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CN-122016147-A - Static and dynamic integrated calibration system and method based on electromagnetic loading

CN122016147ACN 122016147 ACN122016147 ACN 122016147ACN-122016147-A

Abstract

The invention discloses a static and dynamic integrated calibration system and method based on electromagnetic loading, and belongs to the technical field of force test equipment calibration. The system comprises an electromagnetic standard force loading device, a standard force sensor, a standard force generation control module, a data acquisition module, a data processing unit and a power driving module. The standard force loading device is a moving coil type electromagnetic linear simulation loading device, and can realize standard electromagnetic force output. The standard force generation control module sets loading parameters, and runs a closed-loop control program to realize high-precision force loading. The data acquisition module synchronously acquires the actual loading force and the output value of the equipment to be calibrated. The data processing unit automatically completes the generation of the calibration curve and the analysis of errors. The system can realize the static and dynamic calibration of the force test equipment at the same time, effectively reduces the workload, avoids the system damage caused by repeated disassembly, has the advantages of good portability, high loading precision, high response speed and the like, and has wide application prospect.

Inventors

  • LIU LIANG
  • ZOU ZHIYU
  • DU JING
  • XU ZHAOPING

Assignees

  • 南京理工大学

Dates

Publication Date
20260512
Application Date
20260302

Claims (9)

