针对微小型仿生水下机器人的流体动力学测量，研制了一种新型的三维力测试系统。在分析微小流体力测试系统功能需求的基础上，设计了基于S型拉压力传感器的测试系统机械结构和信号处理系统。分析了该测试系统存在的主要误差源，建立了系统误差模型，通过实验方法对误差模型进行了标定和补偿，数据测试结果表明补偿后的测量精度误差<0.9%。该三维流体力测试系统为仿生水下机器人的流体力学实验研究提供了一种重要测量装置。%A new type three-dimensional force test system is developed, which is used to service for the hydrodynamic measure-ments of micro bionic underwater robot. After analysis of the functional requirements for the micro hydrodynamic force testing, a new mechanical structure and signal processing systen are designed based on S-type pul pressure sensor. In addition, a system error model is established for analyzing the main error sources existing in the test system and through the experiments it is calibrated and compensated. The final test data shows that the measurement accuracy is less than 0.9%. An important measuring device is provided for the hydrodynamic experiment of the bionic underwater robot.
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