CN113503813A - Six-degree-of-freedom motion platform linear displacement positioning precision measurement and error compensation method - Google Patents

Six-degree-of-freedom motion platform linear displacement positioning precision measurement and error compensation method Download PDF

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CN113503813A
CN113503813A CN202110643441.3A CN202110643441A CN113503813A CN 113503813 A CN113503813 A CN 113503813A CN 202110643441 A CN202110643441 A CN 202110643441A CN 113503813 A CN113503813 A CN 113503813A
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linear displacement
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motion
platform
freedom
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CN113503813B (en
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周洵轶
孙佳晋
魏亮
赵庆
马建明
钟正虎
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Beijing Aerospace Wanhong High Technology Co ltd
Beijign Institute of Aerospace Control Devices
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Beijign Institute of Aerospace Control Devices
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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
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices

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Abstract

The invention discloses a six-degree-of-freedom motion platform linear displacement positioning accuracy measurement and error compensation method, and belongs to the technical field of six-degree-of-freedom motion platforms for inertial navigation product performance test and semi-physical simulation test. And measuring displacement motion measured values of the working surface of the six-degree-of-freedom motion platform in three directions of transverse displacement, longitudinal displacement and vertical lifting by using a laser interferometer, and calculating positioning accuracy and errors. By the linear interpolation method, the error compensation can be carried out on any point in the motion range. When the product is actually tested, the platform control software can automatically calculate the compensation value corresponding to the target position input value and control the platform to move to the compensated position, so that the linear displacement positioning precision of the six-degree-of-freedom motion platform meets the requirement.

