CN113155405B - Wind tunnel test attack angle mechanism pose parameter tracing method - Google Patents
Wind tunnel test attack angle mechanism pose parameter tracing method Download PDFInfo
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Abstract
The invention provides a wind tunnel test attack angle mechanism position and pose parameter tracing method, which is characterized in that according to the working principle of a wind tunnel test attack angle mechanism, the invention combines the working actual situation of the wind tunnel test attack angle mechanism used in a low-speed, high-speed and ultrahigh-speed wind tunnel, and adopts a direct measurement method to trace the position and pose parameters of the wind tunnel test attack angle mechanism by a calibration device consisting of a laser tracker, a laser total station, an angle sensor, a dual-frequency laser interferometer or a micrometer, a micrometer indicator and the like, and analyzes and evaluates the uncertainty of the measurement results of the displacement and the angle of the wind tunnel test attack angle mechanism, accurately evaluates the technical performance of the test attack angle mechanism and realizes the quantity value tracing of the wind tunnel test attack angle mechanism.
Description
Technical Field
The invention relates to the technical field of metering test, in particular to a wind tunnel test attack angle mechanism position and posture parameter tracing method.
Background
The wind tunnel test attack angle mechanism refers to a special mechanism for supporting attitude change and positioning of a test object (an aircraft model or a real object) in a wind tunnel test, such as a CTS device, a bent blade device, a moving frame and the like, and generally comprises a driving device, a control device, a moving device and the like. The accelerated research and development and the great increase of military weaponry such as air combat equipment, remote accurate striking equipment, aerospace equipment, air defense and reverse guidance equipment and the like provide higher and higher requirements for aerodynamic test technology, and the aerodynamic performance indexes of the aerospace vehicle are required to be obtained through aerodynamic tests in a wind tunnel attack angle mechanism. In a wind tunnel test, an attack angle mechanism controls the displacement of an X axis, a Y axis and a Z axis and the accuracy of a pitch angle (alpha), a sideslip angle (beta) and a roll angle (gamma) to directly relate to the quality of aerodynamic test data and results. Therefore, the displacement and the angle of the mechanism are accurately controlled according to the technical requirements of the aerodynamic force test, the measurement accuracy of the displacement and the angle of the attack angle mechanism is improved, the aerodynamic force test of the aircraft model under different attitude conditions is realized, and the aerodynamic force test becomes a key factor for improving the measurement accuracy of the aerodynamic coefficient of the aircraft and the refinement level of the measurement technology. At present, an attack angle mechanism of a wind tunnel test has no effective traceability and evaluation method and means, and a complete traceability method is not formed.
Disclosure of Invention
The invention aims to overcome the technical problems and provides a wind tunnel test attack angle mechanism testing method based on a dual-frequency laser interferometer, a total station and a laser tracker.
The scheme is realized by the following technical measures:
a wind tunnel test attack angle mechanism pose parameter tracing method comprises the following steps:
a. tracing the position and posture parameters of the wind tunnel test attack angle mechanism by adopting a laser tracker, a laser total station, an angle sensor, a double-frequency laser interferometer or a micrometer and a micrometer indicator through a direct measurement method;
b. measuring the actual rotation, deflection or pitch angle value of the attack angle mechanism, and calculating to obtain an angle error, namely a difference value between an angle measured value and a given angle value caused by inaccurate control system;
c. after the angle of attack mechanism is controlled to repeatedly rotate a given angle for multiple times in the same direction, angle errors of each time are calculated, standard deviation is calculated according to a range method, and angle measurement repeatability of the angle of attack mechanism is determined;
d. determining the difference value of positive and negative rotation angles caused by the gap introduced by the rotation of the mechanical lead screw, namely the angle measurement return error of the angle of attack mechanism;
e. determining the displacement positioning error of the attack angle mechanism, namely the difference value between the displacement measured value of the mechanism and the given displacement value;
f. determining repeated positioning errors of the displacement of the attack angle mechanism, namely calculating the standard deviation of each positioning error according to a range method after the attack angle mechanism repeatedly moves for a plurality of times in the same direction for given displacement;
g. determining the displacement back travel difference of the attack angle mechanism, namely calculating the difference value of the positive and negative movement displacements after the mechanism moves to the positive and negative directions by the same given displacement;
h. and determining the single-step displacement difference of the attack angle mechanism, namely the difference between the displacement measured value and the minimum control instruction value after the mechanism moves and displaces under the minimum single-step control instruction.
