基于三轴加速度计的多维力传感器静态自校正

提出了一种多维力传感器的静态自校正方法.将三轴加速度计静态应用,可以测得其敏感轴与重力加速度的相对夹角.将多维力传感器中集成三轴加速度计,在校正过程中,旋转施加着标准砝码的多维力传感器,测量力传感器的输出,同时通过三轴加速度计测量力传感器的旋转角度姿态,计算得到砝码重力施加在传感器E的力向量,最终自动地得到多维力传感器的校止矩阵.实验结果表明,该方法显著地提高了校正效率,但与通常的标定台校正方法相比,较正精度略低.

Auto static calibration of multi-axis force sensor based on triaxial accelerometer

A static auto calibration method for multi-axis force sensor is presented. The angles between gravity and the triaxial accelerometer can be measured under the accelerometer static application condition. A multi-axis force sensor is integrated in the triaxial accelerometer. During the calibration process, the force sensor that is exerted with a known mass weight is rotating. And the outputs of the force sensor are measured synchronously..At same time, the rotating angles of the force sensor are measured using triaxial accelerometer as the force sensor orientation. Then the force exerted on the force sensor by the weight is computed. The calibration matrix of the multi-axis force sensor is finally acquired automatically. Experiment results prove that the proposed method can improve the calibration efficiency, but the accuracy is slightly worse than the method using a calibration workbench.