CN104634496A - Measuring device and method for electromagnetic force or electromagnetic torque - Google Patents
Measuring device and method for electromagnetic force or electromagnetic torque Download PDFInfo
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Abstract
The invention discloses a measuring device and method for electromagnetic force or electromagnetic torque. The measuring device comprises a first support platform used for installing a first electromagnetic device and a second support platform used for installing a second electromagnetic device, wherein the first support platform is provided with a driving mechanism used for driving the first electromagnetic device to move for regulating the relative position and posture between the first electromagnetic device and the second electromagnetic device, a sensor used for detecting the electromagnetic force or the electromagnetic torque is arranged on the second support platform, and the measuring device also comprises a first current source used for providing current for the first electromagnetic device and a second current source used for providing current for the second electromagnetic device. The measuring device and the method have the advantages that the measuring value of the force/torque generated by the two electromagnetic devices in the two-dimensional three-freedom-degree space can be automatically obtained, universality is realized, the constraint on the electromagnetic device configuration is avoided, and the force/torque generated between the electromagnetic devices in any shape can be measured.
Description
Technical Field
The invention relates to the field of measurement of dynamic changes of force and moment with multiple degrees of freedom, in particular to a device and a method for measuring electromagnetic force and moment with three degrees of freedom.
Background
The electromagnetic device used in the engineering field has the characteristics of large magnetic gap, multiple control parameters, complex structure and the like, the determination of the generated electromagnetic force and moment values is complex, and the success or failure of subsequent tasks is very critical; the electromagnetic force and moment numerical determination is theoretically a solving problem of electromagnetic field action, generally speaking, the problem can be solved analytically based on Maxwell equation sets, but due to different initial or boundary conditions and the constraints of calculation complexity and the like, the Maxwell equation sets are difficult or rarely solved directly in practical engineering.
For the numerical determination of electromagnetic force and moment, there are 3 general processing methods: firstly, a simplified electromagnetic field model is utilized for resolving; secondly, carrying out numerical calculation by using commercial software (such as Maxwell 3D); and thirdly, electromagnetic force/moment measurement under dynamic conditions is carried out through a special measuring device.
For a simply-configured electromagnetic device, the electromagnetic force and moment determination can be solved through a simplified electromagnetic model, but the electromagnetic device configuration applicable to the method is limited. With the increase of the complexity of the configuration of the electromagnetic device, the numerical solution is usually performed by using electromagnetic field calculation software, the accuracy of the numerical solution depends on the shape and density of the finite element meshing and the processing of the boundary conditions, and the electromagnetic field calculation efficiency is not high for the electromagnetic device with the complex boundary conditions. Due to the complexity of the electromagnetic device configuration, both the analytical determination and the numerical calculation determination methods often require checking or correcting the theoretical model or the numerical calculation through experimental measurements. In addition, the geometric dimensions and material parameters of the electromagnetic device in the actual machining process have errors compared with the design values, so that experimental measurement of the electromagnetic force and the electromagnetic torque is necessary.
At present, the measurement of electromagnetic force and electromagnetic torque is generally single-degree-of-freedom, and the dynamic change range is narrow. Therefore, it is urgently needed to design an accurate measurement device and method for electromagnetic force and electromagnetic torque in response to three-degree-of-freedom large-scale dynamic change of an electromagnetic device.
Disclosure of Invention
The invention provides a measuring device and a measuring method for electromagnetic force or electromagnetic torque, which are used for solving the technical problems of insufficient measuring dimension, measuring range and lack of dynamic measuring means of the electromagnetic force/electromagnetic torque generated by electrifying the existing electromagnetic device.
A measuring device for electromagnetic forces or electromagnetic moments, comprising:
the first supporting platform is used for mounting the first electromagnetic device, and the second supporting platform is used for mounting the second electromagnetic device;
a first current source for providing current to the first electromagnetic device and a second current source for providing current to the second electromagnetic device; wherein,
the first supporting platform is provided with a driving mechanism, and the driving mechanism is used for driving the first electromagnetic device to move so as to adjust the relative position and posture between the first electromagnetic device and the second electromagnetic device;
and a sensor for detecting electromagnetic force or electromagnetic moment between the first electromagnetic device and the second electromagnetic device is arranged on the second supporting platform.
Further, the first support platform comprises:
a support member for mounting the first electromagnetic device,
the first driving mechanism is used for driving the supporting component to rotate in the circumferential direction;
the second driving mechanism is used for driving the supporting component to transversely move along the plane;
and the third driving mechanism is used for driving the supporting component to move longitudinally along the plane.
