CN104634496A - Measuring device and method for electromagnetic force or electromagnetic torque - Google Patents
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Abstract
本发明公开了一种用于电磁力或者电磁力矩的测量装置及方法，该测量装置包括：用于安装第一电磁装置的第一支撑平台及用于安装第二电磁装置的第二支撑平台；第一支撑平台设有用于驱动第一电磁装置活动的驱动机构，以调节第一电磁装置与第二电磁装置间的相对位置及姿态；第二支撑平台上设有用于检测电磁力或者电磁力矩的传感器；测量装置还包括用于给第一电磁装置提供电流的第一电流源和用于给第二电磁装置提供电流的第二电流源。本发明可自动获取两电磁装置在二维三自由度运动空间内产生力/力矩的测量值，具有普适性，对电磁装置构型无约束，可测量任意形状电磁装置间所产生的力/力矩。
The invention discloses a measuring device and method for electromagnetic force or electromagnetic moment. The measuring device comprises: a first supporting platform for installing a first electromagnetic device and a second supporting platform for installing a second electromagnetic device; The first support platform is provided with a driving mechanism for driving the first electromagnetic device to adjust the relative position and posture between the first electromagnetic device and the second electromagnetic device; the second support platform is provided with a device for detecting electromagnetic force or electromagnetic moment. The sensor; measuring device also includes a first current source for supplying current to the first electromagnetic device and a second current source for supplying current to the second electromagnetic device. The invention can automatically obtain the measured value of the force/moment generated by two electromagnetic devices in the two-dimensional three-degree-of-freedom motion space, has universality, has no constraints on the configuration of the electromagnetic device, and can measure the force/torque generated between electromagnetic devices of any shape. moment.
Description
技术领域technical field
本发明涉及多自由度力和力矩动态变化的测量领域，特别地，涉及一种三自由度电磁力和力矩的测量装置及方法。The invention relates to the field of measuring dynamic changes of multi-degree-of-freedom forces and moments, in particular to a measuring device and method for three-degree-of-freedom electromagnetic forces and moments.
背景技术Background technique
工程领域所使用的电磁装置具有大磁隙、多控制参量、结构复杂等特点，其产生的电磁力和力矩数值确定比较复杂，且对后续任务成败非常关键；电磁力和力矩数值确定理论上为电磁场作用的求解问题，一般而言，该问题可基于麦克斯韦方程组进行解析求解，但由于各种初始或边界条件不同及其计算复杂性等约束，实际工程中往往很难或很少直接求解麦克斯韦方程组。The electromagnetic devices used in the engineering field have the characteristics of large magnetic gaps, multiple control parameters, and complex structures. The determination of the electromagnetic force and torque values generated by them is relatively complicated, and is very critical to the success of subsequent tasks; the theoretical determination of the electromagnetic force and torque values is The problem of solving the electromagnetic field effect, generally speaking, this problem can be solved analytically based on Maxwell's equations, but due to various initial or boundary conditions and constraints such as computational complexity, it is often difficult or rarely directly solve Maxwell's equations in actual engineering equation set.
针对电磁力和力矩的数值确定，通常的处理方法有3种：一是利用简化的电磁场模型解析求解；二是利用商用软件(如Maxwell 3D)进行数值计算；三是通过专用测量装置进行动态条件下电磁力/力矩测量。For the numerical determination of electromagnetic force and torque, there are usually three processing methods: one is to use a simplified electromagnetic field model to analyze and solve; the other is to use commercial software (such as Maxwell 3D) for numerical calculation; the third is to use a special measuring device to perform dynamic conditions. Under the electromagnetic force/torque measurement.
