CN106404345B - For the method for correcting error in infrared tube physical centre and angle measurement - Google Patents
For the method for correcting error in infrared tube physical centre and angle measurement Download PDFInfo
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- CN106404345B CN106404345B CN201510446788.3A CN201510446788A CN106404345B CN 106404345 B CN106404345 B CN 106404345B CN 201510446788 A CN201510446788 A CN 201510446788A CN 106404345 B CN106404345 B CN 106404345B
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Abstract
The invention discloses a kind of method for correcting error in infrared tube physical centre and angle measurement, its test device includes the rotating disk for loading infrared tube to be measured and the motor for driving rotation disc spins, and the rotation index for trigger sensor is provided in the disk of rotating disk；The method for correcting error includes：When measuring beginning, controls after the motor rotates 5~10 ° round about from current location and turn round；Trigger the first sensor of original position；First object position is reached after being rotated by 90 °；It is turned round after continuing 5~10 °；Return to first object location triggered second sensor；The second target location is reached after 180 ° of rotation；It is turned round after continuing 5~10 ° of rotation；Return to the second target location triggering 3rd sensor；Continue to complete reset motor after being rotated by 90 °；To complete the test of a cycle.Method for correcting error proposed by the present invention in infrared tube physical centre and angle measurement can eliminate the error in infrared tube physical centre and angle measurement, measurement result is accurate.
Description
Technical field
The present invention relates to motor control technology fields, particularly relate to a kind of in infrared tube physical centre and angle measurement
Method for correcting error.
Background technology
Infrared receiver or transmitting fluorescent tube are during production and processing, due to the inaccurate or artificial behaviour of production equipment
Making error causes the Lamp cup of infrared lamp the offset of position occur, the angle asymmetry for causing infrared lamp to receive or emit.
Infrared lamp is carried out in large-scale touch display screen and electronic whiteboard in application, very to the angle requirement of infrared lamp
Height, although the angle of the positive and negative addition of infrared lamp is met the requirements, due to infrared lamp receive or launch angle it is not right
Claim, also the product of large-scale touch display screen and electronic whiteboard can be made bad.In order to measure the asymmetry of infrared lamp, especially exist
Using the method for measuring physical centre and angle measurement in equipment, determine whether infrared lamp Lamp cup offsets.
With reference to attached drawing 1a-1c, a kind of test equipment for measuring infrared tube physical centre and receiving and dispatching angle is disclosed,
Including turntable, fixed station, slave 1, slave 2, master control borad, drive system, pedestal and host computer；Pedestal is for installing and fixing
Other component；Drive system includes controller and motor, and controller is connected to master control borad, for the steering of motor, rotating speed and
Turn to stop being controlled；Turntable and fixed station are separately positioned on the both ends of pedestal, and certain distance, fixed station are separated between the two
For installing standard pipe, turntable waits for that test tube, turntable are fastenedly connected on the output shaft of motor for installing, and motor is mounted on
In the cavity of pedestal --- when motor rotates, turntable can be driven to rotate together；Slave 1 and slave 2 are connected respectively to standard pipe
With wait for test tube, slave 1 and slave 2 are connected to master control borad simultaneously, and master control borad is connected to host computer, control mould is equipped in host computer
Block and display module；Control module for controlling drive system, slave 1, slave 2, for showing test by display module
Data.
Illustrate test process for waiting for that test tube is reception pipe below.Parameter (transmission power, electricity have been configured on host computer
Machine rotates step-length etc.)；Upper computer software sends out corresponding work order by USB line to master control borad；Equipment enters working condition；
Master control borad controls the conducting and closing of transmitting tube, and transmitting tube will produce a voltage signal when being connected, the voltage signal is by fortune
The slave being attached thereto is sent to after putting processing, then after carrying out digital-to-analogue conversion by slave, be sent to master control borad；Reception pipe receives
A voltage signal is generated when the infrared ray that transmitting tube is sent out, which is transmitted to the slave being attached thereto again after amplifier, by
After slave carries out digital-to-analogue conversion, it is then forwarded to master control borad；Master control borad also controls synchronous motor while coordinating above-mentioned steps
Rotation.Every turn of motor moves a step (step-length is such as a unit interval to rotate 0.2 degree), carries out a data acquisition；Then by
Master control borad, which transmits data to, is transmitted to host computer, the form display data that host computer is needed according to user.When test tube is transmitting tube,
Otherwise similarly.