Furthermore, the device also comprises a processor which is electrically connected with the driving mechanism through a controller so as to control the action of the driving mechanism.
Further, the processor is electrically connected with the first current source and the second current source to control the output current values of the first current source and the second current source.
Further, the first electromagnetic device and the second electromagnetic device comprise at least one set of electromagnetic coils;
the first current source and the second current source both comprise a constant current source and a multi-channel current power amplifier, the adjusting end of the multi-channel current power amplifier is connected with the processor, and the instruction of the processor is received to adjust the constant current source to output one or more paths of current.
Further, the sensor is a force sensor for detecting electromagnetic force or a torque sensor for detecting electromagnetic torque, and the sensor is in communication connection with the processor to transmit detection data to the processor.
According to another aspect of the present invention, there is also provided a method for electromagnetic force or electromagnetic torque measurement, using the apparatus described above, the method comprising:
adjusting the relative position and posture between the first electromagnetic device and the second electromagnetic device, wherein the first electromagnetic device can translate and rotate on a two-dimensional plane, and the second electromagnetic device is fixed;
adjusting input current values of electromagnetic coils on the first electromagnetic device and the second electromagnetic device;
and detecting the electromagnetic force or the electromagnetic torque value between the first electromagnetic device and the second electromagnetic device.
Further, the relative position and the posture between the first electromagnetic device and the second electromagnetic device are adjusted through the processor;
and the input current of the electromagnetic coils of the first electromagnetic device and the second electromagnetic device is adjusted through the processor;
the sensor is used for detecting the electromagnetic force or the electromagnetic torque value between the first electromagnetic device and the second electromagnetic device, and the sensor transmits the detection data to the processor.
Furthermore, the processor controls the relative position and posture between the first electromagnetic device and the second electromagnetic device through a preset program, and adjusts the input current of the electromagnetic coils on the first electromagnetic device and the second electromagnetic device in real time through the preset program or a control signal input from the outside.
Furthermore, the sensitivity of the sensor is selected according to the variation range of the electromagnetic force or the electromagnetic moment to be measured.
The invention has the following beneficial effects:
the invention is used for measuring device and method of the electromagnetic force or electromagnetic moment, through regulating relative position and posture between the first electromagnetic device and second electromagnetic device, and regulate the current-carrying on the first electromagnetic device and second electromagnetic device, and detect the electromagnetic force or electromagnetic moment between the first electromagnetic device and second electromagnetic device through the sensor, can obtain the measured value of the force/moment produced in the space of movement of three degrees of freedom of two-dimentional two electromagnetic devices automatically, have universality, there is no constraint on the electromagnetic device configuration, can measure the force/moment produced between the electromagnetic devices of arbitrary shape; in addition, the invention can also be applied to corresponding measurement of other types of force (such as electric field force) and the like, and has good expansibility.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention, are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention and do not constitute a limitation of the invention. In the drawings:
fig. 1 is a schematic structural view of a measuring apparatus for electromagnetic force or electromagnetic torque according to a preferred embodiment of the present invention;
FIG. 2 is a schematic diagram of a two-dimensional three-degree-of-freedom adjustment apparatus for an electromagnetic apparatus according to a preferred embodiment of the present invention;
FIG. 3 is a schematic diagram of the current regulation of two electromagnetic devices in accordance with the preferred embodiment of the present invention.
Description of reference numerals:
10. a first support platform; 20. a first electromagnetic device;
30. a second support platform; 40. a second electromagnetic device;
50. a sensor;
60. a first current source; 70. a second current source;
80. a processor;
11. a first support member; 12. a support plate; 13. a longitudinal guide rail; 14. a transverse guide rail; 15. a first motor; 16. a second motor; 17. a third motor; 18. a ball screw; 61. a constant current source; 62. a multi-channel current power amplifier;
90. a controller; 91. a signal acquisition unit; 92. a D/A board; 93. digital I/O board.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.
