CN102175889B - Self-adaptive measuring method for angular acceleration of servo turntable - Google Patents
Self-adaptive measuring method for angular acceleration of servo turntable Download PDFInfo
- Publication number
- CN102175889B CN102175889B CN2011100256847A CN201110025684A CN102175889B CN 102175889 B CN102175889 B CN 102175889B CN 2011100256847 A CN2011100256847 A CN 2011100256847A CN 201110025684 A CN201110025684 A CN 201110025684A CN 102175889 B CN102175889 B CN 102175889B
- Authority
- CN
- China
- Prior art keywords
- angular acceleration
- angular
- self
- accelerometer
- signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000001133 acceleration Effects 0.000 title claims abstract description 91
- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000001914 filtration Methods 0.000 claims abstract description 35
- 238000012937 correction Methods 0.000 claims abstract description 15
- 238000006243 chemical reaction Methods 0.000 claims abstract description 11
- 238000005259 measurement Methods 0.000 claims description 34
- 230000003044 adaptive effect Effects 0.000 claims description 18
- 230000009897 systematic effect Effects 0.000 claims description 13
- 238000009434 installation Methods 0.000 claims description 7
- 230000006978 adaptation Effects 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 5
- 238000012545 processing Methods 0.000 abstract description 6
- 230000000694 effects Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000005622 photoelectricity Effects 0.000 description 3
- 230000003321 amplification Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 239000012467 final product Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Images
Landscapes
- Gyroscopes (AREA)
- Control Of Position Or Direction (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention relates to a self-adaptive measuring method for angular acceleration of a servo turntable. The method is characterized by comprising the specific steps of first mounting an angular accelerometer on the servo turntable, wherein the angular accelerometer directly senses and measures the angular acceleration of a servo system, outputs a direct current voltage V corresponding to an angular acceleration signal a of the servo system and directly inputs the voltage into an A/D (Analog to Digital) conversion module to conduct A/D conversion and inputs the converted digitalized voltage signal into a DSP (Digital Signal Processing) filter module; realizing a self-adaptive FIR (Finite Impulse Response) filter based on an LMS (Least Mean Square) algorithm by using the DSP and finishing self-adaptive FIR filtering and error correction of the angular acceleration signal; and calibrating and converting the processed angular acceleration signal according to a linear corresponding relation of the input angular acceleration a and the output voltage V, given by the angular accelerometer, so as to self-adaptively measure the angular acceleration signal of the servo turntable. By using the self-adaptive measuring method, the angular acceleration signal is self-adaptively measured, the measuring result of the angular acceleration signal is improved and the measuring precision is improved.
Description
Technical field
The present invention relates to a kind of servo turntable angular acceleration self-adapting measuring method, belong to automation field, be applicable to improvement servo-control system angular acceleration signal measuring method.
Background technology
In the control of servo turntable; The angular acceleration signal retroactive effect of kinematic system is received publicity in the research of servo controller further, and the feedback control system that makes up based on angular acceleration signal has become the major technique means that improve servo turntable control performance index.The measurement of angular acceleration signal and precision thereof are the important leverages of servocontrol effect; In photoelectric follow-up; Usually adopt photoelectric encoder to come indirect calculation to go out the angular acceleration of system; Scrambler is the position measurement element, encoder output bit is put signal carry out first order difference and just can obtain angular velocity, carries out difference again and just can obtain angular acceleration.Because angular velocity and angular acceleration signal all are taken from the difference to encoder output; Can introduce inevitable measuring error, calculus of differences also can constantly amplify error simultaneously, thereby brings calculating noise; Therefore can reduce the precision of angular acceleration signal, influence control effect.Also there is the people in the photoelectricity servo turntable, to adopt the linear accelerometer array to come to measure indirectly and calculate angular acceleration; But the installation of linear accelerometer often requires very high precision; Calculate also very complex mathematical calculating of needs of angular acceleration according to the linear acceleration of measuring; In practical engineering application, the efficient of this kind method and precision receive great restriction.
Summary of the invention
The purpose of this invention is to provide a kind of servo turntable angular acceleration self-adapting measuring method; Adopted that precision is high, the Piezoelectric Angular Accelerometer direct measured angular acceleration signal of stable performance; Use DSP and constitute auto-adaptive fir filter; And measuring-signal carried out auto adapted filtering and Error processing, it is complicated to solve the angular acceleration signal measuring method, and the problem that measuring error is bigger than normal, precision is not high.
