基于FPGA和单片机的光栅转矩传感器的研究
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摘要
转矩的测量对各种机械产品的研究开发、测试分析、质量检验、安全和优化控制等工作有重要的意义。现有的转矩传感器一般结构复杂,制造安装困难。本文介绍了一种结构简单,测量精度高的新型转矩传感器——基于FPGA和单片机的光栅转矩传感器。
本文主要工作包括:
1、介绍了当前转矩传感器的发展现状,分析了各种类型转矩传感器的特点和存在的不足。
2、介绍了光栅转矩传感器的工作原理,将光栅输出的光电信号转换成矩形波信号,通过分析旋转轴的各种运动对光电输出信号的影响,得知两路矩形波信号的相位与扭转角的关系,从而得到系统测量方案,并推导出具体的测量计算公式。
3、构建了系统实验平台,主要由被测量主轴、光栅对机构、光电装置座三个部分构成。
4、基于现场可编程门阵列(FPGA)和单片机,完成系统硬件电路及软件设计。
5、根据动态测量数据的时变性、随机性、相关性和动态性等,研究了动态测量数据的处理方法。
6、对系统调试和实验。采取先对各个单元模块独立调试与实验的方法,对每个单元电路的性能进行分析处理,然后进行联合调试与实验,并对传感器进行标定。
7、对系统误差进行分析,并提出了改进措施。
Torque measurement is fundamental to the designing, testing, quality checking and optimization controlling of all mechanical products. The present torque sensors usually have complex structures and are hard to make and fix. A new kind of torque sensor based on FPGAand single chip computer, with simple structure and high measuring accuracy--grating torquesensor is introduced.
The thesis is structured as follows:
1. The thesis first introduces the development of torque sensors at present and analyzes the merits and demerits of all kinds of torque sensors.
2. Then it introduces the measuring principle of the grating torque sensor, analyzes the output signal influenced by the running state to get the relationship between the phase of the two signals and the torque angular, and setups the system realization method and the computation formula.
3. It setups the system experimental flat consisting of axis, grating and photoelectrical conversion fixtures.
4. It designs hardware and software of the system based on FPGA and single chip computer.
5. It discusses the dynamic measurement data processing according to the characteristic of time-variable, random, correlation and dynamic.
6. It carries out the test and experiment of the system and analyzes the experiment data. Torque sensor calibrating is finished by experiments.
7. It finds out the errors of the measurement system for torque. The corresponding compensation methods are discussed in the thesis.
本文主要工作包括:
1、介绍了当前转矩传感器的发展现状,分析了各种类型转矩传感器的特点和存在的不足。
2、介绍了光栅转矩传感器的工作原理,将光栅输出的光电信号转换成矩形波信号,通过分析旋转轴的各种运动对光电输出信号的影响,得知两路矩形波信号的相位与扭转角的关系,从而得到系统测量方案,并推导出具体的测量计算公式。
3、构建了系统实验平台,主要由被测量主轴、光栅对机构、光电装置座三个部分构成。
4、基于现场可编程门阵列(FPGA)和单片机,完成系统硬件电路及软件设计。
5、根据动态测量数据的时变性、随机性、相关性和动态性等,研究了动态测量数据的处理方法。
6、对系统调试和实验。采取先对各个单元模块独立调试与实验的方法,对每个单元电路的性能进行分析处理,然后进行联合调试与实验,并对传感器进行标定。
7、对系统误差进行分析,并提出了改进措施。
Torque measurement is fundamental to the designing, testing, quality checking and optimization controlling of all mechanical products. The present torque sensors usually have complex structures and are hard to make and fix. A new kind of torque sensor based on FPGAand single chip computer, with simple structure and high measuring accuracy--grating torquesensor is introduced.
The thesis is structured as follows:
1. The thesis first introduces the development of torque sensors at present and analyzes the merits and demerits of all kinds of torque sensors.
