基于PCSF算法的扭矩测量过程导致的角度测量误差补偿
Compensation of Angle Measurement Error Caused by Torque Measurement Process Based on PCSF Algorithm
许鹏飞 1李昊 2于振 3安琪4
作者信息
- 1. 青岛工贸职业学校学生处,山东 青岛 266041
- 2. 青岛工程职业学院教务处,山东 青岛 266122
- 3. 海洋仪器仪表研究所,齐鲁工业大学(山东省科学院),山东青岛 266001
- 4. 清华大学机械工程系,北京 100084
- 折叠
摘要
基于立式桶状精密减速器高精度检测仪现有结构,研究了测量扭矩引起仪器形变进而导致角度测量误差的现象及其规律.提出了扭矩、刚度和角度三结合标定方法,设计了基于加载扭矩变化的仪器刚度在线校准装置.基于PCSF算法实现了仪器刚度导致角度测量误差的实时专项补偿.解决了加载的测量扭矩变化影响仪器角度测量精度的难题.实验结果表明,补偿后扭矩变化导致的角度测量误差在±2″以内.
Abstract
The phenomenon and law of instrument deformation caused by measuring torque and angle measurement error are studied based on the structure of high precision detector for vertical barrel type precision reducer.A three-combination calibration method of torque,stiff-ness,and angle is proposed,and the instrument stiffness online calibration device based on the change of loading torque is designed.The real-time special compensation for angle measurement error caused by instrument stiffness is realized based on the PCSF algorithm.The problem that change of load's measuring torque affects the instrument's angle measurement accuracy is solved.The experimental results show that the angle measurement error caused by the torque change after compensation is within±2 angular seconds.
关键词
角度测量技术/角度测量误差补偿/PCSF算法/扭转刚度/工业机器人Key words
angle measurement technology/angle measurement error compensation/PCSF algorithm/torsional stiffness/industrial robot引用本文复制引用
基金项目
国家重点研发计划(2017YFF0108100)
出版年
2024
国家科技期刊平台
NSTL
万方数据