Spatial six-dimensional force testing method based on acceleration sensor

Abstract

The present invention provides a spatial six-dimensional force test method based on an acceleration sensor, which uses an air spring support device to support a cylindrical equivalent load, places a disturbance source on the upper surface of the equivalent load, selects three evenly distributed installation points at the edge of the equivalent load, sets an acceleration sensor along the Z direction of the Cartesian coordinate system at each installation point, sets another acceleration sensor along the circumferential tangent direction of the equivalent load, collects the output values ​​of the six acceleration sensors through a data collector, calculates the six-dimensional acceleration of the center of mass of the equivalent load, uses Newton's second law to convert acceleration to force, and calculates the six-dimensional disturbance force on the center of mass of the equivalent load. The present invention directly contacts the disturbance source with the equivalent load, avoids the problem of vibration attenuation caused by the flexible structure under large load conditions, greatly improves the test accuracy, and performs six-dimensional force testing only through the acceleration sensor, which has a simple structure, low cost, and convenient installation.

Description

Technical Field

[0001] The invention relates to the technical field of spatial disturbance force measurement, and specifically provides a spatial six-dimensional force testing method based on an acceleration sensor. Background Art

[0002] With the continuous development of space technology, higher requirements are placed on the pointing accuracy and pointing stability of space optical payloads. However, the micro-vibrations generated by moving parts such as control moment gyroscopes, reaction flywheels, and refrigerators on orbiting spacecraft will greatly reduce the imaging quality of space optical payloads. The control moment gyroscope is the most influential source of disturbance. The continuous high-speed rotation of the flywheel rotor will generate disturbance forces and disturbance torques with rich frequency components, causing satellite attitude jitter and structural vibration. The main factors that cause vibration are the static and dynamic imbalance of the satellite itself, bearing defects, and errors caused by the motor. The frequencies of these disturbances range from tens of hertz to hundreds of hertz. However, since the disturbance of the spacecraft is very small, it is difficult to measure the tiny vibrations of the system in complex ground tests. And the accuracy requirements for the sensor are extremely high.

[0003] The six-dimensional force measurement platform currently used mainly adopts the contact force measurement method, which has high requirements for the stiffness of the measurement platform. However, as the aperture of the telescope increases, the load mass also increases. For large loads, the traditional force measurement platform adopts the contact method between the load and the disturbance source. The increase in the structural size of the force measurement platform will introduce structural flexibility, resulting in structural resonance peaks when measuring force on the ground, resulting in inaccurate disturbance force in the test. Relying on force sensors for contact measurement will cause the following problems:

[0004] 1. The coupling effect of multiple force sensors during the measurement process causes inaccurate measurement of disturbance force. In the field of spatial six-dimensional force measurement, the common problem faced is the serious inter-dimensional coupling of sensitive elements of the measuring device. The current decoupling methods mainly include the six-dimensional force sensor cloth structure with strain concentration, which adopts elastic connecting beam block design and is divided into three parts: upper, middle and lower. The upper and lower thin beams are used as the medium for connection and force transmission. The strain gauge is pasted on the plane for signal detection to ensure stress concentration and increase the strain signal. However, it does not completely solve the inter-dimensional coupling problem.

[0005] 2. Currently, force measuring platforms are generally installed between the disturbance source and the load. Ideally, a rigid connection should be used. However, as the volume and mass of the load increase, higher requirements are placed on the stiffness of the force measuring platform. Due to structural and spatial limitations, traditional force measuring platform solutions have been unable to meet the high stiffness requirements.

[0006] Patent CN201610818988.1 designs a high-precision and high-rigidity six-dimensional force measurement platform. Through the reasonable arrangement of common piezoelectric force sensors at multiple different positions, real-time spatial decoupling is achieved through software, so that the micro-disturbance signals of the six degrees of freedom can be measured in real time using existing unidirectional piezoelectric force sensors, overcoming the problems of lack of high-precision three-way sensors and measurement delays, and greatly improving the real-time measurement accuracy. However, the invention designs up to 20 sensor installation interfaces, which are relatively complex in structure, making it difficult to realize the commercialization of the spatial six-dimensional force measurement device, and cannot meet the technical problems of the rigidity and sensor free combination measurement requirements for small vibration measurement.

