CN104567787A - Method for calibrating measurement accuracy of dynamic angle measuring system - Google Patents
Method for calibrating measurement accuracy of dynamic angle measuring system Download PDFInfo
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- CN104567787A CN104567787A CN201310474101.8A CN201310474101A CN104567787A CN 104567787 A CN104567787 A CN 104567787A CN 201310474101 A CN201310474101 A CN 201310474101A CN 104567787 A CN104567787 A CN 104567787A
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- dynamic
- angle
- turntable
- angular
- caliberating device
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Classifications
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- 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
- G01B21/22—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 angles or tapers; for testing the alignment of axes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
-
- 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
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- General Physics & Mathematics (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention belongs to the technical field of measurement and control, particularly relates to a method for calibrating the measurement accuracy of a dynamic angle measuring system, and aims to provide a method capable of calibrating a high-speed dynamic angle acquisition system based on a rotary table. The method comprises the following steps: testing preparation, calibration device mounting, dynamic angle reference determination and angle calibration. The method comprises the steps of calibration device mounting, and a calibration device and an angle sensor of the rotary table are coaxially mounted, so that a stationary reference angle is provided for a dynamic angle, and a system error is eliminated. The dynamic angle measuring system is calibrated and then displayed, the dispersiveness of the measured valve at low speed (lower than 1 degree/s) is lower than o.1''. Thus, the angle sensor in the calibration system and an angle encoder used for generating pulse signals, which are coaxially mounted, are good in zero position error repeatability, the relative angular displacement amount is very small, and the demand of high-precision calibration is met.
Description
Technical field
The invention belongs to observation and control technology field, be specifically related to a kind of scaling method of dynamic angular measuring system measuring accuracy.
Background technology
High-precision turntable is mainly used in inertial navigation product, and the motion simulation of the calibration of the products such as star sensor and some bullet upper-part, the index accuracy that turntable can reach to a certain degree also reflects the development level of national defense industry.Along with the raising of the dynamic property of all kinds of tested product, the dynamic angular position measurement capability of turntable, as an important indicator, is required in increasing project.Domesticly therefore start particular study to dynamic angular measuring system, the research and development of the precision calibration method corresponded are also extremely urgent.
Dynamic angular position, the solid of revolution namely in motion specifies the actual angular position in moment at certain.Moment value and position are as the constituent element of concept, indispensable.The angle measuring system that dynamic measuring angle generally refers to the movable body be in revolution receives a time pulse, so this self angular position measurement of moment solid of revolution process out, so dynamic angular measuring system generally has pulse triggering function.The scaling method of dynamic angular measuring system precision is devoted to find the standard of order of magnitude precision higher than dynamic angular measuring system to assess the precision of dynamic angular position.
The error of dynamic angular measuring system is generally all caused by the various time delays for the treatment of circuit.For turntable, the position transducer of turntable is generally photoelectric encoder or inductosyn.The two all sends the sine wave that can distinguish position in rotation process, and producing sinusoidal wave process is a photoelectric conversion process, consuming timely substantially ignores, and obtain the Angle Position of turntable, just need offset of sinusoidal ripple to carry out process conversion.For the turntable of motion state, position transducer while sending sine wave still in motion, when this sine wave is processed convert positional value to time, turntable has been in other Angle Position, is not just also current dynamic angular position.The measuring error of dynamic angular mainly causes due to the product of turntable angular speed and angle measuring system time delay, is called for short " speed introducing error ", also has the existence in " acceleration introducing error " equal error source in addition.In every case dynamic angular measuring system, the work of electronic devices and components must cause time delay, and this time delay will cause dynamic measuring angle error.
The domestic scaling method for dynamic measuring angle product is in the starting stage at present.The research of this mainly dynamic measuring angle product is also just at the early-stage.Presently, dynamic measuring angle concentrates on the method for taking pictures: namely by high speed camera or other CCD product imagings, obtain dynamic angular position by background analysis.Its method by imaging obtains the standard form figure projected out from angle measuring system, and the qualitative combination property providing angle measuring system of combining image evaluation software, has assisted the demarcation to angle measuring system.This scaling method by the method for imaging, high cost, background process trouble and unsatisfactory to the measurement of high speed dynamic angular.In addition also have attempt using using a fixed angular speed or angular acceleration run target as standard, control to be calibrated system and move in like fashion, the difference of both contrasts mode of motion, reach dynamic accuracy calibration.In fact in the method, target as calibration reference, the dynamic measuring angle margin of error magnitude of himself is far above rad level ("), can only be used for low precision dynamic accuracy demarcate, the demand of high-precision calibrating can not be met.
