CN117606768B - Spatially-diverse axial calibration method suitable for rotary machine - Google Patents
Spatially-diverse axial calibration method suitable for rotary machine Download PDFInfo
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Abstract
The invention discloses a spatially-different axial calibration method suitable for rotary machinery. The method for calibrating the spatial dissimilarity axial direction suitable for the rotary machine comprises the following steps: s1, setting initial parameters of a rotary machine; s2, the original rotation data of the rotary machine is collected and preprocessed; s3, normalizing rotation data of the rotary machine; s4, three vectors of the rotary machine are combined; s5, two-system gesture determination of the rotary machine is performed; s6, fixing, limiting, correcting and correcting; s7, evaluating a correction matrix; s8, aligning and calibrating the comprehensive data; s9, comprehensively evaluating alignment calibration. According to the invention, the direction cosine matrix, the rotation matrix and the correction matrix of the rotary machine under different coordinate systems are obtained, so that the comprehensive evaluation of alignment and calibration is further realized, the effect of improving the straightness and reliability of the calibration mode of the rotary machine is achieved, and the problems of complicated calibration flow and excessive transfer relation in the prior art are solved.
Description
Technical Field
The invention relates to the technical field of operation calibration of rotary machines, in particular to a spatially-distinct axial calibration method suitable for rotary machines.
Background
Rotary machines are commonly used in a variety of industrial settings, such as lathes, fans, aeroengines, turbines, etc., and are prone to failure due to long-term operation under variable operating conditions and harsh conditions. Therefore, status monitoring and fault diagnosis of rotating machinery are becoming important as an effective predictive maintenance means.
At present, the sensor commonly used in the alignment calibration method comprises a photoelectric encoder, a level meter, an inclination sensor and other sensing devices, and the inclination sensor based on the inertia measurement technology has the advantages of high anti-interference capability, autonomy, short preparation time, high anti-strong vibration impact and the like because the rotating machinery is often accompanied with strong vibration and impact, and is particularly suitable for completing multi-point, multi-parameter and multifunctional monitoring tasks of a mechanical platform, thereby realizing accurate control of the mechanical platform.
Because of the influence of machining errors and installation errors, the axial deviation of the measurement axes of the rotary machine and the inclination sensor exists, in order to accurately measure the axial deflection angle of the rotary machine, the installation error angle of the measurement axis of the inclination sensor between the rotary machine must be calibrated and compensated, namely, the spatial orientation of a carrier coordinate system or a measurement coordinate system relative to a reference coordinate system, which is particularly important for an inertial measurement element, the errors of the inertial measurement element are accumulated continuously along with the development of time, and high-precision positioning navigation is difficult to maintain; the whole process is to find a reference coordinate system, and the gravity acceleration and the earth rotation angular velocity are natural physical references of the inertial sensor, and can be measured and determined by an accelerometer and a gyroscope respectively.
The existing axial alignment calibration method of the space different coordinate system suitable for the rotary machine aims at a preset mark point on the rotary machine by means of external equipment such as a camera, a theodolite and other optical equipment through the prior technical scheme, and an error angle is obtained through an indirect measurement angle and an equivalent calculation algorithm by utilizing a projection transformation relation.
For example, publication No.: the invention discloses a zero calibration method and equipment of a mechanical arm joint sensor, which are disclosed in the patent publication of CN109262659A and comprise the following steps: judging whether the mechanical arm to be tested is a redundant mechanical arm, if so, carrying out mechanical arm segmentation, taking a non-redundant arm support as a set tail end arm support, and executing the following steps of a single calibration method until zero calibration of all joints of the mechanical arm to be tested is completed; at least two targets are parallelly arranged on a set tail end arm support, and matching elements of patterns of the targets are kept parallel; mounting a light source on a mechanical arm carrying body; driving the joints of the mechanical arm to move so that the light beams of the light source pass through the axes of the targets and the light spots overlap with the patterns of the targets; and acquiring the pose of the target after the pose of the arm support is adjusted, and obtaining the rotation angle of the mechanical arm rotation joint and the movement amount of the movement joint under the pose of the set end arm support according to the relation between the pose of the set end arm support and the pose of the light source.
For example, publication No.: the invention patent of CN103302663A discloses a calibration method and a calibration system for a robot, comprising: the distal end of the manipulator having redundancy is constrained so that one degree of freedom is maintained, the pose of the manipulator is changed to a plurality of poses allowed by redundancy by outputting a joint position command value from a controller to a servo motor driving a link that constitutes the manipulator whose distal end is fixed, and calibration is performed by obtaining a parameter deviation of the robot constant of the manipulator based on the joint position command value and an actual measurement value from a rotary encoder provided separately to the servo motor after each pose change.
However, in the process of implementing the technical scheme of the embodiment of the application, the inventor discovers that the above technology has at least the following technical problems:
In the prior art, because of excessive transfer relations in the calibration and equivalent calculation processes, each link is inevitably provided with errors, so that the calibration precision of the whole system is affected, and the problems of complicated calibration flow and excessive transfer relations exist.
Disclosure of Invention
The embodiment of the application solves the problems of complicated calibration flow and excessive transfer relation in the prior art by providing the spatially-different axial calibration method suitable for the rotary machine, and achieves the effect of improving the straightness and reliability of the calibration mode of the rotary machine.
The embodiment of the application provides a method for calibrating spatially-different axial directions, which is suitable for rotary machinery and comprises the following steps: s1, setting all initial parameters required by axial alignment calibration of a rotary machine; s2, collecting and preprocessing original rotation data of the rotating machine to obtain an effective rotation data set of the rotating machine; s3, carrying out data normalization processing on the effective rotation data set of the rotating machine to obtain unit rotation coordinates of the rotating machine; s4, combining the unit rotation coordinate of the rotary machine with the construction direction cosine matrix to obtain a three-vector matrix of the rotary machine, and further obtaining a two-system transformed direction cosine matrix; s5, adding a new coordinate system into the two-system transformed directional cosine matrix for re-transformation to obtain a rotation matrix; s6, performing fixed limit correction on the rotary machine to obtain a correction matrix data set; s7, evaluating the correction degree of the correction matrix data set to obtain a correction evaluation coefficient, and further obtaining an effective correction matrix data set; s8, correcting the rotation torque matrix through a corresponding effective correction matrix data set, and comparing and evaluating the corrected rotation torque matrix with the experimentally measured true value to obtain an alignment correction matrix data set; s9, comprehensively evaluating the alignment calibration matrix data set to obtain an alignment calibration comprehensive evaluation coefficient.
