CN107688707A - A kind of optimization method of pointing instrumentation angle measurement eccentric error - Google Patents
A kind of optimization method of pointing instrumentation angle measurement eccentric error Download PDFInfo
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Abstract
The invention discloses a kind of optimization method of pointing instrumentation angle measurement eccentric error, the optimization method comprises the following steps；Parameter setting step：Set following parameter, including eccentric error, measurement angle, the actual anglec of rotation and radius etc.；Relation establishment step：The logical relation established between parameters；Optimized relation step：Logical relation between parameters is optimized；Model generation step：Using the logical relation between each parameter after optimization as VEC；Error Optimization Steps：Using VEC angle measurement, realize and angle measurement eccentric error is optimized.Eccentric error founding mathematical models of the present invention to pointing instrumentation grating encoder, system defect is overcome by the processing mode of numeral optimization, so as to reduce influence of the eccentric error to accuracy of instrument and performance, so as to improve pointing instrumentation measurement accuracy, the present invention has the manufacture for reducing grating encoder and resetting difficulty, shortens the technique effects such as production cycle.
Description
Technical field
The present invention relates to pointing instrumentation technical field, specifically for, the present invention is a kind of pointing instrumentation angle measurement eccentric error
Optimization method.
Background technology
Photoelectronic collimating instrument be it is a kind of integrate it is light, mechanical, electrical, calculate automation, high-precision optical instrument, the optics instrument
Device micrometer instrument it is electronic and intelligentized on the basis of, employ electronic fine-grained technology, control process technology and filtering
Technology, it is achieved thereby that the intellectuality of survey measurements.
The operation principle of photoelectronic collimating instrument is：Real-time angular measurement is carried out using the analog device for being installed on grating encoder.
But in actual product assembling process, due to being machined, the influence of the factor such as assembling level, often produce grating encoder
Raw assembling is eccentric, and when carrying out angular surveying using grating encoder, error caused by assembling bias influences on angle-measurement accuracy
It is very big.
In order to solve the problems, such as pointing instrumentation angle measurement eccentric error, eliminating the conventional method of eccentric error is：Diameter method of reading.
Specifically, two grating reading heads of identical being separated by using grating encoder is assemblied on 180 ° of position, by using two
The mode of the different angular measurement of individual grating reading head eliminates to the eccentric error of grating encoder.But due to knot
The limitation of structure and technological level, it tends to be difficult to ensure that the rigging position of two reading heads keeps phase in whole grating rotation period
Every 180 ° of corresponding relation, then two different angular measurements of grating reading head also just lose directive significance, so,
Eccentric error still has, and it drastically influence angle-measurement accuracy.
Therefore, how effectively to reduce and notably thoroughly eliminate influence of the eccentric error for pointing instrumentation angle measurement, become this
Art personnel technical problem urgently to be resolved hurrily and the emphasis studied all the time.
The content of the invention
Angle-measurement accuracy is produced in order to reduce or even eliminate the eccentric errors caused by factor such as machining, assembling level
Raw extreme influence, the present invention innovatively provides a kind of optimization method of pointing instrumentation angle measurement eccentric error, to grating encoder
Eccentric error founding mathematical models, system defect is overcome by the processing mode of numeral optimization, reduces eccentric error to instrument essence
The influence of degree and performance, so as to improve pointing instrumentation measurement accuracy.
To realize above-mentioned technical purpose, the invention discloses a kind of optimization method of pointing instrumentation angle measurement eccentric error, this is excellent
Change method comprises the following steps,
Parameter setting step：Using the first distance between grating encoder geometric center and rotating shaft core as grating encoder
Eccentric error, and set following parameter：Measurement angle, the actual anglec of rotation and radius, wherein, the measurement angle is grating code
The angle that disk measures, the actual anglec of rotation are the actual anglec of rotation of rotating shaft, and the radius is the radius of grating encoder；
Relation establishment step：The first relation established between the measurement angle and the actual anglec of rotation that difference is eccentric angle,
The second relation established between the actual anglec of rotation, the radius, the measurement angle three, establishes the measurement angle
The 3rd relation between degree, first distance, the radius three；
Optimized relation step：First relation, second relation, the 3rd relation are associated, to obtain
The eccentric angle, first distance, the 4th relation between the measurement angle, the radius；Described 4th is closed
System, first relation be associated, with obtain the actual anglec of rotation, the measurement angle, it is described first distance, it is described
The 5th relation between radius；
Model generation step：The 5th relation comprising the actual anglec of rotation and the measurement angle is repaiied as error
Positive model；Wherein, first distance and the radius are as corrected parameter；
Error Optimization Steps：Based on the mistake for characterizing the relation between the actual anglec of rotation and the measurement angle
Poor correction model, when pointing instrumentation works, the actual anglec of rotation of grating encoder is calculated using the measurement angle of grating encoder.
