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Position-insensitive estimation of mass from limit cycle of velocity feedback relay system with Spring
Measurement and Control ( IF 2 ) Pub Date : 2021-06-08 , DOI: 10.1177/00202940211021874
Takeshi Mizuno 1 , Taku Egawa 1 , Masaya Takasaki 1 , Yuji Ishino 1
Affiliation  

Mass measurement using relay feedback of velocity and restoring force compensation is investigated for determining the mass of an object under weightless conditions. In the measurement system, the velocity of the object is fed back through a relay with hysteresis and the force acting on the object is switched from a positive value to a negative value when the velocity reaches a positive threshold and vice versa. As a result, a limit cycle is induced in the measurement system and the mass is estimated based on the period of the limit cycle. In addition, restoring force compensation with a spring is introduced to avoid the drift of the trajectory. This compensation makes the static equilibrium state unique. However, the trajectory still drifts slightly. It causes some error in measurement when a simple formula of estimating mass is applied. To eliminate such an error, a new formula is derived to estimate the mass independently of the position of the trajectory that is determined by the switching positions in the relay actions. When the switching positions deflect from the origin at which the spring is in the natural length, the trajectory is not at the center and becomes asymmetric. It is analytically shown that the period of the limit cycle is minimum when the switching positions are at the origin. It indicates that mass is overestimated with the simple estimation formula when the trajectory is not at the center. The validity of the modified formula and the analytical results are confirmed experimentally.



中文翻译:

基于弹簧速度反馈继电器系统极限环的位置不敏感质量估计

研究了使用速度和恢复力补偿的继电器反馈来确定物体在失重条件下的质量的质量测量。在测量系统中,物体的速度通过滞后继电器反馈,当速度达到正阈值时,作用在物体上的力从正值切换到负值,反之亦然。结果,在测量系统中引入了一个极限环,并根据极限环的周期来估计质量。此外,还引入了弹簧的恢复力补偿,以避免轨迹漂移。这种补偿使静态平衡状态独一无二。然而,轨迹仍然略微漂移。当应用一个简单的估计质量公式时,它会导致一些测量误差。为了消除这种误差,推导出一个新的公式来估计质量,而不受继电器动作中的开关位置所确定的轨迹位置的影响。当开关位置偏离弹簧处于自然长度的原点时,轨迹不在中心并变得不对称。分析表明,当开关位置在原点时,极限环的周期最小。这表明当轨迹不在中心时,用简单的估计公式高估了质量。实验证实了修正公式和分析结果的有效性。当开关位置偏离弹簧处于自然长度的原点时,轨迹不在中心并变得不对称。分析表明,当开关位置在原点时,极限环的周期最小。这表明当轨迹不在中心时,用简单的估计公式高估了质量。实验证实了修正公式和分析结果的有效性。当开关位置偏离弹簧处于自然长度的原点时,轨迹不在中心并变得不对称。分析表明,当开关位置在原点时,极限环的周期最小。这表明当轨迹不在中心时,用简单的估计公式高估了质量。实验证实了修正公式和分析结果的有效性。这表明当轨迹不在中心时,用简单的估计公式高估了质量。实验证实了修正公式和分析结果的有效性。这表明当轨迹不在中心时,用简单的估计公式高估了质量。实验证实了修正公式和分析结果的有效性。

更新日期:2021-06-08
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