A Study on the Extraction of Balance Information based on the Biological Evolving Mechanism

本文提出了一种磁测量原理，用于研制天平传感器。该传感器基本上由密封一定量液体的球形容器、蘑菇形浮子和永磁体组成。圆镀磁体固定在浮杆的根部。随着液体在容器中的运动，浮子会改变磁铁的位置。位于血管周围的霍尔效应器件借助信号处理器来感知平衡的变化。首先，考虑了霍尔效应器件的密度和合成加速度方向的确定算法。给出了磁铁位置和平衡角的实验结果。然后分析了由于磁体在容器内的浮子上自由运动而产生的测量误差，并且测量误差不仅是由位于容器外部的霍尔效应装置的位置误差引起的，而且也是由浮子与…之间的间隙引起的更多的是血管内部。特别是浮子在液面上的高度、位置的变化所产生的误差。在假设实际应用中传感器参数可能发生变化的情况下，对测量原理进行了研究和计算，扩展了测量原理，使其不仅可以测量加速度方向，还可以测量三维空间中的方位角。该传感器基本上由一个装满大量液体的球形容器、一个在容器内有一个小间隙的蘑菇状浮子、固定在浮子盖和杆部的两个永久磁铁以及位于容器外部的霍尔效应装置组成。我们描述了传感头的结构原理，研究了估计霍尔器件所检测的磁通强度的数学公式，以及确定磁铁位置的信号处理算法，该信号处理算法利用霍尔输出描绘磁势曲线的公共点。将计算得到的磁通强度数据与实验数据进行了对比，验证了测量原理的有效性。由于传感器没有旋转轴，因此该方法可以有效地以均匀分辨率检测运动和重力合成加速度的各个方向。较少

This paper proposes a magnetic measurement principle to develop a balance sensor. Basically, the sensor is composed of a spherical vessel sealing certain amount of liquid, a mushroom-shaped float and a permanent magnet. The circular plated magnet is fixed on the root of the float stem. According as the liquid moves in the vessel, the float changes the position of the magnet. And the Hall effect devices located around the vessel sense the change of balance with the aid of a signal processor.At first, the density of the Hall effect devices and the algorithm for determining the direction of the resultant acceleration are considered. Also, the results of experiments for magnet's position and the angle of balance are shown. Then, the measurement error is analized since the magnet is free to move on the float in the vessel and the measurement error is caused not only by the position eror of the Hall-Effect device located at the vessel exterior, but also by the clearance betweeen the float an … More d the vessel interior. In particular, the errors produced by the changes of the float's height, position on the liquid surface. and inclination are investigated and calculated by supposing possible changes of the sensor parameters in the practical application.Finally, we extend the measurement principle so that we can sense not only the direction of acceleration but also the azimus in 3-D space. Basically, the sensor is composed of a spherical vessel filling a considerable amount of liquid, a mushroom-shaped float moving freely with a small clearance in the vessel, two permanent magnets fixed at the float's cap and stem, and Hall-effect devices located around the vessel exterior. We describe the structural mechanism of the sensor head and investigate the mathematical formulation to estimate the magnetic flux intensity sensed by the Hall devices, and also the signal processing algorithm for determining the magnet position as a common point of magnetic potential curves depicted by using the Hall output. The data of magnetic flux intensity obtained by calculation and experiment are compared to verify the validity of the measurement principle. The proposed method is effective in detecting all directions of the resultant acceleration of motion and gravity with uniform resolution, since the sensor has no rotation axes. Less