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

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.

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。

本项目围绕“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”这一主题，以压电式六维力/力矩传感器及系统为研究对象，通过理论计算、数值仿真与实验验证相结合的方式开展相关研究工作，在传感器结构方案、载荷传递规律、静动态性能综合建模、模型有效性评价及结构主动优化设计、测量实验系统研究等方面取得了重要进展，完成了项目研究目标。从研究压电单元结构、数量、种类、材料、平面布局结构及参数对传感器灵敏度和固有频率特性的影响规律入手，研究了压电式六维力/力矩传感器结构方案；从研究不同维度载荷在不同结构形式的压电式六维力/力矩传感器内部的传递规律入手，探索了传感器内部力-电耦合机理，获得了被测力/力矩载荷在传感器内部的传递规律和响应规律，建立了基于传感器灵敏度和固有频率的、具有“普适性”的压电式六维力/力矩传感器解析数学模型；研发了基于ANSYS的压电式六维力/力矩传感器灵敏度、固有频率数值仿真方法，实现了对传感器灵敏度和固有频率的预估；探索了压电式六维力/力矩传感器静态、动态标定方法，开展了相应的标定实验，验证了传感器解析数学模型和数值模型的有效性，构建了感器主动优化设计理论，开发了面向传感器灵敏度和固有频率需求的传感器部件结构参数主动优化设计软件，实现了对此类传感器结构参数主动优化设计；通过研究压式力传感器在不同环境、不同载荷等条件下的电荷泄漏规律，提出了一种基于幅值和时间阈值的补偿新方法，实现了基于压电式力传感器的静态力测量，拓展了压电式力传感器工作频带，为宽频带、高性能六维力传感器结构优化设计提供了新思路。项目研究成果在地雷爆炸、弹道冲击、智能机器人、生物医学、机械装备等领域具有广泛的应用前景，目前已经在地雷爆炸冲击对小腿影响的研究中有应用。项目执行期间，共发表或已录用SCI/EI等高水平论文15篇，知识产权7项(待申请2件)；培养研究生14名。