CN114427870B - Self-calibration and self-compensation method for speed precision of centrifugal machine - Google Patents
Self-calibration and self-compensation method for speed precision of centrifugal machine Download PDFInfo
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- CN114427870B CN114427870B CN202210033162.XA CN202210033162A CN114427870B CN 114427870 B CN114427870 B CN 114427870B CN 202210033162 A CN202210033162 A CN 202210033162A CN 114427870 B CN114427870 B CN 114427870B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B04—CENTRIFUGAL APPARATUS OR MACHINES FOR CARRYING-OUT PHYSICAL OR CHEMICAL PROCESSES
- B04B—CENTRIFUGES
- B04B9/00—Drives specially designed for centrifuges; Arrangement or disposition of transmission gearing; Suspending or balancing rotary bowls
- B04B9/10—Control of the drive; Speed regulating
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Abstract
The invention relates to a centrifugal machine speed precision self-calibration self-compensation method, belonging to the technical field of centrifugal machine measurement; measuring the actual rotation speed of the centrifugal machine at each measured speed point by using a photoelectric switch and a high-speed DAQ, and further calculating the speed precision of each measured speed point; establishing a rate compensation model by using a linear interpolation method, embedding the rate compensation model into a rate generation module of a centrifuge control program, automatically calculating new rate compensation coefficients of each rate point after each self calibration, and updating the new rate compensation coefficients into the compensation model in real time; the automatic operation of the flow is realized through programming, so that the self-calibration and self-compensation of the speed precision of the centrifugal machine are realized, the operation efficiency of the centrifugal machine is improved, and the operation cost is reduced.
Description
Technical Field
The invention belongs to the technical field of centrifuge measurement, and relates to a centrifuge speed precision self-calibration self-compensation method.
Background
The centrifugal machine is important inertial device testing equipment and is mainly used for testing performance indexes of inertial navigation accelerometers. The centrifugal machine can make the acceleration channel or accelerometer list of the integrated navigation system obtain accurate and stable acceleration excitation by providing high-precision and high-stability speed rotation, so as to calibrate nonlinear parameter items.
The centrifugal machine is used as precision test equipment, and the speed accuracy of the centrifugal machine needs to be calibrated regularly. The traditional calibration method is to detect the level signal output by the photoelectric sensor by using an external counter, then manually calculate the actual rotation speed of the centrifugal machine, and further obtain the speed precision and stability of the centrifugal machine. How to realize the self-calibration and self-compensation of the speed accuracy without external instruments and equipment is one of important research problems of improving the operation efficiency of the centrifugal machine and reducing the operation cost, and no good solution exists at present.
Disclosure of Invention
The invention solves the technical problems that: the method for self-calibrating and self-compensating the speed precision of the centrifugal machine is provided to overcome the defects of the prior art, and the self-calibrating of the speed precision of the centrifugal machine and the self-compensating of speed instructions are realized on the premise of not using external instruments and equipment.
The solution of the invention is as follows:
a centrifugal machine speed precision self-calibration self-compensation method comprises the following steps:
firstly, installing a photoelectric sensor on a base of a centrifugal machine, and installing a shifting fork on a shaft system of the centrifugal machine to realize that the photoelectric sensor can be touched at the same position once every rotation of the shaft system of the centrifugal machine;
step two, collecting voltage signals output by the photoelectric sensor in real time through a computer;
step three, setting the rotation angular velocity omega of the centrifugal machine shafting respectively i I=1, 2, … …, n, and ω 1 ＜ω 2 ＜……＜ω n ；
Fourth, at each rotational angular velocity ω i Recording the time interval delta t of the jump from low to high of the adjacent photoelectric sensor signals by a computer i ；
Step five, calculating each rotation angular velocity omega i Measured angular velocity of lower centrifuge
Step six, calculating each rotation angular velocity omega i Speed accuracy p of lower centrifuge i Completing self-calibration of the speed accuracy of the centrifugal machine;
step seven, calculating each rotation angular velocity omega i The rate compensation coefficient k i ；
Step eight, establishing a rate compensation model, and calculating a compensated rate instruction according to the rate compensation modelAnd finishing the precision self-compensation of the centrifugal machine.
