CN108759657B - Device and method for automatically detecting angle of induction synchronizer - Google Patents
Device and method for automatically detecting angle of induction synchronizer Download PDFInfo
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Abstract
The invention provides an automatic angle detection device and method for an induction synchronizer, and belongs to the technical field of detection. After the calibration of the angle measurement value of the rotary table is finished, the initial angle and the number of sampling points are input, the test computer controls the rotary table to move to the measured angle and automatically finishes the acquisition and storage of measurement data, and after the data acquisition is finished, the test computer can calculate the error of the angle position and identify and compensate the model coefficient on line according to the measured data, so that the automatic detection of the angle is realized. The invention solves the problems of unsatisfactory compensation effect, limited sampling point number, difficult model establishment, large data storage capacity, more artificial participation, low working efficiency and the like in the conventional detection and compensation method of the induction synchronizer.
Description
Technical Field
The invention relates to an automatic angle detection device and method for an induction synchronizer, and belongs to the technical field of detection.
Background
The paper "adjustment and compensation of the error of the angle measuring system of the induction synchronizer" (proceedings of Harbin university, great celebration, 199802) analyzes the operation of the error of the first harmonic and the second harmonic of the angle measuring system of the induction synchronizer, provides a method for compensating the first harmonic and adjusting the second harmonic, and designs a compensation circuit of the first harmonic error. The two errors are adjusted and compensated through actually measured data, and the angle measurement precision of the induction synchronizer is improved. The disadvantages are that: the method mainly adopts a hardware compensation method, only aims at short-period first harmonic error and second harmonic error, and has larger limitation; meanwhile, although the compensation principle of the hardware compensation method is clear, in actual operation, due to the limitation of hardware environment and the influence of manual operation, the obtained compensation effect is often limited.
The paper "separation technique of angle measurement error of circular induction synchronizer" (reported in Chinese Motor engineering, anyhow, 200104) researches the main components of angle measurement error of angle measurement system of induction synchronizer and the separation technique, and provides a method for separating long-period first harmonic, short-period first harmonic and second harmonic by the actual measurement of angle measurement error of induction synchronizer, and adopts corresponding software and hardware compensation technique to improve the angle measurement accuracy of induction synchronizer. The disadvantages are that: the error separation technology provided according to the mechanism of the induction synchronizer for measuring the error can effectively improve the angle measurement precision of the induction synchronizer, but the algorithm is complex, repeated measurement is needed in practice, corresponding software and hardware compensation can be carried out after each harmonic error is analyzed in sequence, the angle measurement error is obtained by using a twenty-three prism, and the number of sampling points is limited.
The application of neural network in zero error compensation of induction synchronizer in the thesis (report of Chinese Motor engineering, Syming, 200803) takes actually measured error data as a sample, establishes an angle measurement error model of an angle measurement system by using the neural network, provides a method for sectionally identifying zero errors of odd and even point jumps, and designs a combined neural network error model for compensating the zero errors. The disadvantages are that: the designed combined neural network error model needs to be subjected to parameter optimization through corresponding network training. And (3) gradually approaching the predicted value of the error model to the actually measured error value of the angle measuring system through continuous network training until the sum of squares of the errors of the network output layer reaches the expected minimum value, and finishing the training process. This process is difficult to implement, takes a long time, and is inefficient.
The thesis "circuit design and software compensation of an angle measurement system of an induction synchronizer" (science and technology and engineering, Panwengui, 201208) adopts a method of jointly measuring by using a coarse and fine dual-channel shaft angle sensor to perform data fusion, namely, the measurement data of a coarse channel is used for positioning the periodic position of a fine channel, the data of the fine channel is used for positioning the current angle position, and error correction is performed by using a piecewise linear compensation method, so that a better test result is obtained. The disadvantages are that: when the error compensation is carried out by utilizing the piecewise linear interpolation method, in order to accurately construct an error curve and correctly compensate the short-period error of the induction synchronizer, a large amount of experimental data needs to be collected, the data storage capacity is large, more memory space is occupied, and the operation burden of a used testing computer is increased.
Disclosure of Invention
The invention aims to solve the problems of unsatisfactory compensation effect, limited sampling point number, difficult model establishment, large data storage capacity, more human participation, low working efficiency and the like in the induction synchronizer detection and compensation method in the prior art, and further provides an automatic angle detection device and method for the induction synchronizer.
The purpose of the invention is realized by the following technical scheme:
an automatic detection device of induction synchronizer angle, comprising: the device comprises a test computer, a data acquisition card, a motor driving system, a single-shaft test turntable, a standard signal processing board, an induction synchronizer, a standard excitation circuit, a prism, an autocollimator and an absolute circular grating;
the prism and the autocollimator are used for calibrating an absolute circular grating angle measurement value on the single-shaft test turntable, after the calibration of the turntable angle measurement value is completed, the angle can be automatically detected by using the prism and the autocollimator, signals output by the induction synchronizer, the absolute circular grating and the autocollimator are transmitted to the data acquisition card through different serial ports, and are processed into digital signals by the data acquisition card and then are provided to the test computer for analysis and use;
the motor driving system drives the single-shaft testing turntable to rotate; the exciting signal is generated by a standard exciting circuit, the induction synchronizer receives the exciting signal and generates a corresponding output signal, and the output signal is processed by a standard signal processing board and then is processed into a digital signal by a data acquisition card and then is provided for a test computer to analyze and use.
