CN116259212B - Non-contact magnetic induction simulation console device and linear correction method - Google Patents
Non-contact magnetic induction simulation console device and linear correction method Download PDFInfo
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- CN116259212B CN116259212B CN202310534003.2A CN202310534003A CN116259212B CN 116259212 B CN116259212 B CN 116259212B CN 202310534003 A CN202310534003 A CN 202310534003A CN 116259212 B CN116259212 B CN 116259212B
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- console device
- permanent magnet
- angle sensor
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/042—Calibration or calibration artifacts
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
Abstract
The invention discloses a non-contact magnetic induction simulation console device and a linear correction method, which relate to the technical field of magnetic induction simulation consoles, and comprise a simulation console device horizontal shaft distributed in a horizontal direction and a simulation console device vertical shaft distributed in a vertical direction; a horizontal axis arc permanent magnet is arranged on a horizontal axis of the simulation console device, a horizontal axis Hall type magnetic angle sensor is arranged on one side of the horizontal axis arc permanent magnet, a vertical axis arc permanent magnet is arranged on a vertical axis of the simulation console device, and a vertical axis Hall type magnetic angle sensor is arranged on one side of the vertical axis arc permanent magnet; the horizontal axis arc permanent magnet packaging surface is perpendicular to the horizontal axis direction of the simulation console device, the vertical axis arc permanent magnet packaging surface is perpendicular to the vertical axis direction of the simulation console device, the console output value and the rotating mechanical angle are in a linear relation, and accordingly a gun adjusting speed curve of the real-mounted console can be simulated, and the accuracy is higher.
Description
Technical Field
The invention relates to the technical field of magnetic induction simulation operation tables, in particular to a non-contact magnetic induction simulation operation table device and a linear correction method.
Background
The control console is used as an important component device of the armored vehicle training simulator fire control system, the output signal of the control console is the basis for calculating the gun adjusting speed, the speed and the precision of aiming a gun at a target and the maneuverability of the armored vehicle training simulator fire control system are directly influenced, and the key point of the simulation control console device is that the control console output signal and the rotating mechanical angle form a linear relation.
In the prior art, when the mechanical structure of the console device is designed, in order to solve the problem of difficult assembly of the hall-type magnetic angle sensor, the hall-type magnetic angle sensor adopts a side shaft mounting mode, namely, the hall-type magnetic angle sensor is fixed on the outer side of the permanent magnet in the horizontal direction, and when the hall-type magnetic angle sensor and the magnet on one side of the rotating shaft work cooperatively, the hall array can simultaneously detect the normal component B of the radial magnetic field x And tangential component B y (or the vertical component B is seen in the case of the orthogonal side axis z ) In this configuration, the normal component B x Is generally greater in magnitude than tangential component B y When the sensor senses two magnetic fields with different sizes, the angle output becomes nonlinear along with the rotation of the magnetic steel, so that the output of the operating platform becomes nonlinear, in addition, the mechanical tolerance generated by the Hall type magnetic angle sensor and the arc-shaped permanent magnet in the installation mode of the side shaft and the magnetization tolerance of the arc-shaped permanent magnet can further increase the nonlinearity of the output of the operating platform, the permanent magnet is fixed in a half shielding ring in the operating platform device, and the rotating mechanical angle range of the operating platform, which can be operated by the horizontal shaft and the vertical shaft, is very small.
Disclosure of Invention
The invention aims to provide a non-contact magnetic induction simulation console device and a linear correction method, which solve the following technical problems:
the mechanical tolerance generated when the Hall type magnetic angle sensor and the arc permanent magnet are installed in the side shaft installation mode and the magnetization tolerance of the arc permanent magnet can further increase the nonlinearity of the output of the console.
The aim of the invention can be achieved by the following technical scheme:
a non-contact magnetic induction simulation console device comprises a simulation console device horizontal shaft which is arranged in a horizontal direction and a simulation console device vertical shaft which is arranged in a vertical direction;
a horizontal axis arc permanent magnet is arranged on a horizontal axis of the simulation console device, a horizontal axis Hall type magnetic angle sensor is arranged on one side of the horizontal axis arc permanent magnet, a vertical axis arc permanent magnet is arranged on a vertical axis of the simulation console device, and a vertical axis Hall type magnetic angle sensor is arranged on one side of the vertical axis arc permanent magnet;
the horizontal axis arc-shaped permanent magnet packaging surface is vertical to the horizontal axis direction of the simulation console device, and the vertical axis arc-shaped permanent magnet packaging surface is vertical to the vertical axis direction of the simulation console device.
