CN109813343B - Method for measuring initial alignment error of centrifugal machine - Google Patents
Method for measuring initial alignment error of centrifugal machine Download PDFInfo
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Abstract
The invention provides a method for measuring initial alignment error of a centrifugal machine, and belongs to the technical field of inertial instrument testing. The centrifugal machine comprises a main shaft and three working tables, wherein the theodolite is used for adjusting the axial line of the main shaft of the centrifugal machine, the axial line of the working table and the axial line of a sighting axis of the theodolite in the same vertical plane, the distance between the center of the theodolite and the axial line of the main shaft is calculated by rotating the main shaft by 90 degrees, then the main shaft and the working table are controlled to rotate by different angles, the theodolite is respectively aligned to two ridge lines of the tool to measure the horizontal angle of the tool, and finally the horizontal coordinates of the two vertical ridge lines are identified by least square, and the initial alignment error of. The method can accurately and efficiently measure the initial alignment error of the tool for mounting the accelerometer on the centrifuge, thereby ensuring the alignment precision of the accelerometer on the centrifuge during testing without repeated testing adjustment and calculation.
Description
Technical Field
The invention relates to a method for measuring initial alignment error of a centrifugal machine, and belongs to the technical field of inertial instrument testing.
Background
The inertial instrument is an important component in an inertial navigation system, wherein the accelerometer can measure the acceleration of a carrier in a motion space in real time, and the precision of the accelerometer directly determines the precision of final navigation. Therefore, it is necessary to carry out a wide-range and high-dynamic test on the accelerometer to simulate a real use environment. The precision centrifuge can generate acceleration far higher than a gravity field, can truly test the performance of the accelerometer in a high overload environment, effectively excites the nonlinear error term of the accelerometer, and improves the calibration precision of the accelerometer.
The centrifuge mainly provides uniform angular velocity omega by a main shaft, when the distance from the sensitive center of the accelerometer to the rotation axis of the main shaft is R, the input shaft of the accelerometer points to and is vertical to the rotation axis of the main shaft of the centrifugeThe centrifuge may provide R omega to the accelerometer2Centripetal acceleration input. It is clear that when the input axis of the accelerometer is not accurately pointing and perpendicular to the axis of rotation, i.e. alignment errors occur, the actual input of the accelerometer will deviate from the nominal input R ω2The test and calibration precision of the accelerometer is influenced, and finally the navigation precision is also influenced, so that the accurate measurement of the alignment error and the compensation are very important. The alignment errors include initial alignment errors of the centrifuge and installation alignment errors of the accelerometer, wherein the most important errors include zero errors of the worktable and installation errors of the tooling, and the conventional alignment error test method usually utilizes the test of the accelerometer on the centrifuge to indirectly calculate the misalignment errors. However, the accuracy of the alignment error calculated by using the error model of the accelerometer is not only influenced by the accuracy of the accelerometer, but also needs to be measured for many times and checked and adjusted repeatedly, and the measurement accuracy and efficiency are low, so that the design of a new and efficient initial alignment error measurement method for the centrifuge is very important.
Disclosure of Invention
The invention aims to solve the problems in the prior art and further provides a method for measuring initial alignment errors of a centrifuge.