By above-mentioned test process can be seen that this system can continuously, with different launch angle or acceptance angle
Degree tests transmitting tube or reception pipe, and can be adjusted to the emissive porwer of transmitting tube；It is both square compared to existing apparatus
Use, improve precision, in turn simplify testing procedure, can also flexibly adapt to the company standard of different manufacturers.
Above-mentioned test device leads to the presence of machinery because there are mechanical clearance between motor and the connecting portion of rotating disk
Lag error.In addition, motor is also easy to, there is a situation where losing step and more walking, lead to the deviation of measurement result.
Invention content
In view of this, it is an object of the invention to propose a kind of correction in infrared tube physical centre and angle measurement
Method, can eliminate the error in infrared tube physical centre and angle measurement, and measurement result is accurate.
Based on above-mentioned purpose provided by the present invention for the method for correcting error in infrared tube physical centre and angle measurement, survey
The rotating disk including loading infrared tube to be measured and the motor for drive rotation disc spins are set in trial assembly, the output shaft of the motor and
Rotating disk connects, and the rotation index for trigger sensor is provided in the disk of the rotating disk；The method for correcting error packet
It includes：
Measure start when, control the motor from current location to the opposite direction of first object direction of rotation rotation 5~
It is turned round after 10 °, turning course so that the gap of the first object direction of rotation side between motor output shaft and rotating disk is disappeared
It removes；
Motor output shaft continues to rotate along first object direction of rotation with rotating disk, when rotation index is with rotating disk
When being rotated back to initial position, rotation index triggering original position first sensor, first sensor to control lead
Plate exports high level, notifies it from current time, and the data that control mainboard receives are the first valid data；
Motor continue along first object direction of rotation be rotated by 90 ° after reach first object position, complete the first valid data
Acquisition；
Motor continue along first object direction of rotation rotate 5~10 ° after turn round, gyratory directions at this time are the rotation of the second target
Turn direction, turning course makes the gap of the second target direction of rotation side between motor output shaft and rotating disk be eliminated；
Motor output shaft continues to rotate along the second target direction of rotation with rotating disk, when rotation index is with rotating disk
When being rotated back to first object position, the second sensor at rotation index triggering first object position, second sensor
High level is exported to control mainboard, notifies it from current time, the data that control mainboard receives are the second valid data；
Motor continue along the second target direction of rotation rotate 180 ° after reach the second target location, complete the second valid data
Acquisition；
Motor continue along the second target direction of rotation rotate 5~10 ° after turn round, gyratory directions at this time are the rotation of third target
Turn direction, turning course makes the gap of the third target direction of rotation side between motor output shaft and rotating disk be eliminated；
Motor output shaft continues to rotate along third target direction of rotation with rotating disk, when rotation index is with rotating disk
When being rotated back to the second target location, rotation index trigger the second target location 3rd sensor, 3rd sensor
High level is exported to control mainboard, notifies it from current time, the data that control mainboard receives are reseting data；
Motor continue along third target direction of rotation be rotated by 90 ° after return to initial position, complete reset motor and simultaneously stop；
To complete the test of a cycle.
In some embodiments, motor loses step in order to prevent, and the method for correcting error further includes：
Driving current is suitably increased within the scope of rated current；In high-frequency range torque deficiency, driving electricity is properly increased
The driving voltage on road；Alternatively, the big stepper motor of torque is used instead, to which the electromagnetic torque for making motor itself generate increases；
And/or appropriate reduction motor operation frequency, to improve the output torque of motor；Add alternatively, setting is longer
The fast time, so that rotor obtains enough energy, to which the torque for making motor need to overcome reduces.