2. Then it introduces the measuring principle of the grating torque sensor, analyzes the output signal influenced by the running state to get the relationship between the phase of the two signals and the torque angular, and setups the system realization method and the computation formula.
3. It setups the system experimental flat consisting of axis, grating and photoelectrical conversion fixtures.
4. It designs hardware and software of the system based on FPGA and single chip computer.
5. It discusses the dynamic measurement data processing according to the characteristic of time-variable, random, correlation and dynamic.
6. It carries out the test and experiment of the system and analyzes the experiment data. Torque sensor calibrating is finished by experiments.
7. It finds out the errors of the measurement system for torque. The corresponding compensation methods are discussed in the thesis.
引文
[1]I.Sasada,S.Uramoto,K.Harad.Non-contact torque sensor using magnetic heads and a Magnetostrictive layer on the shaft[J].IEEE Trans on Magn.MAG-22,1986,(5):406-411.
[2]D.J.Lesco.数字式高速光学转矩仪[J].国外计量,1985,(6):27-31.
[3]吴国安.磁致伸缩型非晶磁性传感器[J].磁性材料与器件,1994,(9):15-17.
[4]J.D.Tumer.Development of a rotating-shaft torque sensor for automotive application[J].IEEE Proceeding,1988(5):334-340.
[5]R.E.Rudd,B.R.Kline.Fiber optic torque meter design and development[J].ISA Tras,1989(2):19-23.
[6]杜极生.国内外关于扭振监测装置德研究综述[J].气轮机技术,1991,31(5):16-19.
[7]傅俊杰.磁致伸缩效应非接触扭矩传感器的研究[D].[中国矿业大学硕士学位论文].1995:3-15.
[8]欧扬,张纪龙.扭矩测试的发展动态和发展方向[J].华北工学院学报,1996,17(1):42-47.
[9]D.Son,SJ.Lim,C.Kim.Non-contact torque sensor using the difference of maximum Induction of amorphous cores[J].IEEE Trans on Magn.MAG-28,1992,(5):2205-2211.
[10]I.J.Garshelis.A torque transducer utilizing a circularly polarized ring[J].IEEE Trans on Magn.MAG-28,1992(5):2202,2204.
[11]N.A.Halliw.The laser torsional vibrometer:A step forward in rotating machinery diagnostics[J].Journal of Sound and Vibration,1996(3):339-418.
[12]翁桂荣,岳强,余志峰.微型遥测扭矩仪[J].电子应用技术,1994(5):19-20.
[13]刘宝华.红外扭矩测量仪的研制[J].仪器仪表学报,1996,(3):318-320.
[14]郑德忠,宾兴,胡才生.双光环光驱动扭矩仪的特性研究[J].东北重型机械学院学报,1996,20(2):125-129.
[15]喻洪麟,何安国,龙振宇等.一种新的扭矩测量原理[J].光子学报,1997,26(9):832-835.
[16]程卫东,董永贵,李源.无线无源声表面波扭矩传感器的研究[J].压电与声光,2002,22(1):1-3.
[17]R.T.Leonhard.Theory and application of Passive SAW radio transponders as sensors[J].IEEE Trans on Ultras Ferro and Freq Contr,1998.45(5):1281-1292.
[18]李国林.环形变压器供电的应变式扭矩传感器技术性能及应用[J].仪表技术与传感器,2000(6):44-45.
[19]欧扬,张纪龙.转矩测试的发展动态和发展方向[J].华北工学院学报.1996.17(1).42-47.
[20]文西芹等.逆磁致伸缩效应转矩传感器的历史、现状、趋势[J].传感器世界.2002:1-7.
[21]王雁,郭华,王岐山.磁弹性转矩传感器原理与误差[J].机械工程师.1998,(3).11-12.
[22]王祖麟.智能转矩转速仪的研制[J].江西有色金属,2000,14(4):43.