[0007] Therefore, there is an urgent need for a spatial six-dimensional force testing method that can overcome the problems of insufficient testing accuracy caused by force coupling and insufficient stiffness of the force measuring platform. Summary of the invention

[0008] In order to solve the above problems, the present invention provides a spatial six-dimensional force testing method based on an acceleration sensor, which mainly realizes real-time decoupling in space by utilizing geometric relationships, realizes the deduction of the six-dimensional disturbance force received by measuring the center of mass acceleration of the equivalent load, and realizes real-time measurement by utilizing six unidirectional piezoelectric acceleration sensors, thereby overcoming the measurement delay problem of three-directional sensors, and directly contacts the disturbance source and the load, thereby avoiding the vibration attenuation caused by the flexibility problem of the force measuring platform when measuring large loads using the traditional force sensor disturbance force measurement platform.

[0009] The spatial six-dimensional force testing method based on an acceleration sensor provided by the present invention comprises the following steps:

[0010] S1. Use an air spring support device to support a cylindrical equivalent load, place a disturbance source on the upper surface of the equivalent load, select three evenly distributed installation points on the edge of the equivalent load, set an acceleration sensor at each installation point along the Z direction of the Cartesian coordinate system, and set another acceleration sensor along the tangent direction of the circumference of the equivalent load;

[0011] S2. Collect the output values ​​of the six acceleration sensors through the data logger and calculate the six-dimensional acceleration of the center of mass of the equivalent load as follows:

[0012]

[0013] Among them, a x It represents the linear acceleration of the center of mass of the equivalent load in the X-axis direction of the Cartesian coordinate system, a y Represents the linear acceleration of the center of mass of the equivalent load in the Y-axis direction of the Cartesian coordinate system, a z It represents the linear acceleration of the center of mass of the equivalent load in the Z-axis direction of the Cartesian coordinate system. It represents the angular acceleration of the center of mass of the equivalent load in the X-axis direction of the Cartesian coordinate system. It represents the angular acceleration of the center of mass of the equivalent load in the Y-axis direction of the Cartesian coordinate system. It represents the angular acceleration of the center of mass of the equivalent load in the Z-axis direction of the Cartesian coordinate system; A1, A2, A3, A4, A5 and A6 represent the output values ​​of six acceleration sensors, and R represents the bottom radius of the equivalent load;

[0014] S3. Use Newton's second law to convert acceleration to force and calculate the six-dimensional disturbance force on the center of mass of the equivalent load as follows:

[0015]

[0016]

[0017] Among them, F x 、F y 、F z 、M x 、M y 、M z They represent the disturbance force and moment on the center of mass of the equivalent load, that is, the six-dimensional disturbance force; m represents the mass of the equivalent load, I x ,I y ,I z They represent the moment of inertia of the equivalent load along the X, Y and Z axes respectively; r represents the distance from the accelerometer to the center of mass of the equivalent load; and h represents the height of the equivalent load.

[0018] Preferably, the air spring support device includes three air springs made of rubber material, which are evenly arranged at the bottom of the equivalent load.

[0019] Preferably, the disturbance source is a control moment gyro.

[0020] Preferably, the acceleration sensor adopts a piezoelectric sensor, and its test accuracy is 10 -5 m / s 2 .

[0021] Preferably, the relationship between the six-dimensional acceleration of the center of mass of the equivalent load and the output value of the acceleration sensor is derived as follows:

[0022] Using n arbitrary points, the six-dimensional acceleration is synthesized. Any point among the n arbitrary points can measure any direction θ. i The acceleration output value A i It is expressed as:

[0023]

[0024]

[0025] Among them, a O represents the linear acceleration vector of the origin O in the rigid coordinate system B in the inertial coordinate system, ω represents the angular velocity of the rigid coordinate system B relative to the inertial coordinate system N, represents the angular acceleration of the rigid body coordinate system B relative to the inertial coordinate system N, r i represents the position vector of any point in the rigid body coordinate system B, T Represents the matrix transpose, in the rigid body coordinate system B a O =[a x a y a z ] T ; ω=[ω x ω y ω z ] T ;