Summary of the invention
The object of this invention is to provide a kind of scaling method can demarcating the dynamic angular measuring system measuring accuracy of high speed dynamic angular acquisition system based on turntable.
The present invention is achieved in that
A scaling method for dynamic angular measuring system measuring accuracy, comprises the steps:
The first step: test prepares;
Connect the angular transducer of dynamic angle measurer and turntable;
Second step: install caliberating device;
Caliberating device installed by turntable, the angular transducer of caliberating device and turntable is coaxially installed, the rotatable portion of caliberating device is fixedly mounted in the rotating shaft of turntable, the read head circuit of caliberating device is fixed on the nonrotational housing of turntable, and read head circuit and rotatable portion are installed according to caliberating device installation requirement;
3rd step: dynamic angular benchmark measures;
For turntable and caliberating device are powered, drive turntable with ω
0the angular velocity of=0.1 °/s rotates, and drives the rotatable portion component of rotation of caliberating device, gathers the zero pulse signal of caliberating device for i time; This zero pulse signal sends to dynamic angle measurer as synchronization pulse; Dynamic angular measuring system carries out angle position signal collection to the angular transducer of turntable, and turntable i time is with ω
0angular velocity through the zero-bit of caliberating device, the measured value that synchronization pulse triggers dynamic angle measurer is θ
00, θ
01, θ
02, θ
03.. θ
0i, then less stationary position θ
0for:
4th step: angle calibration;
Drive turntable with ω successively
1, ω
2..., ω
jangular velocity rotate, drive the rotatable portion component of rotation of caliberating device, the zero pulse signal of i collection caliberating device under each angular velocity; This zero pulse signal sends to dynamic angle measurer as synchronization pulse; Dynamic angular measuring system carries out angle position signal collection to the angular transducer of turntable, obtains the digital angle signal θ of synchronization pulse due in
ij, wherein, j is speed point sequence number, and j is natural number, and i is i-th sampled point under a jth speed point, and i is natural number;
Be then ω at angular speed
jtime dynamic angular measuring system dynamic measuring angle error be:
Δθ
jmax＝Max|θ
nj-θ
0| （2）
In formula, 1≤n≤i, n is natural number.
Test preparation process as above, dynamic angle measurer comprises angle position signal analog-to-digital conversion module, synchronizing pulse receiving trap and data processing centre (DPC); Wherein, angle position signal analog-to-digital conversion module is connected with synchronizing pulse receiving trap and data processing centre (DPC) respectively, the angular transducer signal of angle position signal analog-to-digital conversion module to turntable carries out analog to digital conversion and obtains digital angle signal, then, when synchronizing pulse receiving trap receives synchronization pulse, digital angle signal is sent to data processing centre (DPC); Synchronizing pulse receiving trap receives synchronization pulse, and this synchronization pulse is sent to angle position signal analog-to-digital conversion module; Data processing centre (DPC) receives digital angle signal, uses in order to subsequent analysis.
In installation caliberating device step as above, caliberating device is photoelectric encoder, Circular gratings or magnetic grid.For photoelectric encoder, its Moving plate is pressed in the rotating shaft of turntable, and price fixing is fixed on the nonrotational housing of turntable, and the read head on price fixing and the gap of Moving plate are within the scope of 0.5 ~ 1.5mm.
The invention has the beneficial effects as follows:
This method adopts installs caliberating device step, is coaxially installed by the angular transducer of caliberating device and turntable, for dynamic angular provides stationary reference angle, eliminates systematic error.Rear display is calibrated to dynamic angular measuring system, its measured value (lower than 1 °/s) under lower-speed state is dispersed lower than 0.1 "; the null positions difference repeatability of angular transducer and the coaxial mounted angular encoder for generation of pulse signal in this calibration system is described very well; relative angular displacement amount is very little, meets the demand of high-precision calibrating.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of the scaling method of a kind of dynamic dynamic angular measuring system measuring accuracy of the present invention.
Embodiment
Be introduced below in conjunction with the scaling method of drawings and Examples to a kind of dynamic angular measuring system measuring accuracy of the present invention:
As shown in Figure 1, a kind of scaling method of dynamic angular measuring system measuring accuracy, comprises the steps:
The first step: test prepares;
Connect the angular transducer of dynamic angle measurer and turntable.Generally, dynamic angle measurer comprises angle position signal analog-to-digital conversion module, synchronizing pulse receiving trap and data processing centre (DPC).Wherein, angle position signal analog-to-digital conversion module is connected with synchronizing pulse receiving trap and data processing centre (DPC) respectively, it carries out analog to digital conversion to the angular transducer signal of turntable and obtains digital angle signal, then, when synchronizing pulse receiving trap receives synchronization pulse, digital angle signal is sent to data processing centre (DPC).Synchronizing pulse receiving trap receives synchronization pulse, and this synchronization pulse is sent to angle position signal analog-to-digital conversion module.Data processing centre (DPC) receives digital angle signal, uses in order to subsequent analysis.