[23]应礼昌.数字式转矩转速仪的精度分析[J],实验室仪器,1983,(1):33-48.
[24]R.J.Hazelden.Application of an optical torque sensor to a vehicle power steering system[J].Automotive Sensors.1992.9/1-9/3.
[25]K.Mohri et al.New Torque Sensors Using Amorphous Star-shaped Cores[J].IEEE Trans on magnetics.1987.23(5).2191-2193.
[26]刘克非,张春林等.光栅位移传感器在凸轮轮廓测线中的运用[J].传感器技术,2002,(21):48-50,53.
[27]李殿奎.光栅计量技术[M].北京:中国计量出版社,1987.
[28]李怀琼,陈钱.新型光栅信号数字细分技术及其误差分析[J].电子测量与仪器学报,2001,15(3):73-77.
[29]冯浩,刘玉军,陈国定.光栅转矩测量系统的研究[J].浙江工业大学学报,2002,30(2):160-163.
[30]张有硕.转矩测量技术[M].北京:计量出版社,1986.7.
[31]胡香玲.新型转矩测量系统的研究和实现[J].浙江工业大学硕士学位论文,2006
[32]吴柏枝.机械设计程序与机构[M].北京:科学出版社,1995,4.
[33]万德安,章阳宁,刘春节.一种高精度转矩传感器结构的设计与分析[J].机械工程师,2003,(11):39-41.
[34]21世纪电子工程师网站http://www.21icsearch.com/searchpdf/motorola/LM339.pdf.
[35]张千里,陈光英.网络安全新技术[M].北京:人民邮电出版社 2003.
[36]喻洪麟,何安国,史飞等.光扭矩传感器信号转换误差分析[J].光电工程,2003,30(4):31-34.
[37]何道清.传感器与传感器技术[M].北京:科学出版社,2004.
[38]宋文绪,杨帆.传感器与检测技术[M].北京:高等教育出版社,2004.
[39]畅建洛,高建婷,李涛杰.利用相对位移法调整两轴同心度[J].中国设备管理,2000,(11):29.
[40]李欣,伏全海,周渭.一种新型的高精度频率计[J].今日电子,2004,(1):20-21.
[41]张铁,阎家斌.数值分析[M].北京:冶金工业出版社,2001:145-147.
[42]金远强,杨乐民,刘丽华,李鹏生.数字式光栅转矩测量系统的研究[J].哈尔滨师范大学自然科学学报.(21)4:47-49.
[2]D.J.Lesco.数字式高速光学转矩仪[J].国外计量,1985,(6):27-31.
[3]吴国安.磁致伸缩型非晶磁性传感器[J].磁性材料与器件,1994,(9):15-17.
[4]J.D.Tumer.Development of a rotating-shaft torque sensor for automotive application[J].IEEE Proceeding,1988(5):334-340.
[5]R.E.Rudd,B.R.Kline.Fiber optic torque meter design and development[J].ISA Tras,1989(2):19-23.
[6]杜极生.国内外关于扭振监测装置德研究综述[J].气轮机技术,1991,31(5):16-19.
[7]傅俊杰.磁致伸缩效应非接触扭矩传感器的研究[D].[中国矿业大学硕士学位论文].1995:3-15.
[8]欧扬,张纪龙.扭矩测试的发展动态和发展方向[J].华北工学院学报,1996,17(1):42-47.
[9]D.Son,SJ.Lim,C.Kim.Non-contact torque sensor using the difference of maximum Induction of amorphous cores[J].IEEE Trans on Magn.MAG-28,1992,(5):2205-2211.
[10]I.J.Garshelis.A torque transducer utilizing a circularly polarized ring[J].IEEE Trans on Magn.MAG-28,1992(5):2202,2204.
[11]N.A.Halliw.The laser torsional vibrometer:A step forward in rotating machinery diagnostics[J].Journal of Sound and Vibration,1996(3):339-418.
