Method for testing angular acceleration of rotary table

Abstract

The invention provides a method for testing the angular acceleration of a rotary table. The method comprises the following steps that the output end of an angular velocity digital-to-analog converter is electrically connected to an oscilloscope; debugging and calibrating the angular velocity digital-to-analog converter and the oscilloscope to enable the actual voltage value rate displayed on the oscilloscope to be within the deviation range of the theoretical voltage value; recording the voltage waveform of the acceleration starting stage and the voltage waveform of the acceleration stopping stage displayed on the oscilloscope; calculating a starting acceleration measurement value of the rotary table according to the voltage waveform of the starting acceleration stage, and calculating a stopping acceleration measurement value of the rotary table according to the voltage waveform of the stopping acceleration stage. According to the method, the acceleration of the rotary table can be measured and inspected, an additional sensor does not need to be additionally arranged in the measurement process, the universality of the inspection method is further improved, the oscilloscope is a third-party standard part, and the credibility of a result obtained through testing is higher.

Description

Technical Field

[0001] The invention relates to the technical field of inertial navigation testing and motion simulation, and more specifically to a method for testing angular acceleration of a turntable. Background Art

[0002] Inertial navigation test and motion simulation equipment is used to generate precise attitude reference, velocity reference, acceleration reference, provide reference input for gyroscopes, accelerometers or inertial navigation systems, or simulate the maneuvering load environment of aircraft, ships, etc. Among them, angular acceleration is an important technical indicator of the turntable, which can characterize the dynamic performance of the turntable. There are many existing acceleration test methods, which are generally divided into direct measurement method and indirect measurement method. The direct measurement method is generally through the acceleration sensor test method; the indirect test method includes the position sensor test method, computer data acquisition method, swing test method, etc.

[0003] The acceleration sensor inspection method generally uses an angular acceleration sensor or a linear acceleration sensor to sense the turntable acceleration. The angular acceleration sensor can directly obtain the angular acceleration value, and the linear accelerometer can directly obtain the linear acceleration value and indirectly calculate the angular acceleration value. Acceleration sensors need to be installed on the measured shaft and transmit signals to the outside through cables. This has high requirements for sensor installation, including installation surface flatness, installation dimension accuracy, installation coupling stiffness, cable fixing method, etc. At the same time, this method requires professional sensor signal acquisition and processing devices and software support. The system design and use are both difficult, and different acceleration indicators have different requirements for sensor frequency characteristics, which will also affect the implementation of the inspection process.

[0004] The position sensor inspection method uses a position encoder as a position feedback device to collect the position data of the turntable in real time during the test, and obtains the angular acceleration value during rotation by taking the second-order differential of the position data. This method makes full use of the excellent signal processing and computing capabilities of the acquisition device, and can obtain high-precision acceleration values ​​through a variety of algorithms. However, it also has obvious disadvantages. It has high requirements for the sensor installation space and installation accuracy, and different acceleration indicators have different requirements for the sensor signal cutoff frequency and the sampling frequency of the acquisition device. The system design and use are both difficult.

[0005] Both of the above methods require the installation of sensors on the turntable shaft. Since the turntable is a non-standard device, the structural dimensions of different turntables or different frame shafts are significantly different, which greatly limits the adaptability of the angular acceleration test method using sensors, bringing great difficulties to the implementation of the test.

[0006] The computer data acquisition method is similar to the position sensor inspection method. The turntable computer or external computer collects the turntable position information in real time during the turntable operation. The acquisition cycle is generally set to 1ms, and then the acceleration value is obtained through the second-order differential. Since the control state of the turntable is refreshed in real time according to the control cycle, the instantaneous acceleration value will fluctuate greatly, so the general treatment is to use the average value of the acceleration over a period of time to measure the magnitude of the acceleration. The problem caused by this is that the average values ​​obtained in different time periods will also have large data differences. The use of this method cannot obtain relatively constant and accurate values, and the detection data comes from the turntable system itself, which will lead to low credibility of the detection results.