Further, the specific steps of setting each initial parameter required for the axial alignment calibration of the rotary machine in S1 are as follows: establishing a carrier coordinate system by taking the mass center of the rotary machine as an origin, wherein the right direction is a horizontal positive direction along the horizontal axis of the rotary machine, namelyThe axial direction is the vertical direction of the rotary machine along the vertical axial direction of the rotary machine, namelyThe positive direction of the shaft, the longitudinal axis forward along the plane formed by the vertical shaft and the horizontal shaft of the rotary machine is the positive direction of the longitudinal direction of the rotary machine, namelyThe method comprises the steps that in the positive axis direction, a rotary machine can rotate around a horizontal axis and a vertical axis, wherein the horizontal axis is the horizontal axis of the rotary machine, the vertical axis is the vertical axis of the rotary machine, an angle rotating around the horizontal axis is a pitch angle, a pitch angle starting point takes a horizontal plane containing the horizontal axis as a standard, an upward direction is a positive direction, an angle rotating around the vertical axis is a course angle, a course angle starting point takes a vertical plane containing the vertical axis as a standard, a right direction is a positive direction, and a non-rotating standing state of the rotary machine is a predefined pitch angle and a course angle starting rotation angle; establishing a geodetic coordinate system by taking the mass center of the rotary machine as an origin, and taking the direction opposite to the plumb line direction as a vertical positive direction asThe axial direction is the horizontal direction, and the right direction perpendicular to the original point is the vertical direction, which is the opposite direction of the gravity direction of the plumbThe axial direction is the vertical direction, which is the vertical direction with the direction opposite to the gravity direction of the plumb bob being the orthogonal forward direction of the originAn axial positive direction; the two rotation axes of the rotating machine are used as reference vectors, the conversion relation is obtained according to the projection coordinates of the rotation axes in the carrier coordinate system and the ground coordinate system, and the coordinates of the rotation axis vectors in the ground coordinate system are recorded as，Represented in the geodetic coordinate system.
Further, the specific step of obtaining the effective rotation data of the rotating machine in S2 is: acquiring original rotation data sets of the rotary machine according to a sensor arranged on the rotary machine, wherein the number of the original rotation data sets of the rotary machine is recorded as，，The first is the original rotation data group total number of the rotating machineThe original rotation data set of the rotary machine is recorded asAnd according to the calculation formula, obtaining the firstWhite noise evaluation value of original rotation data set of rotary machineThe specific calculation formula isWhereinRepresent the firstThe white noise threshold standard value of the original rotation data set of the rotating machine is predefined,The noise value read error factor representing the original rotating data set of the rotating machine,Represent the firstSetting a white noise difference square standard value of an original rotation data set of the rotary machine; will be the firstThe white noise evaluation value of the original rotating data set of the rotating machine is compared with the white noise evaluation value of the original rotating data set of the rotating machine, which is within the error allowable range, and the corresponding original rotating data of the rotating machine are reserved, the steps are repeated for all the original rotating data of the rotating machine, and all the reserved original rotating data of the rotating machine are recorded as the effective rotating data set of the rotating machine.
Further, the specific step of obtaining the unit rotation coordinate of the rotating machine in S3 is: obtaining the coordinates of the rotation axis vector in the carrier coordinate system according to the effective rotation data set of the rotary machine，Expressed in the next coordinate system of the carrier coordinate systemThe coordinate system is used for the coordinate system,The system coordinate system is consistent with the origin of the carrier coordinate system under the carrier coordinate system, and is a horizontal positive direction rightwards along the horizontal axis of the rotary machine, namelyThe axial positive direction is the vertical positive direction of the rotary machine along the vertical axial direction of the rotary machine, which isThe axial positive direction, the longitudinal axis forward along the plane formed by the vertical axis and the horizontal axis of the rotary machine is the longitudinal positive direction of the rotary machine, which isThe positive direction of the axis is set,In (a)Respectively represent the horizontal axis vectors inCoordinates in three dimensions in the system coordinate system,In (a)Respectively represent the vertical axis vector inCoordinates in three dimensions under a system coordinate system are obtained, and a horizontal axis vector and a vertical axis vector are obtainedMaximum value of coordinates in the system coordinate systemAnd obtaining the unit rotation coordinate of the rotary machine according to the calculation formulaWhereinRepresenting the horizontal axis vector atThe coordinate measurement error factor in the system coordinate system,Representing the vertical axis vector atAnd (5) measuring error factors by coordinates in a system coordinate system.
Further, the specific step of obtaining the three-vector matrix of the rotary machine in S4 is as follows: the conversion relation obtained according to the projection coordinates of the two rotation shafts of the rotary machine in the two coordinate systems in the S1 is presented by a direction cosine matrix, and is obtained according to the conversion relation by a calculation formulaThe specific calculation formula isWhereinA vector error factor representing a three-dimensional square matrix of horizontal axis vectors in the geodetic coordinate system,A vector error factor representing a three-dimensional square matrix of vertical axis vectors in the geodetic coordinate system,AndRespectively represent transposed vectors of the horizontal axis vector and the vertical axis vector in a geodetic coordinate system,Representing a transposed vector of horizontal and vertical axis vectors cross-multiplied in the geodetic coordinate system,AndRespectively representing transposed vectors of the horizontal axis vector and the vertical axis vector in a carrier coordinate system,A transposed vector of vectors representing the cross-multiplication of the horizontal axis vector and the vertical axis vector in the carrier coordinate system,An inverse square matrix representing a transposed square matrix of horizontal axis vectors in the geodetic coordinate system.
Further, the specific step of obtaining the rotation matrix expression in S5 is to obtain a direction cosine matrix of coordinate transformationObtaining that the next coordinate system is not matched with the carrier coordinate systemIn line with the coordinate systemCoordinate system ofThe coordinate system is in accordance with the origin of the carrier coordinate system under the carrier coordinate system, and is a horizontal positive direction along the horizontal axis of the rotary machine to the right, namelyThe axial positive direction is the vertical positive direction of the rotary machine along the vertical axial direction of the rotary machine, which isThe axial positive direction, the longitudinal axis forward along the plane formed by the vertical axis and the horizontal axis of the rotary machine is the longitudinal positive direction of the rotary machine, which isAn axial positive direction; obtaining two rotation axes of a rotating machine by effectively rotating a data set of the rotating machineRotation matrix in system coordinate systemDirection cosine matrix through coordinate transformationObtainingCoordinate conversion to b-coordinate conversion to directional cosine matrixAnd thus obtain the rotation matrix under the a-system coordinate systemThe specific rotation matrix is，Representing the rotation vector measurement error factor.