对于构型简单的电磁装置，其电磁力和力矩确定可通过简化的电磁模型求解，但该方法所适用的电磁装置构型有限。随着电磁装置构型复杂度的增加，通常采用电磁场计算软件进行数值求解，其精度取决于有限元网格划分的形状和密度以及边界条件的处理，对于具有复杂边界条件的电磁装置，电磁场计算效率不高。不论是解析确定还是数值计算确定方法，由于电磁装置构型的复杂性，往往都需要通过实验测量对理论模型或数值计算进行检验或修正。此外，实际加工过程中电磁装置的几何尺寸和材料参数与设计值相比存在误差，因此对电磁力和电磁力矩进行实验测量是很必要的。For an electromagnetic device with a simple configuration, its electromagnetic force and moment can be determined by a simplified electromagnetic model, but this method is applicable to limited configurations of electromagnetic devices. As the configuration complexity of electromagnetic devices increases, electromagnetic field calculation software is usually used for numerical solutions, and its accuracy depends on the shape and density of finite element mesh division and the processing of boundary conditions. For electromagnetic devices with complex boundary conditions, electromagnetic field calculation low efficiency. Regardless of the method of analytical determination or numerical calculation, due to the complexity of the configuration of the electromagnetic device, it is often necessary to test or correct the theoretical model or numerical calculation through experimental measurements. In addition, there are errors in the geometric dimensions and material parameters of the electromagnetic device compared with the design values in the actual processing process, so it is necessary to conduct experimental measurements on the electromagnetic force and electromagnetic torque.
目前已有电磁力和电磁力矩的测量一般为单自由度的，且动态变化范围较窄。故针对电磁装置的三自由度大范围动态变化，亟需设计一种相应的电磁力和电磁力矩的精确测量装置及方法。At present, the measurement of electromagnetic force and electromagnetic torque is generally single-degree-of-freedom, and the dynamic range is relatively narrow. Therefore, in view of the large-scale dynamic changes of the three degrees of freedom of the electromagnetic device, it is urgent to design a corresponding accurate measurement device and method for electromagnetic force and electromagnetic torque.
发明内容Contents of the invention
本发明提供了一种用于电磁力或者电磁力矩的测量装置及方法，以解决现有的电磁装置通电所产生的电磁力/电磁力矩的测量维数、测量范围不足以及缺乏动态测量手段的技术问题。The present invention provides a measuring device and method for electromagnetic force or electromagnetic torque, so as to solve the technical problems of insufficient measurement dimension, insufficient measurement range and lack of dynamic measurement means of the electromagnetic force/electromagnetic torque generated by electrification of the existing electromagnetic device question.
一种用于电磁力或者电磁力矩的测量装置，包括：A measuring device for electromagnetic force or electromagnetic torque, comprising:
用于安装第一电磁装置的第一支撑平台及用于安装第二电磁装置的第二支撑平台；a first support platform for mounting the first electromagnetic device and a second support platform for mounting the second electromagnetic device;
用于给第一电磁装置提供电流的第一电流源和用于给第二电磁装置提供电流的第二电流源；其中，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,
第一支撑平台设有驱动机构，驱动机构用于驱动第一电磁装置活动，以调节第一电磁装置与第二电磁装置间的相对位置及姿态；The first support platform is provided with a driving mechanism, and the driving mechanism is used to drive 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;
第二支撑平台上设有用于检测第一电磁装置与第二电磁装置间的电磁力或者电磁力矩的传感器。A sensor for detecting the electromagnetic force or torque between the first electromagnetic device and the second electromagnetic device is arranged on the second supporting platform.
进一步地，第一支撑平台包括：Further, the first support platform includes:
用于安装第一电磁装置的支撑部件，a support member for mounting the first electromagnetic device,
用于驱动支撑部件周向旋转的第一驱动机构；a first drive mechanism for driving the support member to rotate in a circumferential direction;
用于驱动支撑部件沿所在平面横向移动的第二驱动机构；a second driving mechanism for driving the supporting member to move laterally along the plane;
用于驱动支撑部件沿所在平面纵向移动的第三驱动机构。A third driving mechanism for driving the support member to move longitudinally along the plane.
进一步地，装置还包括处理器，处理器经控制器与驱动机构电连接，以控制驱动机构动作。Further, the device further includes a processor, and the processor is electrically connected to the driving mechanism through the controller to control the action of the driving mechanism.
