基于一维传感器的四维力测试平台设计与分析

利用一维力/力矩传感器设计可以测量升力、滚转力矩、俯仰力矩、偏航力矩的四维测试平台.通过将3个相同的拉压力传感器并联,并利用万向节作连接件,解决了多维传感器的维间耦合误差问题,可以将3个传感器输出的力通过解耦矩阵准确无误地计算出2个力矩和1个力,从原理上完全解耦,提高了多维传感器的精度.同时此种安装方式结构简单,方便拆卸.分析了测试台的各种误差来源,并求解出误差传递函数,计算出由机械平台水平度和传感器安装误差给测试平台带来的系统误差不超过0.5%,同时分析了传感器测量精度对测试系统随机误差的影响,并计算了使用某型号传感器时的随机误差对系统整体误差的影响,验证了该方案的高精度性.

Design and analysis of four-dimensional force-measurement based on one-dimensional sensors

A four-dimensional (lift, roll moment, pitch moment and yaw moment) test platform was designed by using one-dimensional force/torque sensors. The multi-component coupling error problem was solved by putting three force sensors in parallel and using universal joints as connectors. Two force moments and one force can be accurately calculated from the force measurement of the three sensors. The measurement accuracy of the multi-axis sensor was improved by the decoupling matrix. Moreover, such structure is easy to assemble and disassemble. The feasibility was verified by comparing with the input loads in simulations. The horizontal error caused by the installation error of the sensor is within 0.5%. The effect of the measurement error to the system error was also analyzed.