A preferred embodiment of the present invention provides a measuring apparatus for electromagnetic force or electromagnetic torque, and referring to fig. 1, the measuring apparatus of the present embodiment includes: a first supporting platform 10 for mounting a first electromagnetic device 20 and a second supporting platform 30 for mounting a second electromagnetic device 40; the first support platform 10 is provided with a driving mechanism for driving the first electromagnetic device 20 to move, so that the first electromagnetic device 20 can translate and rotate on a two-dimensional plane to adjust the relative position and posture between the first electromagnetic device 20 and the second electromagnetic device 40; a sensor 50 for detecting electromagnetic force or electromagnetic torque between the first electromagnetic device 20 and the second electromagnetic device 40 is disposed on the second supporting platform 30; the measuring device of the present embodiment further comprises a first current source 60 for supplying a current to first electromagnetic device 20 and a second current source 70 for supplying a current to second electromagnetic device 40. In the embodiment, by adjusting the relative position and posture between the first electromagnetic device 20 and the second electromagnetic device 40, adjusting the current applied to the first electromagnetic device and the second electromagnetic device, and detecting the electromagnetic force or the electromagnetic moment between the first electromagnetic device and the second electromagnetic device through the sensor, the measured value of the force/moment generated by the two electromagnetic devices in the two-dimensional three-degree-of-freedom motion space can be automatically obtained, and the method has universality, is free from constraint on the configuration of the electromagnetic devices, and can measure the force/moment generated between the electromagnetic devices in any shape; in addition, the invention can also be applied to corresponding measurement of other types of force (such as electric field force) and the like, and has good expansibility.
Optionally, the measurement apparatus of this embodiment includes a processor 80, the processor 80 is electrically connected to the driving mechanism through a controller 90 to control the driving mechanism to operate, wherein a control program is configured in the processor 20, and the controller 90 automatically controls the driving mechanism to operate through an output of the controller 90, so as to realize automatic control of the two-dimensional three-degree-of-freedom motion change of the first electromagnetic apparatus 20, thereby adjusting the relative position and the posture between the first electromagnetic apparatus 20 and the second electromagnetic apparatus 40.
Referring to fig. 1 and 2, in the present embodiment, the first supporting platform 10 includes: a support member 11 for mounting the first electromagnetic device 20, a first driving mechanism for driving the support member 11 to rotate circumferentially; a second driving mechanism for driving the supporting component 11 to move transversely along the plane; and a third driving mechanism for driving the support member 11 to move longitudinally along the plane. Preferably, the supporting member 11 is a vertical column, and the first electromagnetic device 20 is mounted on the vertical column. The uprights are mounted via pallets 12 on longitudinal guides 13, the longitudinal guides 13 being mounted on transverse guides 14. The first driving mechanism comprises a first motor 15 for driving the supporting part 11 to rotate on the supporting plate 12 around the Z axis shown in the figure, and the first motor 15 drives the upright post through a ball screw 18; the second driving mechanism comprises a second motor 16 for driving the longitudinal guide rail 13 to move along the transverse guide rail 14, namely along the X-axis direction shown in the figure, and the second motor 16 drives the longitudinal guide rail 13 through a ball screw 18; the third drive mechanism comprises a third motor 17 for driving the pallet 12 along the longitudinal rail 13, i.e. in the direction of the illustrated Y-axis, the third motor 17 driving the pallet 12 via a ball screw 18. It should be noted that, in other embodiments, the positions of the transverse rail 14 and the longitudinal rail 13 may be interchanged, that is, the supporting plate 12 is mounted on the transverse rail 14, the transverse rail 14 is mounted on the longitudinal rail, and the supporting plate 12 and the transverse rail 14 are respectively connected with corresponding driving mechanisms to achieve position adjustment. Alternatively, the driving mechanism may be a pneumatic or hydraulic type driving mechanism in addition to the motor of the present embodiment.
Referring to fig. 2, in this embodiment, control software, such as Labview software programming, is configured in the processor 80, and the processor 80 is connected to the controller 90 through the digital I/O board 93, in this embodiment, the controller 90 is a PLC controller, the processor 80 outputs a movement instruction to the PLC controller through digital I/O, the PLC controller further controls the first motor 15, the second motor 16, or the third motor 17 to operate, and an output shaft of the motor further drives the execution component to operate through the transmission mechanism, thereby implementing two-dimensional three-degree-of-freedom automatic adjustment of the first electromagnetic device 20 placed on the column.
