CN104567787B - 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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- CN104567787B CN104567787B CN201310474101.8A CN201310474101A CN104567787B CN 104567787 B CN104567787 B CN 104567787B CN 201310474101 A CN201310474101 A CN 201310474101A CN 104567787 B CN104567787 B CN 104567787B
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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
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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
- 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, and in particular to a kind of scaling method of dynamic angular measuring system certainty of measurement.
Background technology
High-precision turntable is mainly used in the calibration of the products such as inertial navigation product, star sensor and the motion of some bullet upper-parts
Emulation, the turntable index accuracy to be reached to a certain degree also reflects the development level of national defense industry.With all kinds of tested
The raising of the dynamic property of product, the dynamic angular position measurement capability of turntable as an important indicator, in increasing item
It is required in mesh.It is domestic therefore to have started particular study to dynamic angular measuring system, corresponding precision calibration method
Research and development are also extremely urgent.
Dynamic angular position, that is, actual angular position of the revolving body in moving at certain specified moment.Moment value and position are made
It is indispensable for the constituent element of concept.The angle measuring system of movable body of the dynamic measuring angle generally referred to as in revolution is received
One time pulse, the then process the moment revolving body itself angular position measurement out, so dynamic angular measuring system is general
There is pulse triggering function.The scaling method of dynamic angular measuring system precision is devoted to finding than dynamic angular measuring system higher amount level
The standard of precision is assessing the precision of dynamic angular position.
What the error of dynamic angular measuring system was typically all caused by the various time delays of process circuit.By taking turntable as an example, turntable
Position sensor is generally photoelectric encoder or inductosyn.The two sends in rotation process and can distinguish position
Sine wave, the process for producing sine wave is a photoelectric conversion process, time-consuming substantially to ignore, and to obtain the angle position of turntable
Put, it is necessary to which process conversion is carried out to sine wave.For the turntable of motion state, position sensor is sending sine wave
Simultaneously still in motion, when the sine wave is processed is converted into positional value, turntable already at other Angle Position, also just not
It is current dynamic angular position.The measure error of dynamic angular is made mainly due to the product of turntable angular speed and angle measuring system time delay
Into, referred to as " speed introducing error ", also there is the presence in " acceleration introducing error " equal error source in addition.As long as dynamic measuring angle system
System, the work of electronic devices and components necessarily causes time delay, and this time delay will result in dynamic measuring angle error.
The scaling method for dynamic measuring angle product domestic at present is in the starting stage.This is mainly dynamic measuring angle product
Research is also simply at the early-stage.Presently, dynamic measuring angle concentrates on the method taken pictures：I.e. by high speed camera or other
CCD products are imaged, and by background analysis dynamic angular position is obtained.Its method acquisition for passing through to be imaged is projected out from angle measuring system
Standard form figure, with reference to the qualitative combination property for providing angle measuring system of picture appraisal software, auxiliary is completed to angle measuring system
Demarcation.The scaling method by imaging method, high cost, background process trouble and to the measurement of high speed dynamic angular not
It is preferable.In addition also have and attempt using the target run using a fixed angular speed or angular acceleration as standard, control is calibrated and is
System is moved in like fashion, and the difference of contrast the two motion mode is reaching dynamic accuracy calibration.Actually in the method, target
Conduct calibration benchmark, the dynamic measuring angle margin of error magnitude of its own has been far above rad level（″）, it is only used for low precision
Dynamic accuracy is demarcated, and can not meet the demand of high-precision calibrating.
The content of the invention
It is an object of the invention to provide a kind of dynamic measuring angle that can be demarcated based on the high speed dynamic angular acquisition system of turntable
The scaling method of the measuring precision.
What the present invention was realized in：
A kind of scaling method of dynamic angular measuring system certainty of measurement, comprises the steps：
The first step：Test prepares；
The angular transducer of connection dynamic angle measurer and turntable；
Second step：Caliberating device is installed；
Caliberating device is installed on turntable, caliberating device is co-axially mounted with the angular transducer of turntable, caliberating device
Rotatable portion is fixedly mounted in the rotating shaft of turntable, and the read head circuit of caliberating device is fixed on the nonrotational housing of turntable
On, read head circuit is installed with rotatable portion according to caliberating device installation requirement；
3rd step：Dynamic angular benchmark is determined；
It is that turntable and caliberating device are powered, drives turntable with ω0The angular speed of=0.1 °/s is rotated, and drives caliberating device
The rotatable portion component of rotation, the zero pulse signal of i collection caliberating device；The zero pulse signal is sent out as synchronization pulse
Give dynamic angle measurer；Dynamic angular measuring system carries out angle position signal collection to the angular transducer of turntable, turntable i time with
ω0Angular speed when the zero-bit of caliberating device, synchronization pulse triggering dynamic angle measurer measured value be θ00, θ01,
θ02, θ03……..θ0i, then less stationary position θ0For：
4th step：Angle calibration；
Turntable is driven successively with ω1, ω2... ..., ωjAngular speed rotate, drive caliberating device rotatable portion turn
It is dynamic, the zero pulse signal of i collection caliberating device under each angular speed；The zero pulse signal is used as synchronization pulse
It is sent to dynamic angle measurer；Dynamic angular measuring system carries out angle position signal collection to the angular transducer of turntable, obtains synchronization
The digital angle signal θ of pulse signal due inij, wherein, j is speed point sequence number, and j is natural number, and i is j-th speed point
Under ith sample point, i is natural number；
It is then ω in angular speedjWhen dynamic angular measuring system dynamic measuring angle error be：
Δθjmax=Max | θnj-θ0| （2）
In formula, 1≤n≤i, n is natural number.