An automatic detection method for angles of induction synchronizers comprises the following steps: the method comprises the following steps:
step one, calibrating a rotary table angle measurement value: because the adopted grating is an absolute type circular grating with double reading heads, angle data of the double reading heads of the absolute type circular grating needs to be synthesized, and the two angle data are converted into one angle data for subsequent analysis by a comparative fusion method;
step two, calibrating the angle measurement value of the induction synchronizer: because the angle measurement value of the induction synchronizer obtained by direct reading is the angle measurement value under the short period, namely the range of the angle measurement value is 0-L, wherein L is the pitch size of the induction synchronizer, the angle measurement value of the induction synchronizer is converted from the short period to the long period before calibration is carried out;
step three, error analysis and error model establishment: establishing an angle measurement error model of the rotary table and an angle measurement value error model of the induction synchronizer;
step four, angle measurement error compensation: the compensation method of the angle measurement error is realized by adopting a trigonometric function fitting method, and the angle measurement value of the angle measurement element is compensated by using an angle measurement error model of the angle measurement element established by a least square identification method.
The specific method for calibrating the angle measurement value of the rotary table in the first step comprises the following steps:
firstly, a turntable control system is started to drive a turntable to rotate to 0 degree, a first working surface of a twenty-three prism is adjusted to be aligned with an autocollimator, and the reading g of the autocollimator is recorded1
Step two, driving the single-shaft test turntable to operate, and rotating the shaft system to an angular position
At 1,2, …,23, the autocollimator reads g at the i-th positioniThen the angular position error e is verified at the 23 positionsiComprises the following steps:
ei＝-[±(gi-g1)±(Δαi,1)]
wherein: e.g. of the typeiIs an angular position thetaiThe verification error of (2); delta alphai,1The deviation of the working surface of the prism is the difference between the actual angle and the nominal angle between the normal line of the ith working surface and the 1 st working surface of the prism; the selection of the sign is determined according to the actual installation condition, and the error of the angle measurement value of the rotary table is obtained according to the method so as to realize the calibration of the angle measurement value of the rotary table.
The specific method for calibrating the angle measurement value of the induction synchronizer in the second step is as follows:
firstly, if a primary test is carried out on an induction synchronizer, zero searching work of the induction synchronizer is required to be carried out; acquiring P zero points of the induction synchronizer by zero searching, selecting the first zero point of the P zero points as the reference zero point of the induction synchronizer, and setting the corresponding rotary table circular grating angle measurement value to be
Wherein P is the pole pair number of the induction synchronizer;
step two, according to the preset number N of sampling points and the initial angle A, the rotary table is driven to rotate according to a set rule, and the angle measurement value alpha of the rotary table and the induction synchronizer at the sampling points is returnednAnd betan；
Step three, after data acquisition is finished, judging that the nth group of angle measurement data is positioned at the mth according to a zero searching result and test information, wherein the mth group of angle measurement data belongs to [1, P ]]Under the pitch, then, the error of the angle measurement value of the induction synchronizer is solved by using a step increment comparison method; by the method, the angle measurement value theta of the induction synchronizer at the nth sampling point under a long period can be obtained simultaneouslynAnd angle error εn(ii) a According to the method, the zero position, the angle measurement value under a long period and the angle measurement value error of the induction synchronizer can be obtained, the angle measurement value calibration of the induction synchronizer is realized, and a data basis is provided for subsequent analysis.
In the third step, when a model of the turntable angle measurement error is built, only the influence of the fundamental wave and the long-period first, second, third and fourth harmonics on the turntable angle position error is considered, and the higher harmonic error is ignored, so that the built turntable angle measurement error model is as follows:
e＝e0+A1ccosθ+A1ssinθ+A2ccos2θ+A2ssin2θ
A3ccos3θ+A3ssin3θ+A4ccos4θ+A4ssin4θ+ε
in the formula: e.g. of the type0Is constant and is the fundamental component; a. the1c、A1s、A2c、A2s、A3c、A3s、A4c、A4sRespectively are long-period first harmonic cosine phase and sine phase error coefficients, second harmonic cosine phase and sine phase error coefficients, third harmonic cosine phase and sine phase error coefficients and fourth harmonic cosine phase and sine phase error coefficients;
the harmonic coefficients in the error model are solved according to a least square identification method,
after the angle measurement value of the circular grating of the rotary table is subjected to angle calibration, error data e of 23 positions are obtainediThe above formula is written in matrix form:
E＝AX+ε
wherein E is an error matrix at a sampling point, A is a matrix corresponding to each harmonic value, X is a matrix of each harmonic coefficient, and epsilon corresponds to a higher harmonic error;
the idea of least squares is to find an estimate of X
So that e of each measurementi(i 1, …,23) and the estimated value
Determined measured value
The sum of the squares of the differences is minimal, i.e.
To minimize the above equation, according to the theorem of extreme values, there are
Least squares estimation of X by computational derivation as
According to the obtained
An identification error model can be established to obtain each harmonic component of the error, and the model is used for compensating the turntable angle measurement error to achieve the expected precision.
