感应同步器测角系统误差测试及补偿
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摘要
工程实用的高精度感应同步器测角系统因安装及校准等条件的限制,有时难以应用圆光栅进行误差密集测补来提高精度。针对该问题研究了一种稀疏误差采样及补偿方法。在分析感应同步器测角系统误差特性的基础上,提出先测补零位误差引起的细分误差成分,再处理剩余细分误差的方式,给出了由棱体获取全面、有效零位误差的方法及应用稀疏误差数据补偿的具体过程。实验表明:应用该方法后某测角系统精度由最大误差峰峰值11.7″提升至2.9″。该方法零位误差剔除充分,实现了稀疏采样条件下感应同步器测角系统误差的全范围有效补偿。
Installation and calibration difficulties restrict the use of circular gratings to improve the precision of practical high-precise inductosyn-based angular measurement systems through angle-error sampling and compensation. The study analyzes appropriate solutions of sparse error sampling and compensation methods for this problem.The error characteristics of inductosyn-based angular measurement systems are analyzed to compensate for the subdivision error caused by the existing zero-point error and other subdivision errors to get the overall zero-point error with a prism.An error compensation method is then given using sparse sampling data.Tests show that the precision of an angular measurement system is improved by this method from a peak to peak error of 11.7″to 2.9″.The method accurately identifies the zero-point error and provides full-range error compensation with sparse sampling data for an inductosyn-based angular measurement system.
Installation and calibration difficulties restrict the use of circular gratings to improve the precision of practical high-precise inductosyn-based angular measurement systems through angle-error sampling and compensation. The study analyzes appropriate solutions of sparse error sampling and compensation methods for this problem.The error characteristics of inductosyn-based angular measurement systems are analyzed to compensate for the subdivision error caused by the existing zero-point error and other subdivision errors to get the overall zero-point error with a prism.An error compensation method is then given using sparse sampling data.Tests show that the precision of an angular measurement system is improved by this method from a peak to peak error of 11.7″to 2.9″.The method accurately identifies the zero-point error and provides full-range error compensation with sparse sampling data for an inductosyn-based angular measurement system.
引文
[1]LIU Qiang.Application of inductosyns in high precision mechanical servo systems[C]//2006 1st IEEE Conference on Industrial Electronics and Applications.Singapore,2006:1-4.
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[13]裘祖荣,陈清清,李敬杰.正多面棱体和多齿分度台角分度误差的互检[J].光电工程,2009,36(10):90-93.QIU Zurong,CHEN Qingqing,LI Jingjie.Mutual check of angular deviation for regular polygonal prism and precise angle dividing table[J].Opto-Electronic Engineering,2009,36(10):90-93.(in Chinese)
[14]ZOU An,ZHAO Hui,MA Yehan,et al.Analysis calculation and testing of rotary inductosyn angle measuring errors[C]//2014 33rd Chinese Control Conference.Nanjing,2014:8091-8096.
[15]陈文.空间稳定平台式惯导系统姿态测量的关键技术研究[D].北京:清华大学,2008.CHEN Wen.Research on the Key Technologies of Attitude Measurement in the Space-Stable Platform Inertial Navigation System[D].Beijing:Tsinghua University,2008.(in Chinese)
[16]李海霞,张嵘,韩丰田,等.查表实现双通道测角系统的粗精耦合[J].清华大学学报:自然科学版,2014,54(11):1481-1485.LI Haixia,ZHANG Rong,HAN Fengtian,et al.Look-up-table method for coarse-fine data coupling for a double-channel angle measurement system[J].J Tsinghua Univ:Sci and Tech,2014,54(11):1481-1485.(in Chinese)
[17]WANG Xianquan,WU Min,ZHU Ge,et al.Research and simulation of amplitude error and quadrature error for inductosyn[C]//2010 2nd International Asia Conference on Informatics in Control Automation and Robotics.Wuhan,2010,2:354-357.
