CN102022975A - Error self-calibration method of angle displacement sensor system - Google Patents

Error self-calibration method of angle displacement sensor system Download PDF

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CN102022975A
CN102022975A CN 201010552626 CN201010552626A CN102022975A CN 102022975 A CN102022975 A CN 102022975A CN 201010552626 CN201010552626 CN 201010552626 CN 201010552626 A CN201010552626 A CN 201010552626A CN 102022975 A CN102022975 A CN 102022975A
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error
measuring
measured value
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CN102022975B (en
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陈锡侯
彭东林
高忠华
张兴红
郑方燕
刘小康
冯继琴
杨继森
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Chongqing University of Technology
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Abstract

The present invention discloses an error self-calibration method of angle displacement sensor system; two measuring units with pole pairs satisfying a certain relationship and performing rotation angle displacement synchronous measurement for the same rotary object are configured in the sensor, wherein any one of the measuring unit is a reference unit, and the other measuring unit is a calibrated unit. The measuring value of the reference unit is a reference coordinate system; the difference between measuring values of the calibrated unit and the reference unit is observed; data processing is performed for the observing result according to the error characteristics of an electromagnetic induction sensor; the error functions of the calibrated unit and the reference unit can be solved respectively, and the error self-calibration for the sensor system is realized.

Description

A kind of angular displacement sensor system error self-calibrating method
Technical field
The invention belongs to the accurate displacement field of measuring technique, be specifically related to a kind of error self-calibrating method of angular displacement sensor system.
 
Background technology
Angle displacement measurement is one of the most basic geometric measurement.In known angular displacement sensor design concept, a class is arranged based on electromagnetic induction principle.The typical case of this class angular displacement sensor representative has: gating angular displacement sensor the etc. during formula of inductosyn, selsyn, rotary transformer and recent years occur field.This type of angular displacement sensor need not carry out the delineation of ultraprecise space, can realize high-precision angle displacement measurement, and has the anti-characteristics strong with antijamming capability of beating.But there are two problems in existing this type of angular displacement sensor: the one, and need high precision its error to be demarcated with reference to female instrument, with foundation, could realize the high precision index as parameter adjustment; The 2nd, when the special dimension of work under bad environment was used, parameters such as it is electric, machinery may change, and then influence measuring accuracy.Wherein second problem also is the common problem that other principle angle displacement transducer exists.
 
Summary of the invention
The present invention is directed to the above-mentioned problems in the prior art, disclose a kind of angular displacement sensor system error self-calibrating method.This self-calibrating method utilizes the circumference closure principle in the measurement of angle and the characteristics of induction angular displacement sensor self, can not have standard and with reference to the demarcation certainly that realizes sensor error under the condition of female instrument.
The technical solution used in the present invention is:
A kind of error self-calibrating method of angular displacement sensor system is characterized in that, described self-calibrating method may further comprise the steps:
(1) at two measuring unit of induction angular displacement sensor internal structure, the number of pole-pairs difference of described two measuring units, and an odd lot doubly concerns mutually, and can measure carry out the angle of revolution displacement synchronous with the single-revolution object, with any one measuring unit wherein is reference unit, and its measuring error function note is done
Figure 2010105526265100002DEST_PATH_IMAGE002
, another measuring unit is demarcated the unit, and its measuring error function note is done
Figure 2010105526265100002DEST_PATH_IMAGE004
(2) according to the measured value of reference unit,
Figure 2010105526265100002DEST_PATH_IMAGE006
In the scope with
Figure 2010105526265100002DEST_PATH_IMAGE008
Spacing sampled with the difference of reference unit measured value to demarcating the unit measured value, obtain one group of sample sequence, the note work , wherein NBe the number of pole-pairs of reference unit,
Figure 2010105526265100002DEST_PATH_IMAGE012
(3) according to the error features of induction angular displacement sensor to described sample sequence
Figure 260976DEST_PATH_IMAGE010
Carry out data processing, comprise described sample sequence is carried out coordinate transform and sampled point mapping;
(4) to described sample sequence
Figure 821270DEST_PATH_IMAGE010
Carry out obtaining the sequence of mapping that the elemental error function is demarcated in one group of reflection after the data processing, note is done
Figure 2010105526265100002DEST_PATH_IMAGE014
, described sequence of mapping is carried out discrete Fourier transformation, and the error function of being demarcated the unit according to the amplitude spectrum and the phase spectrum reconstruct of conversion gained
Figure 655234DEST_PATH_IMAGE004
Realization is demarcated certainly to the error of sensing system.
 