Second step: install caliberating device;
Caliberating device installed by existing turntable, the angular transducer of caliberating device and turntable is coaxially installed, the rotatable portion of caliberating device is fixedly mounted in the rotating shaft of turntable, the read head circuit of caliberating device is fixed on the nonrotational housing of turntable, and read head circuit and rotatable portion are installed according to caliberating device installation requirement.In the present embodiment, caliberating device is photoelectric encoder, Circular gratings or magnetic grid.For photoelectric encoder, its Moving plate is pressed in the rotating shaft of turntable, and price fixing is fixed on the nonrotational housing of turntable, the read head on price fixing and the gap of Moving plate within the scope of 0.5 ~ 1.5mm, as 0.5mm, 1mm or 1.5mm.
3rd step: dynamic angular benchmark measures;
For turntable and caliberating device are powered, drive turntable with ω
0the angular velocity of=0.1 °/s rotates, and drives the rotatable portion component of rotation of caliberating device, gathers the zero pulse signal of caliberating device for i time.This zero pulse signal sends to dynamic angle measurer as synchronization pulse.Dynamic angular measuring system carries out angle position signal collection to the angular transducer of turntable, and the reference angle speed of getting now is less stationary state, then the zero-bit of caliberating device is relative to the position θ of turntable angular transducer
0for less stationary position, turntable i time is with ω
0angular velocity through the zero-bit of caliberating device, the measured value that synchronization pulse triggers dynamic angle measurer is θ
00, θ
01, θ
02, θ
03... .. θ
0i, then less stationary position θ
0for:
4th step: angle calibration;
Drive turntable with ω successively
1, ω
2..., ω
jangular velocity rotate, drive the rotatable portion component of rotation of caliberating device, the zero pulse signal of i collection caliberating device under each angular velocity.This zero pulse signal sends to dynamic angle measurer as synchronization pulse.Dynamic angular measuring system carries out angle position signal collection to the angular transducer of turntable, obtains the digital angle signal θ of synchronization pulse due in
ij, wherein, j is speed point sequence number, and j is natural number, and i is i-th sampled point under a jth speed point, and i is natural number.
Be then ω at angular speed
jtime dynamic angular measuring system dynamic measuring angle error be:
Δθ
jmax＝Max|θ
nj-θ
0| （2）
In formula, 1≤n≤i, n is natural number.
This method adopts installs caliberating device step, is coaxially installed by the angular transducer of caliberating device and turntable, for dynamic angular provides stationary reference angle, eliminates systematic error.Rear display is calibrated to dynamic angular measuring system, its measured value (lower than 1 °/s) under lower-speed state is dispersed lower than 0.1 "; the null positions difference repeatability of angular transducer and the coaxial mounted angular encoder for generation of pulse signal in this calibration system is described very well; relative angular displacement amount is very little, meets the demand of high-precision calibrating.
Claims (4)
1. a scaling method for dynamic angular measuring system measuring accuracy, comprises the steps:
The first step: test prepares;
Connect the angular transducer of dynamic angle measurer and turntable;
Second step: install caliberating device;
Caliberating device installed by turntable, the angular transducer of caliberating device and turntable is coaxially installed, the rotatable portion of caliberating device is fixedly mounted in the rotating shaft of turntable, the read head circuit of caliberating device is fixed on the nonrotational housing of turntable, and read head circuit and rotatable portion are installed according to caliberating device installation requirement;
3rd step: dynamic angular benchmark measures;
For turntable and caliberating device are powered, drive turntable with ω
0the angular velocity of=0.1 °/s rotates, and drives the rotatable portion component of rotation of caliberating device, gathers the zero pulse signal of caliberating device for i time; This zero pulse signal sends to dynamic angle measurer as synchronization pulse; Dynamic angular measuring system carries out angle position signal collection to the angular transducer of turntable, and turntable i time is with ω
0angular velocity through the zero-bit of caliberating device, the measured value that synchronization pulse triggers dynamic angle measurer is θ
00, θ
01, θ
02, θ
03.. θ
0i, then less stationary position θ
0for:
4th step: angle calibration;
Drive turntable with ω successively
1, ω
2..., ω
jangular velocity rotate, drive the rotatable portion component of rotation of caliberating device, the zero pulse signal of i collection caliberating device under each angular velocity; This zero pulse signal sends to dynamic angle measurer as synchronization pulse; Dynamic angular measuring system carries out angle position signal collection to the angular transducer of turntable, obtains the digital angle signal θ of synchronization pulse due in
ij, wherein, j is speed point sequence number, and j is natural number, and i is i-th sampled point under a jth speed point, and i is natural number;
Be then ω at angular speed
jtime dynamic angular measuring system dynamic measuring angle error be:
Δθ
jmax＝Max|θ
nj-θ
0| （2）
In formula, 1≤n≤i, n is natural number.