The scheme is preferably as follows: the specific operation method of the step b is as follows: opening a control system of the attack angle mechanism, rotating, deflecting or pitching the angle displacement device of the attack angle mechanism to a positive or negative direction for a certain angle, rotating a given angle value to the positive or negative direction by taking the position as a starting point, continuously rotating for a plurality of times to the same direction, and sequentially calibrating the angle error; respectively recording and calculating errors of an actual rotation angle and a given rotation angle, and taking the largest absolute value of the error values measured in each time as an angle error of the attack angle mechanism;
the angle error is calculated according to equation (1):
△ angle i ＝D i –D………………………………………………(1)
In the formula, delta Angle i Angle error for each calibration;
D i the angle value of each actual measurement is obtained;
d is a given angle value.
The scheme is preferably as follows: the specific operation method of the step c comprises the following steps: after an angle displacement device of an attack angle mechanism rotates, deflects or pitches by a certain angle in the motion direction, the position is taken as a starting point, the given angle of the attack angle mechanism rotating, deflecting or pitching in the same direction is controlled, three times of positive and negative bidirectional repeated positioning rotation are respectively carried out, the angle error of the unidirectional repeated positioning rotation is measured, the maximum and minimum angle errors are recorded, the unidirectional angle measurement repeatability is calculated according to a range method, and the bidirectional maximum value is taken as the position angle measurement repeatability;
measuring three positions in the middle of the stroke of the angle displacement device and positions close to two ends of the stroke of the angle displacement device respectively, and taking the maximum value of the three measured positions as the angle measurement repeatability of the angle attack mechanism;
the angle repeatability is calculated according to formula (2):
△ corner weight ＝(△ Angle max -△ Angle min )/d n ………………………………(2)
In the formula, delta Corner weight To measure angular repeatability;
△ angle max The maximum value of each angle error;
△ angle min Is the minimum value of each angle error;
d n is the range coefficient, and n is the measurement times (n is more than 3 and less than or equal to 6).
The scheme is preferably as follows: the specific operation method of the step d is as follows: after an angle displacement device of the mechanism rotates, deflects or pitches by a certain angle in the positive direction or the negative direction, the position is taken as a starting point, the angle of attack mechanism is controlled to rotate by a given angle in one direction, then the angle of attack mechanism rotates by the same angle in the opposite direction, and the difference value of the positive direction angle displacement and the negative direction angle displacement, namely the angle measurement return error of the position, is measured;
measuring at three positions in the middle of the stroke of the angle displacement device and near two ends of the stroke of the angle displacement device respectively, and taking the position with the largest absolute value in the angle difference values of the positive direction and the negative direction of the three positions as an angle measurement return error of the angle attack mechanism;
the angle measurement return error is calculated according to the formula (3):
△ angular return ＝D Is just –D Inverse direction ………………………………(3)
In the formula, delta Angular return Measuring the angle return error;
D is just Is the positive rotation angle value;
D inverse direction Is a reverse rotation angle value.
The scheme is preferably as follows: the specific operation method of the step e comprises the following steps: after moving the attack angle mechanism along a coordinate to a positive direction or a negative direction for a positioning movement, taking the position as a starting point, moving the attack angle mechanism according to a given interval distance, continuously moving the attack angle mechanism to the same direction for a plurality of times, and sequentially performing positioning calibration;
taking the maximum absolute value of the error values measured in each time as the positioning error of the attack angle mechanism;
the positioning error is calculated according to the formula (4):
△ bit i ＝L i –L………………………………(4)
In the formula, delta Bit i Positioning error for each calibration;
L i the displacement value of each actual measurement is obtained;
l is a given displacement value.