进一步地，处理器与第一电流源和第二电流源电连接，以控制第一电流源、第二电流源的输出电流值。Further, the processor is electrically connected to the first current source and the second current source to control output current values of the first current source and the second current source.
进一步地，第一电磁装置和第二电磁装置包括至少一组电磁线圈；Further, the first electromagnetic device and the second electromagnetic device include at least one set of electromagnetic coils;
第一电流源和第二电流源均包括恒流源及多通道电流功率放大器，多通道电流功率放大器的调节端与处理器连接，接收处理器的指令调节恒流源输出一路或者多路电流。Both the first current source and the second current source include a constant current source and a multi-channel current power amplifier. The adjustment terminal of the multi-channel current power amplifier is connected to the processor, and receives instructions from the processor to adjust the constant current source to output one or more currents.
进一步地，传感器为用于检测电磁力的力传感器或者检测电磁力矩的力矩传感器，传感器与处理器通信连接，以传递检测数据给处理器。Further, the sensor is a force sensor for detecting electromagnetic force or a torque sensor for detecting electromagnetic torque, and the sensor is connected to the processor in communication to transmit detection data to the processor.
根据本发明的另一方面，还提供一种用于电磁力或者电磁力矩测量的方法，采用上述的装置，该方法包括：According to another aspect of the present invention, there is also provided a method for measuring electromagnetic force or electromagnetic torque, using the above-mentioned device, the method comprising:
调节第一电磁装置与第二电磁装置间的相对位置及姿态，其中，第一电磁装置可在二维平面上平动及旋转，第二电磁装置固定；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;
调节第一电磁装置及第二电磁装置上电磁线圈的输入电流值；Adjusting the input current value of the electromagnetic coil on the first electromagnetic device and the second electromagnetic device;
检测第一电磁装置与第二电磁装置间的电磁力或者电磁力矩值。Detecting the electromagnetic force or the electromagnetic torque value between the first electromagnetic device and the second electromagnetic device.
进一步地，通过处理器调节第一电磁装置与第二电磁装置间的相对位置及姿态；Further, the processor adjusts the relative position and attitude between the first electromagnetic device and the second electromagnetic device;
且通过处理器调节第一电磁装置及第二电磁装置上电磁线圈的输入电流；And adjust the input current of the electromagnetic coil on the first electromagnetic device and the second electromagnetic device through the processor;
采用传感器检测第一电磁装置与第二电磁装置间的电磁力或者电磁力矩值，且传感器将检测数据传递给处理器。A sensor is used to detect the electromagnetic force or torque value between the first electromagnetic device and the second electromagnetic device, and the sensor transmits the detection data to the processor.
进一步地，处理器通过预设程序控制第一电磁装置与第二电磁装置间的相对位置及姿态，并经预设程序或者外界输入的控制信号实时调整第一电磁装置及第二电磁装置上电磁线圈的输入电流。Further, the processor controls the relative position and attitude between the first electromagnetic device and the second electromagnetic device through a preset program, and adjusts the electromagnetic force 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. input current to the coil.
进一步地，传感器的灵敏度根据待测量的电磁力或者电磁力矩的变化范围相应选取。Further, the sensitivity of the sensor is selected according to the variation range of the electromagnetic force or the electromagnetic torque to be measured.
本发明具有以下有益效果：The present invention has the following beneficial effects:
本发明用于电磁力或者电磁力矩的测量装置及方法，通过调节第一电磁装置与第二电磁装置间的相对位置及姿态，并调节第一电磁装置与第二电磁装置上的通电电流，且经传感器检测第一电磁装置与第二电磁装置间的电磁力或者电磁力矩，可自动获取两电磁装置在二维三自由度运动空间内产生力/力矩的测量值，具有普适性，对电磁装置构型无约束，可测量任意形状电磁装置间所产生的力/力矩；此外，本发明也可适用于其他类型力(如电场力)等的相应测量，具有良好扩展性。The present invention is used for the measurement device and method of electromagnetic force or electromagnetic moment, by adjusting the relative position and posture between the first electromagnetic device and the second electromagnetic device, and adjusting the current on the first electromagnetic device and the second electromagnetic device, and The sensor detects the electromagnetic force or electromagnetic torque between the first electromagnetic device and the second electromagnetic device, and can automatically obtain the measured value of the force/torque generated by the two electromagnetic devices in the two-dimensional three-degree-of-freedom motion space, which is universal and suitable for electromagnetic The device configuration is unconstrained, and the force/torque generated between electromagnetic devices of any shape can be measured; in addition, the present invention is also applicable to the corresponding measurement of other types of force (such as electric field force), and has good scalability.