In the third step, when the error model of the angle measurement value of the induction synchronizer is established, the error of the angle measurement system of the induction synchronizer is caused: the mechanical shaft errors comprise installation errors of the induction synchronizer, manufacturing errors of the induction synchronizer/the rotary transformer and circuit errors;
the mechanical shafting error is within 360 degrees of a mechanical angle, and the characteristic of 1 and 2 times of sine and cosine function distribution is called long period error; the manufacturing errors of the circuit and the induction synchronizer have the characteristic of being distributed in a sine and cosine function of 1,2 and 4 times within 360 degrees of an electrical angle, which is called as short period error; the high-order harmonic error can be ignored or considered to be contained in the residual error in the process of establishing the error mathematical model, so that the error mathematical model of the practical induction synchronizer angle measurement system can be expressed as follows:
in the formula: e.g. of the type0Is constant and is the fundamental component; a. theL1c、AL1s、AL2c、AL2sRespectively is a long-period first harmonic cosine phase error coefficient, a first harmonic sine phase error coefficient, a second harmonic cosine phase error coefficient and a second harmonic sine phase error coefficient; a. theS1c、AS1s、AS2c、AS2s、AS4c、AS4sRespectively is a short-period first harmonic cosine phase error coefficient, a first harmonic sine phase error coefficient, a second harmonic cosine phase error coefficient, a second harmonic sine phase error coefficient, a fourth harmonic cosine phase error coefficient and a fourth harmonic sine phase error coefficient; theta is the induction of the synchronizer in the long periodAngular value under term;
the angle measurement value of the induction synchronizer in a short period is obtained; p is the pole pair number of the induction synchronizer; each subharmonic coefficient in the error model is solved according to a least square identification method;
after the angle calibration is carried out on the induction synchronizer, the error data e at the N sampling positions are obtainedi(N is the number of sampling points set in advance, N>11) Writing the formula in matrix form
E＝AX+ε
In the formula, E is an error matrix at a sampling point, A is a matrix corresponding to each harmonic value, X is a matrix of each harmonic coefficient, and epsilon corresponds to a higher harmonic error;
least squares estimation of X as
According to the obtained
An angle measurement error model of the induction synchronizer can be established, each harmonic component of the error is obtained, and the model is utilized to carry out error analysis and compensation on the induction synchronizer.
In the fourth step, the compensation method for the angle measurement error comprises the following specific steps:
step one, an angle measurement error model of the rotary table is as follows:
e＝e0+A1ccosθ+A1ssinθ+A2ccos2θ+A2ssin2θ+ε
the angle measurement error model of the induction synchronizer is as follows:
after the error model is established, the system automatically writes the error model coefficients into a file for storage;
step two, when data acquisition is carried out again, reading the information of the coefficient from the file, and compensating the angle measurement value;
after sampling is completed, calculating a compensated angle measurement error of the angle measurement element, judging whether the error limit requirement is met, if not, performing cycle operation on the same process until the compensated angle measurement error meets the error limit requirement;
and step four, when the circulation starts each time, adding the error model coefficient identified each time and the original error model coefficient to obtain a new error model coefficient, and updating the error model coefficient stored in the file.
The invention has the beneficial effects that:
on the basis of analyzing the angle measurement principle of the induction synchronizer, the invention provides a practical angle measurement error model of the induction synchronizer in engineering; the detection of the induction synchronizer is completed by utilizing the high-precision circular grating, and the selection of the number of sampling points is flexible (the number of the sampling points is larger than the number of undetermined parameters of an error model);
the method completes the establishment of an error model by using a least square identification method, does not need to collect a large amount of test data, and can construct an error curve and identify each harmonic error expression form of the induction synchronizer in a long period and a short period only by meeting the condition that the number of sampling points is more than the number of undetermined parameters in the error model;
the method of the invention eliminates the need of manual completion of the installation of the prism, the installation of the angle measurement element to be measured and the adjustment of the autocollimator, and the work of positioning the turntable, detecting, recording data, calculating error, identifying error model parameters, compensating, detecting after compensating and the like are automatically completed by the testing computer, thereby reducing the influence of human factors on the measurement accuracy to the maximum extent, having smaller peak-to-peak value of residual error after compensating and realizing the automation of the test;
the testing computer can complete the calculation and compensation of the angle measurement error model coefficient on line, shortens the testing time and improves the working efficiency.
Drawings
Fig. 1 is a schematic structural diagram of an automatic angle detection device for an induction synchronizer according to the present invention.
FIG. 2 is a flow chart of the automated inspection of the present invention.
Fig. 3 is a schematic diagram of the turntable angle measurement value calibration system of the invention.
FIG. 4 is a schematic diagram of an angular value calibration system of the induction synchronizer according to the present invention.
FIG. 5 is a schematic diagram of a step increment comparison method of the present invention.
Fig. 6 is a flowchart of the turntable angle measurement calibration procedure of the present invention.
Fig. 7 is a flowchart of an angular measurement calibration procedure of the induction synchronizer according to the present invention.
FIG. 8 is a flowchart of an error model building process of the present invention.
Fig. 9 is a flowchart of an error compensation procedure according to the present invention.