The present invention innovatively establishes VEC for reducing or even eliminating eccentric error, the model is accurate,
The mathematical relationship between the actual anglec of rotation and measurement angle is reasonably described, so as to realize by measurement angle amendment
Mode draws the actual anglec of rotation exactly, avoids because of the measurement result inaccuracy caused by eccentric error the problem of.
Further, between model generation step and error Optimization Steps, the optimization method also includes parameter calibration and walked
Suddenly；
Parameter calibration step, using polygon and parallel light tube as measuring basis, polygon is rotated a circle
To multiple angle error values and corresponding multiple grating encoder angle measurements respectively as the eccentric angle in the 4th relation and measurement
Angle, the corrected parameter is demarcated according to multigroup test data.
Based on above-mentioned improved technical scheme, the present invention can be that the grating encoder after installation pointedly provides amendment ginseng
Number, and be effectively guaranteed by way of polygon and parallel light tube are as measuring basis the accuracy of corrected parameter with
Precision.
Further, in relation establishment step,
First relation is：β=α1-α0；
Second relation is：
3rd relation is：
In above formula, β represents eccentric angle, α0Represent measurement angle, α1Represent the actual anglec of rotation, r represents radius, and ε represents the
One distance, L represent α1One right angle edge lengths of place right angled triangle.
Based on above-mentioned improved technical scheme, the present invention is true, is exactly associated parameters, so as to be embodied as surveying
The preparation of abundance is done in effective optimization of angle eccentric error.
Further, in optimized relation step, first relation, second relation, the 3rd relation are carried out
After association, obtainDue to β very littles, then tg β=β；Due to r ﹥ ﹥ ε cos α0, then r- ε cos α0=r；Then
Obtain the 4th relation；
4th relation is：
Based on above-mentioned improved technical scheme, the present invention is successfully realized efficiently separating for angle parameter and distance parameter,
Possibility is provided for the accurate solution of corrected parameter.
Further, in optimized relation step, orderβ=bsin α0；By the 4th relation, first relation
After being associated, the 5th relation is obtained；
5th relation is：α1=α0+ β=α0+bsinα0；
Wherein, b is corrected parameter.
Further, in parameter calibration step, the rib body is 23 face rib bodies；
Angle error value and grating encoder angle measurement are substituted into β=bsin α0, then β is obtainedi=bsin αi；Wherein, i=1,2,
3 ..., 23, corrected parameter is solved using least square method, establishes least square object functionSolution obtains：
Further, in parameter calibration step, the rib body used is I grade of 23 face metal rib body.
Further, in parameter calibration step, the precision of the parallel light tube used is 0.1 ".
Present invention employs high-precision metal rib body and parallel light tube, so as to ensure high-precision data source, realizes
Accurate solution to corrected parameter.
Further, the pointing instrumentation is photoelectronic collimating instrument.
Beneficial effects of the present invention are：The present invention passes through to the eccentric error founding mathematical models of pointing instrumentation grating encoder
The processing mode of numeral optimization overcomes system defect, reduces influence of the eccentric error to accuracy of instrument and performance, so as to improve
Pointing instrumentation measurement accuracy, the present invention have the manufacture for reducing grating encoder and resetting difficulty, shorten the technique effects such as production cycle.
In addition, the present invention has outstanding advantages of scheme is simple, easy and angle measurement accuracy is high.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the optimization method of pointing instrumentation angle measurement eccentric error of the present invention.
Fig. 2 is the operating diagram that grating encoder is in eccentric error state.
Embodiment
Detailed explanation is carried out to the optimization method of pointing instrumentation angle measurement eccentric error of the present invention with reference to Figure of description
And explanation.
As shown in figure 1, the invention discloses a kind of optimization method of pointing instrumentation angle measurement eccentric error, the optimization method includes
Following steps, in the present embodiment, pointing instrumentation can be photoelectronic collimating instrument.
Parameter setting step：Using the first distance between grating encoder geometric center and rotating shaft core as grating encoder
Eccentric error, and set following parameter：Measurement angle, the actual anglec of rotation and radius, wherein, measurement angle is surveyed for grating encoder
The angle obtained, the actual anglec of rotation are the actual anglec of rotation of rotating shaft, and radius is the radius of grating encoder.