Key point of the present invention is:
(1) two measuring units of electromagnetic sensor internal structure, number of pole-pairs is close but unequal;
(2) measuring units are reference unit, and another measuring unit is demarcated the unit, and number of pole-pairs is respectively NWith M, according to the measured value of reference unit,
Figure 605873DEST_PATH_IMAGE006
In the scope with
Figure 550695DEST_PATH_IMAGE008
Spacing the difference of being demarcated unit measured value and reference unit measured value is sampled, obtain sample sequence
(3) according to the electromagnetic sensor error features to sample sequence
Figure 908044DEST_PATH_IMAGE010
Carry out coordinate transform and obtain sequence
Figure 2010105526265100002DEST_PATH_IMAGE016
(4) to sequence
Figure 408295DEST_PATH_IMAGE016
Shining upon obtains counting satisfies the sequence of sampling thheorem
Figure 891229DEST_PATH_IMAGE014
(5) to sequence
Figure 363799DEST_PATH_IMAGE014
Carry out discrete Fourier transformation, reconstruct is by the error function of calibration measurements unit
Figure 539565DEST_PATH_IMAGE004
Compared with the prior art, advantage of the present invention is:
(1) use in the calibration process demarcated object and references object all is measuring units of electromagnetic sensor, need not standard or high precision with reference to female instrument, can realize that error is from demarcating;
(2) with respect to traditional full combined method and pointwise standardization, the sampling number of described self-calibrating method is few;
(3) owing to can solve error function, the described demarcation certainly can be demarcated arbitrfary point in the complete cycle scope, and existing full combined method and point by point method can only be demarcated finite point;
(4) demarcate unit and reference unit version electric parameter etc. and similar, can be integrated in easily in the sensor, can realize real-time online error calibration.
 
Description of drawings
Fig. 1 is the electromagnetic sensor synoptic diagram with two measuring units;
Fig. 2 is an electromagnetic sensor measuring error curve synoptic diagram;
Fig. 3 is the synoptic diagram of particular sample point position on the difference curve of two measured value errors under the reference unit measured value coordinate system and the curve;
Fig. 4 is the synoptic diagram of sample sequence;
Fig. 5 is the synoptic diagram that sampled point shines upon in the complete cycle scope.
 
