一种ABS齿圈参数检测系统误差校正方法研究
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摘要
为了纠正ABS齿圈参数检测系统装夹机构旋转时轴承晃动等因素带来的误差,运用最小二乘法曲线拟合原理及空间三维直角坐标系仿射变换方法进行了误差校正。首先,对该方法进行理论分析,推导出系统坐标变换矩阵公式;其次,根据误差校正方法建立了数学模型,推导出变换后坐标计算公式,将测量坐标系中各参数代入变换公式,并计算出轮廓数据变换后坐标;最后,运用Matlab对模型进行了仿真实验。实验结果表明:校正后参数值与实际参数值之间偏差小于1μm。解决了实际测量过程中各种误差带来的影响,提高了检测系统的测量精度。
In order to correct the errors causing by swinging of bearings of ABS gear parameters measurement system,the method of least square curve fitting and affine transformation of space rectangular coordinate to correct the errors are used. Firstly,the coordinate transformation matrix is derived through analyzing the method theoretically. Secondly,the mathematical model is established according to the error correction method,the transformed coordinate formula is derived and the transformed contour data coordinates are calculated through plugging the parameters of measured coordinate system into transform formula. Finally,simulation experiment was carried out with Matlab. The experiment results show the deviation between the corrected coordinate error value and the actual error value is less than 1μm. The effect of various errors in the actual measurement process is solved,the measurement accuracy is improved.
In order to correct the errors causing by swinging of bearings of ABS gear parameters measurement system,the method of least square curve fitting and affine transformation of space rectangular coordinate to correct the errors are used. Firstly,the coordinate transformation matrix is derived through analyzing the method theoretically. Secondly,the mathematical model is established according to the error correction method,the transformed coordinate formula is derived and the transformed contour data coordinates are calculated through plugging the parameters of measured coordinate system into transform formula. Finally,simulation experiment was carried out with Matlab. The experiment results show the deviation between the corrected coordinate error value and the actual error value is less than 1μm. The effect of various errors in the actual measurement process is solved,the measurement accuracy is improved.
引文
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[11]闫钰锋,李洋,白素平,等.火箭炮和火炮晃动量光电测量系统研究[J].兵工学报,2007,28(7):782-784.Yan Y F,Li Y,Bai S P,et al. Study on photoelectric measuring systems for the swaying of rocket and artillery systems[J]. Acta Armamentarii,2007,28(7):782-784.
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[15]李敏.真实模型Matlab仿真的过程控制系统实验研究[J].浙江工业大学学报,2011,39(2):168-173.Li M. The experiment research of process control system using Matlab simulation based on physical model[J].Journal of Zhejiang University of Technology,2011,39(2):168-173.
[2]孙骏,尹安东,蒋维龙,等.基于卡尔曼滤波的ABS轮速信号与处理[J].计量学报,2011,32(3):266-268.Sun J,Yin A D,Jiang W L,et al. ABS Wheel Speed Signal Processing Based on Kalman Filter[J]. Acta Metrologica Sinica,2011,32(3):266-268.
[3]陆艺,徐博文,吴佳伟,等.基于模糊PID的客车防抱死制动系统硬件在环测试试验研究[J].计量学报,2018,39(2):163-167.Lu Y,Xu B W,Wu J W,et al. Research on Hardwarein-the-Loop Test of Bus Antilock Brake System Based on Fuzzy PID[J]. Acta Metrologica Sinica,2018,39(2):163-167.
[4]郭鹤. ABS齿圈平行度及圆跳动检测技术研究[D].长春:长春理工大学,2014.
[5]罗雍惠. ABS齿圈和传感器的应用与研究[J].中国高新技术企业,2010,(24):15-16.Luo Y H. The application and research of ABS gear ring and sensor[J]. Chinese High Technology Enterprises,2010,(24):15-16.
[6]罗文发. ABS齿圈和传感器的应用技术[J].汽车电器,2008,(12):28-32.Luo W F. Application technology of ABS gear ring and sensor[J]. Automotive Electrical Appliances,2008,(12):28-32.
[7]刘汝卫,张钢,殷庆振,等.防抱死制动系统(ABS)发展现状及趋势[J].机械制造,2009,47(12):51-54.Liu R W,Zhang G,Yin Q Z,et al. Development status and trend of anti-locked braking system(ABS)[J].Machinery,2009,47(12):51-54.
[8]黄宏图,葛渊,张继,等.仿射变换在压缩感知跟踪中的应用[J].西安电子科技大学学报(自然科学版),2015,42(2):162-166.Huang H T,Ge Y,Zhang J,et al. Application of affine transform in compressed sensing tracking[J]. Journal of Xidian University(Natural Science Edition),2015,42(2):162-166.
[9]张维光,赵宏.线结构光多传感器三维测量系统误差校正方法[J].西安交通大学学报,2011,45(6):75-80.Zhang W G,Zhao H. Error correction method for threedimensional measurement system with multi-sensor and linear-structure light[J]. Journal of Xi'an Jiaotong University,2011,45(6):75-80.
[10]邹乐强.最小二乘法原理及其简单应用[J].科技信息,2010,2(23):282-283.Zou L Q. The principle of least square method and its simple application[J]. Science&Technology Information,2010,2(23):282-283.
[11]闫钰锋,李洋,白素平,等.火箭炮和火炮晃动量光电测量系统研究[J].兵工学报,2007,28(7):782-784.Yan Y F,Li Y,Bai S P,et al. Study on photoelectric measuring systems for the swaying of rocket and artillery systems[J]. Acta Armamentarii,2007,28(7):782-784.
[12]赵鸿图,茅艳.通信原理MATLAB仿真教程[M].北京:人民邮电出版社,2010.
[13]刘金琨.先进PID控制及其MATLAB仿真[M].北京:电子工业出版社,2003.
[14]吴斌,丁文,杨峰亭,等.非正交轴系全站仪坐标测量系统误差分析技术研究[J].计量学报,2017,38(6):661-666.Wu B,Ding W,Yang F T,et al. Research on Error Analysis of the Non-orthogonal Total Station Coordinate Measurement System[J]. Acta Metrologica Sinica,2017,38(6):661-666.
[15]李敏.真实模型Matlab仿真的过程控制系统实验研究[J].浙江工业大学学报,2011,39(2):168-173.Li M. The experiment research of process control system using Matlab simulation based on physical model[J].Journal of Zhejiang University of Technology,2011,39(2):168-173.