Description

Six-degree-of-freedom motion platform linear displacement positioning precision measurement and error compensation method
Technical Field
The invention belongs to the technical field of six-degree-of-freedom motion platforms, and particularly relates to a method for measuring positioning accuracy and compensating errors of linear displacement of a six-degree-of-freedom motion platform.
Background
The six-degree-of-freedom motion platform is mainly used for inertial navigation product performance testing and semi-physical simulation testing, and the motion positioning precision of the platform directly influences the results of the inertial product performance testing and the semi-physical simulation testing. At present, the linear displacement positioning precision measuring method of the six-degree-of-freedom motion platform is less, the instrument cost is higher, and the calculation and operation difficulty is higher.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method overcomes the defects of the prior art, provides a method for measuring the positioning precision and compensating errors of the linear displacement of the six-degree-of-freedom motion platform, and ensures that the positioning precision of the linear displacement of the six-degree-of-freedom motion platform meets the requirements.
The purpose of the invention is realized by the following technical scheme: a six-degree-of-freedom motion platform linear displacement positioning precision measurement and error compensation method comprises the following steps:
(1) a reflecting mirror is arranged at the central point of the working surface of the six-degree-of-freedom motion platform, and the laser interferometer and the six-degree-of-freedom motion platform are positioned on the same seismic isolation foundation; adjusting the laser interferometer to have readings in the motion range of the platform, and setting the readings of the laser interferometer to be zero at the zero position of the platform;
(2) selecting position points P which can cover the linear displacement motion range of the six-degree-of-freedom motion platform and are uniformly distributed from the minimum value to the maximum value1、P2、…、Pn；
(3) Controlling the six-freedom motion platform to do linear displacement forward motion from a position point P1Firstly, after the six-degree-of-freedom motion platform moves in place, reading and recording the actually measured displacement data of the laser interferometer
Figure BDA0003108889030000011
Sequentially moving the platform to a position point P2、P3、P4、…、PnSequentially reading and recording the actually measured displacement data of the laser interferometer
Figure BDA0003108889030000012
Then the six-freedom-degree motion platform is moved linearly and reversely once, and the actually measured displacement data of the laser interferometer are read and recorded in sequence
Figure BDA0003108889030000013
(4) According to the relation between the data measured by the laser interferometer and the position point of the platform moving target, the error e of each position point in the linear displacement forward motion is obtained1iError e of each position point in the reverse motion of linear displacement2i；
Selecting the maximum error of errors of n position points in the forward motion of linear displacement
Figure BDA0003108889030000021
And minimum error
Figure BDA0003108889030000022
Selecting the maximum error of errors of n position points in the process of linear displacement reverse motion
Figure BDA0003108889030000023
And minimum error
Figure BDA0003108889030000024
According to the maximum error
Figure BDA0003108889030000025
Minimum error
Figure BDA0003108889030000026
Maximum error
Figure BDA0003108889030000027
And minimum error
Figure BDA0003108889030000028
Obtaining the positioning precision of the j-th measurement linear displacement; wherein, j 1 is linear displacement forward motion, and j 2 is linear displacement reverse motion;
and obtaining the linear displacement positioning precision of the measured motion direction of the six-freedom-degree motion platform according to the j-th measured linear displacement positioning precision.
In the six-degree-of-freedom motion platform linear displacement positioning accuracy measurement and error compensation method, the method further comprises the following steps: (5) position point P1To a position point PnAny position P in the motion range can be calculated by a linear interpolation method to obtain a compensation value corresponding to any position P, and a compensated six-freedom-degree motion platform position value P is obtained according to the positioning precision of the j-th measured linear displacement of the ith position and the compensation value corresponding to any position Pf。
In the method for measuring positioning accuracy and compensating errors of linear displacement of six-degree-of-freedom motion platform, in the step (4), the error e of each position point in the forward motion of the linear displacement1iComprises the following steps:
Figure BDA0003108889030000029
wherein, i is 1, 2, … and n.
In the method for measuring positioning accuracy and compensating errors of linear displacement of six-degree-of-freedom motion platform, in the step (4), the error e of each position point in the reverse motion of the linear displacement2iComprises the following steps:
Figure BDA00031088890300000210
wherein, i is 1, 2, … and n.
In the method for measuring positioning accuracy and compensating errors of linear displacement of the six-degree-of-freedom motion platform, in the step (4), the positioning accuracy of the linear displacement measured for the jth time is as follows:
Figure BDA00031088890300000211
wherein, j-1 is the linear displacement forward motion, and j-2 is the linear displacement reverse motion.
In the method for measuring positioning accuracy and compensating errors of the linear displacement of the six-degree-of-freedom motion platform, in the step (4), the positioning accuracy of the linear displacement of the six-degree-of-freedom motion platform in the measured motion direction is as follows: ε ═ max { εj}; wherein, j-1 is the linear displacement forward motion, and j-2 is the linear displacement reverse motion.
In the method for measuring the positioning accuracy and compensating the errors of the linear displacement of the six-degree-of-freedom motion platform, in the step (5), the linear displacement motion error d of the ith positioniComprises the following steps:
Figure BDA0003108889030000031
wherein, i is 1, 2, … and n.
In the method for measuring positioning accuracy and compensating errors of linear displacement of six-degree-of-freedom motion platform, in the step (5), the position value P of the six-degree-of-freedom motion platform after compensationfObtained by the following formula:
P1≤P<P2when the temperature of the water is higher than the set temperature,
Figure BDA0003108889030000032
P2≤P<P3when the temperature of the water is higher than the set temperature,
Figure BDA0003108889030000033
…
Pn-2≤P<Pn-1when the temperature of the water is higher than the set temperature,
Figure BDA0003108889030000034