Technical scheme of the present invention is achieved in that a kind of servo turntable angular acceleration self-adapting measuring method, includes: angular accelerometer, A/D modular converter, DSP filtration module, computing machine; It is characterized in that concrete grammar is following: established angle accelerometer on servo turntable at first; The angular acceleration of the direct measurement of inductance servo-drive system of angular accelerometer; The corresponding DC voltage V of angular acceleration signal a of output and servo-drive system; And be directly inputted to the A/D modular converter and carry out A/D conversion, will change digitized voltage signal again and input to the DSP filtration module, by the auto-adaptive fir filter of DSP realization based on the LMS algorithm; And the automatic adaptation FIR filtering and the error correction of completion angular acceleration signal; According to given " the input angle acceleration a-output voltage V " linear corresponding relation of angular accelerometer, the angular acceleration signal of handling is demarcated conversion again, and then realize the adaptive measuring of servo turntable angular acceleration signal.
Described angular accelerometer is selected CJ41A-2E type Piezoelectric Angular Accelerometer for use, measurement range: (100～+ 100) (°)/s
2, WV: ± 15 V, output voltage :-8 V～+ 8 V, interface adopt J14A-9ZJB type socket.
Described A/D modular converter adopts ADS1210 chip, 24 sigma-delta type A/D converters of dynamic range.
Described DSP filtration module is to be core with the TMS320LF2407 chip.
Described auto-adaptive fir filter is 32 rank, and structure adopts the lateral type wave filter.
Described error correcting method is following: after the angular accelerometer Installation and Debugging finish, according to measurement range, set one group of standard angle accekeration a according to the height of servo turntable dynamic perfromance<sub >Mark</sub>, respectively with real-time measurement values a<sub >Survey</sub>Compare to analyze and find that systematic measurement error changes along with the change of angular acceleration values,, draw error size and scope: 1) according to the relation of the error between standard value and the measured value<img file="486713DEST_PATH_IMAGE002.GIF" he="23" img-content="drawing" img-format="GIF" inline="no" orientation="portrait" wi="23" />≤30 °/s<sup >2</sup>, systematic error e=0.0002 °/s<sup >2</sup>2) 30<<img file="223725DEST_PATH_IMAGE002.GIF" he="23" img-content="drawing" img-format="GIF" inline="no" orientation="portrait" wi="23" />≤50 °/s<sup >2</sup>, systematic error e=0.0005 °/s<sup >2</sup>3)<img file="278269DEST_PATH_IMAGE002.GIF" he="23" img-content="drawing" img-format="GIF" inline="no" orientation="portrait" wi="23" >50 °/s<sup >2</sup>, systematic error e=0.0008 °/s<sup >2</sup>After automatic adaptation FIR filtering is accomplished, can be according to the height of turntable dynamic perfromance, that is the size of angular acceleration values comes the selecting system error amount, and then compensation measurement (<img file="114638DEST_PATH_IMAGE004.GIF" he="34" img-content="drawing" img-format="GIF" inline="no" orientation="portrait" wi="51" />), realize the adaptive error correction.
Good effect of the present invention is: because the present invention has avoided measuring error and calculating noise in the indirect calculation angular acceleration process; And digitized angular acceleration signal is carried out auto adapted filtering handle and error correction; And then the adaptive measuring of realization angular acceleration signal; Improve the measurement result of acceleration signal, improved measuring accuracy.Resulting angular acceleration signal can be used as feed-forward control signals and sends servo-control mechanism to, also can be used for monitoring the dynamic property of servo turntable, has positive effect for the research of photoelectric follow-up servo control technique.
Description of drawings
Fig. 1 servo turntable angular acceleration of the present invention adaptive measuring synoptic diagram.
Fig. 2 typical piezoelectric angular accelerometer schematic diagram.
Fig. 3 CJ41A-2E type angular accelerometer schematic diagram.
Fig. 4 angular acceleration signal treatment scheme.
Fig. 5 auto adapted filtering synoptic diagram.
Fig. 6 FIR filter graph architecture.
Fig. 7 automatic adaptation FIR filtering DSP realization flow.
Fig. 8 angular acceleration a-output voltage V corresponding relation.
Fig. 9 instance measurement result 1.
Figure 10 instance measurement result 2.
