CN107192368B - A kind of rotation angle measurement method of 3 structure faces dead axle - Google Patents
A kind of rotation angle measurement method of 3 structure faces dead axle Download PDFInfo
- Publication number
- CN107192368B CN107192368B CN201710384795.4A CN201710384795A CN107192368B CN 107192368 B CN107192368 B CN 107192368B CN 201710384795 A CN201710384795 A CN 201710384795A CN 107192368 B CN107192368 B CN 107192368B
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- Prior art keywords
- plane
- rotation
- angle
- shaft
- displacement
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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
Abstract
The invention discloses a kind of rotation angle measurement methods of 3 structure face dead axles, in the uncertain situation of plane shaft, the mode of general measure Plane Rotation angle is difficult to directly accurately measure Plane Rotation angle, and existing unknown axis measurement method precision is not high enough, and process is relatively complicated.The present invention uses three high accuracy displacement sensors, the known points of three form right angle triangles on Plane of rotation is measured before rotation and postrotational displacement, according to geometrical relationship, calculate the angle value of Plane Rotation, without finding Plane Rotation shaft, and to shaft angle with horizontal plane, there is no limit largely reduced since institute's geodesic structure is special, shaft is difficult to accurately find brought measurement error when measuring.The displacement generated in Plane Rotation for measuring the point of the known relation of three form right angle triangles in surveyed plane acquires object rotation angle according to geometrical relationship.
Description
Technical field
The invention belongs to field of measuring technique, and in particular to a kind of rotation angle measurement method of 3 structure face dead axles,
It does not require to be pushed away in the case where known Plane Rotation axis according to 3 points of displacements in Plane Rotation known in tested plane
The true rotation angle for exporting plane removes the step of looking for rotary shaft from Plane Angle measurement, is a kind of novel angle survey
Amount mode.
Background technique
Currently, many applications require to carry out the rotation angle measurement of degree of precision, but surveyed using angular transducer
Amount must find the rotary shaft of Plane of rotation, and the installation of angular transducer vertical rotating shaft just can be measured accurately, and many special
Mechanical devices can not accurately find rotary shaft, and measurement in this way can bring very big error.This design of the invention, without look for by
Plane of rotation rotary shaft is surveyed, Plane Rotation angle can be found out according to 3 points of displacements in Plane Rotation known in plane,
It is a kind of improvement new paragon of angle measurement.
Summary of the invention
The invention proposes a kind of novel angle measurement methods, and which is when measuring Plane Angle without finding rotation
The rotary shaft of plane can find out plane rotation according to 3 points of displacements generated in Plane Rotation known on tested Plane of rotation
The real angle turned.
In order to achieve the above object, a kind of the technical solution adopted by the present invention are as follows: rotation angle survey of 3 structure face dead axles
Amount method is being revolved using the known point that three high accuracy displacement sensors measure three form right angle triangles on Plane of rotation
The angle value of Plane Rotation is calculated according to geometrical relationship with postrotational displacement before turning, is turned without finding Plane Rotation
Axis, and to shaft angle with horizontal plane, there is no limit largely reduced since measurement structure is special, shaft when measurement
It is difficult to accurately find brought measurement error.Measure the known point of three form right angle triangles on Plane of rotation flat
The displacement that face generates when rotating acquires object rotation angle according to geometrical relationship.
Further, it has to accurately find out three known points in tested plane, and these three points constitute one directly
Angle triangle, three side lengths of the triangle need it is known that and the right angle of the right angled triangle that constitutes open direction towards quilt
Survey the Position Approximate of plane shaft.
Further, Plane Rotation angle can be measured without finding Plane Rotation shaft in measurement, but in plane
Known 3 points of displacements generated in Plane Rotation will be measured accurately, and high accuracy displacement sensor or other methods can be passed through
It measures.Moreover, in the case that known 3 points of displacements generated in Plane Rotation accurately measure next in plane, to tested flat
There is no limit institute is angled to be accurately measured the size of face rotation angle.