Further, the specific steps of obtaining the correction matrix data set in S6 are as follows: step 1, controlling a rotary mechanical platform to rotate to a certain position, setting a pitch angle to a common initial position, and sending a first pitch acquisition instruction; step 2, keeping the course angle the same as that of the step 1, controlling the pitch angle in a movable range, measuring a plurality of positions, and sending a pitch acquisition instruction after each time of in-place, wherein the step sequentially traverses a plurality of positions; step 3, keeping the course angle the same as that of the step 1, setting a pitch angle to a common termination position, and sending a last pitch acquisition instruction; step 4, controlling the pitch angle of the rotary mechanical platform to a certain position in the middle, controlling the course angle to be distributed uniformly as much as possible in the movable range, measuring and traversing a plurality of positions in sequence, and sending a course acquisition instruction after each time of in-place; and 5, after the acquisition is finished, sending a calculation instruction, and waiting for returning a correction result, wherein the correction result is the correction matrix data set.
Further, the specific steps of obtaining the correction evaluation coefficient in S7 are as follows: obtaining correction matrix data sets, wherein the number of the correction matrix data sets is recorded as，G is the total number of data in the correction matrix data set, the firstThe data correction degree of each correction matrix data group is recorded asAnd according to the calculation formula, obtaining the firstThe correction evaluation coefficients are recorded asThe specific calculation formula isWhereinRepresenting predefined firstData correction degree of each correction matrix data groupIndicate the setting of the firstThe correction matrix data sets data correction standard square difference values,Representing predefined firstThe correction degree of each correction matrix data group data extracts an error correction factor,Representing predefined firstA data correction degree weighted power of the plurality of correction matrix data sets; will be the firstAnd comparing the correction evaluation coefficients with the set correction evaluation coefficients, reserving correction matrix data set data corresponding to the correction evaluation coefficients within the error allowable range, repeating the step for all correction matrix data sets, and recording all reserved correction matrix data sets as effective correction matrix data sets.
Further, the specific step of obtaining the alignment calibration matrix data set in S8 is: and (3) marking the new data set obtained after the rotation matrix obtained in the step (S5) is corrected by the corresponding effective correction matrix data set as an effective correction rotation matrix, and comparing the effective correction rotation matrix with the rotation matrix converted by the experimental measured true value to obtain an alignment correction matrix data set.
Further, the specific steps of obtaining the alignment calibration comprehensive evaluation coefficient in S9 are as follows: the different coordinate systems of the alignment calibration matrix data set include a geodetic coordinate system, a carrier coordinate system,The coordinate system is used for the coordinate system,The system coordinate system and different derivative coordinate systems with the same origin but different orthogonal relations in the three-dimensional axial direction under the carrier coordinate system are recorded as the number of data categories of different coordinate systems of the alignment calibration matrix data set，，To align the total number of data categories of different coordinate systems of the calibration matrix data set, the number of data categories of different control rotation angles under the same coordinate system is recorded as，，To align the total number of different control rotation angle data types of the calibration matrix data set under the same coordinate system, the number of the same control rotation angle data under the same coordinate system is recorded as，，To align the total number of data of the same control rotation angle under the same coordinate system of the calibration matrix data set, then the firstClass coordinate systemClass control rotation angleThe alignment matrix data set data are recorded asIs provided withTo traverse allThe value in the function and the function of the maximum value are obtained, so thatWhereinRepresenting predefined firstClass coordinate systemClass control rotation angleThe alignment calibration matrix data sets data standard values,Representing traversal of all itemsClass coordinate systemClass control rotation angleThe difference value between the data of the alignment calibration matrix data group and the standard value is used for obtaining an alignment calibration comprehensive evaluation coefficient according to the calculation formulaThe specific calculation formula isWherein, the method comprises the steps of, wherein,Indicate the setting of the firstClass coordinate systemClass control rotation angleData difference standard values of the alignment calibration matrix data sets,Representing a predefined reading measurement vector error factor; comparing the alignment comprehensive evaluation coefficient with a predefined alignment comprehensive evaluation coefficient, marking the alignment method corresponding to the alignment comprehensive evaluation coefficient within the error allowable range as an effective alignment comprehensive evaluation method, otherwise marking as an ineffective alignment comprehensive evaluation method, and reasonably adjusting predefined and set parameters under the control rotation angle under the coordinate system corresponding to the ineffective alignment comprehensive evaluation method.
One or more technical solutions provided in the embodiments of the present application at least have the following technical effects or advantages:
1. The method comprises the steps of setting initial parameters of the rotary machine and collecting and preprocessing original rotary data to obtain an effective rotary data set of the rotary machine, normalizing, combining three vectors, and carrying out two-system gesture determination to obtain a rotary matrix, correcting the rotary matrix through fixed limit correction to obtain a correction matrix data set, comparing and evaluating the correction matrix data set with a true value measured through experiments to obtain an alignment calibration matrix data set, and finally comprehensively evaluating and reasonably adjusting alignment calibration, so that an alignment calibration method of the rotary machine is enabled to be almost completely accurate, the effect of improving the substantivity and reliability of a calibration mode of the rotary machine is achieved, and the problems of complex calibration flow and excessive transfer relation in the prior art are effectively solved.
2. The correction degree is evaluated on the correction matrix data set through fixed limit correction, so that the correction condition of the correction matrix data set on the obtained rotation matrix is quantized, the accurate evaluation of specific rotation vector data of the rotary machine under different coordinate systems is the premise of improving the accuracy of an alignment calibration method, the correction evaluation coefficient is obtained, the effective correction matrix data set is obtained through the alternative judgment of the data corresponding to the correction evaluation coefficient, and the effect of improving the reliability of the calibration mode of the rotary machine is further achieved.
3. The alignment calibration matrix data set is a data set representing the effect of the alignment calibration method, the effect of the alignment calibration method can be quantitatively evaluated through comprehensive evaluation of the alignment calibration matrix data set, and an alignment calibration comprehensive evaluation coefficient is obtained, so that the effect of the alignment calibration method is conveniently compared with a predefined effect, if the effect of the alignment calibration method is not ideal, reasonable adjustment is performed, and the expansibility and the improvability of the calibration mode of the rotary machine are further improved.
Drawings
FIG. 1 is a flow chart of steps of a method for spatially diverse axial calibration for a rotary machine according to an embodiment of the present application;
FIG. 2 is a flowchart illustrating steps of a process for performing fixed limit correction on a rotary machine according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an installation mechanical relationship in alignment calibration integrated data simultaneous alignment calibration provided by an embodiment of the present application.
Detailed Description
The embodiment of the application solves the problems of complicated calibration flow and excessive transfer relation in the prior art by providing the spatially-distinct axial calibration method suitable for the rotary machine, and achieves the effect of improving the straightness and reliability of the calibration mode of the rotary machine by obtaining the directional cosine matrix, the rotation matrix and the correction matrix under different coordinate systems of the rotary machine so as to comprehensively evaluate the alignment calibration.
