Transactions of Nanjing University of Aeronautics & Astronautics
Decoupling Algorithm of Six-Axis Acceleration Sensing Mechanisms
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Abstract:
To address the issues of low solving efficiency and poor decoupling accuracy in existing six-axis acceleration decoupling algorithms， a new decoupling algorithm is proposed along with a corresponding auto-compensation algorithm. Firstly， based on Kane’s method， the dynamics model of the six-axis acceleration sensing mechanism is formed to determine the relationship between accelerations and branch forces. Then， with the trapezoidal rule， a solution algorithm for the dynamics model is developed. The virtual prototype tests show that the computation of this algorithm is five times more efficient than that of the ADAMS core algorithm. Besides， this solution algorithm is applied to the “12-6” configuration and “9-3” configuration. The results show that the efficiency of the former is nearly 3.3 times that of the latter. Finally， based on vibration theory， an auto-compensation algorithm for the solution algorithm is established. Virtual prototype tests indicate that with 40% noise interference， the auto-compensation algorithm achieves misjudgement rate and omission rate of only 4.0% and 4.5%， respectively， and the errors in the solving process converge.
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This work was supported by the Opening Project of State Key Laboratory of Mechanical Transmission for Advanced Equipment （No.SKLMT-MSKFKT-202330）， the National Natural Science Foundation of China （NSFC） （No.52575022）， and the Postgraduate Research & Practice Innovation Program of Jiangsu Province （No.KYCX24_1295）.
Clc Number:
TH825
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