The scheme is preferably as follows: the specific operation method of the step f comprises the following steps: moving the attack angle mechanism for a distance along a coordinate direction, moving the given displacement in the same direction by taking the position as a starting point, respectively performing three times of bidirectional repeated positioning movement, measuring the positioning error of the unidirectional repeated positioning movement, recording the maximum and minimum positioning errors, calculating the unidirectional repeated positioning error according to a range method, and taking the bidirectional maximum value as the position repeated positioning error;
calibrating three positions in the middle of the coordinate stroke of the mobile device and near two ends of the coordinate stroke of the mobile device respectively, and taking the maximum value of the three measured positions as the repeated positioning error of the attack angle mechanism;
the repeat positioning error is calculated according to equation (5):
△ weight per bit ＝(△ Bit max -△ Bit min )/d n ………………………………(5)
In the formula, delta Weight per bit Is a repeated positioning error;
△ bit max The maximum value of each positioning error is obtained;
△ bit min Is the minimum value of each positioning error;
d n -a range factor, n being the number of measurements (3 < n.ltoreq.6).
The scheme is preferably as follows: the specific operation method of the step g comprises the following steps: after moving the attack angle mechanism for a distance along a coordinate direction, taking the position as a starting point, moving the given displacement to one direction, then moving the same displacement to the opposite direction, and measuring the difference value of the positive and negative displacement, namely the displacement moving back stroke difference of the position;
calibrating three positions in the middle of the coordinate stroke of the mobile device and near two ends of the coordinate stroke of the mobile device respectively, and taking the position with the largest absolute value in the displacement difference values of the three positions as the displacement travel difference of the attack angle mechanism;
the bit shift back path difference is calculated as equation (6):
△ position loop ＝L Is just –L Inverse direction ………………………………(6)
In the formula, delta Bit return Is the bit back shift difference;
L is just Is a positive displacement value;
L inverse direction The displacement value is shifted in the reverse direction.
The scheme is preferably as follows: the specific operation method of the step h comprises the following steps: moving the attack angle mechanism for a distance along a coordinate direction, taking the position as a starting point, giving a minimum single step control instruction each time, moving the attack angle mechanism in the same direction, continuously moving for multiple times, and measuring the difference value between the actual displacement of each movement and the minimum single step control instruction value, namely the single step displacement difference of the position;
calibrating three positions in the middle of the coordinate stroke of the mobile device and near two ends of the coordinate stroke of the mobile device respectively, and taking the position with the largest absolute value in the three position difference values as a single-step displacement difference of the attack angle mechanism;
calculated according to equation (7):
△ bit unit i ＝L i –L Sheet ………………………………(7)
In the formula, delta Bit unit i Single step displacement difference for each calibration;
L i the displacement value of each actual measurement is obtained;
L sheet Is the minimum (single step) control instruction value.
The wind tunnel test angle of attack mechanism has the advantages that according to the working principle of the wind tunnel test angle of attack mechanism, the working actual situation of the wind tunnel test angle of attack mechanism used in low-speed, high-speed and ultrahigh-speed wind tunnels is combined, the position and attitude parameters of the wind tunnel test angle of attack mechanism are traced by a direct measurement method through a calibration device consisting of a laser tracker, a laser total station, an angle sensor, a double-frequency laser interferometer or micrometer, a micrometer indicator and the like, the uncertainty of the measurement results of the displacement and the angle of the wind tunnel test angle of attack mechanism is analyzed and evaluated, the technical performance of the wind tunnel test angle of attack mechanism is accurately evaluated, and the quantity source of the wind tunnel test angle of attack mechanism is realized.
Therefore, compared with the prior art, the invention has substantive characteristics and progress, and the beneficial effects of the implementation are also obvious.
Detailed Description
Example (b):
a wind tunnel test attack angle mechanism pose parameter tracing method comprises the following steps:
a. tracing the position and posture parameters of the wind tunnel test attack angle mechanism by adopting a laser tracker, a laser total station, an angle sensor, a double-frequency laser interferometer or a micrometer and a micrometer indicator through a direct measurement method;
b. measuring the actual rotation, deflection or pitch angle value of the attack angle mechanism, and calculating to obtain an angle error, namely a difference value between an angle measured value and a given angle value caused by inaccurate control system;
c. after the angle of attack mechanism is controlled to repeatedly rotate a given angle for multiple times in the same direction, angle errors of each time are calculated, standard deviation is calculated according to a range method, and angle measurement repeatability of the angle of attack mechanism is determined;
d. determining the difference value of positive and negative rotation angles caused by the gap introduced by the rotation of the mechanical lead screw, namely the angle measurement return error of the angle of attack mechanism;
e. determining the displacement positioning error of the attack angle mechanism, namely the difference value between the displacement measured value of the mechanism and the given displacement value;
f. determining repeated positioning errors of the displacement of the attack angle mechanism, namely calculating the standard deviation of each positioning error according to a range method after the attack angle mechanism repeatedly moves for a plurality of times in the same direction for given displacement;
g. determining the displacement back travel difference of the attack angle mechanism, namely calculating the difference value of the positive and negative movement displacements after the mechanism moves to the positive and negative directions by the same given displacement;
h. and determining the single-step displacement difference of the attack angle mechanism, namely the difference between the displacement measured value and the minimum control instruction value after the mechanism moves and displaces under the minimum single-step control instruction.
