CN102022975B - 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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CN102022975B
CN102022975B CN201010552626A CN201010552626A CN102022975B CN 102022975 B CN102022975 B CN 102022975B CN 201010552626 A CN201010552626 A CN 201010552626A CN 201010552626 A CN201010552626 A CN 201010552626A CN 102022975 B CN102022975 B CN 102022975B
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error
measuring
sequence
measured value
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CN102022975A (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, there is one type to be the basis with the electromagnetic induction principle.The typical case of this type 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 appearance, 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 problems referred to above that exist in the prior art, disclose a kind of angular displacement sensor system error self-calibrating method.This self-calibrating method utilizes circumference closure principle and the characteristics of induction angular displacement sensor self in the measurement of angle, can not have standard and with reference to the demarcation certainly that realizes sensor error under the condition of female appearance.
The technical scheme that the present invention adopts is:
A kind of error self-calibrating method of angular displacement sensor system is characterized in that, said 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 of said two measuring units is different; And an odd lot doubly concerns each other; And can measure carry out the angle of revolution displacement synchronous with the single-revolution object; With any measuring unit wherein is reference unit; Note is made
Figure 2010105526265100002DEST_PATH_IMAGE002
to its measuring error function; Another measuring unit is demarcated the unit, and note is made to its measuring error function;
(2) according to the measured value of reference unit, 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
Figure 2010105526265100002DEST_PATH_IMAGE010
, wherein NBe the number of pole-pairs of reference unit,
(3) according to the error features of induction angular displacement sensor said sample sequence
Figure 260976DEST_PATH_IMAGE010
is carried out data processing, comprise said sample sequence is carried out coordinate transform and sampled point mapping;
(4) described sample sequence
Figure 821270DEST_PATH_IMAGE010
is carried out obtaining the sequence of mapping that the elemental error function is demarcated in one group of reflection after the data processing; Note is made ; Said sequence of mapping is carried out discrete Fourier transformation, and realize the error of sensing system is demarcated certainly according to the error function
Figure 655234DEST_PATH_IMAGE004
that the unit is demarcated in the amplitude spectrum and the phase spectrum reconstruct of conversion gained.
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
Figure 903179DEST_PATH_IMAGE010
(3) According to the electromagnetic induction type sensor error characteristics of the sampling sequence coordinate transform sequence
Figure 2010105526265100002DEST_PATH_IMAGE016
;
(4) for the sequence
Figure 408295DEST_PATH_IMAGE016
mapping and earn points to meet the sampling theorem sequence
Figure 891229DEST_PATH_IMAGE014
;
(5) sequence
Figure 363799DEST_PATH_IMAGE014
is carried out discrete Fourier transformation, reconstruct is by the error function of calibration measurements unit
Figure 539565DEST_PATH_IMAGE004
.
Compare with prior art, advantage of the present invention is:
(1) object of being demarcated that uses in the calibration process all is measuring units of electromagnetic sensor with references object, need not standard or high precision with reference to female appearance, can realize that error is from demarcation;
(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 said 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 difference curve and the curve of two measured value errors under the reference unit measured value coordinate system;
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
Below according to Figure of description and combine specific embodiment that technical scheme of the present invention is done further explain.
A kind of angular displacement sensor system error self-calibrating method disclosed by the invention, realize through following technical scheme:
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 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 possibly occur and got; But the number of pole-pairs of two measuring units should be different; And each other an odd lot doubly concerns, when the number of pole-pairs of two measuring units relatively near the time, the effect of demarcation is better; When the number of pole-pairs of two measuring units differs 1, the best results of demarcation.
The said 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).
（1）
Wherein, is the error function of measured unit;
Figure 2010105526265100002DEST_PATH_IMAGE022
is the true value of revolving shaft place angular displacement;
Figure 2010105526265100002DEST_PATH_IMAGE024
is the measured value of measured unit to this angular displacement, and 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 said electromagnetic sensor is meant: number of pole-pairs does NThe measuring error of electromagnetic sensor can be described as formula (2).