除了上面所描述的目的、特征和优点之外，本发明还有其它的目的、特征和优点。下面将参照图，对本发明作进一步详细的说明。In addition to the objects, features and advantages described above, the present invention has other objects, features and advantages. Hereinafter, the present invention will be described in further detail with reference to the drawings.
附图说明Description of drawings
构成本申请的一部分附图用来提供对本发明的进一步理解，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：The drawings constituting a part of this application are used to provide a further understanding of the present invention, and the schematic embodiments and descriptions of the present invention are used to explain the present invention, and do not constitute an improper limitation of the present invention. In the attached picture:
图1是本发明优选实施例用于电磁力或者电磁力矩的测量装置的结构示意图；Fig. 1 is a schematic structural view of a measuring device for electromagnetic force or electromagnetic moment in a preferred embodiment of the present invention;
图2是本发明优选实施例电磁装置二维三自由度调节的装置示意图；Fig. 2 is a schematic diagram of a device for two-dimensional and three-degree-of-freedom adjustment of an electromagnetic device in a preferred embodiment of the present invention;
图3是本发明优选实施例两电磁装置的电流调节的装置示意图。Fig. 3 is a device schematic diagram of current regulation of two electromagnetic devices according to a preferred embodiment of the present invention.
附图标记说明：Explanation of reference signs:
10、第一支撑平台；20、第一电磁装置；10. The first supporting platform; 20. The first electromagnetic device;
30、第二支撑平台；40、第二电磁装置；30. The second supporting platform; 40. The second electromagnetic device;
50、传感器；50. sensor;
60、第一电流源；70、第二电流源；60. The first current source; 70. The second current source;
80、处理器；80. Processor;
11、第一支撑部件；12、托板；13、纵向导轨；14、横向导轨；15、第一电机；16、第二电机；17、第三电机；18、滚珠丝杆；61、恒流源；62、多通道电流功率放大器；11. First support member; 12. Support plate; 13. Longitudinal guide rail; 14. Transverse guide rail; 15. First motor; 16. Second motor; 17. Third motor; 18. Ball screw; 61. Constant current source; 62, multi-channel current power amplifier;
90、控制器；91、信号采集单元；92、D/A板；93、数字I/O板。90. Controller; 91. Signal acquisition unit; 92. D/A board; 93. Digital I/O board.
具体实施方式Detailed ways
以下结合附图对本发明的实施例进行详细说明，但是本发明可以由权利要求限定和覆盖的多种不同方式实施。The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but the present invention can be implemented in many different ways defined and covered by the claims.
