CN106405139A - Rotary table angular rate detecting apparatus and method - Google Patents
Rotary table angular rate detecting apparatus and method Download PDFInfo
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- CN106405139A CN106405139A CN201510463202.4A CN201510463202A CN106405139A CN 106405139 A CN106405139 A CN 106405139A CN 201510463202 A CN201510463202 A CN 201510463202A CN 106405139 A CN106405139 A CN 106405139A
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Abstract
The invention relates to the technical field of inertial device testing and more particularly to a rotary table angular rate detecting apparatus and method. The apparatus comprises a photoelectric encoder, a standard pulse processing circuit and a portable tester. The photoelectric encoder generates a 1 Vpp differential signal when the tested shaft of the rotary table rotates. The standard pulse processing circuit converts the 1 Vpp differential signal into a standard single-ended TTL level signal. The portable tester counts the standard single-ended TTL level signals. The method comprises the following steps: calculating average time and an angular rate; calculating an angular rate absolute error and an angular rate smoothness absolute error; and calculating an angular rate relative error and angular rate smoothness relative error. The apparatus and method realize angular rate detection suitable for different types of rotary tables by virtue of the traceable counting device, the high-reliable encoder and the processing circuit, and can obtain a result in real time, and has characteristics of high applicability and high timing accuracy.
Description
Technical field
The invention belongs to inertia device technical field of measurement and test is and in particular to a kind of turntable angle rate-measuring device
And method.
Background technology
Turntable as inertia device test equipment, the precision of its angular speed and stationarity property to inertia device
Very important effect can be played.Improve constantly with inertia device angular speed index, to turret systems certainly
The requirement of body angle speed precision index also increasingly improves.
At present, the detection of angular speed according to the size of angular speed from 360 ° average, 10 ° average and 1 ° average three
Individual segment is carried out respectively.When angular speed instruction is more than 360 °, using the magnet steel being pasted in turntable frame
Position is mobile and fixed hall device between produces hall signal, as reference pulse signal
Export and calculate interpulse period thus carrying out angular speed calculating to test system；When angular speed instruction is less than
10 °, during even less than 1 °, how by the 1ms interrupt acquisition turntable Angle Position within rotating platform control system
Carry out the precision of angular speed and stationarity calculates.
Though above method can complete the angular speed detection of general turntable, being only used for turning table control data can
Open at the state of angular speed detection, the turntable angle rate test of inapplicable exclusiveness control system, exist
Detection means is interfered with control system, and testing result is associated with the data acquisition of control system etc. asks
Topic.
Content of the invention
The technical problem to be solved in the invention is：A kind of turntable angle rate-measuring device and method are provided,
It departs from the angular speed detection means in turntable own control systems, and measuring accuracy is high, strong applicability.
Technical scheme is as described below：
A kind of turntable angle rate-measuring device, including photoelectric encoder, calibration pulse process circuit and portable
Formula calibrating instrument：Photoelectric encoder produces 1Vpp differential signal, calibration pulse when turntable measured axis rotates
1Vpp differential signal is converted into standard single-ended Transistor-Transistor Logic level signal, portable calibrating by signal processing circuit
Instrument counts to standard single-ended Transistor-Transistor Logic level signal.
Preferably：Described photoelectric encoder adopts Circular gratings formula photoelectric encoder.Described Circular gratings
Formula photoelectric encoder includes Circular gratings and read head：Circular gratings are arranged on turntable measured axis, radially turn round
Error is less than or equal to 5 μm；Read head and Circular gratings outer rim are apart from 2mm.
Preferably：Described calibration pulse signal processing circuit includes filter circuit and high-speed transitions core
Piece：Filter circuit is filtered to 1Vpp differential signal processing, and high-speed transitions chip is ensureing signal band
On the premise of width, 1Vpp differential signal is converted to TTL differential level, then is converted into single-ended signal,
Obtain standard single-ended Transistor-Transistor Logic level signal.Described high-speed transitions chip can adopt 74LS123 cake core.
Preferably：Described Portable Test Instrument includes high stable clock source and signal acquisition process electricity
Road, carries out to the trailing edge of standard single-ended Transistor-Transistor Logic level signal counting, to standard single-ended Transistor-Transistor Logic level signal
Interval time is calculated, and the time turning over fixed angle by calculating turntable obtains angle speed precision and steady
Fixed degree.Described high stable clock source can adopt NI standard board.