In the figure, reference numerals, 1 denotes a test computer, 2 denotes a data acquisition card, 3 denotes a motor drive system, 4 denotes a single-axis test turntable, 5 denotes a standard signal processing board, 6 denotes an induction synchronizer, 7 denotes a standard excitation circuit, 8 denotes a prism and an autocollimator, 9 denotes an absolute circular grating, 10 denotes an autocollimator, 11 denotes a prism holder, 12 denotes a regular twenty-three prism, 13 denotes a grating disk, 14 denotes a probe, 15 denotes a turntable spindle, and 16 denotes a digital display screen.
Detailed Description
The invention will be described in further detail below with reference to the accompanying drawings: the present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation is given, but the scope of the present invention is not limited to the following embodiments.
As shown in fig. 1 to 9, an automatic angle detection device and method for an induction synchronizer according to the present embodiment includes:
an automatic angle testing device for an induction synchronizer is shown in figure 1 and comprises a testing computer 1, a data acquisition card 2, a motor driving system 3, a single-shaft testing rotary table 4, a standard signal processing board 5, an induction synchronizer 6, a standard excitation circuit 7, a prism and autocollimator 8, an absolute circular grating 9 and the like.
The prism and the autocollimator 8 are used for calibrating the angle measurement value of the absolute type circular grating 9 on the single-shaft test turntable 4, after the angle measurement value calibration of the turntable is finished, the angle can be automatically detected by using the prism and the autocollimator 6, signals output by the induction synchronizer 6, the absolute type circular grating 9 and the autocollimator 8 are transmitted to the data acquisition card 2 through different serial ports, and are processed into digital signals by the data acquisition card 2 and then are provided for the test computer 1 to analyze and use; the motor driving system 3 drives the single-shaft testing turntable 4 to rotate; the excitation signal is generated by a standard excitation circuit 7, the induction synchronizer 6 receives the excitation signal and generates a corresponding output signal, and the output signal is processed by a standard signal processing board 5, then processed into a digital signal by a data acquisition card 2 and then provided to a test computer 1 for analysis and use.
An automatic angle testing process of an induction synchronizer is shown in figure 2, after calibration of a rotary table angle measurement value is completed, an initial angle and the number of sampling points are input, a testing computer controls a rotary table to move to a tested angle, and collection and storage of measurement data are automatically completed. After the data acquisition is finished, according to the measured data, the testing computer can calculate the angular position error and identify the model coefficient on line and compensate the model coefficient, so that the automatic detection of the angle is realized.
The following is a description of the specific methods or algorithms adopted by the proposed method for automatically testing the angle of the induction synchronizer to realize specific functions in a classified manner:
firstly, angle calibration:
1. turntable angle measurement value calibration
As shown in fig. 3, the calibration of the turntable angle measurement value is implemented by using a regular twenty-three prism 12 and an autocollimator 10 as standard instruments, wherein the regular twenty-three prism 12 is clamped on the prism clamp 11, the measuring head 14 is arranged at two ends of the grating disk 13, the regular twenty-three prism 12, the prism clamp 11 and the grating disk 13 are fixedly connected with a turntable spindle 15, the autocollimator 10 is aligned with the regular twenty-three prism 12, and the autocollimator 10 is connected with a digital display screen 16.
Because the adopted grating is an absolute type circular grating with double reading heads, the synthesis of the angle data of the double reading heads of the absolute type circular grating is firstly completed, and the two angle data are converted into one angle data for subsequent analysis by a comparative fusion method.
The calibration method comprises the following steps: firstly, a turntable control system is started to drive the turntable to rotate to 0 degree, a first working surface of the regular twenty-three prism is adjusted to be aligned with the autocollimator, and the reading g of the autocollimator is recorded1(ii) a Then the rotary table is driven to operate to rotate the shaft system to an angular position
At 1,2, …,23, the autocollimator reads g at the i-th positioniThen the angular position error e is verified at the 23 positionsiComprises the following steps:
ei＝-[±(gi-g1)±(Δαi,1)]
wherein: e.g. of the typeiIs an angular position thetaiThe verification error of (2); delta alphai,1The deviation of the working surface of the prism is the difference between the actual angle and the nominal angle between the normal line of the ith working surface and the 1 st working surface of the prism; the sign should be chosen according to the actual installation situation.
And (4) solving the error of the angle measurement value of the rotary table according to the method, and realizing the calibration of the angle measurement value of the rotary table.
2. Calibration of angle measurement value of induction synchronizer
As shown in fig. 4, the calibration of the induction synchronizer 6 is performed by using a test turntable which performs angular calibration, wherein the induction synchronizer 6 to be tested is arranged on the grating disk 13, and the induction synchronizer 6 to be tested and the grating disk 13 are fixedly connected with the turntable spindle 15.
Because the angle measurement value of the induction synchronizer obtained by direct reading is the angle measurement value under the short period (namely the angle measurement value range is 0-L, wherein L is the pitch size of the induction synchronizer), before calibration, the conversion of the angle measurement value of the induction synchronizer from the short period to the long period is firstly completed.
The specific calibration method comprises the following steps:
if the initial test is carried out on the induction synchronizer, the zero searching work of the induction synchronizer is firstly carried out. By searching for zero and miningP zero points of the induction synchronizer are collected, the first zero point of the P zero points is selected as the reference zero point of the induction synchronizer, and the corresponding rotary table circular grating angle measurement value is
Wherein P is the pole pair number of the induction synchronizer.
