摘要
随着传感器技术的不断发展,压电式多维力传感器作为一种将各种力与力矩信息转换成电信号输出的装置,在传感器技术发展中越来越受重视。尤其是随着机器人技术的不断发展,要实现机器人的智能化、拟人化,压电式多维力传感器的应用已经越来越广泛。但压电式多维力传感器的输出量十分微弱,通常压电式多维力传感器都需配套一个二次测量仪表以放大传感器输出的微弱电信号。目前使用最为广泛的压电式多维力传感器的测量电路是电荷放大器,其最为显著的特点是输出电荷灵敏度与传感器连接电缆的长短无关。
本文从压电式多维力传感器的等效模型出发,详细讨论了压电传感器两种不同等效模型及其等效电路;重点设计了电荷放大器的电荷变换级、放大级、滤波级、输出级以及过载指示级等五个部分电路,运用Multisim软件对各部分进行了仿真,并实际制作了电荷放大器,在现有的实验条件下,完成了相关实验测试。
本文主要完成的工作有以下几方面:
①分析了多维力传感器及其测量电路的国内外研究现状。
②从压电效应出发,论述了压电式力传感器两种不同的等效模型和对应的等效电路。
③运用Multisim软件完成了电荷放大器的设计和仿真。
④在LabVIEW软件环境下,利用NI的数据采集卡,完成了系统数据采集及转换的软件程序设计。
⑤在现有的实验条件下,研制了准静态电荷放大器并开展了相关实验测试。
With the development of sensor technologies, piezoelectric multi-axis force sensor, which transfers the information of force and torque into electric signal, obtained more and more attention. Especially with the development of robot technology, to realize intelligent and human-like robot, piezoelectric multi-axis force sensor applications has become increasingly widespread. However, the output of piezoelectric multi-axis force sensor is very weak; usually there is a secondary instrument to amplify its output signal. At present, the secondary instrument of piezoelectric multi-axis force sensor is widely used with charge amplifier, which the most significant feature is the sensitivity of the charge amplifier has nothing to do with the length of sensor cable.
In this paper, the two different equivalent model and its equivalent circuit model of piezoelectric force sensor are discussed in detail; We focused on the design of the Q/V transform level, amplifier level, filtering level, output level and the overload level of quasi-static charge amplifier, completed the simulation and the actual production of the charge amplifier, and the relevant tests of charge amplifier were done under the current experimental conditions.
In this paper, the main work completed includes:
①Know of the development situation of multi-axis force sensor and measuring circuit research at home and abroad.
②From the piezoelectric effect, discussed two different equivalent model and the corresponding equivalent circuit of piezoelectric force sensor.
③Completed the charge amplifier design and simulation in Multisim software.
④Designed the software program of data acquisition system in the LabVIEW software environment by used of NI data acquisition cards.
⑤Carried out the development of the quasi-static charge amplifier and relevant laboratory tests under the current experimental conditions.
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