A kind of turntable angle speed detection method, comprises the following steps：
Step 1 calculates average time and angular speed
Turntable is operated in rate conditions so as to run by given rate stabilization, opens after turntable is stable
Begin to measure；Portable Test Instrument is sampled n data altogether；Calculate average time according to formula (1), according to formula
(2) calculate angular speed：
ω=Δ θ/T (2)
In formula,
Turn over the meansigma methodss determining the time used by angular spacing for turntable measured axis under given speed；
N is the given continuous pendulous frequency of speed point；
TiTurn over, for turntable measured axis i ＆ lt under given speed, the time used by angular spacing of determining, i=1,2 ...,
n；
ω is angular speed theoretical value；
△ θ is to determine angular spacing；
T turns over the time used by angular spacing of determining for turntable；
Step 2 calculates angular speed absolute error and angular speed stationarity absolute error
When turntable speed is less than 0.1 °/s, calculate angular speed absolute error according to formula (3), according to formula (4)
Calculate angular speed stationarity absolute error
Wherein,
In formula：
EωFor angular speed absolute error；
For angular speed meansigma methodss；
For angular speed stationarity absolute error；
For each speed point measured value with respect to speed average value maximum positively biased difference；
It is the speed point measured value with speed average value with maximum overgauge；
For each speed point measured value with respect to speed average value maximum negative bias difference；
It is the speed point measured value with speed average value with maximum minus deviation；
Step 3 calculates angular speed relative error and angular speed stationarity relative error
When turntable speed is more than or equal to 0.1 °/s, calculate angular speed relative error, foundation according to formula (5)
Formula (6) calculates angular speed stationarity relative error：
In formula：
VωFor angular speed relative error；
TgTurn over the theoretical value determining the time used by angular spacing for turntable measured axis under given speed；
σωFor angular speed stationarity relative error；
N is the pendulous frequency selected by given speed.
Preferably：In step 1, △ θ value is 360 ° or 10 ° or 1 °.
Preferably：In step 3, in 360 ° of average bin, N=10；In 10 ° of average bin, N=10；
In 1 ° of average bin, as angular speed theoretical value ω >=0.005 °/s, N=10, when angular speed theoretical value
ω<During 0.005 °/s, N=3.
Beneficial effects of the present invention are：
(1) a kind of turntable angle rate-measuring device of the present invention and method, design principle clearly, executes machine
Structure is clear, is achieved applicable by the encoder of the counting equipment that can trace to the source and high reliability and process circuit
Angular speed detection in dissimilar turntable；
(2) a kind of turntable angle rate-measuring device of the present invention and method, realize plug and play, and can
Obtain result in real time, have the characteristics that strong applicability, timing precision are high.
Brief description
Fig. 1 is the turntable angle rate-measuring device composition schematic diagram of the present invention；
Fig. 2 is the external Circular gratings formula photoelectric encoder scheme of installation of the present invention.
In figure, 1- turntable measured axis, 2- Circular gratings, 3- read head clamping bar, 4- read head, 5- photoelectric coding
Device installing plate.
Specific embodiment
With reference to the accompanying drawings and examples a kind of turntable angle rate-measuring device and method of the present invention is carried out
Describe in detail.
As shown in figure 1, a kind of turntable angle rate-measuring device of the present invention, including photoelectric encoder, mark
Quasi- pulse processing circuit and Portable Test Instrument：Photoelectric encoder produces when turntable measured axis 1 rotates
1Vpp differential signal, it is single-ended that 1Vpp differential signal is converted into standard by calibration pulse signal processing circuit
Transistor-Transistor Logic level signal, Portable Test Instrument counts to standard single-ended Transistor-Transistor Logic level signal.
Described photoelectric encoder adopts Circular gratings formula photoelectric encoder, when turntable uniform motion is in a certain rotating speed
When, Circular gratings formula photoelectric encoder produces the 1Vpp differential signal of its line number corresponding.As shown in Fig. 2
Circular gratings formula photoelectric encoder in the present embodiment includes Circular gratings 2 and read head 4：Circular gratings 2 are installed
On turntable measured axis 1, Radial mixing is not more than 5 μm；Read head 4 and Circular gratings 2 outer rim away from
From 2mm, when rotating, produce 1Vpp differential signal for turntable measured axis 1.When line number is 18000,
In the case that turntable rotating speed is 360 °/s, turntable every revolution Circular gratings formula photoelectric encoder is exportable
18000 periodic signals.
