A Hopkinson bar impact acceleration sensor calibration device and method

Abstract

The present invention discloses a Hopkinson bar impact acceleration sensor calibration device and method, in which a projectile is placed in a barrel, and impact and reset actions are performed in the barrel, a propulsion rod passes through the barrel and enters the barrel to limit the return position of the projectile, the propulsion rod is installed on a sliding block, the sliding block can move along a slide rail and drive the propulsion rod to move, a servo motor can rotate clockwise or counterclockwise, so that the sliding block drives the propulsion rod to feed or retreat, and a motor controller controls the rotation of the servo motor; an air intake pipe takes air into the barrel, and an exhaust pipe exhausts air out of the barrel, a reversing valve is used to switch and open the air intake pipe or the exhaust pipe, a cylinder is connected to the reversing valve, and an air pump controller controls the air pump to inflate the cylinder; a waveform generator impacts and collides with the projectile to generate an impact signal, and the incident rod transmits the impact signal to an acceleration sensor to be calibrated. The present invention can simplify the operation process, reduce manual intervention, and improve the repeatability and accuracy of calibration data.

Description

Technical Field

[0001] The invention belongs to the technical field of impact measurement and testing, and in particular relates to a Hopkinson bar impact acceleration sensor calibration device and method. Background Art

[0002] Accelerometer is a very important sensor that can detect the acceleration of an object and convert it into an electrical signal output. Due to its high sensitivity, easy installation, and wide range of applications, accelerometers are widely used in the automotive industry, aerospace industry, industrial production, health care and other fields. The accelerometer may have a problem of decreased sensitivity during production and use. In order to ensure the accuracy of the data collected each time, it is necessary to calibrate the sensor. The calibration method of the accelerometer mainly adopts the impact method, and the impact calibration is also called transient calibration. At present, the impact pulse in which the acceleration is transformed according to the half-sine law is mostly used as the calibration motion form. The peak acceleration value and the shock pulse duration are the two main parameters that characterize this shock pulse. It is necessary to shock calibrate the accelerometer within the shock acceleration value range of several g to hundreds of thousands of g and the shock duration of tens of milliseconds to tens of microseconds.

[0003] According to the ISO15063-13 international standard, the shock accelerometer calibration method is a calibration method based on one-dimensional stress wave propagation, which is implemented by the Hopkinson rod. The Hopkinson rod measures stress waves through strain gauges, and the time displacement-signal of the shock process can also be measured by laser interferometry. Although the current Hopkinson rod calibration method can meet the requirements of peak value and pulse width, it requires too much human intervention during actual use. The calibration process includes pressurization adjustment, projectile recovery, projectile secondary filling, etc., which increases the time cost of calibration, reduces work efficiency, and deteriorates repeatability. In addition, shock calibration is a collision process of high-speed moving objects, which is dangerous. It must be operated strictly in accordance with the prescribed procedures. Due to the uncertainty of human operation, it is easy to cause safety accidents. Summary of the invention

[0004] The purpose of the present invention is to provide a Hopkinson bar impact acceleration sensor calibration device and method to address the problems of complicated operation process, poor data repeatability and high degree of manual intervention in the current Hopkinson bar calibration method, which can simplify the operation process, reduce manual intervention and improve the repeatability and accuracy of calibration data.

[0005] One aspect of the present invention provides a Hopkinson bar impact acceleration sensor calibration device, comprising a barrel, a projectile, a propulsion rod, a sliding block, a slide rail, a servo motor, a motor controller, an air intake pipe, an exhaust pipe, a reversing valve, an air pump, an air pump controller, a waveform generator, an incident rod and a cylinder.

[0006] The projectile is placed in the barrel and performs impact and reset actions in the barrel. The propulsion rod passes through the barrel and enters the barrel to limit the return position of the projectile. The propulsion rod is installed on a sliding block. The sliding block can move along the slide rail and drive the propulsion rod to move. The servo motor can rotate clockwise or counterclockwise, so that the sliding block drives the propulsion rod to feed or retract. The motor controller is used to control the rotation of the servo motor.