Test preparation process as above, dynamic angle measurer includes angle position signal analog-to-digital conversion module, synchronous arteries and veins
Rush reception device and data processing centre；Wherein, angle position signal analog-to-digital conversion module respectively with lock-out pulse reception device and
Data processing centre connects, and angle position signal analog-to-digital conversion module carries out analog-to-digital conversion and obtains to the angular transducer signal of turntable
Digital angle signal, then when lock-out pulse reception device receives synchronization pulse, digital angle signal is sent to
Data processing centre；Lock-out pulse reception device receives synchronization pulse, and the synchronization pulse is sent to into Angle Position
Signal analog-to-digital conversion module；Data processing centre receives digital angle signal, in case subsequent analysis are used.
As above to install in caliberating device step, caliberating device is photoelectric encoder, Circular gratings or magnetic grid.For light
Photoelectric coder, 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
With the gap of Moving plate in the range of 0.5~1.5mm.
The invention has the beneficial effects as follows：
This method is co-axially mounted caliberating device with the angular transducer of turntable using caliberating device step is installed, and is
State angle provides stationary reference angle, eliminates systematic error.Show after calibrating to dynamic angular measuring system, its measured value is low
Under fast state（Less than 1 °/s）Dispersiveness is less than 0.1 ", illustrate in the calibration system angular transducer and coaxial mounted for producing
Very well, relative angular displacement amount very little meets high-precision scale to the null positions difference repeatability of the angular encoder of raw pulse signal
Fixed demand.
Description of the drawings
Fig. 1 is the flow chart of the scaling method of a kind of dynamic dynamic angular measuring system certainty of measurement of the present invention.
Specific embodiment
A kind of scaling method of dynamic angular measuring system certainty of measurement of the present invention is carried out with reference to the accompanying drawings and examples
Introduce：
As shown in figure 1, a kind of scaling method of dynamic angular measuring system certainty of measurement, comprises the steps：
The first step：Test prepares；
The angular transducer of connection dynamic angle measurer and turntable.Typically, dynamic angle measurer includes angle position signal mould
Number modular converter, lock-out pulse reception device and data processing centre.Wherein, angle position signal analog-to-digital conversion module respectively with together
Pace pulse reception device and data processing centre connect, and its angular transducer signal to turntable carries out analog-to-digital conversion and obtains numeral
Angle signal, then when lock-out pulse reception device receives synchronization pulse, by digital angle signal data is sent to
Processing center.Lock-out pulse reception device receives synchronization pulse, and the synchronization pulse is sent to into angle position signal
Analog-to-digital conversion module.Data processing centre receives digital angle signal, in case subsequent analysis are used.
Second step：Caliberating device is installed；
Caliberating device is installed on existing turntable, caliberating device is co-axially mounted with the angular transducer of turntable, demarcate
The rotatable portion of device is fixedly mounted in the rotating shaft of turntable, and the read head circuit of caliberating device is fixed on the nonrotational of turntable
On housing, read head circuit is installed with rotatable portion 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 and turns
On the nonrotational housing of platform, the gap of read head on price fixing and Moving plate in the range of 0.5~1.5mm, such as 0.5mm, 1mm or
1.5mm。
3rd step：Dynamic angular benchmark is determined；
It is that turntable and caliberating device are powered, drives turntable with ω0The angular speed of=0.1 °/s is rotated, and drives caliberating device
The rotatable portion component of rotation, the zero pulse signal of i collection caliberating device.The zero pulse signal is sent out as synchronization pulse
Give dynamic angle measurer.Dynamic angular measuring system carries out angle position signal collection to the angular transducer of turntable, takes base now
Quasi- angular speed is less stationary state, then position θ of the zero-bit of caliberating device relative to turntable angular transducer0For less stationary
Position, turntable i time is with ω0Angular speed when the zero-bit of caliberating device, synchronization pulse triggering dynamic angle measurer
Measured value is θ00, θ01, θ02, θ03........θ0i, then less stationary position θ0For：
4th step：Angle calibration；
Turntable is driven successively with ω1, ω2... ..., ωjAngular speed rotate, drive caliberating device rotatable portion turn
It is dynamic, the zero pulse signal of i collection caliberating device under each angular speed.The zero pulse signal is used as synchronization pulse
It is sent to dynamic angle measurer.Dynamic angular measuring system carries out angle position signal collection to the angular transducer of turntable, obtains synchronization
The digital angle signal θ of pulse signal due inij, wherein, j is speed point sequence number, and j is natural number, and i is j-th speed point
Under ith sample point, i is natural number.