Embodiment
Below in conjunction with accompanying drawing the present invention is described further: as shown in Figure 1, a kind of servo turntable angular acceleration self-adapting measuring method includes: angular accelerometer, A/D modular converter, DSP filtration module, computing machine.
Angular accelerometer is selected CJ41A-2E type Piezoelectric Angular Accelerometer for use, measurement range: (100～+ 100) (°)/s
2, WV: ± 15 V, output voltage :-8 V～+ 8 V, interface adopt J14A-9ZJB type socket, and contact distributes like table 1.A/D converter adopts the ADS1210 chip; It is a 24 sigma-delta type A/D converters with high precision, wide dynamic range; Has the chip self-correcting function; Chip integration has become a series of functions such as analog switch in the traditional discrete data acquisition channel, sampling maintenance, signal amplification, takies that mouthful line is few, precision is high, and various parameters are adjustable to adapt to the varying input signal requirement.DSP adopts the TMS320LF2407 chip; This chip adopts static CMOS technology of high-performance and improved Harvard structure; Have very high real-time control and arithmetic capability, the software algorithm of angular acceleration information processing will be cured to the TMS320LF2407 chip and realize the auto adapted filtering and the Error processing of angular acceleration signal to support the DSP filtration module.Computing machine adopts and grinds magnificent 610 type industrial control computers, is used for the monitoring angle acceleration signal, and realizes the servocontrol to the photoelectric tracking platform.
Table 1 J14A-9ZJB type receptacle contact distributes
| The |
1 | 2 | 3 | 4 | 5 | 6、7、8、9 |
| Function | +15V | -15V | Ground | Output | Self-test signal | Empty |
The installation bottom surface of angular accelerometer and the installed surface of photoelectricity servo turntable track frame are rigidly connected; The side group face of angular accelerometer and the side group face of track frame are adjacent to; To reduce alignment error, the direction of arrow shown in the angular accelerometer housing nameplate is judged by right-hand screw rule.Under the driving of motor, the servo turntable track frame produces motion in orientation and two planes of pitching, and angular accelerometer directly measurement of inductance arrives real-time angular acceleration information a, and output dc voltage V.It is that the A/D modular converter of core carries out the A/D conversion that the d. c. voltage signal of angular accelerometer output is transferred to the ADS1210 chip; Digital quantity by the output of A/D modular converter is sent to the DSP filtration module; With the TMS320LF2407 chip is the auto-adaptive fir filter of the DSP filtration module realization of core based on the LMS algorithm; Completion is to the adaptive digital filtering and the error correction of measured angular acceleration signal; The digital quantity of handling well promptly can be exchanged into actual angular acceleration signal measured value according to angular accelerometer " input angle acceleration a-output voltage V " linear corresponding relation again; Promptly accomplished the adaptive measuring of servo turntable angular acceleration, like Fig. 4, the angular acceleration values of output can read, monitor through computing machine at last.
The direct measurement of angular acceleration: according to dielectric piezoelectric effect; As long as calculate the induced voltage of piezoelectric element and the relation between the angular acceleration; Just can angular acceleration be converted into voltage output, typical piezoelectric formula angular acceleration transducer principle such as Fig. 2, the displacement of mass can be responded to angular acceleration; Piezoelectric sensing element can convert the displacement induction of mass into voltage; Voltage after preposition amplification, the promptly exportable voltage signal that can characterize angular acceleration information, the measurement effect of piezoelectric type angular acceleration transducer depends primarily on characteristics such as the piezoelectric modulus of piezoelectric, electric charge and voltage sensitivity.
Choose CJ41A-2E type angular accelerometer, this type angular accelerometer integrated level is good, reliability is high, easy for installation, but direct output of DC current is pressed the angular acceleration signal of expression.CJ41A-2E type angular accelerometer principle of work such as Fig. 3; Because driving circuit is to the Sensitive Apparatus effect; Make beam that the vibration of making uniform amplitude under the frequency arranged within it, when the angular velocity input was arranged on the sensitive direction of beam, the voltage signal that sensor amplifier will be read on the transducer (piezoelectric patches) amplified; Through the detuner demodulation; Just can detect the signal that causes by inertial force, the voltage signal that acquisition is directly proportional with input angular velocity, angular velocity signal can obtain angular acceleration signal behind differentiating circuit.Angular accelerometer is selected to finish, and can directly be installed on the photoelectricity servo turntable track frame, and Installation and Debugging finish, and get final product the angular acceleration signal of direct measurement of inductance servo turntable.