Pn-1≤P<Pnwhen the temperature of the water is higher than the set temperature,
Figure BDA0003108889030000035
P＝Pnwhen is, Pf＝P-dn。
Compared with the prior art, the invention has the following beneficial effects:
(1) the invention only uses one instrument of the laser interferometer in the measuring process, has lower cost, simple method, less operation steps and small calculated amount, can quickly complete the positioning precision measurement of the linear displacement of the six-degree-of-freedom motion platform, and has high practical application value;
(2) the error compensation technique provided by the invention is based on the selected position point P1、P2、…、PnAnd measuring the calculated error, calculating a compensation value corresponding to any position input value by platform control software through a linear interpolation method, and enabling the platform to move according to the compensated position value, thereby effectively improving the phenomenon and ensuring that the positioning precision of the linear displacement of the six-freedom-degree motion platform meets the requirement.
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Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a schematic structural diagram of a six-degree-of-freedom motion platform and a laser interferometer provided by an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1, the six-degree-of-freedom motion platform belongs to a parallel robot, and the mechanical structure of the six-degree-of-freedom motion platform mainly comprises six electric cylinders, a working surface and a base. The target position value received by the platform is relative to a working surface coordinate system, and the actual movement of the platform is completed by the telescopic movement of the electric cylinder. The platform control software needs to perform inverse kinematics calculation on the six-degree-of-freedom motion platform, convert the target position value into the telescopic quantity of the electric cylinder, and the electric cylinder executes the command to complete corresponding motion. The modeling analysis of the six-degree-of-freedom motion platform can obtain that the closer the platform linear displacement motion is to the critical motion range, the larger the error generated in the inverse kinematics calculation process is, and the worse the positioning precision of the six-degree-of-freedom motion platform linear displacement motion is.
The embodiment provides a method for measuring positioning accuracy and compensating errors of linear displacement of a six-degree-of-freedom motion platform, which comprises the following steps:
(1) and horizontally adjusting the six-freedom-degree motion platform within an error allowable range by using a digital electronic level meter. A reflecting mirror is arranged at the central point of the working surface of the six-degree-of-freedom motion platform, and the laser interferometer and the six-degree-of-freedom motion platform are positioned on the same seismic isolation foundation; adjusting the laser interferometer to have readings in the motion range of the platform, and setting the readings of the laser interferometer to be zero at the zero position of the platform;
(2) selecting position points P which can cover the linear displacement motion range of the six-degree-of-freedom motion platform and are uniformly distributed from the minimum value to the maximum value1、P2、…、Pn；
(3) Controlling the six-freedom motion platform to do linear displacement forward motion from a position point P1Firstly, after the six-degree-of-freedom motion platform moves in place, reading and recording the actually measured displacement data of the laser interferometer
Figure BDA0003108889030000051
Sequentially moving the platform to a position point P2、P3、P4、…、PnSequentially reading and recording the actually measured displacement data of the laser interferometer
Figure BDA0003108889030000052
Then add six toThe linear displacement reverse motion is carried out by the linear motion platform once, and the actually measured displacement data of the laser interferometer is read and recorded in sequence
Figure BDA0003108889030000053
(4) According to the relation between the data measured by the laser interferometer and the position point of the platform moving target, the error of each position point in the forward and reverse movement of the linear displacement can be obtained:
Figure BDA0003108889030000054
wherein i is 1, 2, …, n;
Figure BDA0003108889030000055
wherein i is 1, 2, …, n;
when the platform moves in the forward direction, the maximum error is taken from the errors of the n position points
Figure BDA0003108889030000056
And minimum error e1 -；
When the platform moves reversely, the error of n position points is the maximum error
Figure BDA0003108889030000057
And minimum error
Figure BDA0003108889030000058
And obtaining the positioning accuracy of the linear displacement of the j-th measurement by the following calculation:
Figure BDA0003108889030000059
wherein, j-1 is the linear displacement forward motion, and j-2 is the linear displacement reverse motion.
The positioning precision of the linear displacement of the six-freedom-degree motion platform in the measured motion direction is as follows:
ε＝±max{εj}(j＝1～2)
(5)P1to PnAny position input value P in the motion range can be calculated to obtain a corresponding compensation value through a linear interpolation method.
Obtaining the linear displacement motion error of the ith position:
Figure BDA00031088890300000510
compensated six-freedom-degree motion platform position value PfCan be expressed by the following formula
P1≤P<P2When the temperature of the water is higher than the set temperature,
Figure BDA00031088890300000511
P2≤P<P3when the temperature of the water is higher than the set temperature,
Figure BDA00031088890300000512
…
Pn-2≤P<Pn-1when the temperature of the water is higher than the set temperature,
Figure BDA0003108889030000061
Pn-1≤P<Pnwhen the temperature of the water is higher than the set temperature,
Figure BDA0003108889030000062
P＝Pnwhen is, Pf＝P-dn
(6) And (5) when the six-degree-of-freedom motion platform is used for calibrating and testing the performance of the inertial product, the linear interpolation formula in the step (5) is built in platform control software. According to the target position input value, the platform control software can automatically calculate the compensated target position value and control the platform to move correspondingly, so that the linear displacement positioning precision of the platform can meet the requirement.
The error compensation technique proposed in this embodiment depends on the selected position point P1、P2、…、PnAnd measuring the calculated error by linear interpolationAccording to the method, the platform control software can calculate the compensation value corresponding to any position input value, and the platform moves according to the compensated position value, so that the phenomenon is effectively improved, and the linear displacement positioning precision of the six-degree-of-freedom motion platform is ensured to meet the requirement.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.