[12]翁桂荣,岳强,余志峰.微型遥测扭矩仪[J].电子应用技术,1994(5):19-20.
[13]刘宝华.红外扭矩测量仪的研制[J].仪器仪表学报,1996,(3):318-320.
[14]郑德忠,宾兴,胡才生.双光环光驱动扭矩仪的特性研究[J].东北重型机械学院学报,1996,20(2):125-129.
[15]喻洪麟,何安国,龙振宇等.一种新的扭矩测量原理[J].光子学报,1997,26(9):832-835.
[16]程卫东,董永贵,李源.无线无源声表面波扭矩传感器的研究[J].压电与声光,2002,22(1):1-3.
[17]R.T.Leonhard.Theory and application of Passive SAW radio transponders as sensors[J].IEEE Trans on Ultras Ferro and Freq Contr,1998.45(5):1281-1292.
[18]李国林.环形变压器供电的应变式扭矩传感器技术性能及应用[J].仪表技术与传感器,2000(6):44-45.
[19]欧扬,张纪龙.转矩测试的发展动态和发展方向[J].华北工学院学报.1996.17(1).42-47.
[20]文西芹等.逆磁致伸缩效应转矩传感器的历史、现状、趋势[J].传感器世界.2002:1-7.
[21]王雁,郭华,王岐山.磁弹性转矩传感器原理与误差[J].机械工程师.1998,(3).11-12.
[22]王祖麟.智能转矩转速仪的研制[J].江西有色金属,2000,14(4):43.
[23]应礼昌.数字式转矩转速仪的精度分析[J],实验室仪器,1983,(1):33-48.
[24]R.J.Hazelden.Application of an optical torque sensor to a vehicle power steering system[J].Automotive Sensors.1992.9/1-9/3.
[25]K.Mohri et al.New Torque Sensors Using Amorphous Star-shaped Cores[J].IEEE Trans on magnetics.1987.23(5).2191-2193.
[26]刘克非,张春林等.光栅位移传感器在凸轮轮廓测线中的运用[J].传感器技术,2002,(21):48-50,53.
[27]李殿奎.光栅计量技术[M].北京:中国计量出版社,1987.
[28]李怀琼,陈钱.新型光栅信号数字细分技术及其误差分析[J].电子测量与仪器学报,2001,15(3):73-77.
[29]冯浩,刘玉军,陈国定.光栅转矩测量系统的研究[J].浙江工业大学学报,2002,30(2):160-163.
[30]张有硕.转矩测量技术[M].北京:计量出版社,1986.7.
[31]胡香玲.新型转矩测量系统的研究和实现[J].浙江工业大学硕士学位论文,2006
[32]吴柏枝.机械设计程序与机构[M].北京:科学出版社,1995,4.
[33]万德安,章阳宁,刘春节.一种高精度转矩传感器结构的设计与分析[J].机械工程师,2003,(11):39-41.
[34]21世纪电子工程师网站http://www.21icsearch.com/searchpdf/motorola/LM339.pdf.
[35]张千里,陈光英.网络安全新技术[M].北京:人民邮电出版社 2003.
[36]喻洪麟,何安国,史飞等.光扭矩传感器信号转换误差分析[J].光电工程,2003,30(4):31-34.
[37]何道清.传感器与传感器技术[M].北京:科学出版社,2004.
[38]宋文绪,杨帆.传感器与检测技术[M].北京:高等教育出版社,2004.
[39]畅建洛,高建婷,李涛杰.利用相对位移法调整两轴同心度[J].中国设备管理,2000,(11):29.
[40]李欣,伏全海,周渭.一种新型的高精度频率计[J].今日电子,2004,(1):20-21.
[41]张铁,阎家斌.数值分析[M].北京:冶金工业出版社,2001:145-147.
[42]金远强,杨乐民,刘丽华,李鹏生.数字式光栅转矩测量系统的研究[J].哈尔滨师范大学自然科学学报.(21)4:47-49.