Relation establishment step：The first relation established between the measurement angle and the actual anglec of rotation that difference is eccentric angle,
The second relation established between the actual anglec of rotation, radius, measurement angle three, establish measurement angle, the first distance, radius three
The 3rd relation between person；Specifically, the assembling of grating encoder is eccentric as shown in Fig. 2 wherein, solid line ring represents the light after installation
Grid code-disc profile, dotted line ring represents profile during grating encoder rotation, specifically, in this step：
First relation is：β=α1-α0；
Second relation is：
3rd relation is：
For above three relational expression, α0Represent measurement angle, i.e., the angle that grating encoder measurement obtains；α1Represent actual
The anglec of rotation, the i.e. actual angle rotated of tested rotating shaft；β represents eccentric angle, α0With α1Between poor β be exactly to assemble bias to cause
Error；R represents the radius of radius, i.e. grating encoder, and the geometric center of grating encoder assembles grating encoder, conduct with being used for
There is therebetween a certain distance ε in the axle center of the rotating shaft of pivot, then ε represents the first distance, L not on same position
Represent α1One right angle edge lengths of place right angled triangle, as shown in Fig. 2 L is specially the right-angle side that axis of rotation axle center is drawn
Length.
Optimized relation step：First relation, the second relation, the 3rd relation are associated, with obtain eccentric angle, first away from
From, the 4th relation between measurement angle, radius；4th relation, the first relation are associated, to obtain actual rotation
The 5th relation between angle, measurement angle, the first distance, radius；It is described as follows.
After first relation, the second relation, the 3rd relation are associated, obtainCan by above formula
To know, the radius of grating encoder is bigger, and angular deviation caused by under identical assembling eccentric error is smaller, and for identical grating code
Disk, assembling is eccentric bigger, and caused angular deviation is bigger.The present embodiment optimizes in order to facilitate the demarcation in later stage to above formula.
Due to β very littles, then tg β=β；Due to r ﹥ ﹥ ε cos α0, then r- ε cos α0=r；Then the 4th relation is obtained.
4th relation is：
In this step, for convenience of stating, orderβ=bsin α0；After 4th relation, the first relation are associated, obtain
To the 5th relation；
5th relation is：α1=α0+ β=α0+bsinα0；
Wherein, b is corrected parameter, and in the present embodiment, for the grating encoder that some is assembled, its occurrence passes through the later stage
Calibrated and calculated obtain.
Model generation step：In order to reach the measurement request of High-precision angle, eliminate shadow of the assembling eccentric error to angle measurement
Ring, the present invention is using the 5th relation comprising the actual anglec of rotation and measurement angle as VEC；Wherein, the first distance
With radius as corrected parameter；In the present embodiment, using the ratio b of the first distance and radius as corrected parameter.
Parameter calibration step, using polygon and parallel light tube as measuring basis, polygon is rotated a circle
To multiple angle error values and corresponding multiple grating encoder angle measurements respectively as the eccentric angle in the 4th relation and measurement
Angle, corrected parameter is demarcated according to multigroup test data.It is described as follows, in the present embodiment, rib body is 23 face ribs
Body, rotate a circle to obtain 23 angle error values and corresponding 23 grating encoder angle measurements, such as, the rib body used is I grade 23
Face metal rib body, the precision of the parallel light tube used is 0.1 ".
Angle error value and grating encoder angle measurement are substituted into β=bsin α0, then β is obtainedi=bsin αi；Wherein, i=1,2,
3 ..., 23, corrected parameter is solved using least square method, establishes least square object functionSolution obtains：
The present embodiment uses I grade of 23 face metal rib body and 0.1 in demarcation " parallel light tube as measuring basis, using more
Tooth circular dividing table is by grating encoder rotating shaft pivot with the rib body pivot of 23 face metal rib bodies with overlapping.Rotate multiple tooth indexing
Platform, make the corresponding 23 face metal rib body nominal angle angle value of grating encoder reading, this time line error in reading read using parallel light tube,
The as actual error of axis of rotation angle, obtain one group of nominal data.
Error Optimization Steps：Based on the error correction mould for characterizing the relation between the actual anglec of rotation and measurement angle
Type, when pointing instrumentation works, the actual anglec of rotation of grating encoder is calculated using the measurement angle of grating encoder, so as to reach light
Electric pointing instrumentation eliminates error, the purpose of accurate angle measurement.By the calibrated photoelectronic collimating instrument of eccentric error, significantly reduce grating dress
Influence with eccentric error to angle measurement accuracy, error of indication of the Azimuth measurement of pointing instrumentation is better than 8 after demarcation ".
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the invention, " multiple " are meant that at least two, such as two, three
It is individual etc., unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or electrically connect；Can be joined directly together, can also be indirectly connected by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements, limited unless otherwise clear and definite.For one of ordinary skill in the art
For, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In the description of this specification, reference term " the present embodiment ", " one embodiment ", " some embodiments ", " show
The description of example ", " specific example " or " some examples " etc. mean to combine the specific features of the embodiment or example description, structure,
Material or feature are contained at least one embodiment or example of the present invention.In this manual, above-mentioned term is shown
The statement of meaning property is necessarily directed to identical embodiment or example.Moreover, specific features, structure, material or the spy of description
Point can combine in an appropriate manner in any one or more embodiments or example.In addition, in the case of not conflicting,
Those skilled in the art can be by the different embodiments or example described in this specification and different embodiments or example
Feature is combined and combined.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Any modification, equivalent substitution and simple modifications for being made in content etc., should be included in the scope of the protection.