In some embodiments, motor more walks in order to prevent, and the method for correcting error further includes：
The driving current for reducing motor, to reduce the output torque of stepper motor.
In some embodiments, motor is lost step and is more walked in order to prevent, and the method for correcting error further includes：
An acceleration and moderating process are completed by controlling motor, i.e., is started with lower speed, is then ramped up
A certain speed operation, then gradually slow down until stopping, to ensure that motor is reliable, accurately and accurately runs.
In some embodiments, motor more walks in order to prevent, and the method for correcting error further includes：
The appropriate driving current for reducing motor；Alternatively, using subdivision drive method, damping method or mechanical damping method, from
And motor oscillation is effectively eliminated, avoid step-out phenomenon from occurring.
From the above embodiment as can be seen that provided by the present invention for entangling in infrared tube physical centre and angle measurement
Folk prescription method is reversely rotated by controlling motor before testing valid data, to eliminate target location because motor is defeated
Gap between shaft and rotating disk and generate measurement error, so as to reach accurate test infrared lamp physical centre and its
Receive and dispatch angle；In addition, additionally providing the solution that motor is lost step and more walked, the correction of measurement data is preferably completed.
Description of the drawings
Fig. 1 a are the structural schematic diagram of the existing test equipment for measuring infrared tube physical centre and receiving and dispatching angle；
Fig. 1 b are the knot of the turntable of the existing test equipment for measuring infrared tube physical centre and receiving and dispatching angle
Structure schematic diagram；
Fig. 1 c are the knot of the fixed station of the existing test equipment for measuring infrared tube physical centre and receiving and dispatching angle
Structure schematic diagram；
Fig. 2 is the embodiment provided by the present invention for the method for correcting error in infrared tube physical centre and angle measurement
Flow diagram；
Fig. 3 is provided by the present invention in the embodiment of the method for correcting error in infrared tube physical centre and angle measurement
Rotate the rotary motion trace schematic diagram of index.
Specific implementation mode
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference
Attached drawing, the present invention is described in more detail.
It should be noted that all statements for using " first " and " second " are for differentiation two in the embodiment of the present invention
The non-equal entity of a same names or non-equal parameter, it is seen that " first " " second " only for the convenience of statement, does not answer
It is interpreted as the restriction to the embodiment of the present invention, subsequent embodiment no longer illustrates this one by one.
Mechanical clearance is inevitable, can only be the wrong data for eliminating gap band.The error that gap band comes is merely creating
The initial position rotated in one direction.If motor is to rotate forward, that must allow motor reversely to go to certain angle, then
It rotates forward, judges initial position using sensor.The influence that gap sluggishness is brought can thus be eliminated.
With reference to attached drawing 2 and attached drawing 3, respectively provided by the present invention in infrared tube physical centre and angle measurement
The rotary motion trace schematic diagram of index is rotated in the flow diagram and embodiment of the embodiment of method for correcting error.