The technical scheme in the embodiment of the application aims to solve the problems of complicated calibration flow and excessive transfer relationship in the prior art, and the overall thought is as follows:
The method comprises the steps of setting initial parameters of the rotary machine and collecting and preprocessing original rotary data to obtain an effective rotary data set of the rotary machine, normalizing, combining three vectors, and carrying out two-system gesture determination to obtain a rotary matrix, correcting the rotary matrix through fixed limit correction to obtain a correction matrix data set, comparing and evaluating the correction matrix data set with a true value measured through experiments to obtain an alignment calibration matrix data set, and finally comprehensively evaluating and reasonably adjusting alignment calibration, so that the alignment calibration method of the rotary machine is nearly completely accurate, and the effect of improving the straightness and reliability of a calibration mode of the rotary machine is achieved.
In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.
As shown in fig. 1, a flowchart of a method for calibrating spatially-diverse axial directions suitable for a rotary machine according to an embodiment of the present application includes the following steps: s1, setting initial parameters of a rotary machine: setting all initial parameters required by axial alignment calibration of a rotary machine; s2, preprocessing original rotation data acquisition of the rotating machine: collecting and preprocessing original rotation data of the rotating machine to obtain an effective rotation data set of the rotating machine; s3, rotating data normalization of the rotating machinery: carrying out data normalization processing on the effective rotation data set of the rotary machine to obtain unit rotation coordinates of the rotary machine; s4, three vectors of the rotary machine are combined: combining the unit rotation coordinates of the rotary machine with the construction direction cosine matrix to obtain a three-vector matrix of the rotary machine, and further obtaining a two-system transformed direction cosine matrix; s5, two-system attitude determination of the rotary machine: adding a new coordinate system into the direction cosine matrix transformed by the two systems for transforming again to obtain a rotation matrix; s6, fixing, limiting, correcting and correcting: performing fixed limit correction processing on the rotary machine to obtain a correction matrix data set; s7, evaluating a correction matrix: evaluating the correction degree of the correction matrix data set to obtain a correction evaluation coefficient, thereby obtaining an effective correction matrix data set; s8, aligning and calibrating the integrated data simultaneous: the rotation matrix is subjected to corresponding effective correction matrix data set correction and then is compared and evaluated with the experimental measured true value to obtain an alignment correction matrix data set; s9, alignment calibration comprehensive evaluation: and comprehensively evaluating the alignment calibration matrix data set to obtain an alignment calibration comprehensive evaluation coefficient.
Further, the specific steps of setting each initial parameter required for the axial alignment calibration of the rotary machine in S1 are as follows: establishing a carrier coordinate system by taking the mass center of the rotary machine as an origin, wherein the right direction is a horizontal positive direction along the horizontal axis of the rotary machine, namelyThe axial direction is the vertical direction of the rotary machine along the vertical axial direction of the rotary machine, namelyThe positive direction of the shaft, the longitudinal axis forward along the plane formed by the vertical shaft and the horizontal shaft of the rotary machine is the positive direction of the longitudinal direction of the rotary machine, namelyThe method comprises the steps that in the positive axis direction, a rotary machine can rotate around a horizontal axis and a vertical axis, wherein the horizontal axis is the horizontal axis of the rotary machine, the vertical axis is the vertical axis of the rotary machine, an angle rotating around the horizontal axis is a pitch angle, a pitch angle starting point takes a horizontal plane containing the horizontal axis as a standard, an upward direction is a positive direction, an angle rotating around the vertical axis is a course angle, a course angle starting point takes a vertical plane containing the vertical axis as a standard, a right direction is a positive direction, and a non-rotating standing state of the rotary machine is a predefined pitch angle and a course angle starting rotation angle; establishing a geodetic coordinate system by taking the mass center of the rotary machine as an origin, and taking the direction opposite to the plumb line direction as a vertical positive direction asThe axial direction is the horizontal direction, and the right direction perpendicular to the original point is the vertical direction, which is the opposite direction of the gravity direction of the plumbThe axial direction is the vertical direction, which is the vertical direction with the direction opposite to the gravity direction of the plumb bob being the orthogonal forward direction of the originAn axial positive direction; the two rotation axes of the rotating machine are used as reference vectors, the conversion relation is obtained according to the projection coordinates of the rotation axes in the carrier coordinate system and the ground coordinate system, and the coordinates of the rotation axis vectors in the ground coordinate system are recorded as，Represented in the geodetic coordinate system.
Further, the specific step of obtaining the effective rotation data of the rotating machine in S2 is as follows: acquiring original rotation data sets of the rotary machine according to a sensor arranged on the rotary machine, wherein the number of the original rotation data sets of the rotary machine is recorded as，，The first is the original rotation data group total number of the rotating machineThe original rotation data set of the rotary machine is recorded asAnd according to the calculation formula, obtaining the firstWhite noise evaluation value of original rotation data set of rotary machineThe specific calculation formula isWhereinRepresent the firstThe white noise threshold standard value of the original rotation data set of the rotating machine is predefined,The noise value read error factor representing the original rotating data set of the rotating machine,Represent the firstSetting a white noise difference square standard value of an original rotation data set of the rotary machine; will be the firstThe white noise evaluation value of the original rotating data set of the rotating machine is compared with the white noise evaluation value of the original rotating data set of the rotating machine, which is within the error allowable range, and the corresponding original rotating data of the rotating machine are reserved, the steps are repeated for all the original rotating data of the rotating machine, and all the reserved original rotating data of the rotating machine are recorded as the effective rotating data set of the rotating machine.
In this embodiment, white noise filtering needs to be performed on the original rotation data of the single rotating machine, and the original rotation data of all rotating machines are finally subjected to white noise filtering after traversing in sequence.
Further, the specific step of obtaining the unit rotation coordinates of the rotary machine in S3 is: obtaining the coordinates of the rotation axis vector in the carrier coordinate system according to the effective rotation data set of the rotary machine，Expressed in the next coordinate system of the carrier coordinate systemThe coordinate system is used for the coordinate system,The system coordinate system is consistent with the origin of the carrier coordinate system under the carrier coordinate system, and is a horizontal positive direction rightwards along the horizontal axis of the rotary machine, namelyThe axial positive direction is the vertical positive direction of the rotary machine along the vertical axial direction of the rotary machine, which isThe axial positive direction, the longitudinal axis forward along the plane formed by the vertical axis and the horizontal axis of the rotary machine is the longitudinal positive direction of the rotary machine, which isThe positive direction of the axis is set,In (a)Respectively represent the horizontal axis vectors inCoordinates in three dimensions in the system coordinate system,In (a)Respectively represent the vertical axis vector inCoordinates in three dimensions under a system coordinate system are obtained, and a horizontal axis vector and a vertical axis vector are obtainedMaximum value of coordinates in the system coordinate systemAnd obtaining the unit rotation coordinate of the rotary machine according to the calculation formulaWhereinRepresenting the horizontal axis vector atThe coordinate measurement error factor in the system coordinate system,Representing the vertical axis vector atAnd (5) measuring error factors by coordinates in a system coordinate system.