[0007] The swing test method is currently a method that is widely used in turntable acceleration detection. There are corresponding detection specifications to provide regulations and guidance. It is similar to the computer data acquisition method. It measures the swing amplitude and frequency of the turntable, and then calculates the angular acceleration value according to the formula. This method requires the turntable to work in the swing mode. It is generally implemented in two ways: one is to start the turntable for sinusoidal motion and use the computer to collect the frequency and amplitude of the actual motion; the other is to apply a sinusoidal excitation signal to the turntable to test the frequency and amplitude of the actual motion of the turntable. The premise of this method is that the turntable needs to have a sinusoidal swing function, and the combination of the swing amplitude or frequency can meet the acceleration value requirements, and there are certain requirements for the swing waveform distortion. It is not suitable for turntables without a swing function or low dynamic performance, especially turntables with transmission clearance. It has certain limitations in actual application.

[0008] In summary, the existing acceleration test methods require additional sensors to be installed on the turntable, which has high requirements on the installation accuracy of the sensors, which makes them have great limitations in application. In addition, the existing acceleration test methods all rely on their own computer systems to calculate the acceleration results, and no standard third-party equipment is involved in the test process. The data calculation process is less open, the data acquisition process is not intuitive, and the credibility is not high. Summary of the invention

[0009] 1. Technical issues to be resolved

[0010] The technical problem to be solved by the present invention is that the existing acceleration testing method has great application limitations and the result reliability is not high.

[0011] (II) Technical solution

[0012] To achieve the above object, the technical solution adopted by the present invention is:

[0013] like Figure 1 As shown, the present invention provides a method for testing the angular acceleration of a turntable, comprising the following steps:

[0014] The input end of the angular velocity digital-to-analog converter is electrically connected to the servo drive system of the turntable, and the output end of the angular velocity digital-to-analog converter is electrically connected to the oscilloscope;

[0015] Debugging and calibrating the angular velocity digital-to-analog converter and the oscilloscope so that the actual voltage value displayed on the oscilloscope is within the deviation range of the theoretical voltage value, wherein the theoretical voltage value is calculated according to the preset target speed of the turntable;

[0016] After the debugging and calibration is completed, the turntable is driven to rotate so that the turntable changes from a static state to a uniform rotation state, and the voltage waveform of the startup acceleration stage displayed on the oscilloscope is recorded during the process;

[0017] Stopping the rotation so that the turntable changes from a uniform rotation state to a stationary state, and recording a voltage waveform of the stop acceleration stage displayed on an oscilloscope during the process;

[0018] The start-up acceleration measurement value of the turntable is calculated according to the voltage waveform in the start-up acceleration stage, and the stop-acceleration measurement value of the turntable is calculated according to the voltage waveform in the stop-acceleration stage.

[0019] Preferably, debugging and calibrating the angular velocity digital-to-analog converter and the oscilloscope so that the actual voltage value displayed on the oscilloscope is within the deviation range of the theoretical voltage value includes the following steps:

[0020] Set the scale value of the angular velocity digital-to-analog converter, drive the turntable to rotate at a preset target rate, and observe whether the actual voltage value on the oscilloscope is within the deviation range of the theoretical voltage. If the actual voltage value is within the deviation range of the theoretical voltage value, proceed to the next step. If the actual voltage value is outside the deviation range of the theoretical voltage value, debug and calibrate the angular velocity digital-to-analog converter and the oscilloscope until the actual voltage value is within the deviation range of the theoretical voltage value and then proceed to the next step.

[0021] Preferably, the deviation range is ±100mV.

[0022] Preferably, the theoretical voltage value is calculated according to the following formula:

[0023] E=ω / λ, where E is the theoretical voltage value, ω is the preset target rate of the turntable, λ is the scale value of the angular velocity digital-to-analog converter, and the value of λ is 50% to 90% of the maximum conversion voltage that can convert the E value into the angular velocity digital-to-analog converter.