The method for correcting error in infrared tube physical centre and angle measurement, test device include that loading is to be measured red
The rotating disk of outer tube and for drive rotation disc spins motor, the output shaft of the motor is connect with rotating disk (can refer to attached
The connection structure between rotating disk and motor output shaft in Fig. 1 a-1c), it is provided with for triggering in the disk of the rotating disk
The rotation index (being indicated by thick straight line vertical in Fig. 3) of sensor；In conjunction with the song of the expression rotating disk pointer path in Fig. 3
Line, the method for correcting error include：
Step 101：When measuring beginning, phase negative side of the motor from current location A to first object direction of rotation is controlled
5~10 ° (in Fig. 3, rotation index goes to position B from position A), which are rotated, to (counter clockwise direction in Fig. 3) turns round (Fig. 3 afterwards
In, rotation index is rotated from position B to position C), turning course is close to by the left side of motor output shaft with rotating disk, makes
Obtain the gap quilt of the first object direction of rotation side (left that index is rotated in Fig. 3) between motor output shaft and rotating disk
It eliminates；
Step 102：Motor output shaft continues with rotating disk along first object direction of rotation (clockwise direction in Fig. 3)
Rotation, when rotation index is as rotating disk is when being rotated back to initial position C, rotation index triggers at the C of initial position
First sensor, first sensor export high level to control mainboard, notify the control mainboard from current time (when triggering
Carve) it rises, the data that control mainboard receives are effective data, and are defined as the first valid data；
Step 103：Motor continue along first object direction of rotation be rotated by 90 ° after reach first object position D, it is meant that it is red
Outer fluorescent tube has gone to -90 ° from 0 ° with rotating disk, and the second sensor at rotation index triggering first object position D notifies
Control mainboard completes the acquisition of the first valid data；
Step 104：Motor continues to return afterwards along first object direction of rotation rotation 5~10 ° (position D goes to position E in Fig. 3)
Turning and (turns from position E to position F in Fig. 3), gyratory directions at this time are the second target direction of rotation (in Fig. 3 counterclockwise),
Similarly, turning course makes the gap of the second target direction of rotation side between motor output shaft and rotating disk be eliminated；
Step 105：Motor output shaft with rotating disk continue along the second target direction of rotation rotate, when rotation index with
Being rotated back to when being located at the position F of same position with first object position D of rotating disk, rotation index triggers first again
Second sensor at target position D, second sensor export high level to control mainboard, notify it from current time, control
The data that mainboard processed receives are the second valid data；
Step 106：Motor continue along the second target direction of rotation rotate 180 ° after reach the second target location H (by way of with
The position G of initial position C same positions, can simultaneously with the trigger notice control mainboard by first sensor, rotating disk refers at this time
Needle have passed through initial position), it is meant that infrared lamp has gone to 90 ° from -90 °, and rotation index triggers at the second target location H
3rd sensor, notice control mainboard complete the second valid data acquisition；
Step 107：Motor continues to turn round afterwards along the second target direction of rotation rotation 5~10 ° (position H to position J in Fig. 3)
(turning from position J to position K in Fig. 3), gyratory directions at this time are third target direction of rotation (clockwise direction in Fig. 3),
Similarly, turning course makes the gap of the third target direction of rotation side between motor output shaft and rotating disk be eliminated；
Step 108：Motor output shaft with rotating disk continue along third target direction of rotation rotate, when rotation index with
Being rotated back to when being located at the position K of same position with the second target location H of rotating disk, rotation index triggers the second target
3rd sensor at the H of position, 3rd sensor export high level to control mainboard, notify it from current time, control master
The data that plate receives are reseting data；
Step 109：Motor continue along third target direction of rotation be rotated by 90 ° after return to and initial position C same positions
Position L completes reset motor and stops, and position L is that reset motor terminates at stopping, making motor in order to avoid motor produces range
Damage；
Step 110：Complete the test of a cycle.
Wherein, when the position of sensor at motor goes to initial position (0 °), sensor gives mainboard one high level letter
Number, it is assumed that motor is by having rotated k steps, and level is also height at this time, and motor is rotated further by k+1 steps, and level is low level at this time, then
The reading that the data that AD is acquired at k/2 steps are 0 degree.It is also similarly accurately to read positive and negative 90 degree.
Further, it when motor (especially stepper motor) normal work, often receives a control pulse and just moves one
Step angle takes a step forward, if continuously input control pulse, motor just correspondingly continuous rotation.Step out of stepping motor includes
It loses step and more walks.When losing step, the step number that rotor advances is less than umber of pulse；When more walking, the step number that rotor advances is more than umber of pulse.One
It is secondary to lose the integral multiple of step and the step pitch number more walked equal to operation umber of beats.Lose step it is serious when, will make rotor stop in one position
Or vibrated around a position, when more walking serious, it will overshoot.
