CN117405163A - Active error compensation method and system for stay cord encoder - Google Patents
Active error compensation method and system for stay cord encoder Download PDFInfo
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- G—PHYSICS
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- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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Abstract
The invention belongs to the field of dynamic measurement of a pull rope encoder, in particular to an active error compensation method and an active error compensation system for the pull rope encoder, wherein the method comprises the following steps: s1: collecting installation angle data of the operation of a pull rope encoder, pulling force born by the pull rope and temperature data; s2: based on the displacement actual value, the working installation angle data, the tension data and the temperature data, a relational expression between the displacement actual value and the displacement theoretical value is established, the displacement theoretical value is calculated, and the displacement theoretical value is output as a correction value to perform error compensation. The invention has high flexibility, can adapt to the conditions of various product models and various special environments, actively performs error compensation, and improves the measurement accuracy to the greatest extent.
Description
Technical Field
The invention relates to the field of dynamic measurement of a pull rope encoder, in particular to an active error compensation method and an active error compensation system for the pull rope encoder.
Background
As shown in fig. 1, the pull rope encoder 100 is used as a displacement sensor for measuring linear motion, by combining a reel 110 and an encoder 120, and by utilizing the elongation of the pull rope, the linear motion is converted into an angle by the reel 110, and the encoder 120 reads an angle signal, so as to calculate the motion quantity of an actual measurement part, and the pull rope encoder has the characteristics of high precision and small output accuracy error, and has important application in industrial, mechanical and medical aspects.
The measuring range of the stay cord encoder is hundreds of millimeters to tens of meters, in the production and use process of the stay cord encoder, especially the stay cord encoder with a large range, the measured displacement data is L ideally, but in the actual measurement, the stay cord can deform and hang due to the problems of acceleration impact force, working temperature change, collimation and the like, and the measured displacement value becomeslThus reducing the measurement accuracy as shown in fig. 2. In order to reduce the influence of external environment, use conditions and the like, how to improve the measurement accuracy of a pull rope encoder becomes a problem to be solved in industry.
Disclosure of Invention
In order to solve the problem that the measuring precision is reduced due to deformation and suspension of a pull rope encoder caused by factors such as tension, working temperature change, installation angle and the like, the invention provides an active error compensation method of the pull rope encoder, which comprises the following steps:
s1: collecting working state data and temperature data of a pull rope encoder; the state data comprise installation angle data of the stay rope encoder and tension applied to the stay rope;
s2: based on the displacement actual value, the state data and the temperature data, establishing a relation between the displacement actual value and a displacement theoretical value, calculating to obtain the displacement theoretical value, and outputting the displacement theoretical value as a correction value to perform error compensation;
the actual displacement value is the length of the deformed pull rope, and the theoretical displacement value is the length of the non-deformed pull rope.
In one embodiment of the present invention, in S2, the method for calculating the displacement theoretical value includes:
when the working temperature change of the encoder is out of the controllable range, calculating a displacement theoretical value according to the temperature data;
when the working temperature of the encoder changes within a controllable range, under the condition that the state data only causes the stay cord outgoing line to deform, a relational expression between a displacement theoretical value and a displacement actual value is obtained according to the state data, and the displacement theoretical value is calculated based on the relational expression.
In one embodiment of the present invention, the controllable range refers to a data range in which the change of the operating temperature of the encoder does not cause deformation of the pull rope.
In one embodiment of the present invention, when the working temperature of the encoder is outside the controllable range, the calculation formula of the displacement theoretical value L is:（1）
wherein,σindicating the temperature influence coefficient of the pull rope, deltatIndicating the temperature difference created during operation of the encoder,L T the length of the pull rope after deformation under the influence of temperature is shown.
In one embodiment of the present invention, when the working temperature of the encoder changes within a controllable range, the calculation method of the displacement theoretical value only considers that the state data causes the stay cord outgoing line to deform, is:
when the stay cord encoder is installed horizontally, namely the installation angleθWhen=0, the calculation formula of the displacement theoretical value L is:(2)
wherein,xrepresenting half-width stay cord arc lengthlIs arranged in the horizontal direction of the frame,ρg represents gravitational acceleration, T represents tensile force applied on the pull rope;
when the installation angle of the stay cord encoderTheoretical value of displacement L 2 The calculation formula of (2) is as follows:(3)
wherein L represents the theoretical value of the total displacement of the inclined plane after the installation inclined plane is added with the virtual extension line,represents the displacement theoretical value of the virtual extension line inclined plane,indicating the total arc length of the catenary.