Embodiment
Also in conjunction with specific embodiments technical scheme of the present invention is described in further detail according to Figure of description below.
A kind of angular displacement sensor system error self-calibrating method disclosed by the invention is achieved through the following technical solutions:
Satisfying certain relation and can be to carrying out two measuring units that the angle of revolution displacement synchronous is measured with the single-revolution object in sensor internal structure number of pole-pairs, is reference unit with any one measuring unit wherein, and another measuring unit be by the demarcation unit.Measured value with reference unit is a reference coordinate system, observe and demarcated the poor of unit measured value and reference unit measured value, error features according to electromagnetic sensor is carried out data processing to observed result, can solve the error function of being demarcated unit and reference unit respectively, realize the error of sensing system is demarcated certainly.
Described two measuring units, each measuring unit constitutes by excitation winding (stator) and gauge head (rotor), and its bobbin and method for winding can be any one modes that can realize its measuring principle.
Described number of pole-pairs satisfies certain relation and is meant: the number of pole-pairs of two measuring units can be appointed in the number of pole-pairs that induction angular displacement sensor may occur and got, but the number of pole-pairs of two measuring units should be different, and an odd lot doubly concerns mutually, when the number of pole-pairs of two measuring units relatively near the time, the effect of demarcating is better, when the number of pole-pairs of two measuring units differs 1, the best results of demarcation.
The described error function of being demarcated the unit is meant: when described revolution object revolution, measuring unit carries out angle displacement measurement to revolution, and can provide measured value, is the definition of the difference of measured value and true value according to error, and error function can be described as formula (1).
Figure 2010105526265100002DEST_PATH_IMAGE018
（1）
Wherein,
Figure 2010105526265100002DEST_PATH_IMAGE020
Error function for measured unit;
Figure 2010105526265100002DEST_PATH_IMAGE022
True value for the angular displacement of revolving shaft place;
Figure 2010105526265100002DEST_PATH_IMAGE024
Be the measured value of measured unit to this angular displacement, it is the function of true value.Because true value can't be known, though above-mentioned error function outwardness can't directly be asked for by through type (1).
The error features of described electromagnetic sensor is meant: number of pole-pairs is NThe measuring error of electromagnetic sensor can be described as formula (2).
（2）
In the formula NIt is induction number of pole-pairs; INBeing the overtone order of error, is number of pole-pairs NIntegral multiple, iSpan is 1 ~ m, mBe generally less than 8 Be residual error, its value much smaller than
Figure 654676DEST_PATH_IMAGE020
, under the situation that stated accuracy allows, can ignore, ignore back formula (2) and be rewritten as:
Figure 2010105526265100002DEST_PATH_IMAGE030
（3）
Described measured value with reference unit is a reference coordinate system, observes by demarcation unit measured value (to be designated as ) and the reference unit measured value (be designated as
Figure 2010105526265100002DEST_PATH_IMAGE034
) difference be meant: when the revolution of described revolution object, reference unit and demarcated the unit and simultaneously the angle of revolution displacement is measured, and provide separately measured value respectively, the difference of being demarcated the measured value of unit and reference unit can be described as formula (4).
Figure 2010105526265100002DEST_PATH_IMAGE036
（4）
In the formula
Figure 2010105526265100002DEST_PATH_IMAGE038
Be with
Figure 2010105526265100002DEST_PATH_IMAGE040
Be the function of the difference of two measured values of independent variable, independent variable
Figure 128252DEST_PATH_IMAGE040
Be that reference unit exists
Figure 252066DEST_PATH_IMAGE022
The measured value of position;
Figure 2010105526265100002DEST_PATH_IMAGE042
For being demarcated the measured value of unit in same position.Because
Figure 601663DEST_PATH_IMAGE042
With All can know, so the function of the difference of two measured values
Figure 104506DEST_PATH_IMAGE038
Can ask for.
In order to ask for the difference function of two measured values, described observation is according to independent variable
Figure 348405DEST_PATH_IMAGE040
Equidistant discrete sampling.The number of pole-pairs of hypothetical reference unit is N, when described revolution object revolution,
Figure 538078DEST_PATH_IMAGE040
=
Figure 2010105526265100002DEST_PATH_IMAGE044
In time, sample
Figure 500218DEST_PATH_IMAGE038
Value,
Figure 2010105526265100002DEST_PATH_IMAGE046
Value
Figure 2010105526265100002DEST_PATH_IMAGE048
Can obtain a discrete sample sequence like this , describe suc as formula (5).
Figure 2010105526265100002DEST_PATH_IMAGE050
?
Figure 2010105526265100002DEST_PATH_IMAGE052
（5）
It is described that observed result is carried out data processing is to sample sequence
Figure 617264DEST_PATH_IMAGE010
Carry out coordinate transform, sampled point mapping and error function are found the solution.Concrete steps comprise:
1) coordinate transform
According to the description of above-mentioned formula (3), number of pole-pairs is NThe reference measure unit have following relation:
Figure 2010105526265100002DEST_PATH_IMAGE054
（6）
In the formula CBe constant, Be meant that reference unit exists
Figure 2010105526265100002DEST_PATH_IMAGE058
Measuring error under the angle, if begin the measured value zero clearing of measured place with reference unit at reference unit, then the C in the formula is zero.Convolution (1) can obtain to draw a conclusion:
Equation (7)
Figure 2010105526265100002DEST_PATH_IMAGE060
（7）
Figure 2010105526265100002DEST_PATH_IMAGE062
Shi Chengli.
Equation (4) exists
Figure 167719DEST_PATH_IMAGE062
The time can be rewritten as formula (8).