[0024] Preferably, the step of calculating the start-up acceleration measurement value of the turntable according to the voltage waveform in the start-up acceleration stage comprises the following steps:

[0025] Observe the voltage waveform in the startup acceleration stage, and determine a first inflection point and a second inflection point on the waveform curve, wherein the first inflection point is an inflection point where the voltage amplitude changes from zero rate to the startup segment, and the second inflection point is an inflection point where the voltage amplitude reaches a constant value from the startup segment;

[0026] Obtaining a first time value corresponding to the first inflection point and a second time value corresponding to the second inflection point;

[0027] The starting acceleration measurement value a1' is calculated according to the formula a1'=ω / (t1-t0), wherein ω is the preset instruction rate when the turntable is in a uniform motion state, t1 is the second time value, and t0 is the first time value.

[0028] Preferably, the voltage amplitude U0 of the oscilloscope corresponding to the first time value t0 should satisfy |U0|≤100mV;

[0029] The voltage amplitude U1 of the oscilloscope corresponding to the second time value t1 should satisfy |U1-E|≤100mV, where E is the theoretical voltage value;

[0030] The starting acceleration measurement value a1' should satisfy a1'-a1≥0, where a1 is the starting acceleration setting value set by the servo drive system of the turntable.

[0031] Preferably, the step of calculating the stop acceleration measurement value of the turntable according to the voltage waveform in the stop acceleration stage comprises the following steps:

[0032] Observe the voltage waveform in the acceleration stop stage to determine a third inflection point and a fourth inflection point on the waveform curve, wherein the third inflection point is an inflection point where the voltage amplitude changes from a constant value to a stop section, and the fourth inflection point is an inflection point where the voltage amplitude changes from the stop section to a zero rate;

[0033] Obtaining a third time value corresponding to the third inflection point and a fourth time value corresponding to the fourth inflection point;

[0034] According to the formula a2'=ω / (t3-t2), the stop acceleration measurement value a2' is calculated, wherein ω is the preset instruction rate when the turntable is in a uniform motion state, t2 is the third time value, and t3 is the fourth time value.

[0035] Preferably, the voltage amplitude U1 of the oscilloscope corresponding to the third time value t2 should satisfy |U1-E|≤100mV;

[0036] The voltage amplitude U2 of the oscilloscope corresponding to the fourth time value t3 should satisfy |U2|≤100mV;

[0037] The stop acceleration measurement value a2' should satisfy a2'-a2≥0, where a2 is the stop acceleration setting value set by the servo drive system of the turntable.

[0038] Preferably, the method further comprises the following steps:

[0039] Compare the start acceleration measurement value and the stop acceleration measurement value with the corresponding indicator requirement value:

[0040] If both the start acceleration measurement value and the stop acceleration measurement value are greater than the corresponding index requirement values, the inspection is qualified;

[0041] If at least one of the start acceleration measurement value and the stop acceleration measurement value is smaller than the corresponding index requirement value, the inspection fails.

[0042] Preferably, the method further comprises the following steps:

[0043] Issue a test result report: The test result report records the voltage waveform of the start acceleration stage displayed on the oscilloscope, and the voltage waveform of the stop acceleration stage displayed on the oscilloscope.

[0044] (III) Beneficial effects

[0045] The above technical solution of the present invention has at least the following advantages:

[0046] 1. In the present invention, the method provided by the present invention does not require the installation of additional sensors, is not limited by the turntable type and the size of the installation space, does not require a dedicated sensor data acquisition device and processing software, and can be implemented with only a general oscilloscope, and has no range limitation. The system design is simple and the measurement implementation has strong adaptability, which improves the versatility of the inspection method. The output end of the angular velocity digital-to-analog converter of the turntable is electrically connected to the oscilloscope, and the angular velocity digital-to-analog converter can convert the analog signal of the rate data it collects into a digital signal that can be displayed by the oscilloscope, thereby realizing the visualization of the turntable rate. According to the voltage waveform displayed on the oscilloscope, the start acceleration measurement value and the stop acceleration measurement value of the turntable can be calculated, thereby realizing the measurement and inspection of the angular acceleration of the turntable.