In one embodiment of the invention, the catenary total arc lengthIs a catenary arc length formed by virtual extension linesAnd actual value of displacementAnd obtaining the sum.
In one embodiment of the invention, the theoretical value of displacement L of the virtual extended line slope 1 The calculation method of (1) is as follows:
establishing an xOy coordinate system, and recording the rope outlet position of the rope pulling encoder as (x) 1 ,y 1 ) Virtual extension line is reversed to point (0, 0) with the rope outlet direction, point (x 1 ,y 1 ) The slope of (2) is:(4)
thus, the catenary arc length of the virtual extension line is obtained：(5)
Obtaining the displacement theoretical value on the inclined plane of the virtual extension lineThe method comprises the following steps:(6)。
in one embodiment of the invention, the half-width draw cord arc lengthlHorizontal displacement of (2)xThe acquisition method of (1) comprises the following steps: the pull force T exerted on the pull rope is known to be included with the horizontal directionαThe tensile force T applied on the pull rope is subjected to stress analysis:
the acting force of the pull rope in the vertical direction:(7)
the acting force of the pull rope in the horizontal direction:(8)
then there are:(9)
(10)
(11)
half-width stay cord arc length represented by calculusl：
(12)
The finishing method can obtain:(13)
order theAnd then towSolving forxIs derived from:(14)
and integrating the two ends of the formula to obtain:(15)
the formula is as follows:，is constant due toxWhen=0, slopeI.e.w=0, thereby can be obtainedThen:(16)
the above equation is integrated, and there are:，is constant whenIn the time-course of which the first and second contact surfaces,can be derived fromFinally, the pull rope equation is obtained as follows:
(17)
from the formulas (13) and (17), the arc length of the half-width stay cord is obtainedl：
(18)
From equation (18):(19)
substituting formula (10) into formula (19) to obtain the half-width stay cord arc lengthlHorizontal displacement of (2)x：(20)
Wherein,ρg is gravity acceleration, F is the linear density of the pull rope H Is a horizontal component of rope stress.
Based on the same inventive concept, the invention also provides an active error compensation system of the pull rope encoder, which comprises the following modules:
the data acquisition module is used for collecting the working state data and the temperature data of the stay cord encoder; the state data comprise installation angle data of the stay rope encoder and tension applied to the stay rope;
the error compensation module is used for establishing a relational expression between the displacement actual value and the displacement theoretical value based on the displacement actual value, the state data and the temperature data, calculating to obtain the displacement theoretical value, and outputting the displacement theoretical value as a correction value to perform error compensation;
the actual displacement value is the length of the deformed pull rope, and the theoretical displacement value is the length of the non-deformed pull rope.
The invention also provides a pull rope encoder, comprising: the pull rope encoder comprises an active error compensation system, a control module, a force sensor, a gyroscope and a temperature sensor; the control module utilizes the pull rope encoder active error compensation system to process data measured by the force sensor, the gyroscope and the temperature sensor.
Compared with the prior art, the technical scheme of the invention has the following advantages:
1. the automatic pulling rope temperature control system is high in automation degree, and automatically collects pulling force, angle and temperature information of the pulling rope, substitutes the pulling force, angle and temperature information into an error compensation mathematical model to calculate and feed back the pulling force, the angle and the temperature information to compensate and then outputs the pulling force, the angle and the temperature information.
2. Compared with a common stay cord encoder, the data acquisition and feedback system is integrated, and an independent controller is not needed.
3. The test result is more accurate, and the measurement result is more accurate through mathematical calculation by taking the influence factors of various stay ropes into consideration.
Drawings
In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof that are illustrated in the appended drawings, in which
FIG. 1 is a schematic diagram of a pull-cord encoder;
FIG. 2 is a schematic diagram of a drawstring encoder subjected to a number of factors during actual measurement to produce a drape phenomenon;
FIG. 3 is a flow chart of the error compensation method of the present invention;
FIG. 4 is a schematic diagram of the theoretical data analysis of displacement measured by the pull rope encoder when installed horizontally;
FIG. 5 is a schematic diagram illustrating the theoretical data analysis of the displacement measured by the pull-rope encoder when the installation angle θ is not equal to 0;
FIG. 6 is a schematic diagram of a pull-cord encoder workflow in accordance with the present invention;
description of the specification reference numerals: 100. a pull rope encoder; 110. a reel; 120. an encoder.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific examples, which are not intended to be limiting, so that those skilled in the art will better understand the invention and practice it.