The auto adapted filtering of angular acceleration signal and error correction: because angular accelerometer is measured the acceleration of output is analog voltage signal, needs signal is carried out necessary signal condition, A/D conversion, to obtain the digitizing angular acceleration signal.By the measurement range (100～+ 100) of angular acceleration °/s
2Be not more than 0.02 °/s with threshold value
2Can draw, make its maximality of angular accelerometer performance be at least 10000 scales by required range, can confirm the required minimum precision of A/D conversion thus.Consider the interference of various factors, select 24 high-performance A/D converter spare ADS1210 chip for use, get its high 16 bit data and deliver to the DSP filtration module.
In the measuring process of angular acceleration signal; Because the influence of factors such as sensor self performance, electromagnetic interference (EMI), A/D conversion accuracy, data transmission; Can mix the high frequency clutter and the noise signal that cause thus in the measuring-signal; Analyze the model of also confirming these influence factors and be difficult to, and they also are dynamic changes to the form that influences and the intensity of measuring-signal, understand along with the variation of the dynamic perfromance of servo turntable and Measuring Time and change.Through analyzing; We find to adopt the wave filter of conventional fixed parameter can only eliminate the part interference noise; Measurement effect is very undesirable, for this reason, and for accuracy and the real-time that improves measuring-signal; We adopt auto-adaptive fir filter that digitized angular acceleration measuring-signal is carried out necessary auto adapted filtering and handle and the error compensation correction adaptive filtration theory such as Fig. 5.Auto adapted filtering processing and error correction to measuring-signal are to realize through the DSP filtration module that has solidified software algorithm.
Sef-adapting filter is made up of filter construction and adaptive algorithm two parts of adjustment filter coefficient, and the characteristic variations of sef-adapting filter is realized through the adjustment filter coefficient by adaptive algorithm.For this reason, we have designed the auto-adaptive fir filter on 32 rank, and the FIR filter construction adopts the lateral type wave filter, like Fig. 6.In order to reduce the complicacy of measuring method; Strengthen practicality; Adopt lowest mean square (LMS) algorithm as adaptive algorithm; This algorithm is to be the iterative algorithm of principle with the fastest descent method; Basic ideas are expectation
minimums that make the square value of ideal signal
and poor
that wave filter is exported
; And coming power of amendment coefficient
in view of the above, error mean square
is expressed as:
.Wave filter for the lateral type structure; The expression formula of substitution
also adopts iterative algorithm to ask the best weights coefficient, and iterative formula is:
is input signal; 2 moment before and after
and
expression;
;
is the exponent number of wave filter;
,
are respectively the coefficient values before and after the iteration;
is a gain constant that is used to control adaptive speed and stability, also is converging factor;
is error signal.LMS algorithm adjustment weight coefficient is simple; Do not need square operation and statistics square operation; Be next constantly weight vector
equal current weight vector
and add a correction; This correction is the weighted value of error signal
; Weighting coefficient is
; Be proportional to current input signal; Concerning the institute of the valuation of weight vector was important, error signal
was identical.
is used for the step parameter of control stiffness and speed of convergence; In the auto adapted filtering operation of reality; Must be noted that the selection of adaptive step
; For guaranteeing the stability of adaptive process;
must satisfy
, and wherein
is power input.
We are that hardware carrier has been realized the automatic adaptation FIR filtering based on the LMS algorithm with the TMS320LF2407 chip in the DSP filtration module, DSP realization flow such as Fig. 7, and whole process mainly comprises three phases:
1) initialization of related operation unit, register, address pointer and the variable before the filtering operation;
2) according to the input the sampled value calculating filter output and obtain error;
3) upgrade filter parameter according to the iterative formula of LMS algorithm, have to forward the circulation of second step to after the new sampling input and carry out.