The acceleration of rotor is slower than the rotating excitation field of stepper motor, that is, when being less than rate of phase change, stepper motor will produce mistake
Step.This is because the electric energy of input motor is insufficient, it is fixed that the synchronising torque generated in stepper motor can not be such that spinner velocity follows
The rotary speed in sub- magnetic field, so as to cause step-out.Since the dynamical output torque of stepper motor is upper with continuous operation frequency
It rises and reduces, thus, generation is all lost step by every working frequency higher than the frequency.This step-out illustrates the torque of stepper motor
Deficiency, dragging capabilities are inadequate.Therefore, motor loses step in order to prevent, and in some optional embodiments, the method for correcting error also wraps
It includes：
Driving current is suitably increased within the scope of rated current；In high-frequency range torque deficiency, driving electricity is properly increased
The driving voltage on road；Alternatively, the big stepper motor of torque is used instead, to which the electromagnetic torque for making motor itself generate increases；
And/or appropriate reduction motor operation frequency, to improve the output torque of motor；Add alternatively, setting is longer
The fast time, so that rotor obtains enough energy, to which the torque for making motor need to overcome reduces.
In addition, the average speed of rotor is higher than the average rotary speed of stator field, the time of at this moment stator energization excitation
It is longer, it is more than the rotor step further required time, then rotor obtains excessive energy during stepping so that stepping electricity
The output torque that machine generates increases, to make motor more walk.When driving the machine that those make load act above and below with stepper motor
It when structure, is more also easy to produce and more walks phenomenon, this is because when load moves downward, the torque needed for motor reduces.Therefore, in order to anti-
Only motor more walks, and in some optional embodiments, the method for correcting error further includes：
The driving current for reducing motor, to reduce the output torque of stepper motor.
Since there are inertia for stepper motor itself and institute's bringing onto load so that motor cannot start immediately during the work time
And stopping, but occur losing step at the start, occur more to walk when stopping.Therefore, in some optional embodiments, in order to anti-
Only motor is lost step and is more walked, and the method for correcting error further includes：
An acceleration and moderating process are completed by controlling motor, i.e., is started with lower speed, is then ramped up
A certain speed operation, then gradually slow down until stopping, to ensure that motor is reliable, accurately and accurately runs.
Resonance is also a reason for causing more to walk.When stepper motor is in continuous operation state, if control pulse
Frequency is equal to the intrinsic frequency of stepper motor, will generate resonance.It is controlled in the pulse period at one, vibration cannot fully decline
Subtract, next pulse is gone to, thus dynamic error is maximum near resonant frequency and stepper motor can be caused more to walk.Therefore,
Motor more walks in order to prevent, and in some optional embodiments, the method for correcting error further includes：
The appropriate driving current for reducing motor；Alternatively, using subdivision drive method, damping method or mechanical damping method, from
And motor oscillation is effectively eliminated, it avoids more walking phenomenon.
In addition, when motor is in the presence of the angle-measurement accuracy that can influence fluorescent tube test fixture when losing step.It controls and loses step and get over
The minimal error of step just controls the precision of measurement angle.And the mainboard of its fixture is connected with the host computer of computer, passes through USB
The data of upload preferably immobilize, and reduce many troubles to software engineer in this way.Have assuming that perfect condition is motor
Data total step number is imitated to walk for N.It is to lose K steps when actually measuring, motor is gone at C, then the total step number of actually active data
It is walked for N+K.Control K and just control measurement angle and should be step-out and the error that generates, when the step number of step-out is more than K, equipment into
It goes and improves precision from new measurement automatically.So fixture wants N+K valid data group of last time.When practical step number is less than N+K step numbers
When with zero add to N+k data.
From the above embodiment as can be seen that provided by the present invention for entangling in infrared tube physical centre and angle measurement
Folk prescription method is reversely rotated by controlling motor before testing valid data, to eliminate target location because motor is defeated
Gap between shaft and rotating disk and generate measurement error, so as to reach accurate test infrared lamp physical centre and its
Receive and dispatch angle；In addition, additionally providing the solution that motor is lost step and more walked, the correction of measurement data is preferably completed.
Those of ordinary skills in the art should understand that：The above is only a specific embodiment of the present invention, and
It is not used in the limitation present invention, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done,
It should be included within protection scope of the present invention.
