Parameter identification of parallel type six-axis accelerometer

YOU Jing-jing1; 2; LI Cheng-gang1; WU Hong-tao1

doi:10.3788/OPE.20132110.2627

您当前的位置：

首页 >

文章列表页 >

Parameter identification of parallel type six-axis accelerometer

更新时间：2020-08-12

- Parameter identification of parallel type six-axis accelerometer
- Optics and Precision Engineering Vol. 21, Issue 10, Pages: 2627-2638(2013)
- 作者机构：
  
  1. 南京航空航天大学机电学院,江苏南京,210016
  2. 江苏省精密与微细制造技术重点实验室,江苏南京,210016
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20132110.2627
  CLC： TP212.17;TH825
- Received：15 March 2013，
  
  Revised：16 May 2013，
  
  Published Online：19 October 2012，
  
  Published：15 October 2013
- 稿件说明：
移动端阅览
尤晶晶李成刚吴洪涛. 并联式六维加速度传感器的参数辨识[J]. 光学精密工程, 2013,21(10): 2627-2638

YOU Jing-jing LI Cheng-gang WU Hong-tao. Parameter identification of parallel type six-axis accelerometer[J]. Editorial Office of Optics and Precision Engineering, 2013,21(10): 2627-2638
尤晶晶李成刚吴洪涛. 并联式六维加速度传感器的参数辨识[J]. 光学精密工程, 2013,21(10): 2627-2638 DOI： 10.3788/OPE.20132110.2627.

YOU Jing-jing LI Cheng-gang WU Hong-tao. Parameter identification of parallel type six-axis accelerometer[J]. Editorial Office of Optics and Precision Engineering, 2013,21(10): 2627-2638 DOI： 10.3788/OPE.20132110.2627.

摘要

针对六维加速度传感器的输入、输出量较多，且其动力学方程的解耦参数难以辨识的问题，提出了四步法对并联式六维加速度传感器的25个解耦参数实施分组辨识。设计并加工了基于双曲柄滑块机构的标定平台，为参数辨识提供外部激励；在LabVIEW平台上开发了虚拟仪器，为参数辨识提供软件支持。在静态情况下对预处理后的采集数据求均值得到零值漂移，完成第一组参数辨识；将传感器安装在标定平台上做1~2 Hz的纯线性运动，使动力学模型简化成关于刻度质量比的线性代数方程，运用最小二乘法完成第二组参数的辨识；做1~2 Hz的纯角运动，将动力学模型简化成关于惯性质量比的线性代数方程，完成第三组参数的辨识；做4~5 Hz的纯线性运动，通过关于刚度质量比的一维搜索完成第四组参数的辨识。试验结果表明：运用辨识后的参数对六维加速度实施解耦，最大误差为7.479%，比参数辨识前的解耦误差降低了1个数量级。结果验证了基于四步法实现并联式六维加速度传感器的参数辨识是有效、可行的。

Abstract

The parameter identification of a six-axis accelerometer is a difficult problem due to its higher input and output volumes and linear dynamic equation. According to this

a four-step method was proposed to identify the 25 decoupling parameters of a parallel type six-axis accelerometer. A calibration platform based on double slider-crank mechanisms was designed and processed to provide the external stimulation and a virtual instrument based on LabVIEW was developed to provide the software support for the parameter identification. The first sets of parameters were identified by averaging pretreatment data in static state. By putting the sensor on the platform to do a pure line movement with the frequency of 1-2 Hz

the dynamic equations were simplified to linear algebraic equations

then the second set of parameters were identified by using the least square method. Similarly

the third set of parameters were identified when the sensor did a pure angular movement with the frequency of 1-2 Hz. The fourth set of parameters were identified by one-dimensional searching about stiffness to mass ratio when the sensor did the pure line movement with the frequency of 4-5 Hz. Experimental results indicate that the maximum relative error is 7.479% after using the identified parameters to decouple the six-axis acceleration

which reduces a magnitude compared to that before parameter identification. Above results verify that the proposed four-step method is correct and feasible.