After the angular accelerometer Installation and Debugging finish, because its working environment is relatively stable, so relatively stable in a certain dynamic range by determined systematic measurement errors of factor such as himself measuring accuracy, electromagnetic environments.According to measurement range, set one group of standard angle accekeration a according to the height of servo turntable dynamic perfromance<sub >Mark</sub>, respectively with real-time measurement values a<sub >Survey</sub>Compare to analyze and find that systematic measurement error changes along with the change of angular acceleration values,, draw error size and scope: 1) according to the relation of the error between standard value and the measured value<img file="DEST_PATH_IMAGE025.GIF" he="23" img-content="drawing" img-format="GIF" inline="no" orientation="portrait" wi="23" />≤30 °/s<sup >2</sup>, systematic error e=0.0002 °/s<sup >2</sup>2) 30<<img file="281286DEST_PATH_IMAGE025.GIF" he="23" img-content="drawing" img-format="GIF" inline="no" orientation="portrait" wi="23" />≤50 °/s<sup >2</sup>, systematic error e=0.0005 °/s<sup >2</sup>3)<img file="96796DEST_PATH_IMAGE025.GIF" he="23" img-content="drawing" img-format="GIF" inline="no" orientation="portrait" wi="23" >50 °/s<sup >2</sup>, systematic error e=0.0008 °/s<sup >2</sup>After auto adapted filtering is accomplished; Can be according to the height of turntable dynamic perfromance; That is the size of angular acceleration values is come the selecting system error amount; And then compensation measurement (<img file=" 509322DEST_PATH_IMAGE026.GIF " he=" 34 " img-content=" drawing " img-format=" jpg " inline=" no " orientation=" portrait " wi=" 51 " />), realize the adaptive error correction.
The output of angular acceleration signal: according to CJ41A-2E type angular accelerometer " input angle acceleration a-output voltage V " linear corresponding relation; Like Fig. 8; Can convert the angular acceleration that characterizes with voltage after auto adapted filtering processing and the error correction into actual angular acceleration values and output, promptly accomplish the adaptive measuring of servo turntable angular acceleration.
Under laboratory environment; When servo turntable angular acceleration during according to
rule conversion; Measurement result such as Fig. 9; Measured value is that angular accelerometer records original signal, modified value for the original measurement signal through the output valve after auto adapted filtering and the Error processing.When servo turntable rotates according to the angular acceleration rule, in two cycles, choose 40 measured values, result such as Figure 10, curve are theoretical value, asterism is adaptive measurement output valve.
The measurement data of practical implementation of the present invention is following:
Table 2 (negativeacceleration)
| Standard value (°/s 2)(-) | 5 | 15 | 25 | 35 | 45 | 55 |
| Voltage V (volt) (-) | 0.4001 | 1.2012 | 2.0004 | 2.8 | 3.6003 | 4.4006 |
| Measured value (°/s 2)(-) | 5.001 | 15.015 | 25.005 | 35.000 | 45.004 | 55.007 |
| Standard value (°/s 2)(-) | 65 | 75 | 85 | 95 | 100 |
| Voltage V (volt) (-) | 5.201 | 6.0001 | 6.8004 | 7.6008 | 8.0003 |
| Measured value (°/s 2)(-) | 65.013 | 75.011 | 85.005 | 95.010 | 100.004 |
Table 3 (positive acceleration)
| Standard value (°/s 2)(+) | 0 | 10 | 20 | 30 | 40 | 50 |
| Voltage V (volt) (+) | 0.001 | 0.8003 | 1.6015 | 2.4008 | 3.2003 | 3.9968 |
| Measured value (°/s 2)(+) | 0 | 10.004 | 20.019 | 30.010 | 40.004 | 49.996 |
| Standard value (°/s 2)(+) | 60 | 70 | 80 | 90 | 100 |
| Voltage V (volt) (+) | 4.8006 | 5.6002 | 6.4014 | 7.2007 | 8.0002 |
| Measured value (°/s 2)(+) | 60.008 | 70.002 | 80.017 | 90.009 | 100.002 |
Claims (4)
1. a servo turntable angular acceleration self-adapting measuring method includes: angular accelerometer, A/D modular converter, DSP filtration module, computing machine; It is characterized in that concrete grammar is following: established angle accelerometer on servo turntable at first; The angular acceleration of the direct measurement of inductance servo-drive system of angular accelerometer; The output and the corresponding DC voltage V of angular acceleration signal a of servo-drive system, and be directly inputted to the A/D modular converter and carry out the A/D conversion, more digitized voltage signal is inputed to the DSP filtration module; Realize auto-adaptive fir filter by the DSP filtration module based on the LMS algorithm; And the automatic adaptation FIR filtering and the error correction of completion angular acceleration signal, according to given " the input angle acceleration a-output voltage V " linear corresponding relation of angular accelerometer, the angular acceleration signal of handling is demarcated conversion again; And then the adaptive measuring of realization servo turntable angular acceleration signal; The method of described error correction is following: after the angular accelerometer Installation and Debugging finish, according to measurement range, set one group of standard angle accekeration a according to the height of servo turntable dynamic perfromance
Mark, respectively with real-time measurement values a
SurveyCompare to analyze and find that systematic measurement error changes along with the change of angular acceleration values, according to standard angle accekeration a
MarkWith real-time measurement values a
SurveyBetween error relation, draw error size and scope: 1) ∣ a ∣≤30 °/s
2, systematic error e=0.0002 °/s
22) 30 ° < ∣ a ∣≤50 °/s
2, systematic error e=0.0005 °/s
23) ∣ a ∣>50 °/s
2, systematic error e=0.0008 °/s
2After automatic adaptation FIR filtering was accomplished, according to the height of turntable dynamic perfromance, that is the size of angular acceleration values came the selecting system error amount, and then compensation measurement a=a
Survey+ e realizes the adaptive error correction.