Preferably, the arc of the horizontal axis arc permanent magnet and the vertical axis arc permanent magnet is 105 degrees.
Preferably, the distance between the horizontal axis arc permanent magnet and the horizontal axis Hall type magnetic angle sensor and the distance between the vertical axis arc permanent magnet and the vertical axis Hall type magnetic angle sensor are smaller than 1mm.
Preferably, in the side shaft installation mode, the horizontal axis hall-type magnetic angle sensor and the vertical axis hall-type magnetic angle sensor respectively detect tangential vectors B of peripheral magnetic fields of the horizontal axis arc permanent magnet and the vertical axis arc permanent magnet y And normal vector B x 。
Preferably, the tangential vector B y And normal vector B x The expression is as follows:
B y =A y0 sinφ
B x =A x0 sinφ
wherein A is y0 Tangential vector B for the detected magnetic field y Amplitude value, A of (2) x0 For the detected magnetic field normal vector B x Phi is the rotational mechanical angle of the horizontal axis of the analog console device or the vertical axis of the analog console device.
A linear correction method of a non-contact magnetic induction simulation console device comprises the following steps:
zero calibration is carried out on a horizontal axis Hall type magnetic angle sensor and a vertical axis Hall type magnetic angle sensor of the analog console device;
sequentially rotating an operating handle of the horizontal shaft of the analog operating platform device and the vertical shaft of the analog operating platform device, and acquiring measurement angle values of corresponding Hall type magnetic angle sensors every 1 degree of rotation until the maximum measuring range of the horizontal shaft of the analog operating platform device and the vertical shaft of the analog operating platform device is reached, so as to acquire measurement data before correction;
based on the measured data before correction, respectively calculating the horizontal axis Hall type magnetic angle sensor and the horizontal axis rotating mechanical angle of the simulation console device and the linearity of the vertical axis Hall type magnetic angle sensor and the vertical axis rotating mechanical angle of the simulation console device, drawing a linearity relation diagram, and calculating to obtain a magnetic field tangential vector B y And normal vector B x Amplitude error ratio of (a);
magnetic field tangential vector B detected by horizontal axis Hall type magnetic angle sensor and vertical axis Hall type magnetic angle sensor based on amplitude error comparison y And normal vector B x Compensating for the amplitude of (a);
repeating the steps until the linearity is smaller than the preset range.
Preferably, the method further comprises:
and calculating the amplitude error ratio lambda by using a linear relation diagram of the measured angle omega before correction and the rotating machinery angle by using a Hall type magnetic angle sensor, so as to compensate the measured angle omega before correction.
Preferably, the method further comprises:
tangential vector B of magnetic field detected by Hall type magnetic angle sensor y Amplitude A of (2) y0 Normal vector B of magnetic field x Amplitude A of (2) x0 Compensating to make the corrected amplitude error ratio lambda value be 1, and measuring angle omega after the correction of the Hall type magnetic angle sensor 0 The method comprises the following steps:
ω 0 =arctan（tanφ）=φ
wherein phi is the rotation mechanical angle of the horizontal axis (3) of the analog console device or the vertical axis (6) of the analog console device.
The invention has the beneficial effects that:
the invention can correct the output in the arc permanent magnet side shaft installation mode, calculates the amplitude error ratio lambda by utilizing the linear relation diagram of the angle omega measured before correction and the rotating machinery angle of the Hall type magnetic angle sensor, thereby compensating the angle omega measured before correction, leading the output value of the console and the rotating machinery angle to be in linear relation, and simulating the gun adjusting speed curve of the real-mounted console with higher precision.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of a non-contact magnetic induction simulation console device according to the present invention;
FIG. 2 is a schematic diagram showing the relative positions of an arc-shaped permanent magnet and a Hall type magnetic angle sensor in a non-contact magnetic induction simulation console device according to the present invention;
FIG. 3 is a graph showing the linear relationship between the measured angle of the Hall type magnetic angle sensor and the angle of the rotating machine when the horizontal axis rotates in the non-contact magnetic induction simulation console device;
FIG. 4 is a graph showing the linear relationship between the measured angle of the Hall type magnetic angle sensor and the angle of the rotating machine when the vertical shaft rotates in the non-contact magnetic induction simulation console device;
FIG. 5 is a flow chart of a method for linear calibration of a non-contact magnetic induction simulation console device according to the present invention.