Described calibration pulse signal processing circuit includes filter circuit and high-speed transitions chip：Filter circuit pair
1Vpp differential signal is filtered processing, and high-speed transitions chip is on the premise of ensureing signal bandwidth by 1Vpp
Differential signal is converted to TTL differential level, then is converted into single-ended signal, obtains the single-ended TTL of standard
Level signal.In the present embodiment, described filter circuit adopts the resistance of high reliability, electric capacity to realize；High
Fast conversion chip adopts 74LS123 cake core.
Described Portable Test Instrument includes high stable clock source and signal acquisition processing circuit, can be to standard list
The trailing edge of end Transistor-Transistor Logic level signal carries out counting and standard single-ended Transistor-Transistor Logic level signal interval calculates,
The time turning over fixed angle by calculating turntable obtains angle speed precision and degree of stability.In the present embodiment,
Described high stable clock source adopts NI standard board；Described signal acquisition processing circuit adopts in prior art
Signal acquisition circuit, this is known to the skilled person general knowledge.
A kind of turntable angle speed detection method of the present invention, is realized using determining angle horology, it specifically includes
Following steps：
Step 1 calculates average time and angular speed
Turntable is operated in rate conditions so as to run by given rate stabilization, opens after turntable is stable
Begin to measure.Portable Test Instrument is sampled n data altogether.Calculate average time according to formula (1), according to formula
(2) calculate angular speed：
ω=△ θ/T (2)
In formula,
Turn over the meansigma methodss determining the time used by angular spacing for turntable measured axis under given speed；
N is the given continuous pendulous frequency of speed point, the present embodiment, n=10；
TiTurn over, for turntable measured axis i ＆ lt under given speed, the time used by angular spacing of determining, i=1,2 ...,
n；
ω is angular speed theoretical value；
△ θ is to determine angular spacing, and in the present embodiment, △ θ can be with 360 °, 10 ° or 1 ° of value；
T turns over the time used by angular spacing of determining for turntable.
Step 2 calculates angular speed absolute error and angular speed stationarity absolute error
When turntable speed is less than 0.1 °/s, calculate angular speed absolute error according to formula (3), according to formula (4)
Calculate angular speed stationarity absolute error
Wherein,
In formula：
EωFor angular speed absolute error；
For angular speed meansigma methodss；
For angular speed stationarity absolute error；
For each speed point measured value with respect to speed average value maximum positively biased difference；
It is the speed point measured value with speed average value with maximum overgauge；
For each speed point measured value with respect to speed average value maximum negative bias difference；
It is the speed point measured value with speed average value with maximum minus deviation.
Step 3 calculates angular speed relative error and angular speed stationarity relative error
When turntable speed is more than or equal to 0.1 °/s, calculate angular speed relative error, foundation according to formula (5)
Formula (6) calculates angular speed stationarity relative error：
In formula：
VωFor angular speed relative error；
TgTurn over the theoretical value determining the time used by angular spacing for turntable measured axis under given speed；
σωFor angular speed stationarity relative error；
N is the pendulous frequency selected by given speed.
In the present embodiment, in 360 ° of average bin, N=10；In 10 ° of average bin, N=10；1 ° average
In section, as angular speed theoretical value ω >=0.005 °/s, N=10, when angular speed theoretical value ω<0.005
°/s when, N=3.
Claims (10)
1. a kind of turntable angle rate-measuring device, including photoelectric encoder, calibration pulse process circuit and just
Take formula calibrating instrument it is characterised in that：It is poor that photoelectric encoder produces 1Vpp when turntable measured axis (1) rotates
Sub-signal, 1Vpp differential signal is converted into the single-ended Transistor-Transistor Logic level of standard by calibration pulse signal processing circuit
Signal, Portable Test Instrument counts to standard single-ended Transistor-Transistor Logic level signal.
2. turntable angle rate-measuring device according to claim 1 it is characterised in that：Described photoelectricity
Encoder adopts Circular gratings formula photoelectric encoder.