In this embodiment, the carrier coordinate system is a carrier for vehicles, vessels, airplanes, etc., which is often a member of group sports, and especially in cooperative combat, it is necessary to know the own movement speed and the relative relationship of other members. The definition of the carrier coordinate system is that the carrier is fixedly connected to the carrier by taking the carrier as the center, the center of mass of the carrier is taken as the origin of coordinates, the X (Y) axis is along the movement direction of the carrier, the Z axis is downward (or upward) along the vertical axis of the carrier, and the X (Y) axis and the X, Z (Y, Z) form a right-handed system.
Further, the specific step of obtaining the three-vector matrix of the rotary machine in the step S4 is as follows: the conversion relation obtained according to the projection coordinates of the two rotation shafts of the rotary machine in the two coordinate systems in the S1 is presented by a direction cosine matrix, and is obtained according to the conversion relation by a calculation formulaThe specific calculation formula isWhereinA vector error factor representing a three-dimensional square matrix of horizontal axis vectors in the geodetic coordinate system,A vector error factor representing a three-dimensional square matrix of vertical axis vectors in the geodetic coordinate system,AndRespectively represent transposed vectors of the horizontal axis vector and the vertical axis vector in a geodetic coordinate system,Representing a transposed vector of horizontal and vertical axis vectors cross-multiplied in the geodetic coordinate system,AndRespectively representing transposed vectors of the horizontal axis vector and the vertical axis vector in a carrier coordinate system,A transposed vector of vectors representing the cross-multiplication of the horizontal axis vector and the vertical axis vector in the carrier coordinate system,An inverse square matrix representing a transposed square matrix of horizontal axis vectors in the geodetic coordinate system.
In this embodiment, since the direction cosine matrix is generally a three-dimensional square matrix, it is necessary to reconstruct a vector equation, that is, to cross-multiply two known vectors, and then combine three vector equations, thereby obtaining a formula for solving the dual-vector pose.
Further, the specific step of obtaining the rotation matrix expression in S5 is to obtain a direction cosine matrix of coordinate transformationObtaining that the next coordinate system is not matched with the carrier coordinate systemIn line with the coordinate systemCoordinate system ofThe coordinate system is in accordance with the origin of the carrier coordinate system under the carrier coordinate system, and is a horizontal positive direction along the horizontal axis of the rotary machine to the right, namelyThe axial positive direction is the vertical positive direction of the rotary machine along the vertical axial direction of the rotary machine, which isThe axial positive direction, the longitudinal axis forward along the plane formed by the vertical axis and the horizontal axis of the rotary machine is the longitudinal positive direction of the rotary machine, which isAn axial positive direction; obtaining two rotation axes of a rotating machine by effectively rotating a data set of the rotating machineRotation matrix in system coordinate systemDirection cosine matrix through coordinate transformationObtainingCoordinate conversion to b-coordinate conversion to directional cosine matrixAnd thus obtain the rotation matrix under the a-system coordinate systemThe specific rotation matrix is，Representing the rotation vector measurement error factor.
In this embodiment, after the directional cosine matrix of coordinate transformation is determined, the sensor value measured on a certain system can be transformed to another coordinate system, that is, the directional cosine matrix from the a system to the b system can be obtained by adopting the method, and similarly, the geodetic coordinate is tied into the a system, that is, the rotation matrix in the a system can be transformed to the rotation matrix under the geodetic coordinate system, finally, all systems under the carrier coordinate system can be transformed to the geodetic coordinate system, and various learning algorithms can be fully utilized to transform a plurality of fixed corresponding relations to predefined transformation relations, so that the operation difficulty is greatly reduced, the operation efficiency is improved, and the accuracy can be obviously improved compared with the calibration method fixed under the geodetic coordinate system because the transformation is performed through different coordinate systems.
Further, the specific steps for obtaining the correction matrix data set in S6 are as follows: step 1, controlling the course of a rotary mechanical platform to a certain position, setting a pitch angle to a common initial position of equipment, and sending a first pitch acquisition instruction; step 2, keeping the heading the same as that in the step 1, controlling the pitch angle in a movable range, measuring a plurality of positions, and sending a pitch acquisition instruction after each time of in-place, wherein the step sequentially traverses a plurality of positions; step 3, keeping the heading the same as that of the step 1, setting a pitch angle as a common end position of the equipment, and sending a last pitch acquisition instruction; step 4, controlling the pitch angle of the rotary mechanical platform to a certain position in the middle, controlling the course angle to be distributed uniformly as much as possible in the movable range, measuring and traversing a plurality of positions in sequence, and sending a course acquisition instruction after each time of in-place; and 5, after the acquisition is finished, sending a calculation instruction, and waiting for returning a correction result, wherein the correction result is the correction matrix data set.
In this embodiment, as shown in fig. 2, a flow chart of a process of fixing, limiting, correcting and correcting a rotary machine provided by the embodiment of the application adopts a digital double-shaft inclination sensor as an angle measurement device, adopts a high-precision MEMS accelerometer and a high-resolution differential digital-analog converter, embeds an automatic compensation and filtering algorithm, maximally eliminates errors caused by environmental changes, converts the changes of a static gravity field into inclination changes, directly outputs horizontal inclination values in a digital manner, and is commonly used in the fields of industrial automatic leveling, lifting mechanical inclination control, medical appliances and the like; any position mountable to a rotating machine; in order to acquire more accurate measurement data, after the rotary machine executes corresponding actions, data are acquired in real time to perform online installation error calibration; the data acquisition upper computer software is adopted to complete correction matrix calculation by matching with certain rotation machinery movement, and the influence of installation errors is eliminated, so that more accurate angle measurement values are obtained; in the whole process, after sending a pitch acquisition or course acquisition instruction, waiting for information display acquisition to be completed and then carrying out the next step, and if misoperation occurs, clearing and resetting the acquisition; the pitch acquisition is cleared, the heading acquisition is cleared, and all the acquisitions are cleared only for the current ongoing acquisition, so that the matrix in the storage area is not influenced; and clearing the correction matrix, and simultaneously clearing the pitch and heading point position acquisition data corresponding to the calculation of the correction matrix.