Figure 2010105526265100002DEST_PATH_IMAGE064
（8）
Sequence
Figure 617155DEST_PATH_IMAGE010
Exist just
Figure 49273DEST_PATH_IMAGE062
Right under the condition
Figure 2010105526265100002DEST_PATH_IMAGE066
Sampling, therefore for the first time coordinate transform is meant: sample sequence
Figure 2186DEST_PATH_IMAGE010
Horizontal ordinate be transformed into true value by reference measurement values, and obtain the sample sequence under the true value coordinate system
Figure 799240DEST_PATH_IMAGE016
, the relationship description of the two is formula (9).
（9）
2) sampled point mapping
By the number of pole-pairs of calibration measurements unit be M, and
Figure 2010105526265100002DEST_PATH_IMAGE070
According to the description of formula (3), number of pole-pairs is MHad a following relation by the calibration measurements unit:
Be arbitrary integer (10)
In view of the above, obtain to draw a conclusion:
Figure DEST_PATH_IMAGE076
n,
Figure 671992DEST_PATH_IMAGE074
Be arbitrary integer (11)
Figure 845485DEST_PATH_IMAGE006
In the scope, construct one
Figure DEST_PATH_IMAGE078
The sequence of point Satisfy the described relation of formula (12).
Figure DEST_PATH_IMAGE080
nFor integer and
Figure DEST_PATH_IMAGE082
(12)
According to formula (11), sequence
Figure 11073DEST_PATH_IMAGE014
Can be by directly by sequence
Figure 107205DEST_PATH_IMAGE016
Mapping obtains, and mapping relations as the formula (13).
Figure DEST_PATH_IMAGE084
nFor integer and
Figure 943443DEST_PATH_IMAGE082
(13)
Wherein,
Figure DEST_PATH_IMAGE086
The expression complementation is promptly asked nDivided by NObtain the remainder behind the integer quotient.
3) find the solution error function
Sequence of mapping
Figure 870947DEST_PATH_IMAGE014
Be to by the equidistant discrete sampling of calibration measurements elemental error function, need only the number of pole-pairs that suitable selection reference unit and quilt are demarcated the unit NWith MJust can control sequence
Figure 9805DEST_PATH_IMAGE014
Count, in case sampling number is abundant, the sampling law is satisfied in sampling, then by to sequence Carry out discrete Fourier transformation, the error function of being demarcated the unit according to the amplitude spectrum and the phase spectrum reconstruct of gained
Figure 908195DEST_PATH_IMAGE004
Referring to Fig. 1, the error self-calibrating method of described a kind of induction angular displacement sensor system is at two measuring units of sensor internal structure, and as reference unit 1, another is as being demarcated unit 2 with any one.Described reference measure unit 1 is made of excitation winding 11, gauge head 12, and number of pole-pairs is taken as 72, being constituted by excitation winding 21, gauge head 22 by calibration measurements unit 2, number of pole-pairs is taken as 71 Two excitation windings 11 and 21 are fixed into an integral body with the housing 3 of sensor, and gauge head 12 and the gauge head 22 coaxial revolving shaftes 4 that are connected in turn round under the drive of revolving shaft 4 synchronously, realize described synchro measure to the displacement of same angle of revolution.
Referring to Fig. 2, the reference measure unit with had and similar characteristic by the measuring error of calibration measurements unit, show as that the composition of circular error accounts for the overwhelming majority in the error percentage, the residual error composition is minimum, ignore the reference measure unit and as shown in Figure 2 after the residual error by the measuring error curve of calibration measurements unit, can be described as formula (14) and formula (15) respectively, the main difference of the two has: the primitive period of (1) reference measure elemental error curve is
Figure DEST_PATH_IMAGE088
, and demarcated the curve shape difference in the primitive period of cycles 2 π of elemental error curve/71(2).
Figure DEST_PATH_IMAGE090
（14）
Figure DEST_PATH_IMAGE092
（15）
Referring to Fig. 3, described measured value with reference unit is a reference coordinate system, observe as shown in Figure 3 by the curve of the difference gained of demarcation unit measured value and reference unit measured value, its horizontal ordinate is the measured value of reference unit, ordinate is demarcated the poor of unit measured value and reference unit measured value, also is measuring error poor of two measuring units.Curve shown in Figure 3 and the topmost difference of curve shown in Figure 2 are: do not having under standard and the reference situation of female instrument, the horizontal stroke of arbitrfary point, ordinate all can not be known on Fig. 2 curve; And under the same terms, the horizontal stroke of arbitrfary point, ordinate all can be known on Fig. 3 curve, and promptly this of Fig. 3 continuous curve can be reconstructed by suitable discrete sampling point.
Revolving shaft is gone to reference measure unit measured value successively is
Figure DEST_PATH_IMAGE094
The position, measured value poor of unit and reference unit demarcated in record respectively, obtains described sample sequence
Figure 80419DEST_PATH_IMAGE010
According to formula (15), be 0 in the measuring error of these reference by location measuring units, therefore can carry out described coordinate transform, obtain the sequence under the true value coordinate system
Figure 452495DEST_PATH_IMAGE016
, as shown in Figure 4.
Error function
Figure 523219DEST_PATH_IMAGE004
Fundamental frequency be 71 times, the higher harmonic component that generally comprises is 426 times.And sample sequence
Figure 638942DEST_PATH_IMAGE016
To count only be 71 points, therefore,
Figure 478723DEST_PATH_IMAGE016
Can't directly reconstruct function
Figure 21699DEST_PATH_IMAGE004
For obtaining more sampled point, tectonic sequence
Figure 314140DEST_PATH_IMAGE014
, it satisfies the described relation of formula (16):
Figure DEST_PATH_IMAGE096
（16）
According to sampling thheorem: sequence
Figure 298801DEST_PATH_IMAGE014
To count be 5112 points, can reconstruct function
Figure 993088DEST_PATH_IMAGE004
Referring to Fig. 5, according to formula (14) and formula (15), sequence
Figure 706966DEST_PATH_IMAGE014
With
Figure 752282DEST_PATH_IMAGE016
There are following mapping relations:
= nFor integer and (17)

