Research On The Inversion Method Of Multidimensional Force Sensor Dynamic Measurement Based On PLS

Multidimensional force sensors are widely used in robotics,vehicles,medical,aerospace and other fields because of their many advantages.At present,the research on multi-dimensional force sensors is mostly limited to static measurement.In dynamic measurement,the results of static measurement are usually used in the dynamic measurement system,which will affect the accuracy of the entire dynamic measurement system.Therefore,the dynamic measurement method for multi-dimensional force sensors Research is very necessary.Based on the calculation principle of Partial Least Squares(PLS),this paper studies the inversion link in the dynamic measurement process of multi-dimensional force sensor through theoretical calculation,simulation and experiment.Performance provides a new way of thinking.The main work and innovations of the thesis are as follows:First,the principle of the commonly used dynamic inversion method is deeply analyzed.Aiming at the problems of complicated calculation and low measurement accuracy existing in the existing research,the partial least square method is used to carry out the dynamic inversion of the multi-dimensional force sensor,and the method is explained in detail.The principle and realization process of,complete the theoretical dynamic inversion process.Discuss the feasibility of this method from a theoretical point of view.Secondly,the partial least square method is simulated and analyzed.Use MATLAB software to establish the deconvolution model of the sensor system in the time domain,take rectangular pulse signal and double half-sine signal as the input of the system,and add noise to the two inputs,and solve it by partial least squares method and compare it with the real Enter for comparison.The robustness of the method is analyzed from the perspective of simulation.Finally,the vibration table is used as the standard force source device to obtain the parameter model of the multi-dimensional force sensor;the force is traced to the mass and acceleration through the load mass,and the amplitude-frequency characteristics of the sensor at each frequency point are obtained in a frequency sweeping manner;on the basis of the calibration experiment Perform dynamic inversion experiments on the above.At a certain operating frequency of the sensor,select70 N,50N and 30 N to conduct experiments respectively.Use a high-speed data acquisition card to collect the output value of the sensor and import it into the inversion algorithm to calibrate the experiment.The acquired dynamic characteristic data of the sensor is modeled,the measured signal is calculated by the partial least square method,and then it is compared with the real input.The effectiveness of the method is verified from the experimental point of view.Aiming at the problem of insufficient dynamic measurement methods and low precision of multi-dimensional force sensors,a dynamic inversion method based on partial least squares method is proposed,which is studied from three aspects: theoretical calculation,simulation analysis and experimental verification.The results show that the method can effectively calculate the true value of the measured value,and the calculation process is relatively robust,which has a certain effect on improving the dynamic measurement accuracy of the multidimensional force sensor.