【摘要】 从抽象的三输入三输出数学模型出发,建立三向力传感器的一般数学模型,对该模型进行一阶泰勒展开并将拉格朗日余项作为误差忽略,得到三向力传感器线性标定计算的正则方程组。分别在3个方向采取单向多次加载,通过最小二乘法将输出与载荷对应的数据进行线性拟合,将拟合结果与原正则方程组比对,确定其系数阵,从而得出标定的算法。该标定方法推导中仅假定传感器3个应变梁正交,同时考虑了三向变形耦合关系,而没有限定传感器的具体结构形式,因而该算法对于不同结构的三向力传感器具有一定的通用性。该算法为多向耦合类型传感器的标定提供了新的思路和研究方法。更多还原

【Abstract】 This paper established the three-way force sensor’s general mathematical model from the abstract three input and three output mathematical model,then unfold the model as a first-order Taylor-series and ignored the error term like Lagrange remainder,finally get the three-way force sensor’s canonical equations which used to calculated linear calibration. Take the one-way repeated loading in three directions respectively,and used the least square method to fit the output data corresponding to the load,after comparing the fitting result with the original canonical equations can determine its coefficient matrix,finally derived the calibration algorithm. Just assumed the three strain beam of sensors is orthogonal during the deriving of this algorithm,and considering the three-deformation coupling relationship at the same time,have not limited the specific structure of sensor,so this algorithm can be used in different structure’s sensor. This algorithm provides a new train of thought and research methods for the calibration of multi-directional coupling type sensor.更多还原