Stewart衍生型六维加速度传感器的工作频带研究  

Study on Working Frequency Band of Six⁃axis Accelerometer Based on Stewart Derivative Configuration

作　　者：王林康 尤晶晶[1,2] 李成刚 仇鑫 叶鹏达[1] WANG Linkang;YOU Jingjing;LI Chenggang;QIU Xin;YE Pengda(College of Mechanical and Electronical Engineering,Nanjing Forestry University Nanjing,210037,China;Jiangsu Key Laboratory of Precision and Micro-Manufacturing Technology Nanjing,210016,China;School of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics Nanjing,210016,China)

机构地区：[1]南京林业大学机械电子工程学院,南京210037 [2]江苏省精密与微细制造技术重点实验室,南京210016 [3]南京航空航天大学机电学院,南京210016

出　　处：《振动．测试与诊断》2021年第4期701-709,830,共10页Journal of Vibration,Measurement & Diagnosis

基　　金：国家自然科学基金资助项目(51405237);国家留学基金资助项目(201908320035);江苏省精密与微细制造技术重点实验室开放基金资助项目。

摘　　要：六维加速度传感器的工作频带是一项重要的动态性能评价指标,由于目前市场上还没有能够完全满足标定要求的试验平台,这项性能的理论模型目前尚未建立。针对该现状,以一种Stewart衍生型六维加速度传感器为例,通过推导基频及其与工作频带上限之间的关系,建立了其工作频带的数学模型。首先,通过将四元数引入系统的第2类Lagrange方程,推导出动、势能函数的二次型表达式,通过矩阵迭代法求解得到具体的基频值,验算结果表明,所设计算法的迭代次数不超过19,计算误差小于0.0001%;其次,基于正交试验理论以及ADAMS动力学仿真软件,设计了256组搜索可行工作频率的虚拟试验,结果表明,工作频带上限始终介于基频的1/35~1/32,且测量数据的不确定度仅为0.0041;然后,运用空间模型理论研究了传感器的工作频带性能指标与结构参数的分布规律,绘制了全域性能图谱,为后续结构拓展提供参考;最后,加工制作了六维加速度传感器的实物样机,并在其工作频带内进行了试验,相对误差小于0.53%,进一步验证了频带模型的有效性和可行性。The operating frequency of the six-axis accelerometer is an important indicator for evaluating the measurement performance.However,the theoretical model of this performance has not yet been established because there is no test platform that can fully meet the calibration requirements on the market.Aiming at this situation,a Stewart-derived six-axis accelerometer is taken as an example.A mathematical model of the operating frequency band of the sensor is established by deriving the fundamental frequency and its relationship with the upper limit of the operating frequency band.First,the quaternion is introduced into the second Lagrange equation of the system,and then the quadratic expressions of the kinetic and potential energy functions are deduced.The specific fundamental frequency value is obtained by the matrix iteration method,and the verification results show that the number of iterations of the designed algorithm does not exceed 19.The calculation error is less than 0.0001%,and then,based on the orthogonal design theory and ADAMS software,256 sets of virtual experiments on retrieving the feasible operating frequency are designed.The results show that the upper limit of the operating frequency band is always between 1/35~1/32 of the fundamental frequency,and the uncertainty of the data is only 0.0041.Moreover,the space Model theory is used to study the distribution law of the operating frequency band performance indicators and structural parameters of the sensor,and a global performance map is drawn,which provides a reference for the subsequent structural expansion.At last,a physical prototype of a six-axis accelerometer is fabricated and tested in its operating frequency band.The relative error is less than 0.53%,which verifies the validity and feasibility of the frequency band model.

关 键 词：六维加速度传感器 并联机构 固有频率 工作频带 性能图谱 

分 类 号：TH825[机械工程—仪器科学与技术]