The purpose of the invention is realized by the following technical scheme:
a method for measuring initial alignment error of a centrifugal machine comprises a main shaft and A, B, C three workbenches which can rotate at accurate angle positions, when an accelerometer is tested, a tool is firstly installed on the workbench, ideally, the accelerometer is installed behind the tool, the input shaft of the accelerometer points to and is vertical to the rotation axis of the main shaft of the centrifugal machine, and the input shaft of the accelerometer is vertical to the axis of the main shaft and is in the same plane; taking the workbench A as an example, the method comprises the following steps:
the method comprises the following steps: the triaxial of theodolite includes vertical axle, every single move axle and sighting axis, and the distance measurement of triaxial intersection center apart from the main shaft axis:
1) placing the target at the shaft end of the main shaft, rotating the main shaft by 0 degrees, 90 degrees, 180 degrees and 270 degrees respectively, aligning the target by using a theodolite, and measuringMeasuring the horizontal angle of theodolite, and calculating the average value alpha0The mean value represents the horizontal angle of the theodolite aligned with the axis of the main shaft;
2) rotating and adjusting the main shaft, adjusting the axis of the main shaft, the axis of the A shaft and the axis of the sighting axis of the theodolite in the same vertical plane, recording the angular position of the main shaft at the moment, setting the angular position of the main shaft to be 0 degrees, then accurately rotating the main shaft to 90 degrees, then rotating the A shaft of the worktable to 0 degrees, 90 degrees, 180 degrees and 270 degrees respectively, aligning the theodolite to a target at the end of the A shaft of the worktable, measuring the horizontal angle of the theodolite, and solving the average value alpha of the horizontal angle of the theodolA；
3) Suppose that the distance between the spindle of the centrifuge and the axis of rotation of the table A is RAThe working radius of the worktable A can be accurately measured by other methods, and the distance L between the intersection center of the theodolite and the axis of the main shaft is calculated, wherein the L is equal to RAcot(αA-α0)；
Step two: testing the horizontal displacement of the tool ridge:
1) the tool is arranged on the A platform, and the main shaft and the A platform are controlled to respectively rotate to different angular positions alphaiAnd betai(i ═ 1,2, … …, n), the theodolite is aligned with the edge a of the tooling respectively1And A2Respectively measuring the horizontal angles of two edges, calculating the horizontal angles and alpha0Difference of (2)
And
when the relative edge A of the theodolite is1Has a horizontal displacement of xiAnd yiAccording to the test principle of theodolite, the method can obtain
2) When the edge A1Horizontal displacement x relative to the centre of rotation of the table aA1And yA1From the geometrical relationship, it follows:
xi＝RAsinαi+xA1cos(αi+βi)-yA1sin(αi+βi)
yi＝L-RAcosαi+xA1sin(αi+βi)+yA1cos(αi+βi)
when the main shaft rotates to 0 degree and the A table is at 0 degree position, the edge A1Has a horizontal coordinate of
x1＝xA1，y1＝yA1+L-RA
When the main shaft rotates to 90 degrees and the A platform is in the 270 degree position, the edge A1Has a horizontal coordinate of
x2＝RA+xA1，y2＝L+yA1
When the main shaft rotates to 90 degrees and the A platform is in a 180-degree position, the edge A1Has a horizontal coordinate of
x3＝RA+yA1，y3＝L-xA1
When the main shaft rotates to 180 degrees and the A platform is in the 180 degree position, the edge A1Has a horizontal coordinate of
x4＝xA1，y4＝L+RA+xA1
When the main shaft rotates to 270 degrees and the A table is in the 90-degree position, the edge A1Has a horizontal coordinate of
x5＝-RA+xA1，y5＝L+yA1
When the main shaft rotates to 270 degrees and the A table is in the 180-degree position, the edge A1Has a horizontal coordinate of
x6＝-RA-yA1，y6＝L+xA1
Are arranged in a matrix form simultaneously
Writing in matrix form:
L＝ΦK
using least squares, x is obtainedA1，yA1：
The same way can obtain the edge A2The horizontal displacement relative to the revolution center of the worktable A is xA2，yA2；
Step three: testing initial alignment error of the centrifuge:
according to the calculated xA1，yA1，xA2And yA2Initial alignment error of A stage θAIs composed of
Similarly, the theodolite is respectively aligned to B, C two ridges of the tool on the workbench, and the alignment error can be measured by the same method, so that the measurement of the initial alignment error of the centrifuge is completed.
The invention has the beneficial effects that:
compared with the common method for calculating the alignment error by using the accelerometer, the method for measuring the initial alignment error of the centrifuge provided by the invention overcomes the problems of low precision and low efficiency in the calculation of the alignment error by using the accelerometer.