本发明优选实施例提供了一种用于电磁力或者电磁力矩的测量装置，参照图1，本实施例测量装置包括：用于安装第一电磁装置20的第一支撑平台10及用于安装第二电磁装置40的第二支撑平台30；其中，第一支撑平台10设有用于驱动第一电磁装置20活动的驱动机构，使得第一电磁装置20可在二维平面平动及旋转，以调节第一电磁装置20与第二电磁装置40间的相对位置及姿态；第二支撑平台30上设有用于检测第一电磁装置20与第二电磁装置40间的电磁力或者电磁力矩的传感器50；本实施例测量装置还包括用于给第一电磁装置20提供电流的第一电流源60和用于给第二电磁装置40提供电流的第二电流源70。本实施例通过调节第一电磁装置20与第二电磁装置40间的相对位置及姿态，并调节第一电磁装置与第二电磁装置上的通电电流，且经传感器检测第一电磁装置与第二电磁装置间的电磁力或者电磁力矩，可自动获取两电磁装置在二维三自由度运动空间内产生力/力矩的测量值，具有普适性，对电磁装置构型无约束，可测量任意形状电磁装置间所产生的力/力矩；此外，本发明也可适用于其他类型力(如电场力)等的相应测量，具有良好扩展性。A preferred embodiment of the present invention provides a measuring device for electromagnetic force or electromagnetic moment. With reference to FIG. 1 , the measuring device of this embodiment includes: The second support platform 30 of the second electromagnetic device 40; wherein, the first support platform 10 is provided with a driving mechanism for driving the first electromagnetic device 20, so that the first electromagnetic device 20 can translate and rotate in a two-dimensional plane to adjust The relative position and posture between the first electromagnetic device 20 and the second electromagnetic device 40; the second support platform 30 is provided with a sensor 50 for detecting the electromagnetic force or electromagnetic moment between the first electromagnetic device 20 and the second electromagnetic device 40; The measurement device in this embodiment further includes a first current source 60 for supplying current to the first electromagnetic device 20 and a second current source 70 for supplying current to the second electromagnetic device 40 . In this embodiment, by adjusting the relative position and posture between the first electromagnetic device 20 and the second electromagnetic device 40, and adjusting the energizing current on the first electromagnetic device and the second electromagnetic device, and detecting the first electromagnetic device and the second electromagnetic device through the sensor The electromagnetic force or electromagnetic torque between the electromagnetic devices can automatically obtain the measured value of the force/torque generated by the two electromagnetic devices in the two-dimensional three-degree-of-freedom motion space, which is universal and has no constraints on the configuration of the electromagnetic device, and can measure any shape The force/torque generated between the electromagnetic devices; in addition, the present invention is also applicable to the corresponding measurement of other types of force (such as electric field force), etc., and has good scalability.
可选地，本实施例测量装置包括处理器80，处理器80经控制器90与驱动机构电连接，以控制驱动机构动作，其中，处理器20内配置有控制程序，经控制器90的输出自动控制驱动机构动作，以实现第一电磁装置20二维三自由度运动变化的自动控制，从而调节第一电磁装置20与第二电磁装置40间的相对位置及姿态。Optionally, the measurement device in this embodiment includes a processor 80, which is electrically connected to the driving mechanism via the controller 90 to control the action of the driving mechanism, wherein the processor 20 is configured with a control program, and the output of the controller 90 The action of the driving mechanism is automatically controlled to realize the automatic control of the two-dimensional three-degree-of-freedom movement of the first electromagnetic device 20 , thereby adjusting the relative position and attitude between the first electromagnetic device 20 and the second electromagnetic device 40 .