Figure 2010105526265100002DEST_PATH_IMAGE026
（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 does 1 ~ m, mBe generally less than 8 Be residual error, its value much smaller than , 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; Observing the difference of being demarcated unit measured value (being designated as
Figure 2010105526265100002DEST_PATH_IMAGE032
) and reference unit measured value (being designated as
Figure 2010105526265100002DEST_PATH_IMAGE034
) is meant: when described revolution object revolution; Reference unit and quilt are demarcated the unit and simultaneously the angle of revolution displacement are measured; And providing measured value separately 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）
Figure 2010105526265100002DEST_PATH_IMAGE038
is to be the function of difference of two measured values of independent variable with
Figure 2010105526265100002DEST_PATH_IMAGE040
in the formula, and independent variable
Figure 128252DEST_PATH_IMAGE040
is the measured value of reference unit in
Figure 252066DEST_PATH_IMAGE022
position;
Figure 2010105526265100002DEST_PATH_IMAGE042
demarcated the measured value of unit in same position.Because and all can be known, so the function of the difference of two measured values
Figure 104506DEST_PATH_IMAGE038
can be asked for.
In order to ask for the difference function of two measured values, described observation is the equidistant discrete sampling according to independent variable
Figure 348405DEST_PATH_IMAGE040
.The number of pole-pairs of hypothetical reference unit does N, when said revolution object revolution,
Figure 538078DEST_PATH_IMAGE040
=
Figure 2010105526265100002DEST_PATH_IMAGE044
In time, sample Value,
Figure 2010105526265100002DEST_PATH_IMAGE046
Value
Figure 2010105526265100002DEST_PATH_IMAGE048
Can obtain a discrete sample sequence
Figure 190962DEST_PATH_IMAGE010
like this, describe suc as formula (5).
?
Figure 2010105526265100002DEST_PATH_IMAGE052
（5）
Described observed result is carried out data processing is that sample sequence is carried out coordinate transform, and 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 does NThe reference measure unit exist below relation:
Figure 2010105526265100002DEST_PATH_IMAGE054
（6）
In the formula CBe constant,
Figure 2010105526265100002DEST_PATH_IMAGE056
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:
Equality (7)
Figure 2010105526265100002DEST_PATH_IMAGE060
（7）
When
Figure 2010105526265100002DEST_PATH_IMAGE062
, set up.
Equality (4) can be rewritten as formula (8) when .
Figure 2010105526265100002DEST_PATH_IMAGE064
（8）
Sequence
Figure 617155DEST_PATH_IMAGE010
sampling under
Figure 49273DEST_PATH_IMAGE062
condition just to
Figure 2010105526265100002DEST_PATH_IMAGE066
; Therefore coordinate transform for the first time is meant: the horizontal ordinate of sample sequence
Figure 2186DEST_PATH_IMAGE010
is transformed into true value by reference measurement values; And obtaining the sample sequence
Figure 799240DEST_PATH_IMAGE016
under the true value coordinate system, the relationship description of the two is formula (9).
Figure 2010105526265100002DEST_PATH_IMAGE068
（9）
2) sampled point mapping
By the number of pole-pairs of calibration measurements unit done M, and
Figure DEST_PATH_IMAGE070
According to the description of formula (3), number of pole-pairs does MExisted by the calibration measurements unit below relation:
Figure DEST_PATH_IMAGE072
Figure DEST_PATH_IMAGE074
is arbitrary integer (10)
In view of the above, obtain to draw a conclusion:
Figure DEST_PATH_IMAGE076
n, Be arbitrary integer (11)
In
Figure 845485DEST_PATH_IMAGE006
scope, the sequence
Figure 918483DEST_PATH_IMAGE014
of constructing one
Figure DEST_PATH_IMAGE078
point satisfies the said relation of formula (12).
Figure DEST_PATH_IMAGE080
nFor integer and (12)
According to formula (11); Sequence
Figure 11073DEST_PATH_IMAGE014
can obtain by directly being shone upon by sequence , and mapping relations are suc as formula shown in (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 through to sequence
Figure 658479DEST_PATH_IMAGE014
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 said a kind of induction angular displacement sensor system is at two measuring units of sensor internal structure, and with any unit 1 as a reference, another is as being demarcated unit 2.Said reference measure unit 1 is made up 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 are fixed into an integral body with 21 with the housing 3 of sensor, gauge head 12 and the gauge head 22 coaxial revolving shaftes 4 that are connected in, and synchronous the revolution realized described synchro measure to the displacement of same angle of revolution under the drive of revolving shaft 4.