The method can directly and accurately measure the initial alignment error of the accelerometer tool on the centrifuge through the geometric relationship among the centrifuge, the tool and the theodolite, thereby ensuring the alignment precision of the accelerometer on the centrifuge during testing. Meanwhile, compared with the alignment error of the test of the adjustment accelerometer on the centrifuge by repeated tests, the method provided by the invention can finish the measurement of the initial alignment error of the centrifuge by single installation, thereby greatly improving the measurement efficiency.
Drawings
FIG. 1 is a schematic view of a centrifuge.
Fig. 2 is a schematic structural diagram of an accelerometer tool.
FIG. 3 is a schematic diagram of an initial alignment error test of a centrifuge.
Fig. 4 is a schematic view of a theodolite.
FIG. 5 is a schematic view of a target
In the drawing, reference numeral 1 denotes a centrifuge base, 2 denotes a centrifuge main shaft, 3 denotes an extension shaft end, 4 denotes a table a, 5 denotes a table B, 6 denotes a table C, 7 denotes an accelerometer tool, 8 denotes an edge a1, 9 denotes an edge a2, and 10 denotes a theodolite.
Detailed Description
The invention will be described in further detail below with reference to the accompanying drawings: the present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation is given, but the scope of the present invention is not limited to the following embodiments.
As shown in fig. 1, the centrifuge is composed of a centrifuge main shaft 2 and three stations, i.e., a station a4, a station B5, and a station C6, the centrifuge main shaft 2 being provided on a centrifuge base 1. A workbench A4, a workbench B5 and a workbench C6 are arranged on a table top supported by the centrifuge main shaft 2, the extension shaft end 3 of the centrifuge main shaft 2 extends out of the table top, and an accelerometer tool 7 is mounted on the workbench A4.
As shown in fig. 2, two ridge lines of the side outer frame of the accelerometer fixture 7 set on the table a4 are edges a18 and edge A 29。
As shown in figure 3, the target is placed at the end 3 of the extension shaft, the theodolite 10 is erected to observe the target, the main shaft 2 of the centrifuge is rotated, and the horizontal angle alpha of the theodolite aligned with the axis of the main shaft and the rotary axis of the alignment workbench can be measured0The main shaft angle is adjusted to make the main shaft axis, the A-axis and the theodolite sighting axis in the same vertical plane, the target is placed on the revolving axis of the workbench A4, the theodolite is aligned with the observation target, and the horizontal angle alpha of the theodolite aligned with the revolving axis of the workbench A4 can be measuredAThe distance L between the intersection center of the theodolite and the axis of the main shaft can be measured. Then, an accelerometer tool 7 is installed, the main shaft and the platform A are controlled to rotate to different angular positions respectively, and the theodolite 10 is used for aligning to the edges A on the accelerometer tool 7 respectively18 and edge A 29, recording the horizontal angle of the theodolite 10, and calculating the horizontal angle and alpha0Difference of (2)
And
the horizontal displacement of the two ridge lines relative to the rotation center of the workbench A4 is obtained by a least square method, and finally the horizontal displacement is calculated according to a formula
The initial alignment error θ of stage A4 is calculatedA。
As shown in fig. 4, it is a theodolite 10, and as shown in fig. 5, it is a target, in which a copper filament is installed in the center of the target, and the axis can be accurately drawn out by aligning the theodolite 10 with the filament in the observation target.
