Multi-dimensional dynamic measurement uncertainty analysis for the six-axis force sensor used in docking system

摘要

The tough space environment has a great influence on the reliability of the measurement results owing to the rapidly aging sensor. Also, the measurement uncertainty caused by the random factors seriously affects the accuracy of the sensor. Aiming at the multidimensional dynamic uncertainty problem of the six-axis force measurement, a six-axis force sensor for docking system is presented based on the piezoelectric force sensing element. The decoupling algorithm of the six-axis force sensor is proposed. Grey prediction model is employed to establish the dynamic uncertainty model in single channel. Residual test, correlation test and posterior error test are conducted to verify the reliability of the prediction model. The multidimensional dynamic uncertainty model of the six-axis force sensor is derived by combination of the decoupling algorithm and the dynamic uncertainty in single channel. The multidimensional dynamic uncertainty model of the six-axis force sensor can avoid the error signals for the force feedback control in the space environment, and the model can also be employed for the measurement of six-axis force in any other harsh conditions.