Alternatively, referring to fig. 1 and 3, the processor 80 is electrically connected to the first current source 60 and the second current source 70 to control the output current values of the first current source 60 and the second current source 70. In the present embodiment, first electromagnetic device 20 and second electromagnetic device 40 include at least one set of electromagnetic coils; referring to fig. 3, each of the first current source 60 and the second current source 70 includes a constant current source 61 and a multi-channel current power amplifier 62, a regulation end of the multi-channel current power amplifier 62 is connected to the processor 80, and receives an instruction of the processor 80 to regulate the constant current source 61 to output one or more paths of current. In this embodiment, the processor 80 is connected to the multi-channel current power amplifier 62 through the D/a board 92, and the multi-channel current power amplifier 62 gates the corresponding current output channel under the control of the output instruction of the processor 80 to output the corresponding current to the coil of the electromagnetic device, wherein the adjustment of the current value may be automatically adjusted by a program preset on the processor 80, or the current value may be adjusted in real time by a control signal input from the outside to change the current value of the first electromagnetic device and/or the second electromagnetic device. Preferably, each of the first electromagnetic device 20 and the second electromagnetic device 40 includes a plurality of sets of coils, so that the energization of the coils of the first electromagnetic device 20 and the second electromagnetic device 40 can be flexibly adjusted, and the electromagnetic force meeting the experimental requirements can be obtained.
Alternatively, the sensor 50 is a force sensor for detecting electromagnetic force or a torque sensor for detecting electromagnetic torque, and the sensor 50 is communicatively connected to the processor 80 to transmit the detection data to the processor 80. Preferably, the processor 80 collects data detected by each sensor 50 in real time via the signal collection unit 91. The force sensor can adopt a general pressure sensor or a general tension sensor, and the torque sensor can adopt a torque sensor.
The measuring device of the embodiment has the following functions: the high-precision motion platform can conveniently and flexibly set the relative position/posture between two electromagnetic devices and provide a three-degree-of-freedom motion state; the second is a high-precision force/moment sensor which provides electromagnetic force/moment fine measurement; thirdly, a current control system of the electromagnetic device provides a coil current value set according to requirements; and fourthly, an automatic control system provides effective connection and automatic operation among the motion platform, the force/torque sensor and the coil current control system.
In the embodiment, the processor 80 automatically adjusts the relative position and posture between the two electromagnetic devices, and automatically adjusts the energizing current of the coils of the two electromagnetic devices to provide a current value set as required, and simultaneously, the sensor detects the electromagnetic force/moment in real time, and comprehensively and synchronously controls all the links, so that the automatic measurement of the electromagnetic force/moment with multiple degrees of spatial freedom is realized, the dynamic measurement requirement can be met, the reliability is high, the configuration of the electromagnetic devices is not constrained, and the force/moment generated between the electromagnetic devices with any shapes can be measured.
According to another aspect of the present invention, there is also provided an embodiment of a method for automatic measurement of electromagnetic force or electromagnetic torque, the method embodiment comprising:
adjusting the relative position and posture between the first electromagnetic device 20 and the second electromagnetic device 40, wherein the first electromagnetic device 20 can translate and rotate on a two-dimensional plane, and the second electromagnetic device 40 is fixed;
adjusting input current values of the solenoid coils of first solenoid 20 and second solenoid 40;
an electromagnetic force or an electromagnetic torque value between first electromagnetic device 20 and second electromagnetic device 40 is detected.
Preferably, the embodiment of the method adopts the measuring device of the above device embodiment, and the specific implementation manner is as follows:
two sets of electromagnetic devices are respectively arranged on a fixed upright post and a movable upright post, and a two-dimensional three-degree-of-freedom running track of the movable upright post and the current value of each coil at the position of each running point are set through a computer program; after the measurement is started, a moving instruction is transmitted to the control motors in all directions through the digital I/O interface, and the motors drive the mechanical transmission mechanisms to move, so that the two-dimensional three-degree-of-freedom movement of the electromagnetic device placed on the moving upright column is realized (as shown in figure 2); meanwhile, the processor sends a current instruction to the multi-channel power amplifier through the D/A board, and the current instruction is used for adjusting the current value transmitted by the constant current source and further controlling the current value of the multi-set magnetic coil of the mobile/fixed electromagnetic device (as shown in figure 3); the selection of the performance (including measuring range and resolution) of the force and torque sensor is the core of the electromagnetic force/torque measurement method, and the method is determined according to the characteristics of the measured physical quantity, and is specifically described as follows: the electromagnetic force/moment and the relative distance between the electromagnetic devices form an inverse relationship of 3-4 power, and the nonlinear violent change is changed along with the increase or decrease of the relative distance; in addition, the electromagnetic force/torque changes with the relative attitude change between the two electromagnetic devices, and the electromagnetic device is just in the maximum force generation mode, but the electromagnetic torque is 0. Therefore, the force range of the sensor is given according to the nearest measured electromagnetic devices and the direct simulation calculation result (which can be calculated by any finite element analysis software), and the moment range of the sensor is given according to the nearest measured electromagnetic devices and the normal vertical simulation calculation result. Further, the sensitivity of the sensor forces and moments are determined according to the electromagnetic device application requirements.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A measuring device for electromagnetic forces or moments, comprising:
a first support platform (10) for mounting a first electromagnetic device (20) and a second support platform (30) for mounting a second electromagnetic device (40);
a first current source (60) for supplying current to said first electromagnetic device (20) and a second current source (70) for supplying current to said second electromagnetic device (40); wherein,
the first supporting platform (10) is provided with a driving mechanism, and the driving mechanism is used for driving the first electromagnetic device (20) to move so as to adjust the relative position and posture between the first electromagnetic device (20) and the second electromagnetic device (40);
and a sensor (50) for detecting electromagnetic force or electromagnetic moment between the first electromagnetic device (20) and the second electromagnetic device (40) is arranged on the second supporting platform (30).