[18]鲍茂然.感应同步器精密测角技术研究[D].哈尔滨:哈尔滨工业大学,2013.BAO Maoran.Research on Technologies of Precise Angle Measurement Based on Inductosyn Transducer[D].Harbin:Harbin Institute of Technology,2013.(in Chinese)
[19]陆永平,岑文远.感应同步器及其系统[M].北京:国防工业出版社,1982.LU Yongping,CEN Wenyuan.Inductosyn and Its System[M].Beijing:National Defense Industry Press,1982.(in Chinese)
[20]齐凤梅,石治国.圆感应同步器安装误差修正方法研究[J].光学技术,2006,32(8):445-447.QI Fengmei,SHI Zhiguo.The installation error revise method research of round inductosyn[J].Optical Technique,2006,32(8):445-447.(in Chinese)
[2]陈敬泉,尔联洁,刘正华,等.基于感应同步器的高速高精度位置测量技术[J].北京航空航天大学学报,2005,31(4):447-450.CHEN Jingquan,ER Lianjie,LIU Zhenghua,et al.High speed and accuracy position measuring method based on inductosyn[J].Journal of Beijing University of Aeronautics and Astronautics,2005,31(4):447-450.(in Chinese)
[3]蔡铁锋,骆崇.基于感应同步器的轴角测量系统及其误差分析[J].浙江工业大学学报,2009,37(3):323-325.CAI Tiefeng,LUO Chong.The angle measurement system based on inductosyn and the analysis of its error[J].Journal of Zhejiang University of Technology,2009,37(3):323-325.(in Chinese)
[4]潘文贵,付晶,朱钰,等.感应同步器测角系统的电路设计与软件补偿[J].科学技术与工程,2012,12(22):5484-5488.PAN Wengui,FU Jing,ZHU Yu,et al.Circuit design and software compensation in an inductosyn angular measurement system[J].Science Technology and Engineering,2012,12(22):5484-5488.(in Chinese)
[5]刘承军,齐明,邹继斌.感应同步器测角系统误差建模[J].哈尔滨工业大学学报,2009,41(9):51-55.LIU Chengjun,QI Ming,ZOU Jibin.Error modeling of inductosyn angle measuring system[J].Journal of Harbin Institute of Technology,2009,41(9):51-55.(in Chinese)
[6]陈希军,任顺清.感应同步器测角误差的自动化检测与补偿[J].电机与控制学报,2010,14(4):41-45.CHEN Xijun,REN Shunqing.Automatic measurement and compensation of inductosyn angular displacement error[J].Electric Machines and Control,2010,14(4):41-45.(in Chinese)
[7]YI Guoxing,MA Guangcheng,WANG Changhong.The compensation of speed ripple caused by the angle-measuring error of inductosyn using neural network[C]//International Conference on Info-Tech and Info-Net.Beijing,2001:340-345.
[8]娄莉娜,朱革,王先全,等.感应同步器测角系统短周期误差的研究及软件补偿[J].计算机测量与控制,2010,18(8):1730-1732.LOU Lina,ZHU Ge,WANG Xianquan,et al.Error research and software compensation of inductosyn angle measuring system[J].Computer Measurement&Control,2010,18(8):1730-1732.(in Chinese)
[9]DU Chunyang,YANG Guijie.Error analysis and compensation for inductosyn-based position measuring system[C]//Industry Applications Society Annual Meeting(IAS).Salt Lake City,UT,2003:6-10.
[10]齐明,邹继斌,胡建辉.神经网络在感应同步器零位误差补偿中的应用[J].中国电机工程学报,2008,28(9):105-110.QI Ming,ZOU Jibin,HU Jianhui.Application of neural network in pitch error compensation of inductosyn[J].Proceedings of the CSEE,2008,28(9):105-110.(in Chinese)
[11]张翠芳.基于神经网络的感应同步器测角系统的误差补偿[D].哈尔滨:哈尔滨工业大学,2008.ZHANG Cuifang.Error Compensation of Angular Measuring System of Inductosyn Based on Neural Network[D].Harbin:Harbin Institute of Technology,2008.(in Chinese)
[12]DENG Huiyu,WANG Xinli,MA Peisun.A study of wavelet analysis based error compensation for the angular measuring system of high-precision test turntables[J].ISA Transactions,2005,44:15-21.
[13]裘祖荣,陈清清,李敬杰.正多面棱体和多齿分度台角分度误差的互检[J].光电工程,2009,36(10):90-93.QIU Zurong,CHEN Qingqing,LI Jingjie.Mutual check of angular deviation for regular polygonal prism and precise angle dividing table[J].Opto-Electronic Engineering,2009,36(10):90-93.(in Chinese)
[14]ZOU An,ZHAO Hui,MA Yehan,et al.Analysis calculation and testing of rotary inductosyn angle measuring errors[C]//2014 33rd Chinese Control Conference.Nanjing,2014:8091-8096.
[15]陈文.空间稳定平台式惯导系统姿态测量的关键技术研究[D].北京:清华大学,2008.CHEN Wen.Research on the Key Technologies of Attitude Measurement in the Space-Stable Platform Inertial Navigation System[D].Beijing:Tsinghua University,2008.(in Chinese)
[16]李海霞,张嵘,韩丰田,等.查表实现双通道测角系统的粗精耦合[J].清华大学学报:自然科学版,2014,54(11):1481-1485.LI Haixia,ZHANG Rong,HAN Fengtian,et al.Look-up-table method for coarse-fine data coupling for a double-channel angle measurement system[J].J Tsinghua Univ:Sci and Tech,2014,54(11):1481-1485.(in Chinese)
[17]WANG Xianquan,WU Min,ZHU Ge,et al.Research and simulation of amplitude error and quadrature error for inductosyn[C]//2010 2nd International Asia Conference on Informatics in Control Automation and Robotics.Wuhan,2010,2:354-357.
[18]鲍茂然.感应同步器精密测角技术研究[D].哈尔滨:哈尔滨工业大学,2013.BAO Maoran.Research on Technologies of Precise Angle Measurement Based on Inductosyn Transducer[D].Harbin:Harbin Institute of Technology,2013.(in Chinese)
[19]陆永平,岑文远.感应同步器及其系统[M].北京:国防工业出版社,1982.LU Yongping,CEN Wenyuan.Inductosyn and Its System[M].Beijing:National Defense Industry Press,1982.(in Chinese)
[20]齐凤梅,石治国.圆感应同步器安装误差修正方法研究[J].光学技术,2006,32(8):445-447.QI Fengmei,SHI Zhiguo.The installation error revise method research of round inductosyn[J].Optical Technique,2006,32(8):445-447.(in Chinese)