[0026] because where θ i The subscript of represents the component corresponding to the X, Y or Z axis, then the relationship between the six-dimensional acceleration of the center of mass of the equivalent load and the output value of the acceleration sensor is as follows:

[0027]

[0028] Among them, M n×6 、N n×6 Both represent matrices with n rows and 6 columns;

[0029] M n×6 Any i-th row in can be expressed as:

[0030]

[0031] N n×6 Any i-th row in can be expressed as:

[0032]

[0033] Preferably, the number of arbitrary points n=3 is selected, and two measurement directions are selected for each arbitrary point, which are the Z direction along the Cartesian coordinate system and the tangent direction of the circumscribed circle of the three arbitrary points at the arbitrary point. Then, the expressions of the six measurement directions of the three arbitrary points are:

[0034]

[0035] Preferably, the data collector collects the output values ​​of six acceleration sensors as analog signals, converts them into digital signals and then performs filtering processing to remove zero drift and high-frequency noise signals in the output values, and then calculates the six-dimensional acceleration of the center of mass of the equivalent load by computer.

[0036] Compared with the prior art, the present invention can achieve the following beneficial effects:

[0037] The present invention calculates six-dimensional disturbance force using acceleration based on Newton's second law, directly contacts the disturbance source with the equivalent load, avoids the problem of vibration attenuation caused by the flexible structure under large load conditions, and greatly improves the test accuracy.

[0038] The present invention utilizes a high-rigidity equivalent load of a standard shape and adopts a geometric arrangement for decoupling, thereby simplifying the structural complexity of the test system and avoiding the influence of local coupling on the test accuracy. Only a piezoelectric acceleration sensor is used for six-dimensional force testing, thereby reducing the difficulty of installing the test system.

[0039] The supporting device adopted in the present invention is an air spring with adjustable supporting stiffness, which is suitable for most engineering situations, has a simple structure, low cost, and is easy to install without the need to process other accessories. In addition, the principle and test method of the present invention are simple, and the structure of the test system is simple and easy to implement. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is a flow chart of a spatial six-dimensional force testing method based on an acceleration sensor provided according to an embodiment of the present invention;

[0041] Figure 2 is a structural diagram of a test system provided according to an embodiment of the present invention;

[0042] Figure 3 is a layout diagram of an acceleration sensor and an air spring provided according to an embodiment of the present invention;

[0043] Figure 4 is a schematic diagram of the measurement direction of the acceleration sensor provided according to an embodiment of the present invention;

[0044] Figure 5 is a geometric parameter and a force distribution diagram of an equivalent load provided according to an embodiment of the present invention;

[0045] Figure 6 4 is a vibration transfer curve diagram of force to acceleration per unit mass provided according to an embodiment of the present invention.

[0046] Reference numerals include:

[0047] Disturbance source 1, equivalent load 2, acceleration sensor 3, air spring 4, data acquisition device 5, computer 6. DETAILED DESCRIPTION

[0048] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the following description, the same modules are represented by the same reference numerals. In the case of the same reference numerals, their names and functions are also the same. Therefore, the detailed description thereof will not be repeated.

[0049] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and do not constitute a limitation of the present invention.

[0050] Figure 1 The flowchart of the spatial six-dimensional force testing method based on the acceleration sensor provided according to an embodiment of the present invention is shown.

[0051] like Figure 1 As shown, in view of the drawbacks of the existing six-dimensional force measurement platform for testing the disturbance of a spacecraft, an embodiment of the present invention proposes a space six-dimensional force testing method based on an acceleration sensor, which is used to test the space disturbance in the laboratory, and uses a control moment gyro (CMG) to equivalently simulate the space disturbance source on the spacecraft, specifically comprising the following steps:

[0052] Figure 2 The structure of the test system provided according to the embodiment of the present invention is shown.

[0053] like Figure 2 As shown, S1, a test system is built, and an air spring support device is used to support a regular cylindrical equivalent load 2, where the equivalent load 2 is a cylindrical flat cast iron with a cylinder radius of R, a height of h, and a mass of m.

[0054] Figure 3 The figure shows the position distribution of the acceleration sensor and the air spring provided according to the embodiment of the present invention.