2. a kind of servo turntable angular acceleration self-adapting measuring method according to claim 1 is characterized in that described angular accelerometer selects CJ41A-2E type Piezoelectric Angular Accelerometer for use, measurement range :-100～+ 100 °/s
2, WV: ± 15 V, output voltage :-8 V～+ 8 V, interface adopt J14A-9ZJB type socket.
3. a kind of servo turntable angular acceleration self-adapting measuring method according to claim 1 is characterized in that described DSP filtration module is is core with the TMS320LF2407 chip.
4. a kind of servo turntable angular acceleration self-adapting measuring method according to claim 1 is characterized in that described auto-adaptive fir filter is 32 rank, and structure adopts the lateral type wave filter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100256847A CN102175889B (en) | 2011-01-24 | 2011-01-24 | Self-adaptive measuring method for angular acceleration of servo turntable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100256847A CN102175889B (en) | 2011-01-24 | 2011-01-24 | Self-adaptive measuring method for angular acceleration of servo turntable |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102175889A CN102175889A (en) | 2011-09-07 |
| CN102175889B true CN102175889B (en) | 2012-11-07 |
Family
ID=44519094
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011100256847A Active CN102175889B (en) | 2011-01-24 | 2011-01-24 | Self-adaptive measuring method for angular acceleration of servo turntable |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102175889B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5823850B2 (en) * | 2011-12-21 | 2015-11-25 | ジーイー・メディカル・システムズ・グローバル・テクノロジー・カンパニー・エルエルシー | Communication communication system and magnetic resonance apparatus |
| CN103616848B (en) * | 2013-12-04 | 2016-08-17 | 固高科技(深圳)有限公司 | Improve filtering method and the system of the sef-adapting filter of velocity feed forward |
| CN105467150B (en) * | 2015-12-29 | 2018-03-30 | 嘉兴学院 | Portable electric generator that is a kind of while measuring angular velocity of rotation, angular acceleration |
| CN106956282B (en) * | 2017-05-18 | 2019-09-13 | 广州视源电子科技股份有限公司 | Angular acceleration determination method, angular acceleration determination device, robot and storage medium |
| CN112504280B (en) * | 2020-11-11 | 2021-11-16 | 北京控制工程研究所 | Method for improving dynamic precision of space directional measurement sensor |
| CN114994365B (en) * | 2022-04-18 | 2023-04-28 | 北京理工大学 | Accelerometer output signal noise reduction method based on air cannon test |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4601206A (en) * | 1983-09-16 | 1986-07-22 | Ferranti Plc | Accelerometer system |
| US6215426B1 (en) * | 1997-05-12 | 2001-04-10 | Fanuc Ltd. | Offset correcting circuit for encoder |
| CN101187558A (en) * | 2007-12-11 | 2008-05-28 | 中国科学院长春光学精密机械与物理研究所 | North seeking device |
| CN101221448A (en) * | 2007-01-11 | 2008-07-16 | 大隈株式会社 | Axis-of-rotation position control device |
| WO2009007530A3 (en) * | 2007-06-08 | 2009-04-30 | Eurocopter France | Method and system for estimating the angular speed of a mobile |
| CN101661047A (en) * | 2009-09-29 | 2010-03-03 | 哈尔滨工程大学 | Output conversion device of strapdown inertial navigation accelerometer |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60143780A (en) * | 1983-12-30 | 1985-07-30 | Sumitomo Heavy Ind Ltd | Rotary angular velocity operation circuit |
-
2011
- 2011-01-24 CN CN2011100256847A patent/CN102175889B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4601206A (en) * | 1983-09-16 | 1986-07-22 | Ferranti Plc | Accelerometer system |
| US6215426B1 (en) * | 1997-05-12 | 2001-04-10 | Fanuc Ltd. | Offset correcting circuit for encoder |
| CN101221448A (en) * | 2007-01-11 | 2008-07-16 | 大隈株式会社 | Axis-of-rotation position control device |
| WO2009007530A3 (en) * | 2007-06-08 | 2009-04-30 | Eurocopter France | Method and system for estimating the angular speed of a mobile |