Then, according to the preset number N of sampling points and the initial angle A, the rotary table is driven to rotate according to a set rule, and the angle measurement value alpha of the rotary table and the induction synchronizer 6 at the sampling points is returnednAnd betan。
Finally, after the data acquisition is finished, judging that the nth group of angle measurement data is positioned at the mth according to the zero searching result and the test information, wherein the mth group of angle measurement data belongs to [1, P ]]And under the pitch, then, solving the error of the angle measurement value of the induction synchronizer by using a step increment comparison method. The principle of step increment comparison is shown in FIG. 5, by which the angular value θ of the induction synchronizer at the nth sampling point in a long period can be obtained simultaneouslynAnd angle error εn。
According to the method, the zero position, the angle measurement value under a long period and the angle measurement value error of the induction synchronizer can be obtained, the angle measurement value calibration of the induction synchronizer is realized, and a data basis is provided for subsequent analysis.
3. Flow path
The flow of the calibration program of the angle measurement value of the rotary table is shown in fig. 6, the rotary table is controlled to rotate to 0 degree at the beginning, and if the number of sampling points i is less than or equal to 23, the positions to which the rotary table should rotate are calculated in sequence; sending a control instruction, and calling a motion control program closed-loop position given module; waiting for the turntable to finish moving; recording the autocollimator reading; adding the number i of sampling points to a first-class step; if the number i of the sampling points is larger than 23, receiving event notifications of the kernel layer in sequence and inputting the reading of the autocollimator; calculating and storing an angle measurement error; and then ends.
The flow of the calibration procedure of the angle measurement value of the induction synchronizer is shown in fig. 7, and whether the zero searching work is finished or not is judged, if the zero searching work is not finished, the rotary table is controlled to rotate to 0 degree in sequence; sending a control instruction, and calling a motion control program closed-loop position given module; controlling the turntable to move at a low speed and recording required data; judging whether the turntable rotates for one circle or not, and returning to the step of controlling the turntable to move at a low speed and recording required data if the turntable does not rotate for one circle; if the data is rotated for one circle, judging whether the data acquisition number is correct, and if the data acquisition number is correct, selecting a zero point of the induction synchronizer; if not, returning to the step of controlling the rotary table to rotate to 0 degree;
after the zero point of the induction synchronizer is selected or after the zero point is started, zero searching is finished, and then the input of the initial angle A and the sampling number N are executed; then judging whether the number i of sampling points is less than or equal to N; if the number of sampling points i is less than or equal to N, calculating the positions to which the rotary table should rotate in sequence; sending a control instruction, and calling a motion control program closed-loop position given module; waiting for the turntable to finish moving; recording the reading of the rotary table and the induction synchronizer; adding a first-class step to the sampling point number i, and then returning to the step of judging whether the sampling point number i is less than or equal to N; if the number i of the sampling points is larger than N, receiving event notifications of the kernel layer in sequence; converting the reading of the induction synchronizer into an angle measurement value under a long period; and calculating and storing the angle measurement error, and then finishing.
Secondly, error analysis and error model establishment
1. Method for establishing error model of angle measurement value of rotary table
When the model of the turntable angle measurement error is built, only the influence of fundamental wave and long-period first, second, third and fourth harmonics on the turntable angle position error is considered, and the higher harmonic error is ignored, so that the built turntable angle measurement error model is as follows:
e＝e0+A1ccosθ+A1ssinθ+A2ccos2θ+A2ssin2θ
A3ccos3θ+A3ssin3θ+A4ccos4θ+A4ssin4θ+ε
in the formula: e.g. of the type0Is constant and is the fundamental component; a. the1c、A1s、A2c、A2s、A3c、A3s、A4c、A4sCosine phase and sine phase errors of long-period first harmonic, respectivelyCoefficients, second harmonic cosine phase and sine phase error coefficients, third harmonic cosine phase and sine phase error coefficients, and fourth harmonic cosine phase and sine phase error coefficients.
Each harmonic coefficient in the error model is solved according to a least square identification method.
After the angle measurement value of the circular grating of the rotary table is subjected to angle calibration, error data e of 23 positions are obtainediThe above formula is written in matrix form:
E＝AX+ε
wherein E is an error matrix at the sampling point, A is a matrix corresponding to each harmonic value, X is a matrix of each harmonic coefficient, and epsilon corresponds to the higher harmonic error.
The idea of least squares is to find an estimate of X
So that e of each measurementi(i 1, …,23) and the estimated value
Determined measured value
The sum of the squares of the differences is minimal, i.e.
To minimize the above equation, according to the theorem of extreme values, there are
Least squares estimation of X by computational derivation as
According to the obtained
An identification error model can be established to obtain each harmonic component of the error, and the model is used for compensating the turntable angle measurement error to achieve the expected precision.
2. Induction synchronizer angle measurement value error model establishment
When the error composition of the induction synchronizer is researched, the error generation reasons of the angle measuring system of the induction synchronizer are divided into 3 aspects:
firstly, errors of a mechanical shaft (including installation errors of an induction synchronizer);
induction of manufacturing errors of the synchronizer/the rotary transformer;
and thirdly, circuit errors.