关键词

Keywords

references

TZUU H, CHING CH CH, YU T S. Optical image stabilizing system using fuzzy sliding-mode controller for digital cameras [J]. IEEE Transactions on Consumer Electronics, 2012,58(2):237-245.[2]LIN P CH, LU J CH, TSAI CH H, et al.. Design and implementation of a nine-axis inertial measurement unit [J]. IEEE/ASME Transactions on Mechatronics, 2012,17(4):657-668.[3]尤晶晶，李成刚，吴洪涛. 并联式六维加速度传感器的哈密顿动力学研究[J].机械工程学报，2012，48(15): 9-17.YOU J J, LI C G, WU H T. Research on Hamiltonian dynamics of parallel type six-axis accelerometer [J]. Journal of Mechanical Engineering, 2012,48(15): 9-17.(in Chinese) [4]ZUMER J, REYNAERTS D, BOLTEZAR M. An advanced nonlinear model of a low-g MEMS accelerometer for a computer pen [J]. Measurement, 2012,45(3):459-468.[5]PETER S, HUBERT G. State estimation on flexible robots using accelerometers and angular rate sensors [J]. Mechatronics, 2012(22):1043-1049.[6]毕树生，宗光华. 用于生物工程的微操作机器人系统的若干问题[J].仪器仪表学报，2000，21(6):560-565.BI S S, ZONG G H. Some issues on bio-micromanipulator system [J]. Chinese Journal of Scientific Instrument, 2000,21(6):560-565.(in Chinese) [7]WANG D H, YUAN G. A six degree of freedom acceleration sensing method based on six coplanar single axis accelerometers [J]. IEEE Transactions on Instrumentation and Measurement, 2011,60(4):1433-1442.[8]赵磊，刘巍，巩岩. 预紧式Stewart结构六维力/力矩传感器[J].光学精密工程，2011，19(12):2954-2962.ZHAO L, LIU W, GONG Y. Pre-stressed six-axis force/torque sensor based on Stewart platform [J]. Opt. Precision Eng., 2011,19(12):2954-2962 .(in Chinese) [9]侯雨雷，曾达幸，姚建涛,等. 超静定并联式六维力传感器动力学[J].光学精密工程，2009，17(7): 1594-1601.HOU Y L, ZENG D X, YAO J T, et al.. Dynamics of hyperstatic parallel six-component force sensor [J]. Opt. Precision Eng., 2009,17(7): 1594-1601.(in Chinese) [10]尤晶晶，李成刚，吴洪涛. 基于并联机构的六维加速度传感器的方案设计及建模研究[J].振动工程学报，2012，25(6):658-666.YOU J J, LI C G, WU H T. Study on the scheme design and modeling of six-axis accelerometer based on parallel mechanism [J]. Journal of Vibration Engineering, 2012,25(6):658-666 .(in Chinese) [11]尤晶晶. 基于6-SPS并联机构的压电式六维加速度传感器的研究[D] .南京：南京航空航天大学，2010.YOU J J. Research on a piezoelectric six-axis accelerometer based on 6-SPS parallel mechanism [D]. Nanjing：Nanjing University of Aeronautics and Astronautics,2010.(in Chinese)[12]高贯斌，王文，林铿,等. 圆光栅角度传感器的误差补偿及参数辨识[J].光学精密工程，2010，18(8): 1766-1772.GAO G B, WANG W, LIN K, et al.. Error compensation and parameter identification of circular grating angle sensors [J]. Opt. Precision Eng., 2010,18(8): 1766-1772.(in Chinese) [13]魏强，张承进，张栋,等. 压电陶瓷驱动器的滑模神经网络控制[J].光学精密工程，2012，20(5):1055-1063.WEI Q, ZHANG C J, ZHANG D, et al.. Neural network control for piezo-actuator using sliding-mode technique [J]. Opt. Precision Eng., 2012,20(5): 1055-1063.(in Chinese) [14]陶俊勇，刘彬，陈循. 气动式振动台激振器低温失效机理研究及结构改进[J].机械工程学报，2012，48(2):50-56.TAO J Y, LIU B, CHEN X. Study on performance and optimal design of pneumatic vibrator of repetitive shock machine on cold soak temperature [J]. Journal of Mechanical Engineering, 2012,48(2):50-56.(in Chinese) [15]胡俊峰，张宪民. 3自由度精密定位平台的运动特性和优化设计[J].光学精密工程，2012，20(12): 2686-2695.HU J F, ZHANG X M. Kinematical properties and optimal design of 3-DOF precision positioning stage [J]. Opt. Precision Eng., 2012,20(12): 2686-2659.(in Chinese) [16]崔继文，刘雪明，谭久彬. 超精密级二维工作台的自标定[J].光学精密工程，2012，20(9):1960-1966.CUI J W, LIU X M, TAN J B. Self-calibration for 2-D ultra-precision stage [J]. Opt. Precision Eng., 2012,20(9):1960-1966 .(in Chinese) [17]李成刚，尤晶晶，吴洪涛. 椭圆型弹性球铰链转动性能及疲劳强度研究[J].中国机械工程，2011，22(2):231-234.LI C G, YOU J J, WU H T. Study on rotation capability and fatigue strength of elliptical flexure spherical hinge [J]. China Mechanical Engineering, 2011,22(2):231-234.(in Chinese)

Views

481

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Modeling of precision harmonic drive system

Calibration and correction of geometric errors in laser tracker

Research process on operation performances of parallel type six-axis acceleration sensing mechanisms

Model establishment and error correction of FMCW lidar

Identification and compensation of friction for modular joints based on grey wolf optimizer

Related Author

HEI Mo

FAN Shi-xun

LIAO Hong-bo

ZHOU Qing-kun

FAN Da-peng

WANG Shan

ZHANG Zili

DONG Dengfeng

Related Institution

College of Mechatronic Engineering & Automation, National University of Defense Technology

University of Chinese Academy of Sciences

Institute of Microelectronics of the Chinese Academy of Sciences

College of Mechanical and Electronic Engineering， Nanjing Forestry University

Beijing Aerospace Institute for Metrology and Measurement Technology

AI问答

Address：No.3888 Dong Nanhu Road, Changchun, Jilin, China Postal code：130033
Tel：0431-86176855 Email：gxjmgc@ciomp.ac.cn
Technical support is provided by Beijing Founder electronics co., LTD 吉ICP备11002662号-17 京公网安备11010802024621
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