| CN101187558A (en) * | 2007-12-11 | 2008-05-28 | 中国科学院长春光学精密机械与物理研究所 | North seeking device |
| CN101661047A (en) * | 2009-09-29 | 2010-03-03 | 哈尔滨工程大学 | Output conversion device of strapdown inertial navigation accelerometer |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102175889A (en) | 2011-09-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102175889B (en) | Self-adaptive measuring method for angular acceleration of servo turntable | |
| CN101488031B (en) | High-precision magnetic bearing axial control method based on interference observer | |
| CN1025691C (en) | Metrological apparatus and calibration method therefor | |
| CN101592677B (en) | Digital closed loop servo circuit applied to quartz flexible accelerometer | |
| CN201672968U (en) | Adaptive signal adjusting device for vibrating sensor | |
| CN106644253B (en) | Three-dimensional force sensor decoupling calibration and filtering method and device for constant force griding | |
| CN110672017B (en) | Vibration compensation platform of laser displacement sensor | |
| CN101821582A (en) | Method for determining dynamic errors in measuring machine | |
| CN103792888B (en) | Vibration suppression controller based on feed system positions feedback signal | |
| CN105065452B (en) | Integrated magnetic-bearing digital control system for magnetic-suspension inertially-stabilized platform | |
| CN105373143B (en) | Large astronomical telescope high-precision control system and method for inhibiting wind load disturbance | |
| CN102156033A (en) | Measurement device and measurement method of torsional vibration modal of numerical control machine | |
| CN103954316A (en) | Calibration method and device for angle encoder | |
| CN112304210B (en) | Hall angle sensor angle calibration method | |
| CN112859703A (en) | FPGA-based three-point piezoelectric drive fast-swing mirror hysteresis compensation control system | |
| CN105353169A (en) | Novel current-meter verification pulley | |
| CN108362493B (en) | A kind of numerically-controlled machine tool linear axis angular errors rapid detection method | |
| CN108051165A (en) | The electromagnetic vibration generator system of actively positive rigidity resilient support is realized based on absolute position feedback | |
| CN104764559B (en) | Closed-loop control circuit of silicon resonant pressure sensor and realization method thereof | |
| CN203720602U (en) | Vibration elimination controller based on position feedback signals of feeding system | |
| CN101949684A (en) | Movement comparison-based dual-frequency laser interferometer signal high multiple-frequency subdivision system | |
| CN114029954B (en) | Heterogeneous servo force feedback estimation method | |
| CN107884593B (en) | Agricultural machine speed monitoring system and method using tractor as power | |
| CN109581862B (en) | Driver embedded with disturbance estimation compensation algorithm | |
| CN101458096A (en) | High-resolution attitude angle measuring method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: CHANGCHUN POWER SUPPLY COMPANY, JILIN ELECTRIC POW Effective date: 20140606 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| C53 | Correction of patent for invention or patent application | ||
| CB03 | Change of inventor or designer information |
Inventor after: Chen Juan Inventor after: Liang Wei Inventor after: Wang Feng Inventor after: Li Jingfeng Inventor before: Chen Juan Inventor before: Liang Wei |
|
| COR | Change of bibliographic data |
Free format text: CORRECT: INVENTOR; FROM: CHEN JUAN LIANG WEI TO: CHEN JUAN LIANG WEI WANG FENG LI JINGFENG |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20140606 Address after: 130012 No. 4255, Yanan Avenue, Changchun, Jilin Patentee after: Changchun Polytechnic Univ. Patentee after: Changchun Power Supply Corporation of Jilin Electric Power Corporation Patentee after: State Grid Corporation of China Address before: 130012 No. 4255, Yanan Avenue, Changchun, Jilin Patentee before: Changchun Polytechnic Univ. |