Further, the specific steps for obtaining the correction evaluation coefficient in S7 are: obtaining correction matrix data sets, wherein the number of the correction matrix data sets is recorded as，G is the total number of data in the correction matrix data set, the firstThe data correction degree of each correction matrix data group is recorded asAnd according to the calculation formula, obtaining the firstThe correction evaluation coefficients are recorded asThe specific calculation formula isWhereinRepresenting predefined firstData correction degree of each correction matrix data groupIndicate the setting of the firstThe correction matrix data sets data correction standard square difference values,Representing predefined firstThe correction degree of each correction matrix data group data extracts an error correction factor,Representing predefined firstA data correction degree weighted power of the plurality of correction matrix data sets; will be the firstAnd comparing the correction evaluation coefficients with the set correction evaluation coefficients, reserving correction matrix data set data corresponding to the correction evaluation coefficients within the error allowable range, repeating the step for all correction matrix data sets, and recording all reserved correction matrix data sets as effective correction matrix data sets.
In this embodiment, the data correction degree of the correction matrix data set may be obtained directly from a laboratory, or may be obtained through on-site real-time testing, or may be obtained through comparing the processed data obtained from the sensor with predefined data, or may be measured by the above-mentioned upper computer software, where in actual situations, the scheme with the best correction degree may be obtained through multiple measurements.
Further, the specific steps for obtaining the alignment calibration matrix data set in S8 are as follows: and (3) marking the new data set obtained after the rotation matrix obtained in the step (S5) is corrected by the corresponding effective correction matrix data set as an effective correction rotation matrix, and comparing the effective correction rotation matrix with the rotation matrix converted by the experimental measured true value to obtain an alignment correction matrix data set.
In this embodiment, as shown in fig. 3, a schematic structural diagram of a mechanical relationship installed in alignment calibration integrated data simultaneous connection provided by the embodiment of the present application is shown, and a turntable and a common rotating machine have a common characteristic that the turntable performs a high-low angle motion around a certain axis in a space, so that in an actual use process, the rotating machine is used as a carrier and is equivalently replaced by the turntable through a sensor calibrated by the turntable, and the sensor installed on the rotating machine can output the same accurate vector difference data set of the alignment calibration matrix data set, which represents the true value measured by the alignment calibration method of the present application and the actual experiment, by the transfer relationship, the effective calibration matrix data set must be in the same coordinate system and correspond to the data in the rotating matrix one by one, and the rotating matrix under different coordinate systems needs to be noted; in the process of obtaining the alignment calibration matrix data set by comparison, a high-precision three-axis speed turntable is used as a reference source, the turntable is the most ideal equipment for large-scale and multifunctional inertial test, the three-axis speed turntable comprises three frames, namely an outer frame, a middle frame and an inner frame, a sensor is installed and fixed on the inner frame, and the three frames form a universal bracket, so that angular velocity motion in any direction of a space can be implemented on a measured object, and the outer frame of the vertical three-axis turntable is an azimuth frame, a pitching frame and a rolling frame; the turntable is used as a unique reference source, the calibration is carried out by installing a plurality of identical sensors on the turntable, zero offset, scale factors and cross axis errors of devices are eliminated, so that the accuracy of a calibration result is ensured, the turntable is used as a rotary mechanical platform to be monitored, the plurality of sensors are arranged at different positions of a tooling plate, the turntable is enabled to execute corresponding actions according to a specified calibration comparison flow through turntable control software, and data acquisition and calculation are carried out by matching with an upper computer, and an alignment calibration matrix data set is obtained through calculation and comparison; the accuracy verification and the actual field consistency verification of the turntable are adopted, so that the stability and the accuracy of the sensor in field measurement are guaranteed to the greatest extent, the precision tracing can refer to the reverse direction of the diagram, namely, tracing is started from the carrier, and the turntable is used as a tracing end point.
Further, the specific steps for obtaining the alignment calibration comprehensive evaluation coefficient in S9 are as follows: the different coordinate systems of the alignment calibration matrix data set include a geodetic coordinate system, a carrier coordinate system,The coordinate system is used for the coordinate system,The system coordinate system and different derivative coordinate systems with the same origin but different orthogonal relations in the three-dimensional axial direction under the carrier coordinate system are recorded as the number of data categories of different coordinate systems of the alignment calibration matrix data set，，To align the total number of data categories of different coordinate systems of the calibration matrix data set, the number of data categories of different control rotation angles under the same coordinate system is recorded as，，To align the total number of different control rotation angle data types of the calibration matrix data set under the same coordinate system, the number of the same control rotation angle data under the same coordinate system is recorded as，，To align the total number of data of the same control rotation angle under the same coordinate system of the calibration matrix data set, then the firstClass coordinate systemClass control rotation angleThe alignment matrix data set data are recorded asIs provided withTo traverse allThe value in the function and the function of the maximum value are obtained, so thatWhereinRepresenting predefined firstClass coordinate systemClass control rotation angleThe alignment calibration matrix data sets data standard values,Representing traversal of all itemsClass coordinate systemClass control rotation angleThe difference value between the data of the alignment calibration matrix data group and the standard value is used for obtaining an alignment calibration comprehensive evaluation coefficient according to the calculation formulaThe specific calculation formula isWherein, the method comprises the steps of, wherein,Indicate the setting of the firstClass coordinate systemClass control rotation angleData difference standard values of the alignment calibration matrix data sets,Representing a predefined reading measurement vector error factor; comparing the alignment comprehensive evaluation coefficient with a predefined alignment comprehensive evaluation coefficient, marking the alignment method corresponding to the alignment comprehensive evaluation coefficient within the error allowable range as an effective alignment comprehensive evaluation method, otherwise marking as an ineffective alignment comprehensive evaluation method, and reasonably adjusting predefined and set parameters under the control rotation angle under the coordinate system corresponding to the ineffective alignment comprehensive evaluation method.
In this embodiment, it is necessary to verify the alignment calibration method, in the actual situation, various predefined and set reference values are obtained through experiments or past experiences, there is a certain degree of inadvisability, there is a problem that the reference true value in the existing calibration technical scheme is unreliable and unstable, the reasonability of various predefined and set values in the final alignment calibration matrix data set needs to be evaluated again and adjusted, and unreasonable preset values are continuously found through a machine learning algorithm or a similar algorithm, and targeted modification is performed, so that the preset values required in all alignment calibration methods for the current rotating machine are finally within a reasonable range, and the substantivity and reliability of the alignment calibration capability of the alignment calibration method are further improved.