[0055] like Figure 3 As shown, the air spring support device includes three air springs 4, which are made of rubber. The three air springs 4 are evenly arranged at the bottom of the equivalent load 2, i.e., the positions of k1, k2 and k3 in the figure. The air spring 4 can adjust the support stiffness by controlling the inflation amount. The support stiffness is reduced as much as possible during the test to ensure that the fundamental frequency of the test system is between 0.5 and 1 Hz. The disturbance source 1 is placed at the center of the upper surface of the equivalent load 2. This embodiment uses a controlled moment gyro (CMG) as the disturbance source 1 to simulate the real space disturbance source.

[0056] When equivalent load 2 is disturbed, acceleration will be generated around equivalent load 2, and the farther away from the center of mass, the greater the acceleration and the more sensitive the measurement. Therefore, three evenly distributed installation points are selected on the edge of equivalent load 2, and the central angle between the lines connecting adjacent installation points and the center of the circle is 120 o The planes where the three installation points are located are parallel to the bottom surface of equivalent load 2 and are at the same height as the mass point of equivalent load 2.

[0057] Figure 4 The diagram shows the measurement direction of the acceleration sensor provided according to the embodiment of the present invention.

[0058] like Figure 4 As shown, two acceleration sensors 3 are installed at each installation point, one acceleration sensor 3 is arranged along the Z direction of the Cartesian coordinate system, and the other acceleration sensor 3 is arranged along the circumferential tangent direction of the equivalent load 2, for a total of six acceleration sensors 3, and the acceleration sensors 3 are all piezoelectric acceleration sensors.

[0059] Figure 5 The geometric parameters and force distribution of the equivalent load provided according to the embodiment of the present invention are shown.

[0060] like Figure 4 and Figure 5 As shown, S2, the output values ​​A1, A2, A3, A4, A5 and A6 of the six acceleration sensors 3 are collected through the data acquisition device 5, and the six-dimensional acceleration is calculated according to the six-dimensional acceleration calculation formula of the center of mass of the equivalent load 2. The six-dimensional acceleration calculation formula will be derived as follows. It should be noted that when using this method for testing, when the test system is not changed, there is no need to repeatedly derive the six-dimensional acceleration calculation formula.

[0061] Assume that P is a fixed point on the rigid body and set the position vector of P in the rigid body coordinate system B to be r OP , the angular velocity of the rigid body coordinate system B relative to the inertial coordinate system N is ω and the angular acceleration is According to the principle of rigid body mechanics, the linear acceleration vector a of point P in the inertial coordinate system can be obtained: p =a O +ω×r OP +ω×(ω×r OP ), where a O Represents the linear acceleration vector of the origin O of the rigid body coordinate system B in the inertial coordinate system N.

[0062] If a single-axis accelerometer is installed at point P, the effect of the single-axis accelerometer is the same as that of the acceleration sensor 3, then the output value A of the measurement axis direction θ of the single-axis accelerometer can be expressed as In the rigid body coordinate system, a O =[ax a y a z ] T ; ω=[ω x ω y ω z ] T , T represents the matrix transpose, a x 、a y and a z Indicates a O The components in the X, Y, and Z directions, w x 、w y 、w z Represents the components of w in the X, Y, and Z directions.

[0063] At n installation points, namely r1, r2, ..., r n , respectively install the measuring directions as θ1, θ2, …, θ n The output values ​​of n single-axis accelerometers are A1, A2, ..., A n For any point among n arbitrary points, measure any direction θ i The acceleration output value A i It is expressed as:

[0064]

[0065] in, represents the angular acceleration of the rigid body coordinate system B relative to the inertial coordinate system N, r i Represents the position vector of any point in the rigid body coordinate system B, and the calculation formula of the antisymmetric matrix Ω is as follows:

[0066]

[0067] because The relationship between the six-dimensional acceleration and the output value of the accelerometer can be obtained as follows, that is, the six-dimensional acceleration calculation formula:

[0068]

[0069] Among them, M n×6 、N n×6 Both represent matrices with n rows and 6 columns;

[0070] M n×6 Any i-th row in can be expressed as:

[0071]

[0072] N n×6 Any i-th row in can be expressed as:

[0073]

[0074] The linear acceleration a of the origin of the rigid body coordinate system can be calculated using the output values ​​of n accelerometers. O and angular acceleration Combined with formula a p =a O +ω×r OP +ω×(ω×r OP ), we can obtain the six-dimensional angular velocity of any point on the rigid body.