In the above-mentioned self-calibration and self-compensation method for the speed precision of the centrifugal machine, in the fifth step, the angular velocity is actually measuredThe calculation method of (1) is as follows:
in the above-mentioned self-calibration and self-compensation method for the rate precision of the centrifuge, in the sixth step, the rate precision p i The calculation method of (1) is as follows:
in the above-mentioned self-calibration and self-compensation method for rate accuracy of centrifugal machine, in the seventh step, the rate compensation coefficient k i The calculation method of (1) is as follows:
in the above-mentioned self-calibration and self-compensation method for the rate precision of the centrifugal machine, in the eighth step, the method for establishing the rate compensation model is as follows:
wherein omega is d Is an initial rate instruction.
Compared with the prior art, the invention has the beneficial effects that:
(1) The invention utilizes the photoelectric switch and the high-speed DAQ to measure the actual rotation speed of the centrifuge under each measured speed point, and further calculates and obtains the speed precision of each measured speed point;
(2) The invention establishes a rate compensation model by utilizing a linear interpolation method and embeds the rate compensation model into a centrifuge control program rate generation module, and after each self-calibration, the new rate compensation coefficient of each rate point is automatically calculated and updated into the compensation model in real time;
(3) The invention realizes the automatic operation of the flow by programming, thereby realizing the self-calibration and self-compensation of the speed precision of the centrifugal machine, improving the operation efficiency of the centrifugal machine and reducing the operation cost.
Drawings
FIG. 1 is a flow chart of the self-calibration and self-compensation of the rate accuracy of the centrifuge of the present invention.
Detailed Description
The invention is further illustrated below with reference to examples.
The invention provides an automatic self-calibration and self-compensation method for the speed precision of a centrifugal machine, which realizes the self-calibration of the speed precision of the centrifugal machine and the self-compensation of a speed command without external instruments and equipment.
The self-calibration and self-compensation method for the speed precision of the centrifugal machine, as shown in fig. 1, specifically comprises the following steps:
step one, a photoelectric sensor is arranged on a base of a centrifugal machine, and a shifting fork is arranged on a shaft system of the centrifugal machine, so that the photoelectric sensor can be touched at the same position once every rotation of the shaft system of the centrifugal machine.
Step two, collecting voltage signals output by the photoelectric sensor in real time through a computer;
step three, setting the rotation angular velocity omega of the centrifugal machine shafting respectively i I=1, 2, … …, n, and ω 1 ＜ω 2 ＜……＜ω n 。
Fourth, at each rotational angular velocity ω i Recording the time interval delta t of the jump from low to high of the adjacent photoelectric sensor signals by a computer i (unit: s).
Step five, calculating each rotation angular velocity omega i Measured angular velocity of lower centrifuge(units: °/s); measured angular velocity->The calculation method of (1) is as follows:
step six, calculating each rotation angular velocity omega i Speed accuracy p of lower centrifuge i Completing self-calibration of the speed accuracy of the centrifugal machine; rate accuracy p i The calculation method of (1) is as follows:
step seven, calculating each rotation angular velocity w i The rate compensation coefficient k i The method comprises the steps of carrying out a first treatment on the surface of the Rate compensation coefficient k i The calculation method of (1) is as follows:
step eight, establishing a rate compensation model, and calculating a compensated rate instruction according to the rate compensation modelAnd finishing the precision self-compensation of the centrifugal machine. The method for establishing the rate compensation model comprises the following steps:
wherein omega is d Is an initial rate instruction.
In step three, a typical transitionAngular velocity ω of motion i 1 DEG/s, 10 DEG/s, 50 DEG/s, 100 DEG/s, 500 DEG/s, 1000 DEG/s, 2000 DEG/s may be used.
Arranging a centrifuge control program, automatically completing measurement and calculation of all the measured speed points according to the third to seventh steps, recording calculation results, and automatically updating each compensation coefficient k in the control program speed command generation module compensation model i And the self-calibration and self-compensation of the speed accuracy of the centrifugal machine are completed.
Although the present invention has been described in terms of the preferred embodiments, it is not intended to be limited to the embodiments, and any person skilled in the art can make any possible variations and modifications to the technical solution of the present invention by using the methods and technical matters disclosed above without departing from the spirit and scope of the present invention, so any simple modifications, equivalent variations and modifications to the embodiments described above according to the technical matters of the present invention are within the scope of the technical matters of the present invention.