The mechanical shafting error is within 360 degrees of a mechanical angle, and the characteristic of 1 and 2 times of sine and cosine function distribution is called long period error. The manufacturing errors of the circuit and the induction synchronizer are characterized in that the manufacturing errors are distributed in a sine and cosine function of 1,2 and 4 times within a pair of poles (namely, 360 degrees in electrical angle), and are called short period errors. The higher harmonic error is negligible or considered to be contained in the residual error during the mathematical modeling of the error. Therefore, the error mathematical model of the practical induction synchronizer angle measurement system can be expressed as:
in the formula: e.g. of the type0Is constant and is the fundamental component; a. theL1c、AL1s、AL2c、AL2sRespectively is a long-period first harmonic cosine phase error coefficient, a first harmonic sine phase error coefficient, a second harmonic cosine phase error coefficient and a second harmonic sine phase error coefficient; a. theS1c、AS1s、AS2c、AS2s、AS4c、AS4sShort period first harmonic cosine phase error coefficient, first harmonic sine phase error coefficient, second harmonic cosine phase error coefficient, second harmonic sine phase error coefficient, fourth harmonic cosine phase error coefficientPhase error coefficient, fourth harmonic sine phase error coefficient; theta is an angle measurement value of the induction synchronizer in a long period;
the angle measurement value of the induction synchronizer in a short period is obtained; p is the pole pair number of the induction synchronizer.
The harmonic coefficients in the error model are also found according to a least square identification method.
After the angle calibration is carried out on the induction synchronizer, the error data e at the N sampling positions are obtainedi(N is the number of sampling points set in advance, N>11) Writing the formula in matrix form
E＝AX+ε
Wherein E is an error matrix at a sampling point, A is a matrix corresponding to each harmonic value, X is a matrix of each harmonic coefficient, and epsilon corresponds to a higher harmonic error.
Least squares estimation of X as
According to the obtained
An angle measurement error model of the induction synchronizer can be established, each harmonic component of the error is obtained, and the model is utilized to carry out error analysis and compensation on the induction synchronizer.
3. Flow path
The establishment of the angle measurement error model by using the least square identification method requires corresponding matrix operation, and the error model establishment process is shown in fig. 8. Loading a matrix budget function library after starting; then, establishing an angle measurement error matrix, each subharmonic value matrix and an error model coefficient matrix; then, solving an error model coefficient matrix by using a least square identification method; then assigning the internal numerical value of the error model coefficient matrix to a corresponding array; then releasing the matrix operation function library; and saving the error model coefficient, and finally ending.
Compensation of angle measurement error
The compensation method of the angle measurement error is realized by adopting a trigonometric function fitting method, and the angle measurement value of the angle measurement element is compensated by using an angle measurement error model of the angle measurement element established by a least square identification method.
The angle measurement error model of the rotary table is as follows:
e＝e0+A1ccosθ+A1ssinθ+A2ccos2θ+A2ssin2θ+ε
the angle measurement error model of the induction synchronizer is as follows:
after the error model is built, the system automatically writes the error model coefficients into a file for storage. The error compensation procedure flow chart is shown in fig. 9, and the identification error model coefficients are calculated after the start (the identification error model coefficients and the original error model coefficients need to be summed to generate new error model coefficients at the beginning of each cycle); recalculating after compensation; angular position control; recording the reading values of all elements of the sampling points, judging whether the sampling is finished or not, and returning to the step of angular position control if the sampling is not finished; if sampling is completed, calculating an angle measurement error; and judging whether the error limit requirement is met, if so, ending, otherwise, returning to the step of calculating and identifying the error model coefficient and the original error model coefficient.
And when data acquisition is carried out again, reading the information of the coefficient from the file, and compensating the angle measurement value. And after sampling is finished, calculating the angle measurement error of the angle measurement element after compensation, judging whether the error limit requirement is met, and if the error limit requirement is not met, performing cyclic operation on the same process until the compensated angle measurement error meets the error limit requirement. At the beginning of each cycle, the error model coefficients identified each time need to be added to the original error model coefficients to obtain new error model coefficients, and the error model coefficients stored in the file need to be updated.
The method utilizes a testing computer to automatically complete the work of positioning the rotary table, detecting the angle measurement value, recording data, calculating errors, identifying error model parameters, compensating errors, detecting after compensation and the like, and solves the problems of unsatisfactory compensation effect, limited sampling point number, difficult model establishment, large data storage capacity, more artificial participation, low working efficiency and the like in the traditional detection and compensation method of the induction synchronizer.