[0075] Considering the installation and calculation requirements, the number of arbitrary points n=3 is selected, and two measurement directions are selected for each arbitrary point, which are the Z direction along the Cartesian coordinate system and the tangent direction of the circumscribed circle of the three arbitrary points at the arbitrary point. Then the expressions of the six measurement directions of the three arbitrary points are:

[0076]

[0077] The six-dimensional acceleration calculation formula can be obtained as follows:

[0078]

[0079] In this embodiment, a x represents the linear acceleration of the center of mass of equivalent load 2 in the X-axis direction of the Cartesian coordinate system, a y represents the linear acceleration of the center of mass of equivalent load 2 in the Y-axis direction of the Cartesian coordinate system, a z It represents the linear acceleration of the center of mass of equivalent load 2 in the Z-axis direction of the Cartesian coordinate system, It represents the angular acceleration of the center of mass of equivalent load 2 in the X-axis direction of the Cartesian coordinate system, It represents the angular acceleration of the center of mass of equivalent load 2 in the Y-axis direction of the Cartesian coordinate system, represents the angular acceleration of the center of mass of the equivalent load 2 in the Z-axis direction of the Cartesian coordinate system; A1, A2, A3, A4, A5 and A6 represent the output values ​​of the six acceleration sensors 3.

[0080] During the specific test, there is no need to derive the formula. The analog signal of the piezoelectric acceleration sensor 3 is converted into a digital signal through the data acquisition device 5, and then filtered to remove the zero drift and high-frequency noise signals in the output value. The digital signal is transmitted to the computer 6 through the data line, and the acceleration signal of the center of mass of the equivalent load 2 is obtained by analyzing and calculating the six-dimensional acceleration calculation formula stored in the computer 6.

[0081] Figure 6 A vibration transfer curve from force per unit mass to acceleration provided by an embodiment of the present invention is shown.

[0082] like Figure 6 As shown in S3, according to the vibration transfer curve of force to acceleration output by the computer, the force to acceleration transfer rate is 1 in the medium and high frequency band under unit mass, and there is no vibration attenuation. Using Newton's second law to convert acceleration to force, the six-dimensional disturbance force on the center of mass of the equivalent load 2 is as follows:

[0083]

[0084]

[0085] Among them, F x 、F y 、F z 、M x 、M y 、M z They represent the disturbance force and moment on the mass center of the equivalent load 2, namely, the six-dimensional disturbance force; I x ,I y ,I z They represent the moment of inertia of the equivalent load 2 along the X, Y and Z axes respectively; r represents the distance from any acceleration sensor 3 to the center of mass of the equivalent load 2. The calculation process can also be implemented by the computer 6.

[0086] According to the present invention, the six-dimensional disturbance force can be measured to determine the space disturbance on the spacecraft, and research can be carried out accordingly. In the test method of the present invention, only the acceleration sensor 3 is used to measure the six-dimensional disturbance force, while the prior art all uses the force sensor of the measuring platform to measure the disturbance force, and the existing test system is also a structure of the disturbance source, the force measuring platform and the load. When the load is large, the force measuring platform will inevitably produce flexibility problems, which will cause vibration attenuation and will increase the measurement error of the disturbance force. As the load increases, the disadvantages of the method through the force measuring platform become more obvious. In the prior art, the load capacity of the force measuring platform is continuously improved to deal with the flexibility problem, but this will sharply increase the structural complexity and economic cost of the force measuring platform. The present invention takes a different approach to cancel the force measuring platform, measures the six-dimensional disturbance force through the acceleration sensor, avoids the vibration attenuation problem generated by the force measuring platform, and the device is simple, easy to implement, low economic cost, and better test effect.