It is then ω in angular speedjWhen dynamic angular measuring system dynamic measuring angle error be：
Δθjmax=Max | θnj-θ0| （2）
In formula, 1≤n≤i, n is natural number.
This method is co-axially mounted caliberating device with the angular transducer of turntable using caliberating device step is installed, and is
State angle provides stationary reference angle, eliminates systematic error.Show after calibrating to dynamic angular measuring system, its measured value is low
Under fast state（Less than 1 °/s）Dispersiveness is less than 0.1 ", illustrate in the calibration system angular transducer and coaxial mounted for producing
Very well, relative angular displacement amount very little meets high-precision scale to the null positions difference repeatability of the angular encoder of raw pulse signal
Fixed demand.
Claims (4)
1. a kind of scaling method of dynamic angular measuring system certainty of measurement, comprises the steps：The first step：Test prepares；Connection is dynamic
The angular transducer of state angle measuring system and turntable；Second step：Caliberating device is installed；Caliberating device is installed on turntable, will be demarcated
Device is co-axially mounted with the angular transducer of turntable, and the rotatable portion of caliberating device is fixedly mounted in the rotating shaft of turntable, mark
The read head circuit for determining device is fixed on the nonrotational housing of turntable, and read head circuit is with rotatable portion according to caliberating device
Installation requirement is installed；3rd step：Dynamic angular benchmark is determined；It is that turntable and caliberating device are powered, drives turntable with ω0=0.1 °/s
Angular speed rotate, drive caliberating device the rotatable portion component of rotation, i time gather caliberating device zero pulse signal；This zero
Digit pulse signal is sent to dynamic angular measuring system as synchronization pulse；Dynamic angular measuring system enters to the angular transducer of turntable
Row angle position signal is gathered, and turntable i time is with ω0Angular speed when the zero-bit of caliberating device, synchronization pulse triggering is dynamic
The measured value of state angle measuring system is θ00, θ01, θ02, θ03……..θ0i, then less stationary position θ0For：
4th step：Angle calibration；Turntable is driven successively with ω1, ω2... ..., ωjAngular speed rotate, drive caliberating device
The rotatable portion component of rotation, the zero pulse signal of i collection caliberating device under each angular speed；The zero pulse signal conduct
Synchronization pulse is sent to dynamic angular measuring system；Dynamic angular measuring system carries out angle position signal and adopts to the angular transducer of turntable
Collection, obtains the digital angle signal θ of synchronization pulse due inij, wherein, j is speed point sequence number, and j is natural number, and i is
Ith sample point under j-th speed point, i is natural number；It is then ω in angular speedjWhen dynamic angular measuring system dynamic measuring angle
Error is：
Δθjmax=Max | θnj-θ0| ... in (2) formula, 1≤n≤i, n is natural number.
2. the scaling method of a kind of dynamic angular measuring system certainty of measurement according to claim 1, it is characterised in that：Described
Test preparation process, dynamic angular measuring system is included at angle position signal analog-to-digital conversion module, lock-out pulse reception device and data
Reason center；Wherein, angle position signal analog-to-digital conversion module is connected respectively with lock-out pulse reception device and data processing centre, angle
Position signalling analog-to-digital conversion module carries out analog-to-digital conversion and obtains digital angle signal, Ran Hou to the angular transducer signal of turntable
When lock-out pulse reception device receives synchronization pulse, digital angle signal is sent to into data processing centre；Synchronous arteries and veins
Rush reception device and receive synchronization pulse, and the synchronization pulse is sent to into angle position signal analog-to-digital conversion module；Number
Digital angle signal is received according to processing center, in case subsequent analysis are used.
3. the scaling method of a kind of dynamic angular measuring system certainty of measurement according to claim 1, it is characterised in that：Described
In installing 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 certainty of measurement according to claim 3, it is characterised in that：Described
The Moving plate of photoelectric encoder is pressed in the rotating shaft of turntable, and price fixing is fixed on the nonrotational housing of turntable, the reading on price fixing
Head is with the gap of Moving plate in the range of 0.5~1.5mm.
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| 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 |
| CN113819879B (en) * | 2021-09-22 | 2022-09-30 | 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 |
| 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 |
| 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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