  1. 1. The static and dynamic integrated calibration system based on electromagnetic loading is characterized by comprising an electromagnetic standard force loading device (1), a standard force sensor (2), a standard force generation control module (3), a data acquisition module (4), a data processing unit (5) and a power driving module (6), wherein the data acquisition module (4) is respectively connected with the standard force sensor (2), the standard force generation control module (3), the data processing unit (5), the power driving module (6) and to-be-calibrated force testing equipment, and the standard force generation control module (3), the power driving module (6), the electromagnetic standard force loading device (1), the standard force sensor (2) and the to-be-calibrated force testing equipment are sequentially connected; the standard force sensor (2) is connected to the output end of the electromagnetic standard force loading device (1); The data acquisition module (4) is used for synchronously acquiring an actual loading force signal fed back by the standard force sensor (2) and a measuring force signal output by the force testing equipment to be calibrated; the standard force generation control module (3) is used for setting target loading force parameters, receiving actual loading force signals from the data acquisition module (4) and generating control instructions by running a closed-loop control algorithm; the power driving module (6) is used for receiving a control instruction of the standard force generation control module (3) and driving the electromagnetic standard force loading device (1) to output accurate and controllable standard electromagnetic force; The data processing unit (5) is used for receiving and processing the actual loading force signal and the measuring force signal from the data acquisition module (4), generating a calibration curve, obtaining sensitivity, carrying out error analysis and generating a calibration report.
  2. 2. The static and dynamic integrated calibration system based on electromagnetic loading according to claim 1, wherein the electromagnetic standard force loading device (1) comprises an outer magnetic yoke (11), an inner magnetic yoke (12), a permanent magnet array (13), a coil framework (14), an electromagnetic coil (15) and an output push rod (16); The permanent magnet array (13) adopts a Halbach magnetic circuit structure, is formed by alternately arranging radial magnetizing permanent magnets and axial magnetizing permanent magnets, is attached to the inner circumferential surface of the outer magnetic yoke (11) and is used for forming a radial magnetic field with high strength and uniform distribution in an air gap, and meanwhile, effectively weakening external magnetic leakage; the inner magnetic yoke (12) is coaxially fixed inside the outer magnetic yoke (11), and an annular working air gap is formed between the outer cylindrical surface of the inner magnetic yoke (12) and the inner surface of the permanent magnet array (13); The coil framework (14) is formed by precisely processing a titanium alloy material with high strength and low conductivity, is arranged in a working air gap, a plurality of annular winding grooves are formed in the outer surface of the coil framework, electromagnetic coils (15) are wound in the winding grooves, and outgoing wires of the coils are connected to the power driving module (6) through a sealing interface at the end part of the framework; One end of the output push rod (16) is rigidly connected with the end part of the coil framework (14) through threads, and the other end of the output push rod penetrates through the center hole of the end cover of the outer magnetic yoke (11) to extend outwards and is connected with the standard force sensor (2); When the electromagnetic coil (15) is electrified with controlled current, the electromagnetic coil is acted by axial Lorentz force in the radial magnetic field of the air gap, and the electromagnetic force is transmitted to the output push rod (16) through the coil framework, so that high-precision standard electromagnetic force is output.
  3. 3. The static and dynamic integrated calibration system based on electromagnetic loading according to claim 2, wherein in the electromagnetic standard force loading device (1), the permanent magnet array (13) enables the magnetic flux density in the working air gap area to be significantly higher than that in the non-working area, so that the electromagnetic force output efficiency and the thrust density are improved; The connection part of the coil framework (14) and the output push rod (16) is provided with a pre-tightening anti-loosening structure, so that the connection is reliable in the process of dynamic loading of a large load, and no relative displacement is caused.
  4. 4. The static and dynamic integrated calibration system based on electromagnetic loading according to claim 1 is characterized in that at least one electromagnetic standard force loading device (1) is used for realizing the calibration of unidirectional force testing equipment to be calibrated, and when the number of the electromagnetic standard force loading devices (1) is two or more, different loading devices can work independently to realize the calibration of unidirectional force testing equipment and can also work cooperatively to realize the coupling calibration of multidirectional force channels of multidimensional force testing equipment through combined loading.
  5. 5. The static and dynamic integrated calibration system based on electromagnetic loading according to claim 4, wherein the standard force generation control module (3) enables the electromagnetic standard force loading device (1) to output various waveform standard forces including static force, step force and sine wave force through a closed-loop control algorithm, so that integrated calibration of static and dynamic characteristics of the force testing equipment to be calibrated is realized.
  6. 6. The electromagnetic loading based static and dynamic integrated calibration system of claim 5, wherein the system supports at least two calibration modes of operation: A unidirectional force calibration mode, wherein at least one electromagnetic standard force loading device (1) applies static or dynamic standard force along a single measurement direction of force testing equipment to be calibrated; in the multidimensional force or moment composite calibration mode, two electromagnetic standard force loading devices (1) are loaded cooperatively, and the space vector force or the composite moment is simulated by adjusting the relative position and the force application direction of the two electromagnetic standard force loading devices so as to calibrate different measurement channels of multidimensional force testing equipment.
  7. 7. The static and dynamic integrated calibration system based on electromagnetic loading according to claim 1, wherein the calibration report generated by the data processing unit (5) at least comprises core performance parameters of sensitivity coefficient, nonlinear error, hysteresis error, repeatability error, uncertainty and amplitude ratio and phase difference under dynamic calibration.
  8. 8. The calibration method for realizing the force test equipment based on the static and dynamic integrated calibration system based on electromagnetic loading according to any one of claims 1 to 7 is characterized by comprising the following steps: S1, setting waveform, amplitude and frequency parameters of a target loading force through a standard force generation control module (3), and initializing a data acquisition module (4) and a data processing unit (5); s2, running a closed-loop control algorithm by using a standard force generation control module (3), enabling the electromagnetic standard force loading device (1) to output high-precision standard force according to set loading parameters, and synchronously acquiring an actual loading force signal fed back by the standard force sensor (2) and an output signal of the force testing equipment to be calibrated under corresponding load by using a data acquisition module (4); And S3, based on the actual loading force and the measured value of the force testing equipment to be calibrated obtained by the data acquisition module (4), the data processing unit (5) automatically completes calibration curve fitting, static performance index calculation and dynamic frequency response characteristic analysis, and generates a comprehensive calibration report containing sensitivity, nonlinearity, repeatability and amplitude/phase error.
  9. 9. The calibration method for the force test equipment based on the static and dynamic integrated calibration system based on electromagnetic loading as claimed in claim 8, wherein in S2, the method is specifically as follows: The closed-loop control algorithm is realized based on an RBF neural network, a self-adaptive PID controller and a disturbance observer, wherein the RBF neural network is used for dynamically identifying a standard force loading device and acquiring Jacobian information in real time; The method comprises the steps of inputting a target force signal into a self-adaptive PID controller to generate an initial control instruction, synchronously inputting an actual loading force signal acquired in real time by a data acquisition module (4) and an output control instruction of the self-adaptive PID controller into an RBF neural network to be identified, identifying dynamic characteristics of a system on line by the RBF neural network and outputting Jacobian information, adjusting PID control parameters in real time by the self-adaptive PID controller according to the Jacobian information and generating a corrected control instruction according to the target force and the actual loading force, simultaneously receiving the actual control instruction and the actual output force signal by a disturbance observer, estimating external interference suffered by a system, superposing an estimated value as a feedforward compensation quantity into the control instruction, and converting the finally formed comprehensive control instruction into a driving voltage of a standard force loading device (1) through a power driving module (6).