Claims (8)

1. A six-degree-of-freedom motion platform linear displacement positioning precision measurement and error compensation method is characterized by comprising the following steps:
(1) a reflecting mirror is arranged at the central point of the working surface of the six-degree-of-freedom motion platform, and the laser interferometer and the six-degree-of-freedom motion platform are positioned on the same seismic isolation foundation; adjusting the laser interferometer to have readings in the motion range of the platform, and setting the readings of the laser interferometer to be zero at the zero position of the platform;
(2) selecting position points P which can cover the linear displacement motion range of the six-degree-of-freedom motion platform and are uniformly distributed from the minimum value to the maximum value1、P2、…、Pn；
(3) Controlling the six-freedom motion platform to do linear displacement forward motion from a position point P1Firstly, after the six-degree-of-freedom motion platform moves in place, reading and recording the actually measured displacement data of the laser interferometer
Figure FDA0003108889020000011
Sequentially moving the platform to a position point P2、P3、P4、…、PnSequentially reading and recording the actually measured displacement data of the laser interferometer
Figure FDA0003108889020000012
Then the six-freedom-degree motion platform is moved linearly and reversely once, and the actually measured displacement data of the laser interferometer are read and recorded in sequence
Figure FDA0003108889020000013
(4) According to the relation between the data measured by the laser interferometer and the position point of the platform moving target, the error e of each position point in the linear displacement forward motion is obtained1iError e of each position point in the reverse motion of linear displacement2i；
Selecting the maximum error of errors of n position points in the forward motion of linear displacement
Figure FDA0003108889020000014
And minimum error
Figure FDA0003108889020000015
Selecting the maximum error of errors of n position points in the process of linear displacement reverse motion
Figure FDA0003108889020000016
And minimum error
Figure FDA0003108889020000017
According to the maximum error
Figure FDA0003108889020000018
Minimum error
Figure FDA0003108889020000019
Maximum error
Figure FDA00031088890200000110
And minimum error
Figure FDA00031088890200000111
Obtaining the positioning precision of the j-th measurement linear displacement; wherein, j 1 is linear displacement forward motion, and j 2 is linear displacement reverse motion;
and obtaining the linear displacement positioning precision of the measured motion direction of the six-freedom-degree motion platform according to the j-th measured linear displacement positioning precision.
2. The six-degree-of-freedom motion platform linear displacement positioning accuracy measurement and error compensation method according to claim 1, further comprising: (5) position point P1To a position point PnAny position P in the motion range can be calculated by a linear interpolation method to obtain a compensation value corresponding to any position P, and a compensated six-freedom-degree motion platform position value P is obtained according to the positioning precision of the j-th measured linear displacement of the ith position and the compensation value corresponding to any position Pf。
3. The six-degree-of-freedom motion platform linear displacement positioning accuracy measurement and error compensation method according to claim 1, characterized in that: in step (4), the error e of each position point in the forward motion of the linear displacement1iComprises the following steps:
Figure FDA0003108889020000021
wherein, i is 1, 2, … and n.
4. The six-degree-of-freedom motion platform linear displacement positioning accuracy measurement and error compensation method according to claim 1, characterized in that: in step (4), the error e of each position point in the reverse motion of the linear displacement2iComprises the following steps:
Figure FDA0003108889020000022
wherein, i is 1, 2, … and n.
5. The six-degree-of-freedom motion platform linear displacement positioning accuracy measurement and error compensation method according to claim 1, characterized in that: in step (4), the positioning accuracy of the j-th measured linear displacement is as follows:
Figure FDA0003108889020000023
wherein, j-1 is the linear displacement forward motion, and j-2 is the linear displacement reverse motion.
6. The six-degree-of-freedom motion platform linear displacement positioning accuracy measurement and error compensation method according to claim 1, characterized in that: in the step (4), the positioning precision of the linear displacement of the six-degree-of-freedom motion platform in the measured motion direction is as follows: ε ═ max { εj}; wherein, j-1 is the linear displacement forward motion, and j-2 is the linear displacement reverse motion.
7. The six-degree-of-freedom motion platform linear displacement positioning accuracy measurement and error compensation method according to claim 1, characterized in that: in step (5), the linear displacement motion error d of the i-th positioniComprises the following steps:
Figure FDA0003108889020000024
wherein, i is 1, 2, … and n.
8. The six-degree-of-freedom motion platform linear displacement positioning accuracy measurement and error compensation method according to claim 7, characterized in that: in the step (5), the compensated six-freedom-degree motion platform position value PfObtained by the following formula:
P1≤P<P2when the temperature of the water is higher than the set temperature,
Figure FDA0003108889020000025
P2≤P<P3when the temperature of the water is higher than the set temperature,
Figure FDA0003108889020000026
…
Pn-2≤P<Pn-1when the temperature of the water is higher than the set temperature,
Figure FDA0003108889020000031
Pn-1≤P<Pnwhen the temperature of the water is higher than the set temperature,
Figure FDA0003108889020000032
P＝Pnwhen is, Pf＝P-dn。
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