一种基于小型化的惯性测量单元的新型结构振动传感方法
Liyuan Yu1, Zhilei Qiao1, Shichao Xing2,3
1State Key Laboratory of Mechanics and Control for Aerospace Structures, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China.
Sensors (Basel, Switzerland)
|July 12, 2025
概括
一个新的微型自主惯性传感器 (IMU) 为机器人手臂等航天器结构提供实时振动数据. 这种无线传感器简化了主动振动控制系统的反.
科学领域:
- 航空航天工程 航空航天工程
- 机械工程 机械工程
- 控制系统 控制系统
背景情况:
- 活跃和半活跃的振动控制系统依赖于实时结构反.
- 集成传统的振动传感器是对远程航天器附件 (例如,机器人臂,太阳能电池板) 的挑战,因为质量和布线的限制.
研究的目的:
- 开发和验证一个小型的,自主惯性传感器,用于从受控结构中获取和无线传输振动数据.
- 建立结构振动和传感器测量的惯性数据之间的直接关系,以便实时控制系统反.
主要方法:
- 设计了一个小型自主惯性传感器,包括一个惯性测量单元 (IMU) (BMI088) 和一个无线通信模块.
- 实施了改进的扩展卡尔曼波器 (EKF) 算法,以提高现实环境中的数据质量.
- 传感器的性能与悬臂结构的理论模型进行了验证.
主要成果:
- 开发的传感器成功获取了振动数据,并无线传输.
- 在悬臂结构振动和传感器测量的惯性加速和角速度之间建立了明确的关系.
- 实验结果证实了传感器在捕获曲振动特征方面的有效性.
结论:
- 微型自主惯性传感器为克服航天器振动控制中的反挑战提供了可行的解决方案.
- 传感器可以实时计算控制系统的反,从而提高主动和半主动系统的性能.
- 这项技术对于控制远程和复杂结构 (如机器人手臂和太阳能电池板) 的振动特别有益.
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