The above description is only a preferred embodiment of the present invention, and these embodiments are based on different implementations of the present invention, and the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (4)
1. An automatic angle detection method for an induction synchronizer is characterized by comprising the following steps:
step one, calibrating a rotary table angle measurement value: because the adopted grating is an absolute type circular grating with double reading heads, angle data of the double reading heads of the absolute type circular grating needs to be synthesized, and the two angle data are converted into one angle data for subsequent analysis by a comparative fusion method;
step two, calibrating the angle measurement value of the induction synchronizer: because the angle measurement value of the induction synchronizer obtained by direct reading is the angle measurement value under the short period, namely the range of the angle measurement value is 0-L, wherein L is the pitch size of the induction synchronizer, the angle measurement value of the induction synchronizer is converted from the short period to the long period before calibration is carried out;
the specific method for calibrating the angle measurement value of the induction synchronizer is as follows:
(1) carrying out a primary test on an induction synchronizer, and firstly carrying out zero searching work on the induction synchronizer; acquiring P zero points of the induction synchronizer by zero searching, selecting the first zero point of the P zero points as the reference zero point of the induction synchronizer, and setting the corresponding rotary table circular grating angle measurement value to be
Wherein P is the pole pair number of the induction synchronizer;
(2) according to the preset number N of sampling points and the initial angle A, the rotary table is driven to rotate according to a set rule, and the angle measurement value alpha of the rotary table and the induction synchronizer at the sampling points is returnednAnd betan；
(3) After the data acquisition is finished, firstly, judging that the nth group of angle measurement data is positioned at the mth according to a zero searching result and test information, wherein the mth group of angle measurement data belongs to [1, P ]]Under the pitch, then, the error of the angle measurement value of the induction synchronizer is solved by using a step increment comparison method; by the method, the angle measurement value theta of the induction synchronizer at the nth sampling point under a long period can be obtained simultaneouslynAnd angle error εn(ii) a According to the method, the zero position, the angle measurement value under a long period and the angle measurement value error of the induction synchronizer can be obtained, the angle measurement value calibration of the induction synchronizer is realized, and a data basis is provided for subsequent analysis;
step three, error analysis and error model establishment: establishing an angle measurement error model of the rotary table and an angle measurement value error model of the induction synchronizer;
in the third step, when a model of the turntable angle measurement error is built, only the influence of the fundamental wave and the long-period first, second, third and fourth harmonics on the turntable angle position error is considered, and the higher harmonic error is ignored, so that the built turntable angle measurement error model is as follows:
e＝e0+A1ccosθ+A1ssinθ+A2ccos2θ+A2ssin2θ
A3ccos3θ+A3ssin3θ+A4ccos4θ+A4ssin4θ+ε
in the formula: e.g. of the type0Is a constant term and is a fundamental component; a. the1c、A1s、A2c、A2s、A3c、A3s、A4c、A4sRespectively long-period first harmonic cosine phase and sine phase error coefficients, second harmonic cosine phase and sine phase error coefficients, third harmonic cosine phase and sine phase error coefficients andfourth harmonic cosine phase and sine phase error coefficients;
the harmonic coefficients in the error model are solved according to a least square identification method,
after the angle measurement value of the circular grating of the rotary table is subjected to angle calibration, error data e of 23 positions are obtainediThe above formula is written in matrix form:
E＝AX+ε
wherein E is an error matrix at a sampling point, A is a matrix corresponding to each harmonic value, X is a matrix of each harmonic coefficient, and epsilon corresponds to a higher harmonic error;
the idea of least squares is to find an estimate of X
So that e of each measurementiAnd the estimated value
Determined measured value
The sum of the squares of the differences is minimal, i is 1, …,23, i.e.
To minimize the above equation, according to the theorem of extreme values, there are
Least squares estimation of X by computational derivation as
According to the obtained
An identification error model can be established to obtain each harmonic component of the error, and the model is used for compensating the turntable angle measurement error to achieve the expected precision;
in the third step, when the error model of the angle measurement value of the induction synchronizer is established, the error of the angle measurement system of the induction synchronizer is caused: the mechanical shafting errors comprise installation errors of the induction synchronizer, manufacturing errors of the induction synchronizer/the rotary transformer and circuit errors;
the mechanical shafting error is within 360 degrees of a mechanical angle, and the characteristic of 1 and 2 times of sine and cosine function distribution is called long period error; the manufacturing errors of the circuit and the induction synchronizer have the characteristics of 1,2 and 4 times of sine and cosine function distribution within a pair of poles and 360 degrees of mechanical angle, and are called as short period errors; in the process of establishing the error mathematical model, the higher harmonic error is ignored or considered to be contained in the residual error, so the error mathematical model of the practical induction synchronizer angle measuring system is expressed as follows:
in the formula: e.g. of the type0Is a constant term and is a fundamental component; a. theL1c、AL1s、AL2c、AL2sRespectively is a long-period first harmonic cosine phase error coefficient, a first harmonic sine phase error coefficient, a second harmonic cosine phase error coefficient and a second harmonic sine phase error coefficient; a. theS1c、AS1s、AS2c、AS2s、AS4c、AS4sRespectively is a short-period first harmonic cosine phase error coefficient, a first harmonic sine phase error coefficient, a second harmonic cosine phase error coefficient, a second harmonic sine phase error coefficient, a fourth harmonic cosine phase error coefficient and a fourth harmonic sine phase error coefficient; theta is an angle measurement value of the induction synchronizer in a long period;
the angle measurement value of the induction synchronizer in a short period is obtained; p is the pole pair number of the induction synchronizer; each subharmonic coefficient in the error model is solved according to a least square identification method;
after the angle calibration is carried out on the induction synchronizer, the error data e at the N sampling positions are obtainediN is the number of sampling points set in advance, N>Writing the formula in matrix form 11
E＝AX+ε
In the formula, E is an error matrix at a sampling point, A is a matrix corresponding to each harmonic value, X is a matrix of each harmonic coefficient, and epsilon corresponds to a higher harmonic error;
least squares estimation of X as
According to the obtained
An angle measurement error model of the induction synchronizer can be established to obtain each harmonic component of the error, and the model is utilized to carry out error analysis and compensation on the induction synchronizer;
step four, angle measurement error compensation: the compensation method of the angle measurement error is realized by adopting a trigonometric function fitting method, and the angle measurement value of the angle measurement element is compensated by using an angle measurement error model of the angle measurement element established by a least square identification method.