Example 1
Referring to fig. 3, the present invention provides an active error compensation method for a pull rope encoder, which includes the following steps:
s1: collecting working state data and temperature data of a pull rope encoder; the state data comprise installation angle data of the stay rope encoder and tension applied to the stay rope;
s2: based on the displacement actual value, the state data and the temperature data, establishing a relation between the displacement actual value and a displacement theoretical value, calculating to obtain the displacement theoretical value, and outputting the displacement theoretical value as a correction value to perform error compensation;
the actual displacement value is the length of the deformed pull rope, and the theoretical displacement value is the length of the non-deformed pull rope.
In summary, the invention collects the information of the tension, the outlet angle and the external temperature change of the outlet of the stay cord encoder, and calculates the suspension error caused by gravity of the stay cord under the long-distance measurement and the stretching error under different tension conditions; meanwhile, measuring errors caused by deformation and stretching of the pull rope under the abrupt change condition of the ambient temperature are calculated, and the errors are fed back to the signal output end of the encoder, so that the actual output data of the encoder are compensated and calibrated, and the accuracy of the output data is improved.
Specifically, in S2, the method for calculating the displacement theoretical value includes:
when the working temperature change of the encoder is out of the controllable range, calculating a displacement theoretical value according to the temperature data;
when the working temperature of the encoder changes within a controllable range, under the condition that the state data only causes the stay cord outgoing line to deform, a relation expression between a displacement theoretical value and a displacement actual value is obtained according to the state data, and the displacement theoretical value is calculated based on the relation expression;
the controllable range refers to a data range in which the change of the working temperature of the encoder does not cause deformation of the pull rope.
When the working temperature change of the encoder is out of the controllable range, the calculation formula of the displacement theoretical value L is as follows:(1)
wherein,σrepresents the temperature influence coefficient of the pull rope, delta t represents the temperature difference generated in the operation of the encoder, L T The length of the pull rope after deformation under the influence of temperature is shown.
When the working temperature change of the encoder is in a controllable range, under the condition that the state data is only considered to cause the stay cord outgoing line to deform, the calculation method of the displacement theoretical value is as follows:
as shown in FIG. 4, when the pull-cord encoder is mounted horizontally, i.e. at an angleθWhen=0, the calculation formula of the displacement theoretical value L is:(2)
wherein,xrepresenting half-width stay cord arc lengthlIs arranged in the horizontal direction of the frame,ρg represents gravitational acceleration, T represents tensile force applied on the pull rope;
as shown in fig. 5, when the pull-cord encoder is installed at an angleTheoretical value of displacement L 2 The calculation formula of (2) is as follows:(3)
wherein L represents the theoretical value of the total displacement of the inclined plane after the installation inclined plane is added with the virtual extension line,represents the displacement theoretical value of the virtual extension line inclined plane,representing the total arc length of a catenary, the total arc length of the catenaryIs a catenary arc length formed by virtual extension linesAnd actual value of displacementAnd obtaining the sum.
The displacement theoretical value L of the virtual extension line inclined plane 1 The calculation method of (1) is as follows:
establishing an xOy coordinate system, and recording the rope outlet position of the rope pulling encoder as (x) 1 ,y 1 ) Virtual extension line is reversed to point (0, 0) with the rope outlet direction, point (x 1 ,y 1 ) A kind of electronic deviceThe slope is:(4)
thus, the catenary arc length of the virtual extension line is obtained：(5)
Obtaining the displacement theoretical value on the inclined plane of the virtual extension lineThe method comprises the following steps:(6)。
in this embodiment, the half-width draw cord arc lengthlHorizontal displacement of (2)xThe acquisition method of (1) comprises the following steps: the pull force T exerted on the pull rope is known to be included with the horizontal directionαThe tensile force T applied on the pull rope is subjected to stress analysis:
the acting force of the pull rope in the vertical direction:(7)
the acting force of the pull rope in the horizontal direction:(8)
then there are:(9)
(10)
(11)
half-width stay cord arc length represented by calculusl：
(12)
The finishing method can obtain:(13)
order theAnd then towSolving forxIs derived from:(14)
and integrating the two ends of the formula to obtain:(15)
the formula is as follows:，is constant due toxWhen=0, slopeI.e.w=0, thereby can be obtainedThen:(16)
the above equation is integrated, and there are:，is constant whenIn the time-course of which the first and second contact surfaces,can be derived fromFinally, the pull rope equation is obtained as follows:
(17)
from the formulas (13) and (17), the arc length of the half-width stay cord is obtainedl：
(18)
From equation (18):(19)
substituting formula (10) into formula (19) to obtain the half-width stay cord arc lengthlHorizontal displacement of (2)x：(20)
Wherein,ρg is gravity acceleration, F is the linear density of the pull rope H Is a horizontal component of rope stress.