3. turntable angle rate-measuring device according to claim 2 it is characterised in that：Described round light
Grating photoelectric encoder includes Circular gratings (2) and read head (4)：Circular gratings (2) are arranged on turntable measured axis (1)
On, Radial mixing is less than or equal to 5 μm；Read head (4) and Circular gratings (2) outer rim are apart from 2mm.
4. turntable angle rate-measuring device according to claim 1 it is characterised in that：Described standard
Pulse signal process circuit includes filter circuit and high-speed transitions chip：Filter circuit is believed to 1Vpp difference
Number it is filtered processing, high-speed transitions chip is on the premise of ensureing signal bandwidth by 1Vpp differential signal
Be converted to TTL differential level, then be converted into single-ended signal, obtain standard single-ended Transistor-Transistor Logic level signal.
5. turntable angle rate-measuring device according to claim 4 it is characterised in that：Described high speed
Conversion chip adopts 74LS123 cake core.
6. turntable angle rate-measuring device according to claim 1 it is characterised in that：Described portable
Formula calibrating instrument includes high stable clock source and signal acquisition processing circuit, to standard single-ended Transistor-Transistor Logic level signal
Trailing edge carry out counting, standard single-ended Transistor-Transistor Logic level signal interval calculated, by calculate
The time that turntable turns over fixed angle obtains angle speed precision and degree of stability.
7. turntable angle rate-measuring device according to claim 6 it is characterised in that：Described high steady
Timing clock source adopts NI standard board.
8. a kind of turntable angle speed detection method it is characterised in that：Comprise the following steps：
Step 1 calculates average time and angular speed
Turntable is operated in rate conditions so as to run by given rate stabilization, opens after turntable is stable
Begin to measure；Portable Test Instrument is sampled n data altogether；Calculate average time according to formula (1), according to formula
(2) calculate angular speed：
ω=△ θ/T (2)
In formula,
Turn over the meansigma methodss determining the time used by angular spacing for turntable measured axis under given speed；
N is the given continuous pendulous frequency of speed point；
TiTurn over, for turntable measured axis i ＆ lt under given speed, the time used by angular spacing of determining, i=1,2 ...,
n；
ω is angular speed theoretical value；
△ θ is to determine angular spacing；
T turns over the time used by angular spacing of determining for turntable；
Step 2 calculates angular speed absolute error and angular speed stationarity absolute error
When turntable speed is less than 0.1 °/s, calculate angular speed absolute error according to formula (3), according to formula (4)
Calculate angular speed stationarity absolute error
Wherein,
In formula：
EωFor angular speed absolute error；
For angular speed meansigma methodss；
σ′ωFor angular speed stationarity absolute error；
For each speed point measured value with respect to speed average value maximum positively biased difference；
It is the speed point measured value with speed average value with maximum overgauge；
For each speed point measured value with respect to speed average value maximum negative bias difference；
It is the speed point measured value with speed average value with maximum minus deviation；
Step 3 calculates angular speed relative error and angular speed stationarity relative error
When turntable speed is more than or equal to 0.1 °/s, calculate angular speed relative error, foundation according to formula (5)
Formula (6) calculates angular speed stationarity relative error：
In formula：
VωFor angular speed relative error；
TgTurn over the theoretical value determining the time used by angular spacing for turntable measured axis under given speed；
σωFor angular speed stationarity relative error；
N is the pendulous frequency selected by given speed.
9. a kind of turntable angle speed detection method according to claim 8 it is characterised in that：Step
In 1, △ θ value is 360 ° or 10 ° or 1 °.
10. a kind of turntable angle speed detection method according to claim 8 it is characterised in that：Step
In rapid 3, in 360 ° of average bin, N=10；In 10 ° of average bin, N=10；In 1 ° of average bin,
As angular speed theoretical value ω >=0.005 °/s, N=10, when angular speed theoretical value ω<During 0.005 °/s,
N=3.
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| CN201510463202.4A CN106405139A (en) | 2015-07-31 | 2015-07-31 | Rotary table angular rate detecting apparatus and method |
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| 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 |
| CN110133319A (en) * | 2019-05-10 | 2019-08-16 | 国网上海市电力公司 | High speed grounding switch spindle angular velocity detection device in a kind of GIS device |
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Application publication date: 20170215 |