Further, three of form right angle triangle known to tested plane are measured by displacement sensor or other modes
After displacement of the point in the Plane Rotation, the true angle of Plane Rotation is gone out by Similar Principle of Triangle and the chord length derivation of equation
Degree.
The advantages of the present invention over the prior art are that:
(1), the present invention can be measured accurately when measuring Plane Rotation angle without known plane shaft.
(2), there is no limit to surveyed plane shaft angle with horizontal plane by the present invention.
(3), 3 points of displacements in tested Plane Rotation determined by being tested in plane can accurately measure situation about coming
Under, there is no limit to institute's measuring angle size for the Plane Angle measurement method.
Detailed description of the invention
Fig. 1 is a kind of rotation angle measurement method schematic of 3 structure face dead axles of the present invention；
Fig. 2 is the letter for the rotation angle measurement method that the present invention implements 3 structure face dead axles using linear displacement transducer
Figure.
Specific embodiment
For a better understanding of the technical solution of the present invention, being described in further detail below in conjunction with attached drawing.
A kind of Plane Rotation angle measurement method without looking for shaft based on displacement measurement, the specific steps are as follows:
Step 1: three known points are found in measurement plane, and these three points constitute a right angled triangle, the right angle
Atria side length wants known；
Step 2: high accuracy displacement sensor or other modes are used, are measured known to three respectively in Plane Rotation
And the displacement of the point of form right angle triangle；
Step 3: use three measured displacements, and in surveyed plane known right angled triangle side length, root
Plane Rotation angle is calculated according to Similar Principle of Triangle and chord length formula.
Fig. 1 is the Plane Rotation angle measurement method schematic diagram without looking for shaft about a kind of based on displacement measurement, such as
Shown in figure, wherein L is shaft, and 3 points of A, B, C in tested plane, and constitute known right angled triangle ABC.Use displacement sensing
Device or other modes measure 3 points of displacements moved in Plane Rotation of A, B, C, are set to SA、SB、Sc。
When the plane rotates θ angle around L axis, there is chord length formula:
Wherein R is radius of turn, and the distance that as point A, B, C arrives shaft L respectively is set to AA ', BB ', CC '；S is
Chord length, as displacement sensor amount SA、SB、Sc.Wherein triangle ABC is right angled triangle, and AB edge lengths and BC side length
Degree is it is known that BM is the side BC extended line, and BN is the side AB extended line, and AA ', BB ' and CC ' are perpendicular to shaft L.It is apparent from triangle AA ' N
Similar to triangle BB ' N, triangle CC ' M is similar to triangle BB ' M, periodically revolves further according to angle, θ one is rotated in arc length formula
Turn that radius R is proportional to chord length S to be had:
BN and BM length can be found out according to above two formula, and in triangle MBN, angle MBN is right angle, and BN and BM length can
It asks, can be asked according to right angled triangle area formula:
Bring chord length formula intoWherein R is radius, and S is chord length, and θ is rotation angle, is had:
S in the formulaA、SB、ScFor displacement sensor value, known to the side AB and BC edge lengths, it is possible to directly find out
Plane Rotation angle, θ.
By the above reasoning it is found that on known tested Plane of rotation 3 points of form right angle triangle generated in Plane Rotation
Displacement, the real angle of tested Plane Rotation can be obtained further according to chord length formula and Similar Principle of Triangle.
Fig. 2 is the letter for the rotation angle measurement method that the present invention implements 3 structure face dead axles using linear displacement transducer
Figure, wherein three displacement sensors are separately fixed on fixed pan, is fixed on rotation for the measurement end of three displacement sensors
Turn 3 points of A, B, C in plane；Plane of rotation rotation, displacement sensor generate corresponding displacement reading；According in specific embodiment
Solution mode can acquire rotation angle.But it may be noted that this kind of displacement measurement mode is the displacement of 3 points of approximate A, B, C,
This kind of linear displacement transducer in the lesser situation of angle is only rotated just to use.