[0087] Although the embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. Those skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

[0088] The above specific implementations of the present invention do not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A spatial six-dimensional force testing method based on an acceleration sensor, characterized in that: The following steps are involved: S1. Use an air spring support device to support a cylindrical equivalent load, place a disturbance source on the upper surface of the equivalent load, select three evenly distributed installation points on the edge of the equivalent load, set an acceleration sensor at each installation point along the Z direction of the Cartesian coordinate system, and set another acceleration sensor along the tangent direction of the circumference of the equivalent load; S2. Collect the output values ​​of the six acceleration sensors through a data collector, and calculate the six-dimensional acceleration of the center of mass of the equivalent load as follows: Among them, a x represents the linear acceleration of the center of mass of the equivalent load in the X-axis direction of the Cartesian coordinate system, a y represents the linear acceleration of the center of mass of the equivalent load in the Y-axis direction of the Cartesian coordinate system, a z represents the linear acceleration of the center of mass of the equivalent load in the Z-axis direction of the Cartesian coordinate system, represents the angular acceleration of the center of mass of the equivalent load in the X-axis direction of the Cartesian coordinate system, represents the angular acceleration of the center of mass of the equivalent load in the Y-axis direction of the Cartesian coordinate system, represents the angular acceleration of the center of mass of the equivalent load in the Z-axis direction of the Cartesian coordinate system; A1, A2, A3, A4, A5 and A6 represent the output values ​​of the six acceleration sensors, and R represents the bottom radius of the equivalent load; S3. Using Newton's second law to convert acceleration into force, the six-dimensional disturbance force on the center of mass of the equivalent load is calculated as follows: Among them, F x 、F y 、F z 、M x 、M y 、M z They represent the disturbance force and moment on the mass center of the equivalent load, i.e., the six-dimensional disturbance force; m represents the mass of the equivalent load, I x ,I y ,I z They respectively represent the moment of inertia of the equivalent load along the X, Y and Z axes; r represents the distance from the acceleration sensor to the center of mass of the equivalent load, and h represents the height of the equivalent load.

2. The spatial six-dimensional force testing method based on an acceleration sensor as claimed in claim 1, characterized in that: The air spring support device includes three air springs made of rubber material, which are evenly arranged at the bottom of the equivalent load.

3. The spatial six-dimensional force testing method based on an acceleration sensor as claimed in claim 1, characterized in that: The disturbance source is a control moment gyro.

4. The spatial six-dimensional force testing method based on an acceleration sensor as claimed in claim 1, characterized in that: The acceleration sensor adopts a piezoelectric sensor, and its test accuracy is 10 -5 m / s 2 .

5. The spatial six-dimensional force testing method based on an acceleration sensor as claimed in claim 1, characterized in that: The relationship between the six-dimensional acceleration of the center of mass of the equivalent load and the output value of the acceleration sensor is derived as follows: Using n arbitrary points, the six-dimensional acceleration is synthesized. Any point among the n arbitrary points can measure any direction θ. i The acceleration output value A i It is expressed as: Among them, a O represents the linear acceleration vector of the origin O in the rigid coordinate system B in the inertial coordinate system, ω represents the angular velocity of the rigid coordinate system B relative to the inertial coordinate system N, represents the angular acceleration of the rigid body coordinate system B relative to the inertial coordinate system N, r i represents the position vector of any point in the rigid body coordinate system B, T represents matrix transpose, Ω represents antisymmetric matrix, in rigid body coordinate system B, a O =[a x a y a z ] T ; ω=[ω x ω y ω z ] T ; because Then the relationship between the six-dimensional acceleration of the center of mass of the equivalent load and the output value of the acceleration sensor can be obtained as follows: Among them, M n×6 、N n×6 Both represent a matrix with n rows and 6 columns; M n×6 Any i-th row in can be expressed as: N n×6 Any i-th row in can be expressed as:

6. The spatial six-dimensional force testing method based on an acceleration sensor as claimed in claim 5, characterized in that: The number of arbitrary points n=3 is selected, and two measurement directions are selected for each arbitrary point, namely the Z direction along the Cartesian coordinate system and the tangent direction of the circumscribed circle of the three arbitrary points at the arbitrary point. Then the expressions of the six measurement directions of the three arbitrary points are:

7. The spatial six-dimensional force testing method based on an acceleration sensor as claimed in claim 6, characterized in that: The data collector collects the output values ​​of the six acceleration sensors as analog signals, converts them into digital signals and then performs filtering processing to remove zero drift and high-frequency noise signals in the output values, and then calculates the six-dimensional acceleration of the center of mass of the equivalent load through a computer.

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