Example 1:
combining fig. 1, fig. 2, fig. 3, fig. 4, and fig. 5; the centrifugal machine mainly comprises a main shaft and three working tables, and the input shaft of the accelerometer is ensured to point to the rotation center of the main shaft of the centrifugal machine after the accelerometer is installed, namely, the input shaft is consistent with the working radius direction of the centrifugal machine, so that the initial alignment error of the centrifugal machine including the zero position error of the working tables and the misalignment angle of a tool can be accurately measured. The invention relates to a method for measuring initial alignment error of a centrifugal machine, which comprises the following steps:
the method comprises the following steps: measuring the distance between the intersection center of the theodolite and the axis of the main shaft:
1) placing the target at the end of the main shaft, rotating the main shaft to 0 degrees, 90 degrees, 180 degrees and 270 degrees, aligning the target with the theodolite, measuring the horizontal angle of the theodolite, and solving the average value alpha039 deg. 16' 50 ", this mean value represents the horizontal angle of the theodolite aligned with the axis of the spindle,
2) rotating and adjusting the angle position of the main shaft, adjusting the axis of the main shaft, the axis of an A shaft (namely the axis of the workbench A) and the axis of a sighting axis of the theodolite in the same vertical plane, recording the angle position of the main shaft at the moment, then rotating the main shaft by 90 degrees on the basis, aligning a target at the shaft end of the A shaft of the workbench by using the theodolite, rotating the workbench A by 0 degree, 90 degrees, 180 degrees and 270 degrees, measuring the horizontal angle of the theodolite, and solving the average value alphaA＝21°33′26″，
3) When the distance between the main shaft of the centrifuge and the rotary axis of the workbench A is RAThen, the distance L between the intersection center of the theodolite and the axis of the main shaft is calculated, and when R is reachedAWhen 499.919mm, L is RAcot(αA-α0)＝1265.469mm。
Step two: testing the horizontal displacement of the tool ridge:
1) the tool is arranged on the A platform, and the main shaft and the A platform are controlled to respectively rotate to different angular positions alphaiAnd betai(i ═ 1,2, … …, n), the theodolite is aligned with the edge a of the tooling respectively1And A2Respectively measuring the horizontal angles of two edges, calculating the horizontal angles and alpha0Difference of (2)
And
the measurement results are shown in table 1.
TABLE 1 theodolite alignment A table clamp two-edge horizontal angle
When the relative edge A of the theodolite is1Has a horizontal displacement of xiAnd yiAccording to the test principle of theodolite, the method can obtain
2) When the edge A1Horizontal displacement x relative to the centre of rotation of the table aA1And yA1From the geometrical relationship, it follows:
xi＝RAsinαi+xA1cos(αi+βi)-yA1sin(αi+βi)
yi＝L-RAcosαi+xA1sin(αi+βi)+yA1cos(αi+βi)
are arranged in a matrix form simultaneously
Writing in matrix form:
L＝ΦK
using a least squares method:
calculating to obtain xA1＝-59.1429mm，yA1＝-53.6896mm。
Get x in the same wayA2＝60.8355mm，yA2＝-50.7616mm。
Step three: testing initial alignment error of the centrifuge:
according to the calculated xA1，yA1，xA2And yA2Initial alignment error of A stage θAIs composed of
Similarly, the theodolite is respectively aligned to B, C two ridges of the tool on the workbench, and the alignment error theta can be measured by the same methodB＝3.7706°,θC0.9360 deg.. And measuring the initial alignment error of the centrifuge.
The above description is only a preferred embodiment of the present invention, and these embodiments are based on different implementations of the present invention, and the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (1)
1. A method for measuring the initial alignment error of a centrifugal machine comprises a main shaft and A, B, C three workbenches which can rotate at accurate angle positions, and is characterized in that when an accelerometer is tested, a tool is firstly installed on the workbench, ideally, the accelerometer is installed behind the tool, the input shaft of the accelerometer points to and is vertical to the rotation axis of the main shaft of the centrifugal machine, and the input shaft of the accelerometer is vertical to the axis of the main shaft and is in the same plane; for stage a, the measurement method comprises the following steps:
the method comprises the following steps: the triaxial of theodolite includes vertical axle, every single move axle and sighting axis, and the distance measurement of triaxial intersection center apart from the main shaft axis:
1) placing the target at the end of the main shaft, rotating the main shaft by 0 degrees, 90 degrees, 180 degrees and 270 degrees respectively, aligning the target with the theodolite, measuring the horizontal angle of the theodolite, and solving the average value alpha of the horizontal angle0The mean value represents the horizontal angle of the theodolite aligned with the axis of the main shaft;
2) rotating and adjusting the main shaft, adjusting the axis of the main shaft, the axis of the A shaft and the axis of the sighting axis of the theodolite in the same vertical plane, recording the angular position of the main shaft at the moment, setting the angular position of the main shaft to be 0 degrees, then accurately rotating the main shaft to 90 degrees, then rotating the axis of the A shaft to 0 degrees, 90 degrees, 180 degrees and 270 degrees respectively, aligning the theodolite to a target at the end of the A shaft of the workbench, measuring the horizontal angle of the theodolite, and solving the average value alpha of the horizontal angle of theA(ii) a The axis of the shaft A is the axis of the workbench A;
3) the distance between the main shaft of the centrifuge and the axis of the A shaft is RAThat is, the working radius of the worktable A can be accurately measured, and the distance L between the intersection center of the theodolite and the axis of the main shaft can be calculated, wherein L is RAcot(αA-α0)；
Step two: testing the horizontal displacement of the tool ridge:
1) the tool is arranged on a workbench A, and the main shaft and the workbench A are controlled to respectively rotate to different angular positions alphaiAnd betaiI 1,2, … …, n, respectively, to align the theodolite with the edge a of the side outer frame of the tooling1And A2Respectively measuring the horizontal angles of two edges, calculating the horizontal angles and alpha0Difference of (2)
And
when the relative edge A of the theodolite is1Is horizontally displaced byxiAnd yiAccording to the testing principle of theodolite, the method can obtain
2) When the edge A1The horizontal displacement relative to the revolution center of the worktable A is xA1And yA1Then, from the geometrical relationship:
xi＝RAsinαi+xA1cos(αi+βi)-yA1sin(αi+βi)
yi＝L-RAcosαi+xA1sin(αi+βi)+yA1cos(αi+βi)
when the main shaft rotates to 0 degree and the workbench A is at the position of 0 degree, the edge A1Has a horizontal coordinate of
x1＝xA1，y1＝yA1+L-RA
When the main shaft rotates to 90 degrees and the workbench A is at a 270 degree position, the edge A1Has a horizontal coordinate of
x2＝RA+xA1，y2＝L+yA1
When the main shaft rotates to 90 degrees and the workbench A is in a 180-degree position, the edge A1Has a horizontal coordinate of
x3＝RA+yA1，y3＝L-xA1
When the main shaft rotates to 180 degrees and the workbench A is in a 180-degree position, the edge A1Has a horizontal coordinate of
x4＝xA1，y4＝L+RA+xA1
When the main shaft rotates to 270 degrees and the workbench A is in a 90-degree position, the edge A1Has a horizontal coordinate of
x5＝-RA+xA1，y5＝L+yA1
When the main shaft rotates to 270 degrees and the workbench A is in a 180-degree position, the edge A1Has a horizontal coordinate of
x6＝-RA-yA1，y6＝L+xA1
Are arranged in a matrix form simultaneously
Writing in matrix form:
L＝ΦK
using least squares, x is obtainedA1，yA1：
Get the edge A by the same principle2The horizontal displacement relative to the revolution center of the worktable A is xA2，yA2；
Step three: testing initial alignment error of the centrifuge:
according to the calculated xA1，yA1，xA2And yA2Initial alignment error of stage A θAIs composed of
Similarly, the theodolite is respectively aligned to B, C two ridge lines of the tool on the workbench, and the alignment error is measured by the same method, so that the measurement of the initial alignment error of the centrifuge is completed.
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| CN112504218B (en) * | 2020-12-08 | 2022-08-09 | 中国人民解放军63660部队 | Rapid leveling method for large-caliber photoelectric theodolite |
| CN112698055B (en) * | 2021-03-24 | 2021-06-25 | 伸瑞科技（北京）有限公司 | Parameter calibration method of accelerometer on precision centrifuge |
| CN113916219B (en) * | 2021-07-20 | 2024-07-09 | 北京航天控制仪器研究所 | Inertial measurement system error separation method based on centrifugal machine excitation |
| CN113776557B (en) * | 2021-08-09 | 2024-04-05 | 苏州一光仪器有限公司 | Theodolite horizontal direction one-measuring-back precision testing system |
| CN114210471A (en) * | 2021-12-07 | 2022-03-22 | 九江精密测试技术研究所 | End-mounted self-correcting high-precision centrifuge |
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