参照图1及图2，本实施例中，第一支撑平台10包括：用于安装第一电磁装置20的支撑部件11，用于驱动支撑部件11周向旋转的第一驱动机构；用于驱动支撑部件11沿所在平面横向移动的第二驱动机构；用于驱动支撑部件11沿所在平面纵向移动的第三驱动机构。优选地，支撑部件11选用立柱，第一电磁装置20安装于立柱之上。立柱经托板12安装于纵向导轨13上，纵向导轨13安装于横向导轨14之上。第一驱动机构包括用于驱动支撑部件11绕图示Z轴在托板12上旋转的第一电机15，第一电机15经滚珠丝杆18驱动立柱；第二驱动机构包括用于驱动纵向导轨13沿横向导轨14移动，即沿图示X轴方向移动的第二电机16，第二电机16经滚珠丝杆18驱动纵向导轨13；第三驱动机构包括用于驱动托板12沿纵向导轨13移动，即沿图示Y轴方向移动的第三电机17，第三电机17经滚珠丝杆18驱动托板12。需要说明的是，在其他实施例中，横向导轨14与纵向导轨13的位置可以互换，即托板12安装于横向导轨14之上，横向导轨14安装于纵向导轨之上，托板12及横向导轨14分别连接有相应的驱动机构，以实现位置调节。可选地，驱动机构除了采用本实施例的电机以外，还可以采用气动或者液压类驱动机构。Referring to Fig. 1 and Fig. 2, in the present embodiment, the first support platform 10 includes: a support member 11 for installing the first electromagnetic device 20, a first drive mechanism for driving the support member 11 to rotate in the circumferential direction; A second drive mechanism for laterally moving the support component 11 along the plane; a third drive mechanism for driving the support component 11 to move longitudinally along the plane. Preferably, the support member 11 is a column, and the first electromagnetic device 20 is installed on the column. The column is installed on the longitudinal guide rail 13 through the supporting plate 12, and the longitudinal guide rail 13 is installed on the transverse guide rail 14. The first drive mechanism includes a first motor 15 for driving the support member 11 to rotate on the supporting plate 12 around the Z axis shown in the figure, and the first motor 15 drives the column through a ball screw 18; the second drive mechanism includes a drive for driving the longitudinal guide rail 13 moves along the transverse guide rail 14, that is, the second motor 16 that moves along the X-axis direction shown in the figure, and the second motor 16 drives the longitudinal guide rail 13 through the ball screw 18; the third driving mechanism includes a drive mechanism for driving the pallet 12 along the longitudinal guide rail 13 Movement, that is, the third motor 17 that moves along the Y-axis direction shown in the figure, and the third motor 17 drives the supporting plate 12 through the ball screw 18 . It should be noted that, in other embodiments, the positions of the transverse guide rail 14 and the longitudinal guide rail 13 can be interchanged, that is, the supporting plate 12 is installed on the transverse guide rail 14, and the transverse guide rail 14 is installed on the longitudinal guide rail. The transverse guide rails 14 are respectively connected with corresponding driving mechanisms to realize position adjustment. Optionally, besides the motor of this embodiment, the driving mechanism may also use a pneumatic or hydraulic driving mechanism.
参照图2，本实施例中，处理器80内配置有控制软件，例如Labview软件编程，处理器80经数字I/O板93连接控制器90，本实施例中，控制器90选用PLC控制器，处理器80通过数字I/O将移动指令输出给PLC控制器，PLC控制器进而控制第一电机15、第二电机16或者第三电机17动作，而电机的输出轴进一步经传动机构带动执行部件动作，从而实现了放置于立柱上的第一电磁装置20的二维三自由度的自动调节。With reference to Fig. 2, in the present embodiment, control software is configured in the processor 80, such as Labview software programming, processor 80 connects controller 90 through digital I/O board 93, in the present embodiment, controller 90 selects PLC controller for use , the processor 80 outputs the movement command to the PLC controller through the digital I/O, and the PLC controller then controls the first motor 15, the second motor 16 or the third motor 17 to move, and the output shaft of the motor is further driven by the transmission mechanism to execute The components move, thereby realizing the automatic adjustment of the two-dimensional and three-degree-of-freedom of the first electromagnetic device 20 placed on the column.