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 reference measure unit after the residual error and as shown in Figure 2 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: (1) reference measure elemental error curve primitive period is
Figure DEST_PATH_IMAGE088
, and the curve shape of being demarcated in cycles 2 π/71 (2) primitive periods of elemental error curve is different.
（14）
Figure DEST_PATH_IMAGE092
（15）
Referring to Fig. 3; Said measured value with reference unit is a reference coordinate system; The curve of observing the difference gained of being demarcated unit measured value and reference unit measured value is as shown in Figure 3; Its horizontal ordinate is the measured value of reference unit, and 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 appearance, 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 continuous curve of Fig. 3 can carry out reconstruct through suitable discrete sampling point.
Revolving shaft is gone to the position of reference measure unit measured value for
Figure DEST_PATH_IMAGE094
successively; The measured value of record quilt demarcation unit and reference unit is poor respectively, obtains said sample sequence
Figure 80419DEST_PATH_IMAGE010
.According to formula (15); Measuring error at these reference by location measuring units is 0; Therefore can carry out said coordinate transform; Obtain the sequence
Figure 452495DEST_PATH_IMAGE016
under the true value coordinate system, as shown in Figure 4.
The fundamental frequency of error function
Figure 523219DEST_PATH_IMAGE004
is 71 times, and the higher harmonic component that generally comprises is 426 times.And counting of sample sequence
Figure 638942DEST_PATH_IMAGE016
is merely 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 said relation of formula (16):
Figure DEST_PATH_IMAGE096
（16）
According to sampling thheorem: counting of sequence
Figure 298801DEST_PATH_IMAGE014
is 5112 points, can reconstruct function
Figure 993088DEST_PATH_IMAGE004
.
Referring to Fig. 5; According to formula (14) and formula (15), there are following mapping relations in sequence
Figure 706966DEST_PATH_IMAGE014
with
Figure 752282DEST_PATH_IMAGE016
:
= nFor integer and
Figure DEST_PATH_IMAGE100
(17)

Claims (3)

1. the error self-calibrating method of an angular displacement sensor system is characterized in that, said 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 of said two measuring units is different; And an odd lot doubly concerns each other; And can measure carry out the angle of revolution displacement synchronous with the single-revolution object; With any measuring unit wherein is reference unit; Note is made to its measuring error function; Another measuring unit is demarcated the unit, and note is made
Figure 659283DEST_PATH_IMAGE002
to its measuring error function;
(2) according to the measured value of reference unit,
Figure 2010105526265100001DEST_PATH_IMAGE003
In the scope with
Figure 514106DEST_PATH_IMAGE004
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 231527DEST_PATH_IMAGE006
(3) according to the error features of induction angular displacement sensor said sample sequence
Figure 62954DEST_PATH_IMAGE005
is carried out data processing, comprise said sample sequence is carried out coordinate transform and sampled point mapping;
Described coordinate transform is meant under reference unit measured value coordinate; The sample sequence of the difference function of reflected measurement value
Figure 877326DEST_PATH_IMAGE005
is transformed into the sample sequence
Figure 2010105526265100001DEST_PATH_IMAGE007
of reflection quilt demarcation unit measuring error function under the true value coordinate system; Be sampled point when being under the reference unit measured value coordinate,
Figure 2010105526265100001DEST_PATH_IMAGE009
;
Described sampled point mapping is meant: said sequence According to equality
Figure 978772DEST_PATH_IMAGE010
Shine upon sequence
Figure 2010105526265100001DEST_PATH_IMAGE011
, wherein nFor integer and
Figure 83869DEST_PATH_IMAGE012
, by the number of pole-pairs of calibration measurements unit done M, and
Figure 2010105526265100001DEST_PATH_IMAGE013
, The expression complementation is promptly asked nDivided by NObtain the remainder behind the integer quotient;
(4) described sample sequence
Figure 769245DEST_PATH_IMAGE005
is carried out obtaining the sequence of mapping that the elemental error function is demarcated in one group of reflection after the data processing; Note is made
Figure 443940DEST_PATH_IMAGE011
; Said sequence of mapping is carried out discrete Fourier transformation; And according to the error function
Figure 967325DEST_PATH_IMAGE002
that the unit is demarcated in the amplitude spectrum and the phase spectrum reconstruct of conversion gained, the error that realizes the diagonal displacement sensing system is from demarcating.
2. error self-calibrating method according to claim 1 is characterized in that: the number of pole-pairs of said 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.
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