[0047] 2. In the present invention, the entire measurement and detection process is realized by the angular velocity digital-to-analog converter and oscilloscope provided by the turntable. Both the angular velocity digital-to-analog converter and the oscilloscope are third-party standard parts. The party entrusting the inspection can choose the third-party standard parts recognized by it to participate in the inspection. Compared with other methods in the prior art that use self-designed computer systems to realize acceleration calculation inspection, the inspection results of the present invention are more objective and more reliable. Moreover, the oscilloscope can visualize the entire test and inspection process, and the test process is more open.

[0048] 3. In the present invention, the disadvantages of the traditional acceleration detection method are overcome. A universal oscilloscope with traceability is used to measure the turntable rate analog voltage curve. The angular acceleration index of the turntable is tested by measuring the acceleration time. The accuracy of the rate value analog voltage value is tested by the rate accuracy and stability detection method. This method is suitable for turntables with continuous rotation or limited rotation angles, and can also be extended to the acceleration test of linear motion mechanisms. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0050] Figure 1 It is a flow chart of a method for testing the angular acceleration of a turntable provided in an embodiment of the present invention.

[0051] Figure 2 It is a principle block diagram of the verification of the startup acceleration measurement value provided by an embodiment of the present invention.

[0052] Figure 3 It is a block diagram of the verification principle of the stop acceleration measurement value provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0053] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0054] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly located on the other element or indirectly located on the other element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or indirectly connected to the other element.

[0055] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention, and do not indicate that a device or element must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0056] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating relative importance or indicating the number of technical features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined. The specific implementation of the present invention is described in more detail below in conjunction with specific embodiments:

[0057] like Figure 1 As shown, an embodiment of the present invention provides a method for testing the angular acceleration of a turntable, comprising the following steps:

[0058] The output end of the angular velocity digital-to-analog converter of the turntable is electrically connected to the oscilloscope; specifically, the turntable itself must have the function of angular velocity digital-to-analog conversion and have an output port for the converted voltage, such as a socket or a cable, to realize the test method of the turntable angular acceleration provided by the present invention. Then the oscilloscope is electrically connected to the output port.

[0059] Calibrate the angular velocity digital-to-analog converter and the oscilloscope so that the actual voltage value displayed on the oscilloscope is within the deviation range of the theoretical voltage value, wherein the theoretical voltage value is calculated based on the preset target speed of the turntable;

[0060] After the debugging and calibration is completed, the turntable is driven to rotate so that the turntable changes from a stationary state to a uniform rotation state, and the voltage waveform of the startup acceleration stage displayed on the oscilloscope is recorded during the process; specifically, the rate accuracy and stability detection method specified in the national military standard 1801-1993 is used to start the turntable rate operation and analog output. Specifically, after the debugging is completed, the parameters of the turntable are set, including the starting acceleration setting value a1 (° / s2), the stop angular acceleration setting value a2 (° / s2), the command rate ω (° / s), the angular velocity digital-to-analog converter scale λ (° / s / V), the oscilloscope edge trigger mode, the trigger level and other parameters are set, and then the turntable is started to run the measured axis. When the turntable reaches the target rate ω and is in a uniform speed operation state, the oscilloscope automatically saves the measurement waveform of the startup segment.

[0061] Stop the rotation so that the turntable changes from a uniform rotation state to a stationary state, and record the voltage waveform of the stop acceleration stage displayed on the oscilloscope during the process;

[0062] The starting acceleration measurement value of the turntable is calculated according to the voltage waveform in the starting acceleration stage, and the stopping acceleration measurement value of the turntable is calculated according to the voltage waveform in the stopping acceleration stage;

[0063] Compare the start acceleration measurement value and the stop acceleration measurement value with the corresponding index requirement value: if both the start acceleration measurement value and the stop acceleration measurement value are greater than the corresponding index requirement value, the inspection is qualified; if at least one of the start acceleration measurement value and the stop acceleration measurement value is less than the corresponding index requirement value, the inspection is unqualified;

[0064] Issue a test result report: The test result report records the voltage waveform of the start acceleration stage displayed on the oscilloscope, as well as the voltage waveform of the stop acceleration stage displayed on the oscilloscope.