[0007] The air inlet pipe is used to take air into the barrel, the exhaust pipe is used to exhaust air out of the barrel, the reversing valve is connected to the air inlet pipe and the exhaust pipe, and is used to switch to open the air inlet pipe or the exhaust pipe, the cylinder is connected to the reversing valve, the air pump is used to store gas and inflate the cylinder, and the air pump controller is used to control the air pump;

[0008] The waveform generator is used to impact and collide with the projectile to generate an impact signal, and the incident rod is used to transmit the impact signal to the acceleration sensor to be calibrated.

[0009] Another aspect of the present invention provides a Hopkinson bar impact acceleration sensor calibration method, using the above device to calibrate the acceleration sensor, including:

[0010] Setting steps: set the acceleration value according to the range of the acceleration sensor to be calibrated, and set the acceleration value a according to the set acceleration value 设定值 , set the impact pressure p and impact stroke L;

[0011] In the impact stroke adjustment step, the motor controller compares the current stroke L0 of the projectile with the set impact stroke L. When the current stroke L0 is not equal to the set impact stroke L, the motor controller controls the projectile to retreat or advance so that the distance between the current stroke L0 and the set impact stroke L is equal;

[0012] In the step of resetting the projectile, the air pump controller controls the air pump to exhaust the air cylinder, the reversing valve performs a pressure reduction operation, the exhaust pipe opens, the projectile moves toward the side of the propulsion rod, and the projectile returns to the starting position of the impact stroke;

[0013] Impact pressure adjustment step: the air pump controller controls the air pump to inflate and pressurize the cylinder, and the reversing valve performs a pressurization operation until the set impact pressure p is reached;

[0014] In the projectile impact step, the air intake pipe is opened, and the gas pushes the projectile to accelerate. After the projectile completes the entire impact stroke L, it collides with the waveform generator to generate an impact signal. The incident rod transmits the impact signal to the acceleration sensor to be calibrated. The acceleration sensor measures the acceleration and obtains the measurement result a 传感器 ;

[0015] Judgment step: compare the set acceleration value a 设定值and the measurement result of the acceleration sensor a 传感器 , if a 传感器 >1.1a 设定值 or a 传感器 <0.9a 设定值 , then adjust the impact pressure p, and repeat the projectile resetting step, impact pressure adjustment step and projectile impact step according to the adjusted impact pressure p', until the adjusted measurement result a' 传感器 Meets 0.9a 设定值 <a' 传感器 <1.1a 设定值 ;

[0016] Acceleration calibration step, keep the adjusted impact pressure p' stable, according to the adjusted sensor measurement result a' 传感器 , calculate the adjusted impact stroke L', and calculate the calibration stroke L corresponding to the acceleration value a at any point within the calibration range of the acceleration sensor according to the adjusted impact stroke L' a , execute the projectile impact step to complete the calibration of the acceleration value of any point within the calibration range of the acceleration sensor.

[0017] Preferably, in the impact stroke adjustment step, when the current stroke L0 is less than the set impact stroke L, the motor controller controls the servo motor to rotate counterclockwise, driving the sliding block to complete the retraction action, and the push rod moves with the sliding block until the current stroke L0 is equal to the set impact stroke L; when the current stroke L0 is greater than the set impact stroke L, the motor controller controls the servo motor to rotate clockwise, driving the sliding block to complete the feeding action, and the push rod moves with the sliding block until the current stroke L0 is equal to the set impact stroke L.

[0018] Preferably, in the judging step, the impact pressure is adjusted as follows:

[0019]

[0020] Preferably, in the acceleration calibration step, the calibration stroke L is calculated as follows: a :

[0021]

[0022]

[0023] The Hopkinson bar impact acceleration sensor calibration device and method according to the above aspects of the present invention can simplify the operation process, reduce manual intervention, and improve the repeatability and accuracy of calibration data. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings used in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work:

[0025] Figure 1 It is a structural schematic diagram of a Hopkinson bar impact acceleration sensor calibration device according to an embodiment of the present invention;

[0026] Figure 2 is a flow chart of a Hopkinson bar impact acceleration sensor calibration method according to an embodiment of the present invention;