The specific operation method of the step b is as follows: opening a control system of the attack angle mechanism, rotating, deflecting or pitching the angle displacement device of the attack angle mechanism by a certain angle in the positive or negative direction, rotating a given angle value in the positive or negative direction by taking the position as a starting point, continuously rotating for a plurality of times in the same direction, and sequentially calibrating the angle error; respectively recording and calculating errors of an actual rotation angle and a given rotation angle, and taking the largest absolute value of the error values measured in each time as an angle error of the attack angle mechanism;
the angle error is calculated according to equation (1):
△ angle i ＝D i –D………………………………………………(1)
In the formula, delta Angle i Angle error for each calibration;
D i the angle value of each actual measurement is obtained;
d is the given angle value.
The specific operation method of the step c comprises the following steps: after an angle displacement device of an attack angle mechanism rotates, deflects or pitches by a certain angle in the motion direction, the position is taken as a starting point, the given angle of the attack angle mechanism rotating, deflecting or pitching in the same direction is controlled, three times of positive and negative bidirectional repeated positioning rotation are respectively carried out, the angle error of the unidirectional repeated positioning rotation is measured, the maximum and minimum angle errors are recorded, the unidirectional angle measurement repeatability is calculated according to a range method, and the bidirectional maximum value is taken as the position angle measurement repeatability;
measuring three positions in the middle of the stroke of the angle displacement device and positions close to two ends of the stroke of the angle displacement device respectively, and taking the maximum value of the three measured positions as the angle measurement repeatability of the angle attack mechanism;
the angle repeatability is calculated according to the formula (2):
△ corner weight ＝(△ Angle max -△ Angle min )/d n ………………………………(2)
In the formula, delta Corner weight To measure angular repeatability;
△ angle max The maximum value of each angle error;
△ angle min Is the minimum value of each angle error;
d n is the range coefficient, and n is the measurement times (n is more than 3 and less than or equal to 6).
The specific operation method of the step d is as follows: after an angle displacement device of the mechanism rotates, deflects or pitches by a certain angle in the positive direction or the negative direction, the position is taken as a starting point, the angle of attack mechanism is controlled to rotate by a given angle in one direction, then the angle of attack mechanism rotates by the same angle in the opposite direction, and the difference value of the positive direction angle displacement and the negative direction angle displacement, namely the angle measurement return error of the position, is measured;
measuring at three positions in the middle of the stroke of the angle displacement device and near two ends of the stroke of the angle displacement device respectively, and taking the position with the largest absolute value in the angle difference values of the positive direction and the negative direction of the three positions as an angle measurement return error of the angle attack mechanism;
the angle measurement return error is calculated according to the formula (3):
△ angular return ＝D Is just –D Inverse direction ………………………………(3)
In the formula, delta Angular return Measuring the angle return error;
D is just Is the positive rotation angle value;
D inverse direction Is a reverse rotation angle value.
The specific operation method of the step e comprises the following steps: after moving the angle of attack mechanism along a coordinate to a positive or negative direction for a positioning movement, taking the position as a starting point, moving the angle of attack mechanism according to a given interval distance, continuously moving the angle of attack mechanism to the same direction for a plurality of times, and sequentially performing positioning calibration;
taking the maximum absolute value of the error values measured in each time as the positioning error of the attack angle mechanism;
the positioning error is calculated according to the formula (4):
△ bit i ＝L i –L………………………………(4)
In the formula, delta Bit i Positioning error for each calibration;
L i the displacement value measured for each time is obtained;
l is a given displacement value.