可选地，参照图1及图3，处理器80与第一电流源60和第二电流源70电连接，以控制第一电流源60、第二电流源70的输出电流值。本实施例中，第一电磁装置20和第二电磁装置40包括至少一组电磁线圈；参照图3，第一电流源60和第二电流源70均包括恒流源61及多通道电流功率放大器62，多通道电流功率放大器62的调节端与处理器80连接，接收处理器80的指令调节恒流源61输出一路或者多路电流。本实施例中，处理器80经D/A板92连接多通道电流功率放大器62，多通道电流功率放大器62在处理器80的输出指令控制下选通相应的电流输出通道，以输出相应的电流给电磁装置的线圈上，其中，电流值的调节可由处理器80上预设的程序进行自动调节，也可由外界输入的控制信号对电流值进行实时调节，以改变第一电磁装置和/或第二电磁装置电磁线圈的电流值。优选地，第一电磁装置20和第二电磁装置40均包含多套线圈，以方便对第一电磁装置20和第二电磁装置40线圈的通电进行灵活调节，得到满足实验要求的电磁力。Optionally, referring to FIG. 1 and FIG. 3 , the processor 80 is electrically connected to the first current source 60 and the second current source 70 to control output current values of the first current source 60 and the second current source 70 . In this embodiment, the first electromagnetic device 20 and the second electromagnetic device 40 include at least one group of electromagnetic coils; with reference to Figure 3, the first current source 60 and the second current source 70 both include a constant current source 61 and a multi-channel current power amplifier 62 , the adjustment terminal of the multi-channel current power amplifier 62 is connected to the processor 80 , and receives an instruction from the processor 80 to adjust the constant current source 61 to output one or more currents. In this embodiment, the processor 80 is connected to the multi-channel current power amplifier 62 via the D/A board 92, and the multi-channel current power amplifier 62 selects the corresponding current output channel under the control of the output command of the processor 80 to output the corresponding current On the coil of the electromagnetic device, the adjustment of the current value can be automatically adjusted by the preset program on the processor 80, and the current value can also be adjusted in real time by the control signal input from the outside to change the first electromagnetic device and/or the second 2. The current value of the electromagnetic coil of the electromagnetic device. Preferably, both the first electromagnetic device 20 and the second electromagnetic device 40 include multiple sets of coils, so as to facilitate flexible adjustment of the energization of the coils of the first electromagnetic device 20 and the second electromagnetic device 40, and obtain electromagnetic forces that meet experimental requirements.
可选地，传感器50为用于检测电磁力的力传感器或者检测电磁力矩的力矩传感器，传感器50与处理器80通信连接，以传递检测数据给处理器80。优选地，处理器80经信号采集单元91采集各传感器50实时检测的数据。其中，力传感器可采用通用的压力传感器或者拉力传感器，力矩传感器可采用扭矩传感器。Optionally, the sensor 50 is a force sensor for detecting electromagnetic force or a torque sensor for detecting electromagnetic torque, and the sensor 50 communicates with the processor 80 to transmit detection data to the processor 80 . Preferably, the processor 80 collects the data detected by each sensor 50 in real time via the signal collection unit 91 . Wherein, the force sensor may be a general pressure sensor or a tension sensor, and the torque sensor may be a torque sensor.
本实施例测量装置具有以下功能：一是高精度运动平台，能够方便、灵活地设置两电磁装置间相对位置/姿态，提供三自由度运动状态；二是高精度力/力矩传感器，提供电磁力/力矩精细测量；三是电磁装置的电流控制系统，提供按需设置的线圈电流值；四是自动化控制系统，提供运动平台、力/力矩传感器、线圈电流控制系统间的有效连接与自动运行。The measurement device of this embodiment has the following functions: one is a high-precision motion platform, which can conveniently and flexibly set the relative position/attitude between two electromagnetic devices, and provides a three-degree-of-freedom motion state; the other is a high-precision force/torque sensor, which provides electromagnetic force The third is the current control system of the electromagnetic device, which provides the coil current value set on demand; the fourth is the automatic control system, which provides effective connection and automatic operation among the motion platform, force/torque sensor, and coil current control system.
本实施例通过处理器80对两电磁装置间的相对位置及姿态进行自动调节，并对两电磁装置的线圈的通电电流进行自动调节，以提供按需设置的电流值，同时经传感器实时检测电磁力/力矩，并对上述各环节进行综合同步控制，从而实现了对空间多自由度的电磁力/力矩的自动测量，且能够满足动态测量需求，可靠性高，且对电磁装置构型无约束，可以测量任意形状电磁装置间产生的力/力矩。In this embodiment, the processor 80 automatically adjusts the relative position and attitude 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 on demand. Force/torque, and comprehensive synchronous control of the above-mentioned links, so as to realize the automatic measurement of electromagnetic force/torque with multiple degrees of freedom in space, and can meet the needs of dynamic measurement, with high reliability and no constraints on the configuration of electromagnetic devices , which can measure the force/torque generated between electromagnetic devices of arbitrary shape.