[0027] In the figure: 1-barrel, 2-projectile body, 3-propelling rod, 4-sliding block, 5-slide rail, 6-servo motor, 7-motor controller, 8-intake pipe, 9-exhaust pipe, 10-reversing valve, 11-air pump, 12-air pump controller, 13-waveform generator, 14-incident rod, 15-cylinder. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] The embodiment of the present invention provides a Hopkinson bar impact acceleration sensor calibration device, Figure 1 FIG. 1 is a schematic diagram of the overall structure of a Hopkinson bar impact acceleration sensor calibration device according to an embodiment of the present invention. Figure 1 As shown, the Hopkinson bar impact acceleration sensor calibration device of the embodiment of the present invention includes a barrel 1, a projectile 2, a propulsion rod 3, a sliding block 4, a slide rail 5, a servo motor 6, a motor controller 7, an air intake pipe 8, an exhaust pipe 9, a reversing valve 10, an air pump 11, an air pump controller 12, a waveform generator 13, an incident rod 14 and a cylinder 15.

[0030] Among them, the barrel 1 and the projectile 2 constitute an automatic return / launching structure, the barrel 1 provides a travel track for the projectile to impact / return, the barrel 1, the projectile 2, the air intake pipe 8, the exhaust pipe 9, the reversing valve 10, the air pump 11 and the cylinder 15 constitute an impact pressure adjustment mechanism, which can control the air pressure according to the set acceleration value to provide the power for the movement of the projectile 2. The barrel 1, the projectile 2, the propulsion rod 3, the sliding block 4, the slide rail 5 and the servo motor 6 constitute an impact stroke adjustment mechanism, which adjusts the movement stroke of the projectile 2 according to the set acceleration value. The propulsion rod 3, the sliding block 4, the slide rail 5, the servo motor 6, the motor controller 7, the air intake pipe 8, the exhaust pipe 9, the reversing valve 10, the air pump 11, the air pump controller 12, the cylinder 15 and the acceleration sensor to be calibrated constitute a feedback adjustment mechanism, which adjusts the impact pressure and impact stroke according to the measurement results of the acceleration sensor.

[0031] The projectile 2 is placed in the barrel 1, and performs impact and reset actions in the barrel 1. The propulsion rod 3 passes through the barrel 1 and enters the interior of the barrel 1 to limit the return position of the projectile 2. The propulsion rod 3 is installed on the sliding block 4, and the sliding block 4 is installed on the slide rail 5. It can move along the slide rail 5 in the axial direction and provide an installation position for the propulsion rod 3, driving the propulsion rod 3 to move during the movement. The servo motor 6 is installed on the end of the slide rail 5, and the main shaft is connected to the slide rail 5. The servo motor 6 provides power to the sliding block 4 during rotation. The servo motor 6 can rotate clockwise or counterclockwise, so that the sliding block 4 drives the propulsion rod 3 to feed or retract. The motor controller 7 is used to control the rotation of the servo motor 6.

[0032] The air intake pipe 8 is used to take air into the barrel 1. The air intake pipe 8, the reversing valve 10 and the cylinder 15 are connected in sequence to provide power for the impact action of the projectile 2. The exhaust pipe 9 is used to exhaust air out of the barrel 1. The exhaust pipe 9, the reversing valve 10 and the cylinder 15 are connected in sequence to provide power for the reset action of the projectile 2. The reversing valve 10 is connected to the air intake pipe 8 and the exhaust pipe 9, and is used to switch to open the air intake pipe 8 or the exhaust pipe 9. The air pump 11 is used to store gas, filter and dry the gas, and then fill the cylinder 15. The air pump controller 12 controls the action of the air pump 11.

[0033] The waveform generator 13 impacts and collides with the projectile 2 to generate a waveform with a suitable pulse width and amplitude, providing a standard signal for calibration. The incident rod 14 transmits the impact signal to the acceleration sensor to be calibrated.

[0034] The embodiment of the present invention further provides a Hopkinson bar impact acceleration sensor calibration method, which uses the Hopkinson bar impact acceleration sensor calibration device of the above embodiment to calibrate the acceleration sensor. Figure 2 FIG. 1 is a flow chart of a Hopkinson bar impact acceleration sensor calibration method according to an embodiment of the present invention. Figure 2As shown, the Hopkinson bar impact acceleration sensor calibration method according to the embodiment of the present invention includes steps S1 to S7.

[0035] Step S1 is a setting step, in which the acceleration value a is set according to the range of the acceleration sensor to be calibrated. 设定值 , according to the set acceleration value a 设定值 Calculate and give the impact pressure p and the impact movement distance (impact stroke) L of the projectile 2. In one embodiment, set the impact stroke L (such as "10000g-200mm") and the impact pressure p (such as "10000g-1.0bar"), and start the first impact test.