The specific operation method of the step f comprises the following steps: moving the attack angle mechanism for a distance along a coordinate direction, moving the given displacement in the same direction by taking the position as a starting point, respectively performing three times of bidirectional repeated positioning movement, measuring the positioning error of the unidirectional repeated positioning movement, recording the maximum and minimum positioning errors, calculating the unidirectional repeated positioning error according to a range method, and taking the bidirectional maximum value as the position repeated positioning error;
calibrating three positions in the middle of the coordinate stroke of the mobile device and near two ends of the coordinate stroke of the mobile device respectively, and taking the maximum value of the three measured positions as the repeated positioning error of the attack angle mechanism;
the repeat positioning error is calculated according to equation (5):
△ weight per bit ＝(△ Bit max -△ Bit min )/d n ………………………………(5)
In the formula, delta Weight per bit Is a repeated positioning error;
△ bit max The maximum value of each positioning error is obtained;
△ bit min Is the minimum value of each positioning error;
d n the range coefficient is determined by the number of measurement times (n is more than 3 and less than or equal to 6).
The specific operation method of the step g comprises the following steps: after moving the attack angle mechanism for a distance along a coordinate direction, taking the position as a starting point, moving the given displacement to one direction, then moving the same displacement to the opposite direction, and measuring the difference value of the positive and negative displacement, namely the displacement moving back stroke difference of the position;
calibrating three positions in the middle of the coordinate stroke of the mobile device and near two ends of the coordinate stroke of the mobile device respectively, and taking the position with the largest absolute value in the displacement difference values of the three positions as the displacement travel difference of the attack angle mechanism;
the bit shift back path difference is calculated as equation (6):
△ position loop ＝L Is just –L Inverse direction ………………………………(6)
In the formula, delta Position loop Is the bit back shift difference;
L is just Is a positive displacement value;
L inverse direction The displacement value is shifted in the reverse direction.
The specific operation method of the step h comprises the following steps: moving the attack angle mechanism for a distance along a coordinate direction, taking the position as a starting point, giving a minimum single step control instruction each time, moving the attack angle mechanism in the same direction, continuously moving for multiple times, and measuring the difference value between the actual displacement of each movement and the minimum single step control instruction value, namely the single step displacement difference of the position;
calibrating three positions in the middle of the coordinate stroke of the mobile device and near two ends of the coordinate stroke of the mobile device respectively, and taking the position with the largest absolute value in the three position difference values as a single-step displacement difference of the attack angle mechanism;
calculated according to equation (7):
△ bit unit i ＝L i –L Sheet ………………………………(7)
In the formula, delta Bit unit i Single step displacement difference for each calibration;
L i the displacement value of each actual measurement is obtained;
L sheet Is the minimum (single step) control instruction value.
And (3) actual test results: respectively adopting an R202N laser total station, a TESA electronic inclinometer and an HP5529A dual-frequency laser interferometer to calibrate the alpha, beta and gamma angles and the X, Y, Z coordinate working stroke of a wind tunnel CTS device, wherein the alpha, beta and gamma angle ranges are respectively as follows: the working strokes of coordinates of +/-45 degrees, +/-330 degrees and X, Y, Z are 1800mm, 1800mm and 1600mm respectively, and the tracing results are shown in tables 1 and 2.
TABLE 1 traceability results of the angle items
TABLE 5 traceability results of displacement items
From the test data and the test results, the R202N laser total station, the TESA electronic inclinometer and the HP5529A dual-frequency laser interferometer are adopted to test and measure the wind tunnel test attack angle mechanism, the selected standard instruments are reasonable, the technical approach and the test method are feasible, and the traceability requirement of the wind tunnel test attack angle mechanism can be met.
The invention provides a method for tracing the source of the wind tunnel test attack angle mechanism with the common model of the wind tunnel by combining the use condition of the current wind tunnel test attack angle mechanism, and the method has clear tracing and strong feasibility. The limit that the wind tunnel test attack angle mechanism cannot carry out magnitude traceability because of no traceability channel is broken through, the problem of magnitude traceability of the pose parameter of the wind tunnel test attack angle mechanism is solved, the control or measurement aerodynamic test of the wind tunnel test attack angle mechanism is guaranteed, and the accuracy and the reliability of the measurement result are guaranteed.