2. the scaling method of a kind of dynamic angular measuring system measuring accuracy according to claim 1, it is characterized in that: described test preparation process, dynamic angle measurer comprises angle position signal analog-to-digital conversion module, synchronizing pulse receiving trap and data processing centre (DPC); Wherein, angle position signal analog-to-digital conversion module is connected with synchronizing pulse receiving trap and data processing centre (DPC) respectively, the angular transducer signal of angle position signal analog-to-digital conversion module to turntable carries out analog to digital conversion and obtains digital angle signal, then, when synchronizing pulse receiving trap receives synchronization pulse, digital angle signal is sent to data processing centre (DPC); Synchronizing pulse receiving trap receives synchronization pulse, and this synchronization pulse is sent to angle position signal analog-to-digital conversion module; Data processing centre (DPC) receives digital angle signal, uses in order to subsequent analysis.
3. the scaling method of a kind of dynamic angular measuring system measuring accuracy according to claim 1, is characterized in that: in described installation caliberating device step, caliberating device is photoelectric encoder, Circular gratings or magnetic grid.
4. the scaling method of a kind of dynamic angular measuring system measuring accuracy according to claim 3, it is characterized in that: the Moving plate of described photoelectric encoder is pressed in the rotating shaft of turntable, price fixing is fixed on the nonrotational housing of turntable, and the read head on price fixing and the gap of Moving plate are within the scope of 0.5 ~ 1.5mm.
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Cited By (15)
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| CN104880569A (en) * | 2015-06-03 | 2015-09-02 | 中国科学院上海技术物理研究所 | High-precision dynamic angle measuring device and high-precision dynamic angle measuring method based on star catalogue |
| CN106405139A (en) * | 2015-07-31 | 2017-02-15 | 北京航天计量测试技术研究所 | Rotary table angular rate detecting apparatus and method |
| CN106425685A (en) * | 2016-08-26 | 2017-02-22 | 宁夏共享精密加工有限公司 | Machine tool rotary table post-clamping automatic detection static rotation system and method |
| CN106468572A (en) * | 2016-08-30 | 2017-03-01 | 凌云光技术集团有限责任公司 | Articulated robot dynamic property evaluation system |
| CN107192843A (en) * | 2017-06-28 | 2017-09-22 | 北京航天控制仪器研究所 | A kind of low speed speed precision detection method of high precision turntable |
| CN109213205A (en) * | 2017-11-22 | 2019-01-15 | 中国航空工业集团公司北京航空精密机械研究所 | A kind of high-precision fixed angle pulse generating unit and its working method for turntable |
| CN109506560A (en) * | 2018-12-12 | 2019-03-22 | 上海卫星装备研究所 | Round induction synchrometer dynamic testing angle precision caliberating device and its scaling method |
| CN111562798A (en) * | 2019-12-24 | 2020-08-21 | 中国航空工业集团公司北京航空精密机械研究所 | Device capable of generating fixed-angle pulse at specified position and working method thereof |
| CN112525136A (en) * | 2020-11-30 | 2021-03-19 | 北京航天计量测试技术研究所 | High-precision synchronous position information calibration system and method based on servo mechanism |
| CN113466837A (en) * | 2021-06-23 | 2021-10-01 | 湖北三江航天万峰科技发展有限公司 | Calibration system and method for measurement precision of laser angle measurement device |
| CN113490830A (en) * | 2020-01-31 | 2021-10-08 | 日本精工株式会社 | Rotation angle calculation device, correction method and correction device for the same, motor control device, electric actuator product, and electric power steering device |
| CN113589756A (en) * | 2021-10-08 | 2021-11-02 | 华兴源创(成都)科技有限公司 | Displacement sensing signal triggering device, equipment, detection system and related method |