Claims (5)
1. a kind of method for correcting error in infrared tube physical centre and angle measurement, which is characterized in that its test device includes
The rotating disk of infrared tube to be measured and the motor for driving rotation disc spins are loaded, output shaft and the rotating disk of the motor connect
It connects, the rotation index for trigger sensor is provided in the disk of the rotating disk；The method for correcting error includes：
When measuring beginning, after controlling the motor from current location to 5~10 ° of the opposite direction of first object direction of rotation rotation
Revolution, turning course make the gap of the first object direction of rotation side between motor output shaft and rotating disk be eliminated；
Motor output shaft continues to rotate along first object direction of rotation with rotating disk, when rotation index is with the rotation of rotating disk
When rotating back into initial position, rotation index triggers the first sensor of original position, and first sensor is defeated to control mainboard
Go out high level, notify it from current time, the data that control mainboard receives are the first valid data；
Motor continue along first object direction of rotation be rotated by 90 ° after reach first object position, complete adopting for the first valid data
Collection；
Motor continue along first object direction of rotation rotate 5~10 ° after turn round, gyratory directions at this time are the second target rotation side
To turning course makes the gap of the second target direction of rotation side between motor output shaft and rotating disk be eliminated；
Motor output shaft continues to rotate along the second target direction of rotation with rotating disk, when rotation index is with the rotation of rotating disk
When rotating back into first object position, the second sensor at rotation index triggering first object position, second sensor is to control
Mainboard processed exports high level, notifies it from current time, and the data that control mainboard receives are the second valid data；
Motor continue along the second target direction of rotation rotate 180 ° after reach the second target location, complete adopting for the second valid data
Collection；
Motor continue along the second target direction of rotation rotate 5~10 ° after turn round, gyratory directions at this time are third target rotation side
To turning course makes the gap of the third target direction of rotation side between motor output shaft and rotating disk be eliminated；
Motor output shaft continues to rotate along third target direction of rotation with rotating disk, when rotation index is with the rotation of rotating disk
When rotating back into the second target location, rotation index triggers the 3rd sensor of the second target location, and 3rd sensor is to control
Mainboard processed exports high level, notifies it from current time, and the data that control mainboard receives are reseting data；
Motor continue along third target direction of rotation be rotated by 90 ° after return to initial position, complete reset motor and simultaneously stop；
To complete the test of a cycle.
2. method for correcting error according to claim 1, which is characterized in that motor loses step in order to prevent, and the method for correcting error is also
Including：
Driving current is suitably increased within the scope of rated current；In high-frequency range torque deficiency, driving circuit is properly increased
Driving voltage；Alternatively, the big stepper motor of torque is used instead, to which the electromagnetic torque for making motor itself generate increases；
And/or appropriate reduction motor operation frequency, to improve the output torque of motor；Alternatively, when setting longer acceleration
Between, so that rotor obtains enough energy, to which the torque for making motor need to overcome reduces.
3. method for correcting error according to claim 1, which is characterized in that motor more walks in order to prevent, and the method for correcting error is also
Including：
The driving current for reducing motor, to reduce the output torque of stepper motor.
4. method for correcting error according to claim 1, which is characterized in that motor is lost step and more walked, the correction in order to prevent
Method further includes：
An acceleration and moderating process are completed by controlling motor, i.e., is started, is then ramped up a certain with lower speed
Speed is run, then is gradually slowed down until stopping, to ensure that motor is reliable, accurately and accurately runs.
5. method for correcting error according to claim 1, which is characterized in that motor more walks in order to prevent, and the method for correcting error is also
Including：
Step-out phenomenon is avoided to occur to effectively eliminate motor oscillation using subdivision drive method, damping method.
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| CN113776574B (en) * | 2021-08-12 | 2024-04-02 | 广东嘉腾机器人自动化有限公司 | Regional sensor testing method and system |
| CN115096215B (en) * | 2022-05-30 | 2023-06-02 | 吉林大学 | Turntable eccentric angle measuring method based on full-circle modulation signal period |
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| CN106404345A (en) | 2017-02-15 |
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