Claims (9)
- A kind of 1. optimization method of pointing instrumentation angle measurement eccentric error, it is characterised in that：The optimization method comprises the following steps,Parameter setting step：Bias using the first distance between grating encoder geometric center and rotating shaft core as grating encoder Error, and set following parameter：Measurement angle, the actual anglec of rotation and radius, wherein, the measurement angle is surveyed for grating encoder The angle obtained, the actual anglec of rotation are the actual anglec of rotation of rotating shaft, and the radius is the radius of grating encoder；Relation establishment step：The first relation established between the measurement angle and the actual anglec of rotation that difference is eccentric angle, is established The second relation between the actual anglec of rotation, the radius, the measurement angle three, establishes the measurement angle, institute State the 3rd relation between the first distance, the radius three；Optimized relation step：First relation, second relation, the 3rd relation are associated, it is described to obtain Eccentric angle, first distance, the 4th relation between the measurement angle, the radius；By the 4th relation, institute State the first relation to be associated, to obtain the actual anglec of rotation, the measurement angle, first distance, the radius The 5th relation between four；Model generation step：Using the 5th relation comprising the actual anglec of rotation and the measurement angle as error correction mould Type；Wherein, first distance and the radius are as corrected parameter；Error Optimization Steps：Repaiied based on the error for characterizing the relation between the actual anglec of rotation and the measurement angle Positive model, when pointing instrumentation works, the actual anglec of rotation of grating encoder is calculated using the measurement angle of grating encoder.
- 2. the optimization method of pointing instrumentation angle measurement eccentric error according to claim 1, it is characterised in that：Generate and walk in model Suddenly between error Optimization Steps, the optimization method also includes parameter calibration step；Parameter calibration step, using polygon and parallel light tube as measuring basis, polygon is rotated a circle what is obtained Multiple angle error values and corresponding multiple grating encoder angle measurements respectively as the eccentric angle and measurement angle in the 4th relation, The corrected parameter is demarcated according to multigroup test data.
- 3. the optimization method of pointing instrumentation angle measurement eccentric error according to claim 2, it is characterised in that：Relation establishment step In,First relation is：β=α1-α0；Second relation is：3rd relation is：In above formula, β represents eccentric angle, α0Represent measurement angle, α1Represent the actual anglec of rotation, r represents radius, ε represent first away from From L represents α1One right angle edge lengths of place right angled triangle.
- 4. the optimization method of pointing instrumentation angle measurement eccentric error according to claim 3, it is characterised in that：Optimized relation step In, after first relation, second relation, the 3rd relation are associated, obtainBy In β very littles, then tg β=β；Due to r ﹥ ﹥ ε cos α0, then r- ε cos α0=r；Then the 4th relation is obtained；4th relation is：
- 5. the optimization method of pointing instrumentation angle measurement eccentric error according to claim 4, it is characterised in that：Optimized relation step In, orderβ=bsin α0；After 4th relation, first relation are associated, the 5th relation is obtained；5th relation is：α1=α0+ β=α0+bsinα0；Wherein, b is corrected parameter.
- 6. the optimization method of pointing instrumentation angle measurement eccentric error according to claim 5, it is characterised in that：Parameter calibration step In, the rib body is 23 face rib bodies；Angle error value and grating encoder angle measurement are substituted into β=bsin α0, then β is obtainedi=bsin αi；Wherein, i=1,2,3 ..., 23, corrected parameter is solved using least square method, establishes least square object functionAsk Solution obtains：
- 7. the optimization method of the pointing instrumentation angle measurement eccentric error according to claim 2 or 6, it is characterised in that：Parameter calibration In step, the rib body used is I grade of 23 face metal rib body.
- 8. the optimization method of pointing instrumentation angle measurement eccentric error according to claim 7, it is characterised in that：Parameter calibration step In, the precision of the parallel light tube used is 0.1 ".
- 9. the optimization method of the pointing instrumentation angle measurement eccentric error according to claim 1 or 8, it is characterised in that：The aiming Instrument is photoelectronic collimating instrument.
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| CN114034329A (en) * | 2021-10-13 | 2022-02-11 | 超同步股份有限公司 | Eccentric correction method of circular grating encoder |
| CN114417532A (en) * | 2022-01-21 | 2022-04-29 | 西安交通大学 | Circular grating encoder assembling inclination error optimization method and system |
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Application publication date: 20180213 |