| CN113819879A (en) * | 2021-09-22 | 2021-12-21 | 中国航空工业集团公司北京长城计量测试技术研究所 | Dynamic angle measurement method and system based on laser zero meter and high-frequency sampling |
| CN114838650A (en) * | 2022-03-28 | 2022-08-02 | 北京航天控制仪器研究所 | Displacement sensor calibration device and method based on rotary table |
| CN116428971A (en) * | 2022-12-30 | 2023-07-14 | 北京凌云光子技术有限公司 | Calibration method, positioning method and positioning device of photoelectric turntable and photoelectric turntable |
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| CN104880569A (en) * | 2015-06-03 | 2015-09-02 | 中国科学院上海技术物理研究所 | High-precision dynamic angle measuring device and high-precision dynamic angle measuring method based on star catalogue |
| CN104880569B (en) * | 2015-06-03 | 2017-10-13 | 中国科学院上海技术物理研究所 | The Dynamic High-accuracy angle-measuring equipment and measuring method of a kind of star catalogue |
| CN106405139A (en) * | 2015-07-31 | 2017-02-15 | 北京航天计量测试技术研究所 | Rotary table angular rate detecting apparatus and method |
| CN106425685A (en) * | 2016-08-26 | 2017-02-22 | 宁夏共享精密加工有限公司 | Machine tool rotary table post-clamping automatic detection static rotation system and method |
| CN106468572A (en) * | 2016-08-30 | 2017-03-01 | 凌云光技术集团有限责任公司 | Articulated robot dynamic property evaluation system |
| CN106468572B (en) * | 2016-08-30 | 2018-10-16 | 凌云光技术集团有限责任公司 | Articulated robot dynamic property evaluation system |
| CN107192843A (en) * | 2017-06-28 | 2017-09-22 | 北京航天控制仪器研究所 | A kind of low speed speed precision detection method of high precision turntable |
| CN107192843B (en) * | 2017-06-28 | 2019-05-24 | 北京航天控制仪器研究所 | A kind of low speed speed precision detection method of high precision turntable |
| CN109213205A (en) * | 2017-11-22 | 2019-01-15 | 中国航空工业集团公司北京航空精密机械研究所 | A kind of high-precision fixed angle pulse generating unit and its working method for turntable |
| CN109506560A (en) * | 2018-12-12 | 2019-03-22 | 上海卫星装备研究所 | Round induction synchrometer dynamic testing angle precision caliberating device and its scaling method |
| CN111562798A (en) * | 2019-12-24 | 2020-08-21 | 中国航空工业集团公司北京航空精密机械研究所 | Device capable of generating fixed-angle pulse at specified position and working method thereof |
| CN113490830A (en) * | 2020-01-31 | 2021-10-08 | 日本精工株式会社 | Rotation angle calculation device, correction method and correction device for the same, motor control device, electric actuator product, and electric power steering device |
| CN112525136A (en) * | 2020-11-30 | 2021-03-19 | 北京航天计量测试技术研究所 | High-precision synchronous position information calibration system and method based on servo mechanism |
| CN112525136B (en) * | 2020-11-30 | 2022-08-02 | 北京航天计量测试技术研究所 | High-precision synchronous position information calibration system and method based on servo mechanism |
| CN113466837A (en) * | 2021-06-23 | 2021-10-01 | 湖北三江航天万峰科技发展有限公司 | Calibration system and method for measurement precision of laser angle measurement device |
| CN113819879A (en) * | 2021-09-22 | 2021-12-21 | 中国航空工业集团公司北京长城计量测试技术研究所 | Dynamic angle measurement method and system based on laser zero meter and high-frequency sampling |
| CN113589756A (en) * | 2021-10-08 | 2021-11-02 | 华兴源创(成都)科技有限公司 | Displacement sensing signal triggering device, equipment, detection system and related method |
| CN113589756B (en) * | 2021-10-08 | 2021-12-14 | 华兴源创(成都)科技有限公司 | Displacement sensing signal triggering device, equipment, detection system and related method |
| CN114838650A (en) * | 2022-03-28 | 2022-08-02 | 北京航天控制仪器研究所 | Displacement sensor calibration device and method based on rotary table |
| CN114838650B (en) * | 2022-03-28 | 2024-04-09 | 北京航天控制仪器研究所 | Displacement sensor calibration device and method based on turntable |
| CN116428971A (en) * | 2022-12-30 | 2023-07-14 | 北京凌云光子技术有限公司 | Calibration method, positioning method and positioning device of photoelectric turntable and photoelectric turntable |
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