2. The device according to claim 1, characterized in that said first support platform (10) comprises:
a support member (11) for mounting the first electromagnetic device (20),
a first drive mechanism for driving the support member (11) to rotate circumferentially;
the second driving mechanism is used for driving the supporting component (11) to move transversely along the plane;
and the third driving mechanism is used for driving the supporting component (11) to move longitudinally along the plane.
3. The apparatus of claim 1,
the device further comprises a processor (80), wherein the processor (80) is electrically connected with the driving mechanism through a controller (90) to control the driving mechanism to act.
4. The apparatus of claim 3,
the processor (80) is electrically connected with the first current source (60) and the second current source (70) to control the output current values of the first current source (60) and the second current source (70).
5. The apparatus of claim 4,
said first electromagnetic device (20) and said second electromagnetic device (40) comprise at least one set of electromagnetic coils;
the first current source (60) and the second current source (70) both comprise a constant current source and a multi-channel current power amplifier, the adjusting end of the multi-channel current power amplifier is connected with the processor (80), and receives an instruction of the processor (80) to adjust the constant current source to output one or more paths of current.
6. The apparatus of claim 3,
the sensor (50) is a force sensor for detecting electromagnetic force or a torque sensor for detecting electromagnetic torque, and the sensor (50) is in communication connection with the processor (80) to transmit detection data to the processor (80).
7. A method of electromagnetic force or electromagnetic torque measurement using the apparatus of any one of claims 1 to 6, comprising:
adjusting the relative position and posture between a first electromagnetic device (20) and a second electromagnetic device (40), wherein the first electromagnetic device (20) can translate and rotate on a two-dimensional plane, and the second electromagnetic device (40) is fixed;
adjusting input current values of the electromagnetic coils of the first electromagnetic device (20) and the second electromagnetic device (40);
an electromagnetic force or an electromagnetic torque value between the first electromagnetic device (20) and the second electromagnetic device (40) is detected.
8. The method of claim 7,
adjusting, by a processor (80), a relative position and attitude between the first electromagnetic device (20) and the second electromagnetic device (40);
and adjusting, by the processor (80), input currents of electromagnetic coils on the first electromagnetic device (20) and the second electromagnetic device (40);
electromagnetic force or electromagnetic torque value between the first electromagnetic device (20) and the second electromagnetic device (40) is detected by a sensor (50), and the sensor (50) transmits the detected data to the processor (80).
9. The method of claim 8,
the processor (80) controls the relative position and posture between the first electromagnetic device (20) and the second electromagnetic device (40) through a preset program, and adjusts the input current of the electromagnetic coils on the first electromagnetic device (20) and the second electromagnetic device (40) in real time through the preset program or a control signal input from the outside.
10. The method according to any one of claims 7 to 9,
the sensitivity of the sensor (50) is selected according to the variation range of the electromagnetic force or the electromagnetic moment to be measured.
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| CN201510086226.2A CN104634496A (en) | 2015-02-17 | 2015-02-17 | Measuring device and method for electromagnetic force or electromagnetic torque |
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| CN201510086226.2A CN104634496A (en) | 2015-02-17 | 2015-02-17 | Measuring device and method for electromagnetic force or electromagnetic torque |
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| CN107621359A (en) * | 2016-07-14 | 2018-01-23 | 上海固华机械设备有限公司 | A kind of automotive sunshade panel overturns torsion detection device |
| CN110031783A (en) * | 2019-04-30 | 2019-07-19 | 天津工业大学 | A kind of gamut surface measurement of electromagnetic system and measurement method |
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Application publication date: 20150520 |