In the figure: 1. a horizontal axis hall type magnetic angle sensor; 2. a horizontal axis arc permanent magnet; 3. simulating a horizontal axis of the console device; 4. a vertical axis hall type magnetic angle sensor; 5. a vertical axis arc permanent magnet; 6. the vertical axis of the console device is simulated.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 1-2, the invention is a non-contact magnetic induction simulation console device, which comprises a simulation console device horizontal shaft 3 arranged in a horizontal direction and a simulation console device vertical shaft 6 arranged in a vertical direction, wherein for one implementation mode of the embodiment, the simulation console device horizontal shaft 3 is provided with a horizontal shaft arc permanent magnet 2, one side of the horizontal shaft arc permanent magnet 2 is provided with a horizontal shaft hall type magnetic angle sensor 1, the simulation console device vertical shaft 6 is provided with a vertical shaft arc permanent magnet 5, one side of the vertical shaft arc permanent magnet 5 is provided with a vertical shaft hall type magnetic angle sensor 4, wherein the packaging surface of the horizontal shaft arc permanent magnet 2 is vertical to the extending direction of the simulation console device horizontal shaft 3, and the packaging surface of the vertical shaft arc permanent magnet 5 is vertical to the extending direction of the simulation console device vertical shaft 6;
in another embodiment, the radians of the horizontal axis arc permanent magnet 2 and the vertical axis arc permanent magnet 5 are 105 °; the distance between the horizontal axis arc permanent magnet 2 and the horizontal axis Hall type magnetic angle sensor 1 and the distance between the vertical axis arc permanent magnet 5 and the vertical axis Hall type magnetic angle sensor 4 are smaller than 1mm;
based on this installation mode, the horizontal axis hall type magnetic angle sensor 1 and the vertical axis hall type magnetic angle sensor 4 can respectively detect tangential vectors B of the peripheral magnetic fields of the horizontal axis arc permanent magnet 2 and the vertical axis arc permanent magnet 5 y And normal vector B x ；
Meanwhile, in the sideshaft installation mode, when the simulation console only considers amplitude errors, the tangential vector B of the detected magnetic field y And normal vector B x The expression is as follows:
B y =A y0 sinφ
B y =A x0 sinφ
wherein A is y0 Tangential vector B for the detected magnetic field y Amplitude value, A of (2) x0 For the detected magnetic field normal vector B x Phi is the rotational mechanical angle of the analog console device horizontal axis 3 or the analog console device vertical axis 6.
Example 2
Referring to fig. 5, a method for linear correction of a non-contact magnetic induction simulation console device includes the following steps:
s101, performing zero calibration on a horizontal axis Hall type magnetic angle sensor 1 and a vertical axis Hall type magnetic angle sensor 4 of the analog console device;
s102, sequentially rotating an operating handle of the horizontal shaft 3 of the analog operating platform device and the vertical shaft 6 of the analog operating platform device, and recording measurement angle values corresponding to the Hall magnetic angle sensor 1 of the horizontal shaft and the Hall magnetic angle sensor 4 of the vertical shaft when the horizontal shaft 3 of the analog operating platform device and the vertical shaft 6 of the analog operating platform device rotate by 1 DEG each time, until the maximum measuring range of the horizontal shaft 3 of the analog operating platform device and the vertical shaft 6 of the analog operating platform device is reached, so as to obtain measurement data before correction;
s103, calculating the rotation mechanical angles of the horizontal axis Hall type magnetic angle sensor 1 and the horizontal axis 3 of the simulation console device and the linearity of the rotation mechanical angles of the vertical axis Hall type magnetic angle sensor 4 and the vertical axis 6 of the simulation console device based on the measurement data before correction, drawing a linearity relation diagram, and calculating to obtain a magnetic field tangential vector B y And normal vector B x Amplitude error ratio of (a);
s104, comparing the tangential vector B of the magnetic field detected by the horizontal-axis Hall type magnetic angle sensor 1 and the vertical-axis Hall type magnetic angle sensor 4 based on amplitude error y And normal vector B x Compensating for the amplitude of (a);
s105, repeating the steps until the linearity is smaller than a preset range.