2. The method for automatically detecting the angle of the induction synchronizer according to claim 1, wherein the method for calibrating the specific angle measurement value of the rotary table in the first step is as follows:
firstly, a turntable control system is started to drive the turntable to rotate to 0 degree, a first working surface of a regular twenty-three prism is adjusted to be aligned with an autocollimator, and the reading g of the autocollimator is recorded1
Step two, driving the single-shaft test turntableIn operation, the shaft system is rotated to an angular position
At 1,2, …,23, the autocollimator reads g at the i-th positioniThen the angular position error e is verified at the 23 positionsiComprises the following steps:
ei＝[±(gi-g1)±(△ai,1)]
wherein: e.g. of the typeiIs an angular position thetaiThe verification error of (2); delta ai,1The deviation of the working surface of the prism is the difference between the actual angle and the nominal angle between the normal line of the ith working surface and the 1 st working surface of the prism; the selection of the positive sign and the negative sign is determined according to the actual installation condition, and the error of the angle measurement value of the rotary table is obtained according to the method, so that the calibration of the angle measurement value of the rotary table is realized.
3. The method for automatically detecting the angle of the induction synchronizer according to claim 1, wherein in the fourth step, the method for compensating the angle measurement error comprises the following specific steps:
step one, an angle measurement error model of the rotary table is as follows:
e＝e0+A1ccosθ+A1ssinθ+A2ccos2θ+A2ssin2θ+ε
the angle measurement error model of the induction synchronizer is as follows:
after the error model is established, the system automatically writes the error model coefficients into a file for storage;
step two, when data acquisition is carried out again, reading the information of the coefficient from the file, and compensating the angle measurement value;
after sampling is completed, calculating a compensated angle measurement error of the angle measurement element, judging whether the error limit requirement is met, if not, performing cycle operation on the same process until the compensated angle measurement error meets the error limit requirement;
and step four, when the circulation starts each time, adding the error model coefficient identified each time and the original error model coefficient to obtain a new error model coefficient, and updating the error model coefficient stored in the file.
4. The detection device for the automatic angle detection method of the induction synchronizer according to the claim 1,2 or 3, characterized by comprising: the device comprises a test computer (1), a data acquisition card (2), a motor driving system (3), a single-shaft test turntable (4), a standard signal processing board (5), an induction synchronizer (6), a standard excitation circuit (7), a prism and autocollimator (8) and an absolute circular grating (9);
the prism and the autocollimator (8) are used for calibrating an absolute type circular grating (9) angle measurement value on the single-axis test turntable (4), after the calibration of the turntable angle measurement value is completed, the angle can be automatically detected by using the prism and the autocollimator to the induction synchronizer (6), the absolute type circular grating (9) is an absolute type circular grating (9) with double reading heads, firstly, the synthesis of the angle data of the double reading heads of the absolute type circular grating (9) is completed, and the two angle data are converted into one angle data for subsequent analysis by a comparative fusion method; signals output by the induction synchronizer (6), the absolute type circular grating (9) and the autocollimator (8) are transmitted to the data acquisition card (2) through different serial ports, processed into digital signals by the data acquisition card (2) and then provided to the test computer (1) for analysis and use;
the motor driving system (3) drives the single-shaft testing turntable (4) to rotate; the excitation signal is generated by a standard excitation circuit (7), the induction synchronizer (6) receives the excitation signal and generates a corresponding output signal, the output signal is processed by a standard signal processing board (5), and then the output signal is processed into a digital signal by a data acquisition card (2) and then is provided for a test computer (1) for analysis and use;
the calibration of the angle measurement value of the turntable is realized by using a regular twenty-three prism (12) and an autocollimator (10) as standard instruments, wherein the regular twenty-three prism (12) is clamped on a prism clamp (11), the measuring heads (14) are arranged at two ends of a grating disc (13), the regular twenty-three prism (12), the prism clamp (11) and the grating disc (13) are fixedly connected with a turntable spindle (15), the autocollimator (10) is aligned with the regular twenty-three prism (12), and the autocollimator (10) is connected with a digital display screen (16);
the calibration of the induction synchronizer (6) is completed by using a test turntable which is subjected to angle calibration, wherein the induction synchronizer (6) to be tested is arranged on a grating disc (13), and the induction synchronizer (6) to be tested and the grating disc (13) are fixedly connected with a turntable main shaft (15).
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| CN111077777A (en) * | 2019-12-17 | 2020-04-28 | 天津津航技术物理研究所 | Trigonometric function model error compensation method for angle measurement of double-channel rotary transformer |
| CN111562798A (en) * | 2019-12-24 | 2020-08-21 | 中国航空工业集团公司北京航空精密机械研究所 | Device capable of generating fixed-angle pulse at specified position and working method thereof |
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