[0036] Step S2 is the impact stroke adjustment step, in which the motor controller 7 determines the current stroke (the current maximum movement position of the projectile 2) L0 of the projectile 2. When the distance between the current stroke L0 and the set impact stroke L is not equal, the motor controller 7 issues an instruction to perform the next step. When L0<L, the instruction of the motor controller 7 is to issue a retraction command, and the servo motor 6 rotates counterclockwise to drive the sliding block 4 to complete the retraction action, and the push rod 3 moves with the sliding block 4. When L0=L, the motor controller 7 issues a stop instruction, and the retraction movement is terminated. When L0>L, the instruction of the motor controller 7 is to issue a feed command, and the servo motor 6 rotates clockwise to drive the sliding block 4 to complete the feeding action, and the push rod 3 moves with the sliding block 4. When L0=L, the motor controller 7 issues a stop instruction, and the feeding movement is terminated. During the rotation process, when the servo motor 6 rotates n times, the lead of the sliding block 4 satisfies the following relationship:

[0037] ΔL=nw (1)

[0038] Where n is the number of revolutions of the servo motor 6, and w is the pitch of the screw;

[0039] L=L0+ΔL (2)

[0040] Wherein L is the actual movement stroke of the projectile 2 , and ΔL is the lead of the sliding block 4 .

[0041] Step S3 is the projectile resetting step. In this step, after the values ​​of the impact pressure p and the impact stroke L reach the set values, the projectile 2 needs to be reset. The air pump controller 12 controls the air pump 11 to exhaust the cylinder 15. The reversing valve 15 starts to work and performs the pressure reduction operation. After the pressure reduction operation is completed, the reversing valve 10 connects to the exhaust pipe 9, and the exhaust pipe 9 opens to start exhausting, reducing the air content in the barrel 1 and forming a negative pressure environment. Due to the pressure difference on both sides of the projectile 2, the projectile 2 will move to the side of the thrust rod 3 with low pressure. At this time, the force condition of the projectile 2 is as shown in formula (3) and formula (4), and the projectile 2 returns to the return position, and the return is completed. After the impact stroke adjustment mechanism completes the movement of the sliding block 4, the impact stroke of the projectile 2 is determined, thereby determining the return position corresponding to the starting position of the impact stroke.

[0042] F=(p1-p2)A (3)

[0043]

[0044] Where p1 is the pressure value of the gas acting side when the projectile returns, p2 is the pressure value of the impact side when the projectile returns, A is the cross-sectional area of ​​the projectile, m is the mass of the projectile, and a 复位 is the acceleration value of the projectile, and F is the resultant force on the projectile. 复位 After the return action is completed, when the movement reaches one end of the propulsion rod 3, the propulsion rod 3 will press against the projectile 2 to rapidly reduce its acceleration to zero, and the movement will stop.

[0045] Step S4 is a shock pressure adjustment step, in which pressure is added according to the set shock pressure p to complete the set pressure value. Specifically, the air pump controller 12 controls the air pump 11 to start charging and pressurizing the cylinder 15, and stops when the set shock pressure p is reached.

[0046] Step S5 is the projectile impact step. In this step, after the boost operation is completed, the reversing valve 10 is opened, the air intake pipe 8 is opened to release the gas, forming a positive pressure difference environment, and the projectile 2 moves toward the outlet side under the push of the high-pressure air pressure to complete the acceleration process. After the projectile 2 moves the entire impact stroke, the speed reaches the maximum value at the outlet, the impact waveform generator 13 generates an impact signal, and the impact action is completed. The incident rod 14 transmits the impact signal to the acceleration sensor, and the acceleration sensor completes the measurement of the acceleration. The force conditions and impact energy during the impact process are as follows:

[0047]

[0048]

[0049] E=ma 筒内加速度 L (7)

[0050] Where p is the gas pressure value on the impact side required for the projectile to impact, p2 is the pressure value on the impact side of the projectile, and a 冲击 is the acceleration value of the projectile, E is the kinetic energy of the projectile, and L is the impact stroke set for the projectile. At this time, it depends on the indicated value a of the sensor. 传感器 Formula (5) should be satisfied.

