压电式六维力/力矩传感器静动态特性建模及主动优化设计

项目名称： 压电式六维力/力矩传感器静动态特性建模及主动优化设计

项目编号： No.51475060

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 机械、仪表工业

项目作者： 刘俊

作者单位： 重庆大学

项目金额： 81万元

中文摘要： 针对压电式六维力传感器缺乏主动优化设计方法和静、动态力无法同时测量的问题，本项目借鉴仿生学思路研究压电单元平面布局的六维力测量方案优化设计方法，探索静态载荷作用下压电单元电荷泄漏规律，建立传感器等效电路模型；通过研究载荷在传感器内部的传递规律，建立面向传感器灵敏度和固有频率、具有普适性的静、动态特性数学模型和数值模型,并开展模型的有效性评价，构建其主动优化设计理论；以传感器静动态性能需求为目标，开展传感器结构参数的主动优化设计；研究融合传感器等效电路模型和传感测量系统的在/离线实验辨识模型的方法，建立传感器静态力测量补偿机制，降低其下限工作频率,实现压电式六维力传感器静态力测量。项目的成功实施可克服压电式六维力传感器无法实现主动优化设计和静态力测量的局限，拓宽其工作频带和应用领域，为实现压电式六维力传感器静、动态性能的主动优化设计奠定理论基础，具有重要的科学理论意义和广阔的应用前景。

中文关键词： 压电；六维力传感器；静动态特性；建模；主动优化设计

英文摘要： To break through the constraint of the piezoelectric six-axis force sensor on an effective active optimization design, and improve its performance in static force measurement, this project puts forward an active optimal design of the piezoelectric six-axis force sensor. An optimal design of the piezoelectric element's layout for six-axis force measurement will be investigated by using bionics conception, and the universal static and dynamic mathematical models will also be constructed to insure the performances of sensitivity and natural frequency of such sensors. Thus an evaluation method based on the numerical simulation and analytical models' effectiveness will be developed to build initiative design theory, and aim for the need of sensor's static and dynamic characteristics, develop the active optimization design of its structure parameters. Furthermore, combining the equivalent circuit model of the piezoelectric force sensor with the online and offline identification models of its measuring system, a system compensation algorithm will be obtained, thus reduces its lower operating frequency,realizes the static force measurements. The successful implementation of the project will not only break through the piezoelectric six-axis force sensor's active optimization design, but also overcome its limitation of measuring static force, thus broadens the operating frequency and application areas of the six-axis force sensor. It could establish a theoretical foundation for the realization of wideband piezoelectric six-axis force sensor initiative optimal design, and exhibit important theoretic meaning and application foreground.

英文关键词： piezoelectric;six axis force sensor;static and dynamic characteristics;modeling;active optimization design