Example two
Based on the inventive concept as well as the embodiment, the invention also provides an active error compensation system of the pull rope encoder, which comprises the following modules:
the data acquisition module is used for collecting the working state data and the temperature data of the stay cord encoder; the state data comprise installation angle data of the stay rope encoder and tension applied to the stay rope;
the error compensation module is used for establishing a relational expression between the displacement actual value and the displacement theoretical value based on the displacement actual value, the state data and the temperature data, calculating to obtain the displacement theoretical value, and outputting the displacement theoretical value as a correction value to perform error compensation;
the actual displacement value is the length of the deformed pull rope, and the theoretical displacement value is the length of the non-deformed pull rope.
Example III
The invention also provides a pull rope encoder, comprising: the active error compensation system of the pull rope encoder, the control module, the force sensor, the gyroscope and the temperature sensor are described in the second embodiment; the control module utilizes the pull rope encoder active error compensation system to process data measured by the force sensor, the gyroscope and the temperature sensor.
The working flow of the pull rope encoder provided in this embodiment is shown in fig. 6, where the force sensor, the gyroscope and the temperature sensor are used as data acquisition ports, the pull force data, the angle data and the temperature data are collected and transmitted to the control module MCU, and the control module calculates a displacement theoretical value, that is, a pull rope length value which is not deformed, through the active error compensation system of the built-in pull rope encoder, and actively outputs the displacement theoretical value to perform error compensation. In addition, compared with a common stay cord encoder, the stay cord encoder is integrated with a detection and feedback system, a separate controller is not needed, and the measurement result is more accurate.
In general, the invention has high flexibility, can adapt to the conditions of various product models and various special environments, actively performs error compensation, and improves the measurement accuracy to the greatest extent. In addition, the invention also provides a novel stay cord encoder, wherein a force sensor, a temperature sensor and a gyroscope are used as information acquisition ports, when the stay cord encoder works, tension and angle information of a stay cord box outgoing line and environmental temperature change information are collected, and corresponding error compensation is carried out, so that the measurement accuracy of the stay cord encoder in a long-distance and multi-temperature-zone test environment is ensured.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations and modifications of the present invention will be apparent to those of ordinary skill in the art in light of the foregoing description. It is not necessary here nor is it exhaustive of all embodiments. And obvious variations or modifications thereof are contemplated as falling within the scope of the present invention.
Claims (10)
1. The active error compensation method of the pull rope encoder is characterized by comprising the following steps of:
s1: collecting working state data and temperature data of a pull rope encoder; the state data comprise installation angle data of the stay rope encoder and tension applied to the stay rope;
s2: based on the displacement actual value, the state data and the temperature data, establishing a relation between the displacement actual value and a displacement theoretical value, calculating to obtain the displacement theoretical value, and outputting the displacement theoretical value as a correction value to perform error compensation;
the actual displacement value is the length of the deformed pull rope, and the theoretical displacement value is the length of the non-deformed pull rope.
2. The method of active error compensation for a pull-cord encoder of claim 1, wherein:
s2, the calculation method of the displacement theoretical value comprises the following steps:
when the working temperature change of the encoder is out of the controllable range, calculating a displacement theoretical value according to the temperature data;
when the working temperature of the encoder changes within a controllable range, under the condition that the state data only causes the stay cord outgoing line to deform, a relational expression between a displacement theoretical value and a displacement actual value is obtained according to the state data, and the displacement theoretical value is calculated based on the relational expression.
3. The method of active error compensation for a pull-cord encoder of claim 2, wherein: the controllable range refers to a data range in which the change of the working temperature of the encoder does not cause the pull rope to deform.
4. The method of active error compensation for a pull-cord encoder of claim 2, wherein:
when the working temperature change of the encoder is out of the controllable range, the calculation formula of the displacement theoretical value L is as follows:
(1)
wherein,indicating the temperature coefficient of influence of the pull cord,/>Indicating the temperature difference generated during the operation of the encoder, +.>The length of the pull rope after deformation under the influence of temperature is shown.