The technical scheme provided by the embodiment of the application at least has the following technical effects or advantages: relative to publication No.: according to the zero calibration method and equipment for the mechanical arm joint sensor disclosed by CN109262659A, the sensor is directly arranged on a rotary mechanical platform to be monitored, and the calibration task of different axial directions is completed only according to the triaxial output data of the sensor and the mechanical rotation action and numerical calculation, so that the transfer relation between coordinate systems is reduced, and the substantivity of a calibration mode of the rotary machine is improved; relative to publication No.: according to the calibration method and the calibration system for the robot disclosed by CN103302663A, the rotation matrix is obtained through the steps of carrying out pretreatment on the original rotation data, then carrying out normalization, three-vector alignment and two-system attitude determination, and then carrying out comprehensive alignment calibration evaluation after fixed limit correction, so that the alignment calibration method of the rotating machinery is more and more reasonable, and the reliability of the calibration mode of the rotating machinery is improved.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention 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 invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. 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.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (2)
1. A spatially diverse axial calibration method for a rotary machine, for a server, comprising the steps of:
S1, setting all initial parameters required by axial alignment calibration of a rotary machine;
S2, collecting and preprocessing original rotation data of the rotating machine to obtain an effective rotation data set of the rotating machine;
s3, carrying out data normalization processing on the effective rotation data set of the rotating machine to obtain unit rotation coordinates of the rotating machine;
s4, the unit rotation coordinates of the rotary machine are combined with the construction direction cosine matrix to obtain a three-vector matrix of the rotary machine;
s5, obtaining a two-system transformed directional cosine matrix, adding a new coordinate system to the two-system transformed directional cosine matrix, and transforming again to obtain a rotation matrix;
S6, performing fixed limit correction and correction treatment on the rotary machine to obtain a correction matrix data set;
s7, evaluating the correction degree of the correction matrix data set to obtain a correction evaluation coefficient, and further obtaining an effective correction matrix data set;
S8, correcting the rotation torque matrix through a corresponding effective correction matrix data set, and comparing and evaluating the corrected rotation torque matrix with the experimentally measured true value to obtain an alignment correction matrix data set;
S9, comprehensively evaluating the alignment calibration matrix data set to obtain an alignment calibration comprehensive evaluation coefficient;
the specific steps of setting each initial parameter required by the axial alignment calibration of the rotary machine in the step S1 are as follows:
The method comprises the steps that a carrier coordinate system is established by taking a rotating machine centroid as an origin, a horizontal positive direction is right along a horizontal axis of the rotating machine, namely an x-axis positive direction, a vertical positive direction is left along the vertical axis of the rotating machine, namely a z-axis positive direction, a forward longitudinal axis along a plane formed by the vertical axis and the horizontal axis of the rotating machine is a longitudinal positive direction, namely a y-axis positive direction, of the rotating machine, the rotating machine can rotate around the horizontal axis and the vertical axis, an angle of rotation around the horizontal axis is defined as a pitch angle, a pitch angle starting point is defined as a horizontal plane containing the horizontal axis, an upward positive direction, an angle of rotation around the vertical axis is defined as a heading angle, a heading angle starting point is defined as a vertical plane containing the vertical axis, a rightward positive direction, and a non-rotating static state of the rotating machine is defined as a pitch angle and a heading angle starting rotation angle;
Establishing a geodetic coordinate system by taking a rotary machine centroid as an origin, taking a plumb vertical direction reverse direction as a vertical positive direction, taking a z-axis positive direction, taking a plumb gravity direction reverse direction as a horizontal positive direction in an orthogonal right direction of the origin, taking an x-axis positive direction, taking a plumb gravity direction reverse direction as a vertical positive direction in an orthogonal front direction of the origin, and taking a y-axis positive direction;
The two rotation axes of the rotating machine are used as reference vectors, the conversion relation is obtained according to the projection coordinates of the rotation axes in the carrier coordinate system and the ground coordinate system, and the coordinates of the rotation axis vectors in the ground coordinate system are recorded as N represents a coordinate system in the earth;
the specific step of obtaining the effective rotation data of the rotating machine in the step S2 is as follows:
Acquiring original rotation data sets of the rotating machine according to a sensor arranged on the rotating machine, wherein the number of the original rotation data sets of the rotating machine is recorded as d 0,d0 = 1,2, d is the total number of the original rotation data sets of the rotating machine, and the original rotation data set of the rotating machine is recorded as d 0 th original rotation data set And obtaining the white noise evaluation value of the original rotation data set of the (d 0) th rotating machine according to the calculation formulaThe specific calculation formula is thatWherein the method comprises the steps ofRepresenting the d 0 th predefined rotating machine original rotating data set white noise threshold standard value, χ representing the rotating machine original rotating data set noise value read error factor,The d 0 th set rotating machine original rotating data set white noise difference square standard value is represented;
Comparing the white noise evaluation value of the d 0 th rotating machine original rotating data set with the white noise evaluation value of the set rotating machine original rotating data set, reserving the white noise evaluation value of the rotating machine original rotating data set within the error allowable range and the corresponding rotating machine original rotating data, repeating the step for all the rotating machine original rotating data, and recording all reserved rotating machine original rotating data as a rotating machine effective rotating data set;
the specific step of obtaining the unit rotation coordinate of the rotary machine in S3 is as follows:
obtaining the coordinates of the rotation axis vector in the carrier coordinate system according to the effective rotation data set of the rotary machine B represents a b-system coordinate system of a next coordinate system of the carrier coordinate system, the b-system coordinate system is consistent with the origin of the carrier coordinate system under the carrier coordinate system, is a horizontal positive direction along the horizontal axis of the rotary machine, is a y-axis positive direction, is a vertical positive direction of the rotary machine along the vertical axis of the rotary machine, is a z-axis positive direction, is a vertical positive direction of the rotary machine along a longitudinal depth axis forward along a plane formed by being perpendicular to the vertical axis and the horizontal axis of the rotary machine, is a vertical positive direction of the x-axis,In (a)Respectively representing the coordinates of the horizontal axis vector in three dimensions under the b-system coordinate system,In (a)Respectively representing the coordinates of the vertical axis vector in three dimensions under the b-system coordinate system, and obtaining the maximum value of the coordinates of the horizontal axis vector and the vertical axis vector under the b-system coordinate system as followsAnd obtaining the unit rotation coordinate of the rotary machine as the following through a calculation formulaWherein alpha represents a coordinate measurement error factor of the horizontal axis vector in the b-system coordinate system, and beta represents a coordinate measurement error factor of the vertical axis vector in the b-system coordinate system;
the specific step of obtaining the three-vector matrix of the rotary machine in the step S4 is as follows:
the conversion relation obtained according to the projection coordinates of the two rotation shafts of the rotary machine in the two coordinate systems in the S1 is presented by a direction cosine matrix, and is obtained according to the conversion relation by a calculation formula The specific calculation formula is thatWherein eta represents the vector error factor of the three-dimensional square matrix of the horizontal axis vector in the geodetic coordinate system, kappa represents the vector error factor of the three-dimensional square matrix of the vertical axis vector in the geodetic coordinate system,AndRespectively represent transposed vectors of the horizontal axis vector and the vertical axis vector in a geodetic coordinate system,Representing a transposed vector of horizontal and vertical axis vectors cross-multiplied in the geodetic coordinate system,AndRespectively representing transposed vectors of the horizontal axis vector and the vertical axis vector in a carrier coordinate system,A transposed vector of vectors representing the cross-multiplication of the horizontal axis vector and the vertical axis vector in the carrier coordinate system,An inverse square matrix representing a transposed square matrix of the horizontal axis vector in the geodetic coordinate system;
the specific step of obtaining the rotation matrix expression in the step S5 is as follows:
Obtain the direction cosine matrix of coordinate transformation Obtaining an a-frame coordinate system which is not consistent with a b-frame coordinate system in a next coordinate system of a carrier coordinate system, wherein the a-frame coordinate system is consistent with an origin of the carrier coordinate system in the carrier coordinate system, and is a horizontal positive direction rightwards along a horizontal axis of the rotary machine, an x-axis positive direction, a vertical positive direction of the rotary machine along the vertical axis of the rotary machine, a y-axis positive direction, a longitudinal depth axis forwards along a plane formed by being perpendicular to the vertical axis and the horizontal axis of the rotary machine, and a z-axis positive direction;
obtaining a rotation matrix K b of two rotation shafts of the rotating machine under a b-system coordinate system through the effective rotation data set of the rotating machine, and obtaining a direction cosine matrix through coordinate conversion Obtaining a direction cosine matrix from a coordinate to b coordinateAnd thus obtaining a rotation matrix K a under the a-system coordinate system, wherein the rotation matrix is Representing a rotation vector measurement error factor;
the specific steps for obtaining the correction matrix data set in the step S6 are as follows:
Step 1, controlling a rotary mechanical platform to rotate to a certain position, setting a pitch angle to a common initial position, and sending a first pitch acquisition instruction;
Step 2, keeping the course angle the same as that of the step 1, controlling the pitch angle in a movable range, measuring a plurality of positions, and sending a pitch acquisition instruction after each time of in-place, wherein the step sequentially traverses a plurality of positions;
Step 3, keeping the course angle the same as that of the step 1, setting a pitch angle to a common termination position, and sending a last pitch acquisition instruction;
Step 4, controlling the pitch angle of the rotary mechanical platform to a certain position in the middle, controlling the course angle to be uniformly distributed in a movable range, measuring and traversing a plurality of positions in sequence, and sending a course acquisition instruction after each time of in-place;
step 5, after the acquisition is finished, sending a calculation instruction, and waiting for returning a correction result, wherein the correction result is a correction matrix data set;
the specific steps of obtaining the correction evaluation coefficient in the step S7 and further obtaining the effective correction matrix data set are as follows:
Obtaining correction matrix data sets, wherein the number of the correction matrix data sets is recorded as g 0,g0 =1, 2, g is the total number of the correction matrix data sets, and the data correction degree of the g 0 correction matrix data sets is recorded as follows And according to the calculation formula, obtaining the g 0 th correction evaluation coefficient as a recordThe specific calculation formula is thatWherein the method comprises the steps ofRepresents the data correction degree of the predefined g 0 th correction matrix data group,Setting standard square difference values of data correction degrees of the data sets of the correction matrix of the g 0 th, wherein gamma represents the extraction error correction factors of the data correction degrees of the data sets of the correction matrix of the predefined g 0 th, and theta represents the weighted power of the data correction degrees of the data sets of the correction matrix of the predefined g 0 th;
comparing the g 0 correction evaluation coefficients with the set correction evaluation coefficients, reserving correction matrix data set data corresponding to the correction evaluation coefficients within an error allowable range, repeating the step for all correction matrix data sets, and recording all reserved correction matrix data sets as effective correction matrix data sets;
the specific steps for obtaining the alignment calibration matrix data set in the step S8 are as follows:
And (3) marking the new data set obtained after the rotation matrix obtained in the step (S5) is corrected by the corresponding effective correction matrix data set as an effective correction rotation matrix, and comparing the effective correction rotation matrix with the rotation matrix converted by the experimental measured true value to obtain an alignment correction matrix data set.
2. The method for calibrating spatially diverse axial directions for a rotary machine according to claim 1, wherein the specific steps of obtaining the alignment calibration integrated evaluation coefficient in S9 are:
The alignment matrix data set different coordinate systems include a geodetic coordinate system, a carrier coordinate system, an a-frame coordinate system, a b-frame coordinate system, and different derivative coordinate systems having the same origin but orthogonal relationships in different three-dimensional axial directions under the carrier coordinate system, the number of data categories of the alignment matrix data set different coordinate systems is denoted as w 0,w0 =1, 2, w, w is the total number of data categories of the alignment matrix data set different coordinate systems, the number of different control rotation angle data categories under the same coordinate system is denoted as v 0,v0 =1, 2, v, v is the total number of different control rotation angle data categories under the same coordinate system of the alignment matrix data set, the number of the same control rotation angle data under the same coordinate system is denoted as u 0,u0 =1, 2, u, u is the total number of the same control rotation angle data under the same coordinate system of the alignment matrix data set, then the w 0 type v 3824 is the alignment matrix data set data Let max [ f (h) ] be the function of traversing the values in all f (h) functions and deriving the maximum, letWherein the method comprises the steps ofRepresents the data standard value of the u 0 alignment calibration matrix data set under the v 0 type control rotation angle under the predefined w 0 type coordinate system,Representing the difference value between the data of the u 0 alignment calibration matrix data set under the control rotation angle of the v 0 class under the w 0 class coordinate system and the standard value, and obtaining the alignment calibration comprehensive evaluation coefficient epsilon according to the difference value by a calculation formula, wherein the specific calculation formula is thatWherein,Representing a data difference standard value of a u 0 alignment calibration matrix data set under a v 0 type control rotation angle under a w 0 type coordinate system, wherein phi represents a predefined reading measurement vector error factor;
Comparing the alignment comprehensive evaluation coefficient with a predefined alignment comprehensive evaluation coefficient, marking the alignment method corresponding to the alignment comprehensive evaluation coefficient within the error allowable range as an effective alignment comprehensive evaluation method, otherwise marking as an ineffective alignment comprehensive evaluation method, and reasonably adjusting predefined and set parameters under the control rotation angle under the coordinate system corresponding to the ineffective alignment comprehensive evaluation method.
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