In one implementation of the present embodiment, for step S101:
when the horizontal axis hall type magnetic angle sensor 1 and the vertical axis hall type magnetic angle sensor 4 of the analog console device are calibrated, the method further comprises: the horizontal shaft 3 of the simulation console device and the vertical shaft 6 of the simulation console device are in a static state, zero calibration is carried out on the horizontal shaft Hall type magnetic angle sensor 1 and the vertical shaft Hall type magnetic angle sensor 4, and the horizontal shaft 3 of the simulation console device and the vertical shaft 6 of the simulation console device are in a zero state when the simulation console device is static, namely the angles before measurement of the horizontal shaft Hall type magnetic angle sensor 1 and the vertical shaft Hall type magnetic angle sensor 4 are 0;
in the following detailed description, the hall-type magnetic angle sensor is represented as a horizontal axis hall-type magnetic angle sensor 1 or a vertical axis hall-type magnetic angle sensor 4.
For step S102, the measured angle before correction of the hall-type magnetic angle sensor is:
ω=arctan（B y /B x ）
=arctan（A y0 sinφ/A xo cosφ）
=arctan(λtanφ)
wherein λ=a y0 /A x0 In order to achieve the amplitude error ratio, in a side shaft installation mode, the output of the analog console device is nonlinear due to the influence of the amplitude error ratio lambda, and at the moment, an angle error gamma exists between a measured angle omega before correction of the Hall type magnetic angle sensor and a selected mechanical angle phi, and is as follows:
γ=ω-φ
the linearity η between the measured angle of the hall-type magnetic angle sensor and the rotating machine angle is:
η=γ max /R
wherein, gamma max R is the maximum value of the angle measured before correction of the Hall type magnetic angle sensor;
the amplitude error ratio lambda can be calculated by utilizing the linear relation diagram of the measured angle omega before correction and the rotating machinery angle of the Hall type magnetic angle sensor, so that the measured angle omega before correction is compensated, namely the tangential vector B of the magnetic field detected by the Hall type magnetic angle sensor y Amplitude A of (2) y0 Normal vector B of magnetic field x Amplitude A of (2) x0 Compensating to make the corrected amplitude error ratio lambda value be 1, and measuring angle omega after the correction of the Hall type magnetic angle sensor 0 The method comprises the following steps:
ω 0 =arctan（tanφ）=φ
referring to fig. 3-4, there are diagrams of the relationship between the measured angle of the hall-type magnetic angle sensor and the rotating mechanical angle when the horizontal axis 3 of the analog console device and the vertical axis 6 of the analog console device are rotated;
the mechanical rotation angle of the horizontal shaft 3 of the analog console device is clockwise rotated to be positive, and the vertical shaft 6 of the analog console device is upwards rotated to be positive, so that the linearity eta of the analog console device before correction is larger, the linearity eta after correction is smaller, namely the linearity after correction is better.
In the description of the present invention, it should be understood that the terms "upper," "lower," "left," "right," and the like indicate an orientation or a positional relationship based on that shown in the drawings, and are merely for convenience of description and for simplifying the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, as well as a specific orientation configuration and operation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The foregoing describes one embodiment of the present invention in detail, but the description is only a preferred embodiment of the present invention and should not be construed as limiting the scope of the invention. All equivalent changes and modifications within the scope of the present invention are intended to be covered by the present invention.