5. The method of active error compensation for a pull-cord encoder of claim 2, wherein: when the working temperature of the encoder changes within a controllable range, the calculation method of the displacement theoretical value only considers that the state data causes the stay cord outgoing line to deform, and the calculation method comprises the following steps:
when the stay cord encoder is installed horizontally, namely the installation angleIn this case, the calculation formula of the displacement theoretical value L is:（2）
wherein,xrepresenting half-width stay cord arc lengthlIs arranged in the horizontal direction of the frame,ρg represents gravitational acceleration, T represents tensile force applied on the pull rope;
when the installation angle of the stay cord encoderTheoretical value of displacement L 2 The calculation formula of (2) is as follows:(3)
wherein L represents the theoretical value of the total displacement of the inclined plane after the installation inclined plane is added with the virtual extension line,representing the displacement theoretical value of the virtual extension line inclined plane, +.>Indicating the total arc length of the catenary.
6. The method of active error compensation for a pull-cord encoder of claim 5, wherein: the total arc length of the catenaryIs a catenary arc length formed by virtual extension lines>And displacement actual value +.>And obtaining the sum.
7. The method of active error compensation for a pull-cord encoder of claim 6, wherein: the displacement theoretical value L of the virtual extension line inclined plane 1 The calculation method of (1) is as follows:
establishing an xOy coordinate system, and recording the rope outlet position of the rope pulling encoder as (x) 1 ,y 1 ) Virtual extension line is reversed to point (0, 0) with the rope outlet direction, point (x 1 ,y 1 ) The slope of (2) is:(4)
thus, the catenary arc length of the virtual extension line is obtained：/>(5)
Obtaining the displacement theoretical value on the inclined plane of the virtual extension lineThe method comprises the following steps: />(6)。
8. The method of active error compensation for a pull-cord encoder of claim 5, wherein: the arc length of the half-width stay cordlHorizontal displacement of (2)xThe acquisition method of (1) comprises the following steps: the pull force T exerted on the pull rope is known to be included with the horizontal directionαThe tensile force T applied on the pull rope is subjected to stress analysis:
the acting force of the pull rope in the vertical direction:(7)
the acting force of the pull rope in the horizontal direction:(8)
then there are:(9)
(10)
(11)
half-width stay cord arc length represented by calculusl：
(12)
The finishing method can obtain:(13)
order theAnd then towSolving forxIs derived from: />(14)
And integrating the two ends of the formula to obtain:(15)
the formula is as follows:，/>is constant due toxWhen=0, slope ++>I.e.w=0, thereby obtaining +.>Then: />(16)
The above equation is integrated, and there are:，/>is constant when->When (I)>Can be derived +.>Finally, the pull rope equation is obtained as follows:
(17)
from the formulas (13) and (17), the arc length of the half-width stay cord is obtainedl：
(18)
From equation (18):(19)
substituting formula (10) into formula (19) to obtain the half-width stay cord arc lengthlHorizontal displacement of (2)x：(20)
Wherein,ρg is gravity acceleration, F is the linear density of the pull rope H Is a horizontal component of rope stress.
9. An active error compensation system of a pull rope encoder is characterized by comprising the following modules:
the data acquisition module is used for collecting the working state data and the temperature data of the stay cord encoder; the state data comprise installation angle data of the stay rope encoder and tension applied to the stay rope;
the error compensation module is used for establishing a relational expression between the displacement actual value and the displacement theoretical value based on the displacement actual value, the state data and the temperature data, calculating to obtain the displacement theoretical value, and outputting the displacement theoretical value as a correction value to perform error compensation;
the actual displacement value is the length of the deformed pull rope, and the theoretical displacement value is the length of the non-deformed pull rope.
10. A pull-cord encoder, comprising: the pull-cord encoder active error compensation system, control module, force sensor, gyroscope, and temperature sensor of claim 9; the control module utilizes the pull rope encoder active error compensation system to process data measured by the force sensor, the gyroscope and the temperature sensor.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117705164A (en) * | 2024-02-06 | 2024-03-15 | 科瑞工业自动化系统（苏州）有限公司 | Error compensation method, system and device for magneto-optical encoder |
| CN117760479A (en) * | 2024-02-22 | 2024-03-26 | 托菲传感技术(上海)股份有限公司 | pull wire encoder test equipment and test method |
| CN117824558A (en) * | 2024-03-06 | 2024-04-05 | 成都凯天电子股份有限公司 | Moving mechanism for high-low temperature test and displacement detection method |
| CN117824558B (en) * | 2024-03-06 | 2024-05-31 | 成都凯天电子股份有限公司 | Moving mechanism for high-low temperature test and displacement detection method |
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| CN117824558A (en) * | 2024-03-06 | 2024-04-05 | 成都凯天电子股份有限公司 | Moving mechanism for high-low temperature test and displacement detection method |
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