All of the features disclosed in this specification, or all of the steps in any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.
Any feature disclosed in this specification may be replaced by alternative features serving an equivalent or similar purpose, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.
The invention is not limited to the foregoing embodiments. The invention extends to any novel feature or any novel combination of features disclosed in this specification and any novel method or process steps or any novel combination of features disclosed.
Claims (1)
1. A wind tunnel test attack angle mechanism position and posture parameter tracing method is characterized by comprising the following steps: the method comprises the following steps:
a. tracing the position and posture parameters of the wind tunnel test attack angle mechanism by adopting a laser tracker, a laser total station, an angle sensor, a double-frequency laser interferometer or a micrometer and a micrometer indicator through a direct measurement method;
b. measuring the actual rotation, deflection or pitch angle value of the attack angle mechanism, and calculating to obtain an angle error, namely a difference value between an angle measured value and a given angle value caused by inaccurate control system;
c. after the angle of attack mechanism is controlled to repeatedly rotate a given angle for multiple times in the same direction, angle errors of each time are calculated, standard deviation is calculated according to a range method, and angle measurement repeatability of the angle of attack mechanism is determined;
d. determining the difference value of positive and negative rotation angles caused by the gap introduced by the rotation of the mechanical lead screw, namely the angle measurement return error of the angle of attack mechanism;
e. determining the displacement positioning error of the attack angle mechanism, namely the difference value between the displacement measured value of the mechanism and the given displacement value;
f. determining repeated positioning errors of the displacement of the attack angle mechanism, namely calculating the standard deviation of each positioning error according to a range method after repeatedly moving the given displacement of the attack angle mechanism from the same direction for many times;
g. determining the displacement back travel difference of the attack angle mechanism, namely calculating the difference value of the positive and negative movement displacements after the mechanism moves to the positive and negative directions by the same given displacement;
h. determining the single-step displacement difference of the attack angle mechanism, namely the difference between the displacement measured value and the minimum control instruction value after the mechanism moves and displaces under the minimum single-step control instruction;
the specific operation method of the step b is as follows: opening a control system of the attack angle mechanism, rotating, deflecting or pitching the angle displacement device of the attack angle mechanism to a positive or negative direction for a certain angle, rotating a given angle value to the positive or negative direction by taking the position as a starting point, continuously rotating for a plurality of times to the same direction, and sequentially calibrating the angle error; respectively recording and calculating the errors of the actual rotation angle and the given rotation angle, and taking the maximum absolute value of the error values measured in each time as the angle error of the attack angle mechanism;
the angle error is calculated according to equation (1):
△ angle i =D i –D ………………………………………………（1）
In the formula (I), the compound is shown in the specification,△ angle i Angle error for each calibration;
D i the angle value of each actual measurement is obtained;
Dfor a given angle value;
the specific operation method of the step c comprises the following steps: after an angle displacement device of an attack angle mechanism rotates, deflects or pitches by a certain angle in the motion direction, the position is taken as a starting point, the given angle of the attack angle mechanism rotating, deflecting or pitching in the same direction is controlled, three times of positive and negative bidirectional repeated positioning rotation are respectively carried out, the angle error of the unidirectional repeated positioning rotation is measured, the maximum and minimum angle errors are recorded, the unidirectional angle measurement repeatability is calculated according to a range method, and the bidirectional maximum value is taken as the position angle measurement repeatability;
measuring three positions in the middle of the stroke of the angle displacement device and near two ends of the stroke of the angle displacement device respectively, and taking the maximum value of the three measured positions as the angle measurement repeatability of the angle attack mechanism;
the angle repeatability is calculated according to formula (2):
△ corner weight =（△ Angle max - △ Angle min ）/d n ………………………………（2）
In the formula (I), the compound is shown in the specification,△ corner weight To measure angular repeatability;
△ angle max The maximum value of each angle error;
△ angle min Is divided into each timeMinimum value of angle error;
d n is the range coefficient, n is the measuring times of 3 < n < 6;
the specific operation method of the step d comprises the following steps: after an angle displacement device of the mechanism rotates, deflects or pitches by a certain angle in the positive direction or the negative direction, the position is taken as a starting point, the angle of attack mechanism is controlled to rotate by a given angle in one direction, then the angle of attack mechanism rotates by the same angle in the opposite direction, and the difference value of the angle displacement in the positive direction and the opposite direction is measured, namely the angle measurement return error of the position;