Claims (6)
1. A linear correction method of a non-contact magnetic induction simulation console device comprises a simulation console device horizontal shaft (3) which is arranged in a horizontal direction and a simulation console device vertical shaft (6) which is arranged in a vertical direction;
the simulation control console device is characterized in that a horizontal shaft arc permanent magnet (2) is arranged on a horizontal shaft (3) of the simulation control console device, and a horizontal shaft Hall type magnetic angle sensor (1) is arranged on one side of the horizontal shaft arc permanent magnet (2);
a vertical axis arc permanent magnet (5) is arranged on a vertical axis (6) of the simulation console device, and a vertical axis Hall type magnetic angle sensor (4) is arranged on one side of the vertical axis arc permanent magnet (5);
the packaging surface of the horizontal axis arc permanent magnet (2) is vertical to the extending direction of the horizontal axis (3) of the simulation console device, and the packaging surface of the vertical axis arc permanent magnet (5) is vertical to the extending direction of the vertical axis (6) of the simulation console device;
the linearity correction method comprises the following steps:
zero calibration is carried out on a horizontal axis Hall type magnetic angle sensor (1) and a vertical axis Hall type magnetic angle sensor (4) of the analog console device;
rotating the horizontal shaft (3) of the analog console device and the vertical shaft (6) of the analog console device, and acquiring measurement angle values of corresponding Hall magnetic angle sensors every time the horizontal shaft (3) of the analog console device and the vertical shaft (6) of the analog console device rotate by 1 DEG until the maximum measuring range of the horizontal shaft (3) of the analog console device and the vertical shaft (6) of the analog console device is reached, so as to acquire measurement data before correction;
based on the measurement data before correction, respectively calculating the rotating mechanical angles of the horizontal axis Hall type magnetic angle sensor (1) and the horizontal axis (3) of the analog console device and the linearity of the rotating mechanical angles of the vertical axis Hall type magnetic angle sensor (4) and the vertical axis (6) of the analog console device, drawing a linearity relation diagram, and calculating to obtain a magnetic field tangential vector B y And normal vector B x Amplitude error ratio of (a);
amplitude error comparison-based magnetic field tangential vector B detected by horizontal-axis Hall type magnetic angle sensor (1) and vertical-axis Hall type magnetic angle sensor (4) y And normal vector B x Compensating for the amplitude of (a);
repeating the steps until the linearity is smaller than the preset range.
2. The linear correction method of a noncontact magnetic induction simulation console apparatus according to claim 1, wherein the radian of the horizontal axis arc permanent magnet (2) and the vertical axis arc permanent magnet (5) is 105 °.
3. The linear correction method of the non-contact type magnetic induction simulation console device according to claim 2, wherein the distance between the horizontal axis arc permanent magnet (2) and the horizontal axis hall type magnetic angle sensor (1) and the distance between the vertical axis arc permanent magnet (5) and the vertical axis hall type magnetic angle sensor (4) are smaller than 1mm.
4. The linear correction method of a non-contact type magnetic induction simulation console device according to claim 1, wherein in a side shaft installation mode, the horizontal axis hall-type magnetic angle sensor (1) and the vertical axis hall-type magnetic angle sensor (4) respectively detect tangential vectors B of peripheral magnetic fields of the horizontal axis arc permanent magnet (2) and the vertical axis arc permanent magnet (5) y And normal vector B x 。
5. The method for linear correction of a non-contact magnetic induction simulation console device according to claim 4, wherein the tangential vector B y And normal vector B x The expression is as follows:
B y =A y0 sinφ
B x =A x0 sinφ
wherein A is y0 Tangential vector B for the detected magnetic field y Amplitude value, A of (2) x0 For the detected magnetic field normal vector B x Phi is the rotational mechanical angle of the horizontal axis (3) of the analog console device or the vertical axis (6) of the analog console device.
6. The method of linearity correction of a non-contact magnetic induction simulation console device of claim 1, wherein the method further comprises:
tangential vector B of magnetic field detected by Hall type magnetic angle sensor y Amplitude A of (2) y0 Normal vector B of magnetic field x Amplitude A of (2) x0 Compensating to make the corrected amplitude error ratio lambda value be 1, and measuring angle omega after the correction of the Hall type magnetic angle sensor 0 The method comprises the following steps:
ω 0 =arctan（tanφ）=φ
wherein phi is the rotation mechanical angle of the horizontal axis (3) of the analog console device or the vertical axis (6) of the analog console device.
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