[0051]

[0052] where a (t) It is the time domain function of the pulse width of the impact process. The impact process is generally a standard half-sine wave a (t) =a 传感器 sin(t),a 传感器 is the actual peak acceleration.

[0053] Step S6 is a judgment step. In this step, after completing a single impact at a measuring point within the range, the detection data of the acceleration sensor is recorded as a 传感器 , compare a 设定值 and a 传感器 , if a 传感器 >1.1a 设定值 or a 传感器 <0.9a 设定值 , then choose to adjust the impact pressure p first, adjust it to the pressure value p', and the adjustment relationship is:

[0054]

[0055] According to the adjusted impact pressure p', repeat the impact pressure adjustment step, the projectile reset step and the projectile impact step until 0.9a is met. 设定值 <a 传感器 <1.1a 设定值 .

[0056] Step S7 is an acceleration calibration step, in which the measurement result a' of step S6 is used. 传感器 The impact stroke is precisely adjusted. Specifically, the impact pressure p' after adjustment is kept stable, and the impact stroke is precisely adjusted. The impact stroke L' after adjustment is:

[0057]

[0058] The calibration stroke L corresponding to the acceleration value a at any point within the calibration range can be obtained a :

[0059]

[0060] According to the linear relationship between acceleration, the stroke L is calibrated aThe stroke of other calibration points is adjusted based on the basic point, and the calibration of the acceleration value of any point within the calibration range of the acceleration sensor is completed by executing the projectile impact step.

[0061] If the impact acceleration calibration range span is large, segmented calibration can be performed, and steps S4 to S6 are repeated to adjust the impact pressure value and impact stroke value, and the corresponding impact pressure p in each range is given. i Value and impact stroke L i value, complete the calibration work and improve work efficiency.

[0062] In summary, the Hopkinson bar impact acceleration sensor calibration device and method of the above-mentioned embodiment of the present invention adopts the following technical solutions:

[0063] 1. Automatic launch and automatic return of the projectile are achieved by pneumatic means: after setting the acceleration value, the impact pressure value is automatically given, and the gas release pushes the projectile to accelerate in the barrel, completing the automatic launch of the projectile; after the projectile is launched, the reversing valve automatically switches the air pressure direction, sucking the projectile back to the initial position, completing the automatic return of the projectile.

[0064] 2. The generated acceleration value is adjusted by a combination of coarse adjustment of impact air pressure and fine adjustment of impact stroke: after setting the acceleration value, the air pressure pushes the projectile to hit the Hopkinson rod, and the generated acceleration value is roughly adjusted. According to the generated acceleration value deviation, the servo motor drives the propulsion rod to move forward and backward to change the return position of the projectile. The air pressure pushes the projectile to hit the Hopkinson rod, and the generated acceleration value is finely adjusted.

[0065] 3. Adjust the acceleration value through automatic closed-loop feedback: After setting the acceleration value, judge the size of the first acceleration value. When the acceleration value deviates greatly from the set value, select the air pressure coarse adjustment method to impact again until the acceleration deviation is close to the set value and the coarse adjustment is completed; maintain the current impact pressure value, and the servo motor fine-tunes the return position of the projectile until the acceleration value is within the allowable deviation range, completing the acceleration value closed-loop feedback automatic adjustment process.

[0066] Therefore, the Hopkinson bar impact acceleration sensor calibration device and method according to the above embodiment of the present invention have the following beneficial effects:

[0067] 1. The present invention realizes the automatic return function of the projectile, reduces the steps of projectile recovery and projectile reinstallation during the impact process, and improves the test efficiency;

[0068] 2. The present invention adopts closed-loop feedback control, which can automatically calculate and adjust the impact stroke and impact pressure according to the set acceleration value;

[0069] 3. Reduce human intervention, improve test repeatability, reduce invalid tests, and effectively ensure the safety of operators.

[0070] The Hopkinson bar impact acceleration sensor calibration device and method of the above-mentioned embodiment of the present invention adopts an electrical control combination to achieve fully automated control of key parameters (impact stroke and impact pressure) of the impact control process of the Hopkinson bar, simplify the operating process, reduce manual intervention, and improve the repeatability and accuracy of calibration data.