Generally, a kind of Plane Rotation angle measurement side without looking for shaft based on displacement measurement of the present invention
Method, this kind of measurement method can reach degree of precision under the misalignment of known tested plane form right angle Atria point,
It calculates simply, and without finding Plane Rotation shaft.The invention can be used for the inertial measurement system of spacecraft, mechanical arm rotation
The multiple fields such as transfer to test, vehicle hull wheel measuring are particularly suitable for the rotation that shaft is difficult to determining large-scale apparatus structure
Angle measurement.
The content that the present invention does not elaborate belongs to technology well known to field personnel of the present invention.
Claims (1)
1. a kind of rotation angle measurement method of 3 structure face dead axles, it is characterised in that: the measurement method uses three high-precisions
Displacement sensor measures the known points of three form right angle triangles on Plane of rotation before rotation and postrotational displacement
Amount, according to geometrical relationship, calculates the angle value of Plane Rotation, without finding Plane Rotation shaft, and to shaft when measurement
There is no limit largely reduce since institute's geodesic structure is special, shaft is difficult to accurately find and be brought angle with horizontal plane
Measurement error, measure the generation in Plane Rotation of the point of the known relation of three form right angle triangles in surveyed plane
Displacement object rotation angle is acquired according to geometrical relationship；
It has to accurately find out three known points in tested plane, and these three points constitute a right angled triangle, the triangle
Three side lengths of shape need it is known that and the right angle of the right angled triangle that constitutes open direction and need towards being tested the big of plane shaft
Position approximate is set；
Plane Rotation angle can be measured without finding Plane Rotation shaft in measurement, but in plane known 3 points revolved in plane
The displacement generated when turning will be measured accurately, can be measured by high accuracy displacement sensor；
3 points of known form right angle triangle in tested plane are measured in the Plane Rotation by high accuracy displacement sensor
Displacement after, Plane Rotation real angle is gone out by Similar Principle of Triangle and the chord length derivation of equation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710384795.4A CN107192368B (en) | 2017-05-26 | 2017-05-26 | A kind of rotation angle measurement method of 3 structure faces dead axle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710384795.4A CN107192368B (en) | 2017-05-26 | 2017-05-26 | A kind of rotation angle measurement method of 3 structure faces dead axle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107192368A CN107192368A (en) | 2017-09-22 |
| CN107192368B true CN107192368B (en) | 2019-10-08 |
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| CN201710384795.4A Expired - Fee Related CN107192368B (en) | 2017-05-26 | 2017-05-26 | A kind of rotation angle measurement method of 3 structure faces dead axle |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113267112B (en) * | 2021-03-29 | 2022-08-19 | 河北沧海核装备科技股份有限公司 | Method for measuring bending angle of induction heating bent pipe |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101566470A (en) * | 2009-05-08 | 2009-10-28 | 上海都峰智能科技有限公司 | Method for correcting position of angle sensor |
| CN104006786A (en) * | 2014-06-18 | 2014-08-27 | 清华大学 | Curved surface normal vector measurement device |
| CN105444722A (en) * | 2015-12-21 | 2016-03-30 | 中国科学院长春光学精密机械与物理研究所 | Method for detecting changes of postures of platform |
-
2017
- 2017-05-26 CN CN201710384795.4A patent/CN107192368B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101566470A (en) * | 2009-05-08 | 2009-10-28 | 上海都峰智能科技有限公司 | Method for correcting position of angle sensor |
| CN104006786A (en) * | 2014-06-18 | 2014-08-27 | 清华大学 | Curved surface normal vector measurement device |
| CN105444722A (en) * | 2015-12-21 | 2016-03-30 | 中国科学院长春光学精密机械与物理研究所 | Method for detecting changes of postures of platform |
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| CN107192368A (en) | 2017-09-22 |
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Granted publication date: 20191008 Termination date: 20210526 |