根据本发明的另一方面，还提供一种用于电磁力或者电磁力矩的自动测量方法的实施例，该方法实施例包括：According to another aspect of the present invention, an embodiment of an automatic measurement method for electromagnetic force or electromagnetic torque is also provided, and the method embodiment includes:
调节第一电磁装置20与第二电磁装置40间的相对位置及姿态，其中，第一电磁装置20可在二维平面上平动及旋转，第二电磁装置40固定；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;
调节第一电磁装置20及第二电磁装置40上电磁线圈的输入电流值；Adjust the input current value of the electromagnetic coil on the first electromagnetic device 20 and the second electromagnetic device 40;
检测第一电磁装置20与第二电磁装置40间的电磁力或者电磁力矩值。The electromagnetic force or the electromagnetic torque value between the first electromagnetic device 20 and the second electromagnetic device 40 is detected.
优选地，本方法实施例采用上述装置实施例的测量装置，具体实施方式如下：Preferably, this method embodiment adopts the measuring device of the above-mentioned device embodiment, and the specific implementation method is as follows:
将两套电磁装置分别部署于固定和移动立柱上，通过计算机程序设定移动立柱的二维三自由度运行轨迹以及各运行点位置处各线圈电流值；开始测量后，通过数字I/O接口将移动指令传给各方向控制电机，电机带动机械传动机构运动，进而实现放置于移动立柱电磁装置的二维三自由度运动(如图2)；同时，处理器通过D/A板将电流指令发给多通道功率放大器，用于调节恒流源输送的电流值，并进而控制移动/固定电磁装置的多套磁线圈电流值(如图3)；力与力矩传感器性能(包括量程及分辨率)的选取是电磁力/力矩测量方法的核心，本方法根据所测物理量的特性来确定，具体说明如下：电磁力/力矩与电磁装置间相对距离成3-4次方的反比关系，随相对距离的增加或减小非线性剧烈变化；另外，电磁力/力矩随两电磁装置间相对姿态变化而变化，电磁装置正对为最大力产生模式，但电磁力矩为0。因此，首先根据所测电磁装置相距最近且正对仿真计算结果(可采用任一款有限元分析软件计算得到)给出传感器的力量程，并根据所测电磁装置相距最近且其法向垂直仿真计算结果给出传感器的力矩量程。进而，根据电磁装置应用要求确定传感器力和力矩的灵敏度。Deploy two sets of electromagnetic devices on the fixed and mobile columns respectively, and set the two-dimensional and three-degree-of-freedom running trajectory of the mobile column and the current value of each coil at each operating point through the computer program; after starting the measurement, through the digital I/O interface Send the movement command to the control motor in each direction, the motor drives the mechanical transmission mechanism to move, and then realizes the two-dimensional three-degree-of-freedom movement placed on the electromagnetic device of the mobile column (as shown in Figure 2); at the same time, the processor transmits the current command through the D/A board It is sent to the multi-channel power amplifier to adjust the current value delivered by the constant current source, and then control the current value of multiple sets of magnetic coils of the mobile/fixed electromagnetic device (as shown in Figure 3); the performance of the force and torque sensor (including range and resolution) ) selection is the core of the electromagnetic force/torque measurement method. This method is determined according to the characteristics of the measured physical quantity. The specific description is as follows: the relative distance between the electromagnetic force/torque and the electromagnetic device is inversely proportional to the 3-4th power. The increase or decrease of the distance changes nonlinearly and drastically; in addition, the electromagnetic force/torque changes with the relative attitude between the two electromagnetic devices. The electromagnetic device is facing the maximum force generation mode, but the electromagnetic torque is 0. Therefore, firstly, the force range of the sensor is given according to the simulation calculation results (which can be calculated by using any finite element analysis software) according to the closest distance between the measured electromagnetic devices and the direct-facing simulation calculation results, and the simulation is carried out according to the fact that the measured electromagnetic devices are the closest to each other and their normal direction is vertical The result of the calculation gives the torque range of the sensor. Furthermore, the sensitivity of the sensor force and torque is determined according to the application requirements of the electromagnetic device.
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.
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