Description

Static and dynamic integrated calibration system and method based on electromagnetic loading Technical Field The invention belongs to the technical field of force testing device calibration, and particularly relates to a static and dynamic integrated calibration system and method based on electromagnetic loading. Background Currently, calibration of force testing devices is largely divided into two main categories, static calibration and dynamic calibration. Static calibration techniques are relatively sophisticated, including weight-on-weight calibration, mechanical calibration, hydraulic calibration, and the like. Although the method can realize higher static calibration precision, the problems of discrete load, incapability of continuous adjustment, low automation degree and the like generally exist, and complicated dynamic load measured by the force test equipment in real work is difficult to simulate. In terms of dynamic calibration, existing methods mainly include pulse excitation methods (e.g., drop hammer impact), step excitation methods (e.g., shock tube, quick-open valve) and periodic excitation methods (e.g., variable-volume, piezoelectric stack-type sinusoidal pressure generators). Although the pulse excitation method and the step excitation method can generate high-frequency excitation, the method has the defects of poor signal repeatability, low amplitude control precision, short steady-state time and the like, and accurate frequency domain characteristic analysis is difficult to realize. Although the periodic excitation method can generate a continuously controllable sinusoidal signal, the existing system is huge in size, difficult to move, limited in calibration amplitude and frequency, difficult to calibrate in-situ large-scale force testing equipment in a testing site, and limited in engineering applicability. In addition, the phenomenon of static calibration is common in the existing force test equipment, namely dynamic test is carried out only according to a static calibration result, and frequency response difference of the force test equipment under dynamic load is ignored, so that significant errors are introduced in dynamic force measurement. Along with the continuous improvement of the force measurement precision requirements in the fields of aerospace, robotics and medical rehabilitation engineering, an integrated calibration system which has high precision, wide frequency band and in-situ implementation and can simultaneously complete static and dynamic calibration of force testing equipment is developed, and the integrated calibration system has become an urgent requirement for development of the current force testing equipment calibration technical field. The electromagnetic standard force loading technology has the advantages of quick response, high control precision, controllable output waveform, compact structure and the like, and is gradually applied to the fields of load simulation and semi-physical simulation. The method is introduced into a force test equipment calibration system, so that the limitation of the traditional calibration method can be effectively overcome, the high-precision and high-dynamic standard force excitation output can be realized, and more real and reliable calibration conditions can be provided for the force test equipment. Disclosure of Invention Aiming at the technical bottlenecks of static calibration and dynamic calibration separation, poor portability of a dynamic calibration system, limited dynamic calibration precision, obvious dynamic force measurement error caused by the ubiquitous phenomenon of static calibration and the like existing in the calibration technology of the current force test equipment, the invention aims to provide an integrated calibration system so as to solve the core technical problems that the static calibration and dynamic calibration separation, the calibration precision of small force test equipment (strain type and piezoelectric type force sensor) is limited, the in-situ calibration cannot be carried out by large force test equipment (solid engine thrust test platform), the space force vector simulation capability is insufficient, and the high-precision calibration performance is difficult to maintain under wide-frequency dynamic loading in the current force test equipment calibration field. In order to achieve the purpose, the invention adopts the following technical scheme that the static and dynamic integrated calibration system and the method based on electromagnetic loading are characterized in that an electromagnetic standard force loading device is adopted as a high-precision standard excitation source, and a set of integrated and portable force test equipment calibration system scheme supporting static and dynamic dual-mode calibration is constructed. The system mainly comprises an electromagnetic standard force loading device, a standard force sensor, a standard force generation control module, a data acqu