Claims (4)
1. A centrifugal machine speed precision self-calibration self-compensation method is characterized in that: the method comprises the following steps:
firstly, installing a photoelectric sensor on a base of a centrifugal machine, and installing a shifting fork on a shaft system of the centrifugal machine to realize that the photoelectric sensor can be touched at the same position once every rotation of the shaft system of the centrifugal machine;
step two, collecting voltage signals output by the photoelectric sensor in real time through a computer;
step three, setting the rotation angular velocity omega of the centrifugal machine shafting respectively i I=1, 2, … …, n, and ω 1 ＜ω 2 ＜……＜ω n ；
Fourth, at each rotational angular velocity ω i Recording the time interval delta t of the jump from low to high of the adjacent photoelectric sensor signals by a computer i ；
Step five, calculating each rotation angular velocity omega i Measured angular velocity of lower centrifuge
Step six, calculating each rotation angular velocity omega i Speed accuracy p of lower centrifuge i Completing self-calibration of the speed accuracy of the centrifugal machine;
step seven, calculating each rotation angular velocity omega i The rate compensation coefficient k i ；
Step eight, establishing a rate compensation model, and calculating a compensated rate instruction according to the rate compensation modelCompleting the precision self-compensation of the centrifugal machine;
the method for establishing the rate compensation model comprises the following steps:
wherein omega is d Is an initial rate instruction.
2. The method for self-calibrating and self-compensating the speed precision of the centrifugal machine according to claim 1, wherein the method comprises the following steps: in the fifth step, the angular velocity is measuredThe calculation method of (1) is as follows:
3. the method for self-calibrating and self-compensating the speed precision of the centrifugal machine according to claim 2, wherein the method comprises the following steps: in the sixth step, the rate precision p i The calculation method of (1) is as follows:
4. a centrifuge rate accuracy self-calibrating self-compensating method according to claim 3, wherein: in the seventh step, the rate compensation coefficient k i The calculation method of (1) is as follows:
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4446716A (en) * | 1982-06-08 | 1984-05-08 | Franklin Institute | Self-compensating centrifuge arm |
| SU1545173A1 (en) * | 1988-07-04 | 1990-02-23 | Предприятие П/Я А-1891 | Method of determining dynamic characteristics of compensation accelerometers |
| CN111879335A (en) * | 2019-09-20 | 2020-11-03 | 天津科技大学 | Calibration method for drift coefficient of multi-position gyroscope based on centrifugal machine |
| CN112666368A (en) * | 2020-11-24 | 2021-04-16 | 哈尔滨工业大学 | Method for quickly calibrating accelerometer on variable-speed centrifuge |
| CN113865583A (en) * | 2021-07-20 | 2021-12-31 | 北京航天控制仪器研究所 | Accelerometer combination dynamic mounting deviation matrix determining and compensating method |
| CN113865585A (en) * | 2021-09-07 | 2021-12-31 | 北京航天控制仪器研究所 | Method and system for separating and compensating combined high-order error coefficient of gyroscope |
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2022
- 2022-01-12 CN CN202210033162.XA patent/CN114427870B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4446716A (en) * | 1982-06-08 | 1984-05-08 | Franklin Institute | Self-compensating centrifuge arm |
| SU1545173A1 (en) * | 1988-07-04 | 1990-02-23 | Предприятие П/Я А-1891 | Method of determining dynamic characteristics of compensation accelerometers |
| CN111879335A (en) * | 2019-09-20 | 2020-11-03 | 天津科技大学 | Calibration method for drift coefficient of multi-position gyroscope based on centrifugal machine |
| CN112666368A (en) * | 2020-11-24 | 2021-04-16 | 哈尔滨工业大学 | Method for quickly calibrating accelerometer on variable-speed centrifuge |
| CN113865583A (en) * | 2021-07-20 | 2021-12-31 | 北京航天控制仪器研究所 | Accelerometer combination dynamic mounting deviation matrix determining and compensating method |
| CN113865585A (en) * | 2021-09-07 | 2021-12-31 | 北京航天控制仪器研究所 | Method and system for separating and compensating combined high-order error coefficient of gyroscope |
Non-Patent Citations (1)
| Title |
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| 安装误差对旋转式惯导***影响及补偿;贾勇;李岁劳;王玮;;仪器仪表学报(第12期);2674-2680 * |
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