measuring at three positions in the middle of the stroke of the angle displacement device and near two ends of the stroke of the angle displacement device respectively, and taking the position with the largest absolute value in the angle difference values of the positive direction and the negative direction of the three positions as an angle measurement return error of the angle attack mechanism;
the angle measurement return error is calculated according to the formula (3):
△ angular return = D Is just –D Inverse direction ………………………………（3）
In the formula (I), the compound is shown in the specification,△ angular return Measuring the angle return error;
D is just Is a forward rotation angle value;
D inverse direction Is a reverse rotation angle value;
the specific operation method of the step e comprises the following steps: after moving the angle of attack mechanism along a coordinate to a positive or negative direction for a positioning movement, taking the position as a starting point, moving the angle of attack mechanism according to a given interval distance, continuously moving the angle of attack mechanism to the same direction for a plurality of times, and sequentially performing positioning calibration;
taking the maximum absolute value of the error values measured in each time as the positioning error of the attack angle mechanism;
the positioning error is calculated according to the formula (4):
△ bit i = L i –L ………………………………（4）
In the formula (I), the compound is shown in the specification,△ bit i Positioning error for each calibration;
L i the displacement value of each actual measurement is obtained;
Lfor a given displacement value;
the specific operation method of the step f comprises the following steps: moving the attack angle mechanism for a distance along a coordinate direction, moving the given displacement in the same direction by taking the position as a starting point, respectively performing three times of bidirectional repeated positioning movement, measuring the positioning error of the unidirectional repeated positioning movement, recording the maximum and minimum positioning errors, calculating the unidirectional repeated positioning error according to a range method, and taking the bidirectional maximum value as the position repeated positioning error;
calibrating three positions in the middle of the coordinate stroke of the mobile device and near two ends respectively, and taking the maximum value of the three measured positions as the repeated positioning error of the attack angle mechanism;
the repeated positioning error is calculated according to the formula (5):
△ weight per bit =（△ Bit max - △ Bit min ）/d n ………………………………（5）
In the formula (I), the compound is shown in the specification,△ weight per bit Is a repeated positioning error;
△ bit max The maximum value of each positioning error is obtained;
△ bit min Is the minimum value of each positioning error;
d n -a range coefficient, n being the number of measurements 3 < n < 6;
the specific operation method of the step g comprises the following steps: after moving the attack angle mechanism for a distance along a coordinate direction, taking the position as a starting point, moving the given displacement to one direction, then moving the same displacement to the opposite direction, and measuring the difference value of the positive and negative displacement, namely the displacement moving back stroke difference of the position;
calibrating three positions in the middle of the coordinate stroke of the mobile device and near two ends of the coordinate stroke of the mobile device respectively, and taking the position with the largest absolute value in the displacement difference values of the three positions as the displacement travel difference of the attack angle mechanism;
the bit shift back path difference is calculated as equation (6):
△ position loop = L Is just –L Trans form ………………………………（6）
In the formula (I), the compound is shown in the specification,△ position loop Is the bit back shift difference;
L is just Is a positive displacement value;
L inverse direction Is a reverse shift displacement value;
the specific operation method of the step h comprises the following steps: moving the angle of attack mechanism along a coordinate direction for a distance, taking the position as a starting point, giving a minimum single-step control instruction each time, moving the angle of attack mechanism in the same direction, continuously moving for many times, and measuring the difference value between the actual displacement of each movement and the minimum single-step control instruction value, namely the single-step displacement difference of the position;
calibrating three positions in the middle of the coordinate stroke of the mobile device and near two ends of the coordinate stroke of the mobile device respectively, and taking the position with the largest absolute value in the three position difference values as a single-step displacement difference of the attack angle mechanism;
calculated according to equation (7):
△ bit unit i = L i –L Sheet ………………………………（7）
In the formula (I), the compound is shown in the specification,△ bit unit i Single step displacement difference for each calibration;
L i the displacement value measured for each time is obtained;
L sheet Is the minimum single step control instruction value.
Priority Applications (1)
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