A New Torque Sensor on System Identification
碩士 === 國立中央大學 === 機械工程研究所 === 83 === A torque sensor based on system identification is proposed in this thesis. The proposed torque sensor is constructed of two encoders and signal processing firmware.The encoders are magnetic type with sin...
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ndltd-TW-083NCU004890852015-10-13T12:56:35Z http://ndltd.ncl.edu.tw/handle/96784206109729071231 A New Torque Sensor on System Identification 系統鑑定在扭力感測器之應用研究 E.Su Lee 李易書 碩士 國立中央大學 機械工程研究所 83 A torque sensor based on system identification is proposed in this thesis. The proposed torque sensor is constructed of two encoders and signal processing firmware.The encoders are magnetic type with sinusoid outputs and connected with a torsion bar. With this arrangement, the phase difference between these two encoders is proportional to the torque loaded on the torsion bar.To estimate the phase difference,the signal processing firmware acquires data,use identification algorithm to construct a 2'nd order FIR model, and then use the FIR model parameters to estimate the phase difference. To varify the proposed approach, both simulation and experimental results are provided. The simulation data are constructed of sinusoid waves added with some distortion terms.To simulate the nonlinearity, the distortion terms are triangular waves. To simulate the disturbance of noise, the distortion term is pseudo random noise. To simulate the unbalance of analogy circuite cause by temperature or ageing,constant shift is added to sinusoid waves. The non-perfect data are feed to both proposed approach and Kunio's method for evaluation and comparison. The experiment is performed on the testing mechanism designed in this thesis.The testing mechanism is constructed of constant speed servo motor, torque sensor clamp,reduction gear,and off-central loading. With constant speed rotation,the loading will be a sinusoid torque over sensor. The frequency of sinusoid loading can be adjusted through setting the rotation speed of servo motor. Treat the sinusoid torgue as input and the phase difference as output, then the transfer function of our sensor is easy to get. S.B. Jiang 江士標 1995 學位論文 ; thesis 90 zh-TW |
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碩士 === 國立中央大學 === 機械工程研究所 === 83 === A torque sensor based on system identification is proposed in
this thesis. The proposed torque sensor is constructed of two
encoders and signal processing firmware.The encoders are
magnetic type with sinusoid outputs and connected with a
torsion bar. With this arrangement, the phase difference
between these two encoders is proportional to the torque loaded
on the torsion bar.To estimate the phase difference,the signal
processing firmware acquires data,use identification algorithm
to construct a 2'nd order FIR model, and then use the FIR model
parameters to estimate the phase difference. To varify the
proposed approach, both simulation and experimental results are
provided. The simulation data are constructed of sinusoid waves
added with some distortion terms.To simulate the nonlinearity,
the distortion terms are triangular waves. To simulate the
disturbance of noise, the distortion term is pseudo random
noise. To simulate the unbalance of analogy circuite cause by
temperature or ageing,constant shift is added to sinusoid waves.
The non-perfect data are feed to both proposed approach and
Kunio's method for evaluation and comparison. The experiment is
performed on the testing mechanism designed in this thesis.The
testing mechanism is constructed of constant speed servo motor,
torque sensor clamp,reduction gear,and off-central loading.
With constant speed rotation,the loading will be a sinusoid
torque over sensor. The frequency of sinusoid loading can be
adjusted through setting the rotation speed of servo motor.
Treat the sinusoid torgue as input and the phase difference as
output, then the transfer function of our sensor is easy to get.
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S.B. Jiang |
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S.B. Jiang E.Su Lee 李易書 |
author |
E.Su Lee 李易書 |
spellingShingle |
E.Su Lee 李易書 A New Torque Sensor on System Identification |
author_sort |
E.Su Lee |
title |
A New Torque Sensor on System Identification |
title_short |
A New Torque Sensor on System Identification |
title_full |
A New Torque Sensor on System Identification |
title_fullStr |
A New Torque Sensor on System Identification |
title_full_unstemmed |
A New Torque Sensor on System Identification |
title_sort |
new torque sensor on system identification |
publishDate |
1995 |
url |
http://ndltd.ncl.edu.tw/handle/96784206109729071231 |
work_keys_str_mv |
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