Parameter Identification and Compensation Method of Circular Grating Eccentricity Error
A technology of eccentricity error and parameter identification, which is applied in the direction of using optical devices, instruments, measuring devices, etc., can solve the problems of troublesome construction of experimental devices, small number of data, increased hardware costs, etc.
Active Publication Date: 2018-11-23
BEIJING INFORMATION SCI & TECH UNIV
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[0004] The method of installing multiple reading heads will increase the hardware cost; using a reading head to calibrate with the help of regular polyhedral prisms and photoelectric autocollimators, the construction of the experimental device is more troublesome, and limited by the regular polyhedral prisms, the data during calibration A small number will affect the calibration results
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[0012] The objects and functions of the present invention and methods for achieving the objects and functions will be clarified by referring to the exemplary embodiments. However, the present invention is not limited to the exemplary embodiments disclosed below; it can be implemented in various forms. The essence of the description is only to help those skilled in the relevant art comprehensively understand the specific details of the present invention.
[0013] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the drawings, the same reference numerals represent the same or similar components, or the same or similar steps.
[0014] The invention provides a circular grating eccentricity error parameter identification and compensation method. The method is a self-calibration method of circular grating eccentricity parameters based on double reading heads. When the method is used for eccentricity parameter identif...
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The invention provides a circular grating eccentricity error parameter identification and compensation method. The method comprises the steps of 1) installing an auxiliary reading head B beside the position where a reading head A is installed by using a device applying a circular grating encoder, wherein the auxiliary reading head B can be installed at will in position; and 2) rotating a circular grating installation shaft, observing a value of the reading head A, recording to values of the reading head A and the reading head B at an interval of 5 degrees until the circular grating installation shaft rotates for a circle to acquire 72 sets of data in total. The acquired 72 sets of data is utilized, and eccentricity parameters a, w and alpha of a circular grating are solved by using an L-M algorithm according to the following two formulas: theta'B-theta'A=alpha+arcsin(a*sin(w+theta'A))-arcsin(a*sin(w+thetaB')) and theta'B-theta'A=alpha-2pi+arcsin(a*sin(w+theta'A))-arcsin(a*sin(w+thetaB')), wherein thetaA' and thetaB' represent reading of the reading head A and the reading head B of the circular grating, alpha is an included angle between the two reading heads relative to a rotation center, and a, w and alpha are eccentricity parameters of the circular grating; and 3) when an angle is measured by using the circular grating, substituting the eccentricity parameters into the following formula: theta=theta'A-1-beta so as to complete compensation for the eccentricity error of the reading head A, wherein 1=arcsin(a*sin(w)), beta=arcsin(a*sin(-w-thetaA')).
Description
technical field [0001] The invention relates to an angle measurement method, in particular to a circular grating eccentricity error parameter identification and compensation method. Background technique [0002] As a precise angle measurement tool, circular grating encoders are widely used in high-precision turntables, joint coordinate measuring machines, robots, radars and other fields. Through the analysis of the circular grating, it can be seen that the error sources of the circular grating mainly include: the circular grating line error, the circular grating installation tilt error, the installation eccentricity error, the axial runout and radial runout error of the installation bearing. The circular grating installation usually uses precision bearings to reduce the error of bearing runout. The eccentricity error of the installation is one of the main factors of the measurement error of the circular grating. The parameter identification and error compensation of the ecc...
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IPC IPC(8): G01B11/26
CPCG01B11/26
Inventor 潘志康冯超鹏祝连庆郭阳宽董明利娄小平刘超
Owner BEIJING INFORMATION SCI & TECH UNIV