besigqila.