Claims (5)

1. the error self-calibrating method of an angular displacement sensor system is characterized in that, described self-calibrating method may further comprise the steps:
(1) at two measuring unit of induction angular displacement sensor internal structure, the number of pole-pairs difference of described two measuring units, and an odd lot doubly concerns mutually, and can measure carry out the angle of revolution displacement synchronous with the single-revolution object, with any one measuring unit wherein is reference unit, and its measuring error function note is done
Figure 2010105526265100001DEST_PATH_IMAGE001
, another measuring unit is demarcated the unit, and its measuring error function note is done
Figure 783747DEST_PATH_IMAGE002
(2) according to the measured value of reference unit,
Figure 2010105526265100001DEST_PATH_IMAGE003
In the scope with Spacing sampled with the difference of reference unit measured value to demarcating the unit measured value, obtain one group of sample sequence, the note work
Figure 2010105526265100001DEST_PATH_IMAGE005
, wherein NBe the number of pole-pairs of reference unit,
Figure 776160DEST_PATH_IMAGE006
(3) according to the error features of induction angular displacement sensor to described sample sequence Carry out data processing, comprise described sample sequence is carried out coordinate transform and sampled point mapping;
(4) to described sample sequence
Figure 586170DEST_PATH_IMAGE005
Carry out obtaining the sequence of mapping that the elemental error function is demarcated in one group of reflection after the data processing, note is done , described sequence of mapping is carried out discrete Fourier transformation, and the error function of being demarcated the unit according to the amplitude spectrum and the phase spectrum reconstruct of conversion gained , realize the error of sensing system is demarcated certainly.
2. error self-calibrating method according to claim 1 is characterized in that: the number of pole-pairs of described two measuring units more near the time, the effect of demarcation is good more.
3. error self-calibrating method according to claim 2 is characterized in that: the number of pole-pairs of preferred two measuring units differs 1.
4. error self-calibrating method according to claim 1 is characterized in that: described coordinate transform is meant under reference unit measured value coordinate, the sample sequence of the difference function of reflected measurement value
Figure 971201DEST_PATH_IMAGE005
Be transformed into the sample sequence of reflection quilt demarcation unit measuring error function under the true value coordinate system
Figure 463362DEST_PATH_IMAGE008
, promptly sampled point is under the reference unit measured value coordinate
Figure 2010105526265100001DEST_PATH_IMAGE009
The time,
Figure 770234DEST_PATH_IMAGE010
5. error self-calibrating method according to claim 4 is characterized in that: described sampled point mapping is meant: described sequence According to equation
Figure 2010105526265100001DEST_PATH_IMAGE011
Map out sequence
Figure 751146DEST_PATH_IMAGE007
, wherein nFor integer and
Figure 148629DEST_PATH_IMAGE012
, by the number of pole-pairs of calibration measurements unit be M, and
Figure 2010105526265100001DEST_PATH_IMAGE013
,
Figure 939867DEST_PATH_IMAGE014
The expression complementation is promptly asked nDivided by NObtain the remainder behind the integer quotient.
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CN103162614A (en) * 2013-03-28 2013-06-19 重庆理工大学 Online self-calibration method for angular displacement sensor
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