Aiming at the demand for measuring the attitude angle of a new type of rotating imaging payload,a zero position three-axis attitude angle measurement method for rotating payloads based on photoelectric sensing is proposed to address the problem that existing sensors cannot simultaneously measure the zero position three-axis attitude angle of non-contact rotating mechanisms.A zero position attitude sensor is developed,which uses photoelectric sensors to obtain the zero crossing waveform,uses the least squares method to obtain the time information of zero crossing,and obtains accurate rotation angle and relative displacement of the fixed rotor through time and speed.On this basis,the three-axis attitude information at zero position is solved through coordinate transformation.The influence of the translation and rotation of the platform cabin and the rotating cabin on the measurement accuracy of the sensor is analyzed,and the theoretical model of the sensor measurement error,light source assembly axis installation error,sampling error and sensor installation error is established,and the influence of various factors on the zero position measurement error is simulated.A testing platform for the magnetic levitation rotating support mechanism is built,and the measurement results of the designed photoelectric sensor are compared with those of the eddy current displacement sensor and rotary sensor to analyze the measurement accuracy of the designed sensor.The results show that the designed sensor has a mean displacement measurement error of no more than 2.4 μm,and a mean rotation angle measurement error of no more than 3.7".The designed sensor can accurately detect the zero position attitude information when the clearance between the stator and rotor changes,providing a reference for high-precision attitude control of the load compartment.
rotating loadphotoelectric principlezero position detectionattitude measurement
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