[0071] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A Hopkinson bar impact acceleration sensor calibration method, using a Hopkinson bar impact acceleration sensor calibration device to calibrate the acceleration sensor, the Hopkinson bar impact acceleration sensor calibration device comprising a barrel, a projectile, a propulsion rod, a sliding block, a slide rail, a servo motor, a motor controller, an air intake pipe, an exhaust pipe, a reversing valve, an air pump, an air pump controller, a waveform generator, an incident rod and a cylinder, in, The projectile is placed in the barrel, and performs impact and reset actions in the barrel. The propulsion rod passes through the barrel and enters the inside of the barrel to limit the return position of the projectile. The propulsion rod is installed on the sliding block. The sliding block can move along the slide rail and drive the propulsion rod to move. The servo motor can rotate clockwise or counterclockwise, so that the sliding block drives the propulsion rod to feed or retract. The motor controller is used to control the rotation of the servo motor; The air inlet pipe is used to take air into the barrel, the exhaust pipe is used to exhaust air out of the barrel, the reversing valve is connected to the air inlet pipe and the exhaust pipe, and is used to switch to open the air inlet pipe or the exhaust pipe, the cylinder is connected to the reversing valve, the air pump is used to store gas and inflate the cylinder, and the air pump controller is used to control the air pump; The waveform generator is used to impact and collide with the projectile to generate an impact signal, and the incident rod is used to transmit the impact signal to the acceleration sensor to be calibrated. Characterized in that the method comprises: Setting steps: set the acceleration value according to the range of the acceleration sensor to be calibrated, and set the acceleration value a according to the set acceleration value 设定值 , set the impact pressure p and impact stroke L; In the impact stroke adjustment step, the motor controller compares the current stroke L0 of the projectile with the set impact stroke L. When the current stroke L0 is not equal to the set impact stroke L, the motor controller controls the projectile to retreat or advance so that the distance between the current stroke L0 and the set impact stroke L is equal; In the step of resetting the projectile, the air pump controller controls the air pump to exhaust the air cylinder, the reversing valve performs a pressure reduction operation, the exhaust pipe opens, the projectile moves toward the side of the propulsion rod, and the projectile returns to the starting position of the impact stroke; Impact pressure adjustment step: the air pump controller controls the air pump to inflate and pressurize the cylinder, and the reversing valve performs a pressurization operation until the set impact pressure p is reached; In the projectile impact step, the air intake pipe is opened, and the gas pushes the projectile to accelerate. After the projectile completes the entire impact stroke L, it collides with the waveform generator to generate an impact signal. The incident rod transmits the impact signal to the acceleration sensor to be calibrated. The acceleration sensor measures the acceleration and obtains the measurement result a 传感器 ; Judgment step: compare the set acceleration value a 设定值 and the measurement result of the acceleration sensor a 传感器 , if a 传感器 >1.1a 设定值 or a 传感器 <0.9a 设定值 , then adjust the impact pressure p, and repeat the projectile resetting step, impact pressure adjustment step and projectile impact step according to the adjusted impact pressure p, until the adjusted measurement result a is obtained. 传感器 Meets 0.9a 设定值 <a, 传感器 <1.1a 设定值 ; Acceleration calibration steps, keep the adjusted impact pressure p, stable, according to the adjusted sensor measurement result a, 传感器 , calculate the adjusted impact stroke L,, according to the adjusted impact stroke L, calculate the calibration stroke L corresponding to the acceleration value a at any point within the calibration range of the acceleration sensor a , executing the projectile impact step to complete the calibration of the acceleration value of any point within the calibration range of the acceleration sensor; In the impact stroke adjustment step, when the current stroke L0 is less than the set impact stroke L, the motor controller controls the servo motor to rotate counterclockwise, driving the sliding block to complete the retraction action, and the push rod moves with the sliding block until the current stroke L0 is equal to the set impact stroke L; when the current stroke L0 is greater than the set impact stroke L, the motor controller controls the servo motor to rotate clockwise, driving the sliding block to complete the feeding action, and the push rod moves with the sliding block until the current stroke L0 is equal to the set impact stroke L.

2. The method according to claim 1, characterized in that In the determination step, the impact pressure is adjusted as follows:

3. The method according to claim 1 or 2, characterized in that In the acceleration calibration step, the calibration stroke L is calculated as follows a :

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