[0065] As one of the optional implementations of this embodiment, debugging and calibrating the angular velocity digital-to-analog converter and the oscilloscope so that the actual voltage value displayed on the oscilloscope is within the deviation range of the theoretical voltage value includes the following steps:

[0066] Set the scale value of the angular velocity digital-to-analog converter, drive the turntable to rotate at a preset target speed, and observe whether the actual voltage value on the oscilloscope is within the deviation range of the theoretical voltage. If the actual voltage value is within the deviation range of the theoretical voltage value, proceed to the next step. If the actual voltage value is outside the deviation range of the theoretical voltage value, debug and calibrate the angular velocity digital-to-analog converter and the oscilloscope until the actual voltage value is within the deviation range of the theoretical voltage value. Then proceed to the next step. Specifically, set the target speed of the measured axis of the turntable to ω (° / s), give the DA conversion scale λ (° / s / V) of the angular velocity digital-to-analog converter, and the target speed corresponds to the theoretical value of analog voltage E = ω / λ (V). Set the oscilloscope sampling time, etc., and then perform the turntable speed accuracy and stability detection operation. At this time, observe the oscilloscope output voltage U (V) during uniform motion. The waveform should be a smooth straight line without obvious distortion. If |UE|≤100mV, the conformity of the output voltage value with the rotation rate value can be verified.

[0067] As one of the optional implementations of this embodiment, the deviation range is ±100mV.

[0068] As one of the optional implementations of this embodiment, the theoretical voltage value is calculated according to the following formula:

[0069] E=ω / λ, where E is the theoretical voltage value, ω is the preset target rate of the turntable, λ is the scale value of the angular velocity digital-to-analog converter, and the value of λ is 50% to 90% of the maximum conversion voltage that can convert the E value into the angular velocity digital-to-analog converter.

[0070] like Figure 2 As shown, as one of the optional implementations of this embodiment, calculating the start-up acceleration measurement value of the turntable according to the voltage waveform in the start-up acceleration stage includes the following steps:

[0071] Observe the voltage waveform during the startup acceleration phase, and determine the first inflection point and the second inflection point on the waveform curve, wherein the first inflection point is the inflection point where the voltage amplitude changes from zero rate to the startup segment, and the second inflection point is the inflection point where the voltage amplitude reaches a constant value from the startup segment;

[0072] Obtaining a first time value corresponding to a first inflection point and a second time value corresponding to a second inflection point;

[0073] According to the formula a1'=ω / (t1-t0), the startup acceleration measurement value a1' is calculated, where ω is the preset command rate when the turntable is in a uniform motion state, t1 is the second time value, and t0 is the first time value. The waveform measured by the oscilloscope before t0 corresponds to the state before the turntable starts running, the waveform with constant amplitude after t1 corresponds to the turntable reaching a uniform speed state, and the waveform between t0 and t1 corresponds to the turntable starting acceleration state. Each waveform segment should be smooth, without abnormal jumps, obvious fluctuations and other abnormalities.

[0074] As one of the optional implementations of this embodiment, the voltage amplitude U0 of the oscilloscope corresponding to the first time value t0 should satisfy |U0|≤100mV;

[0075] The voltage amplitude U1 of the oscilloscope corresponding to the second time value t1 should satisfy |U1-E|≤100mV, where E is the theoretical voltage value;

[0076] The starting acceleration measurement value a1' should satisfy a1'-a1≥0, where a1 is the starting acceleration setting value set by the servo drive system of the turntable.

[0077] like Figure 3 As shown, as one of the optional implementations of this embodiment, calculating the stop acceleration measurement value of the turntable according to the voltage waveform in the stop acceleration stage includes the following steps:

[0078] Observe the voltage waveform in the acceleration stopping stage, and determine the third inflection point and the fourth inflection point on the waveform curve, wherein the third inflection point is the inflection point when the voltage amplitude changes from a constant value to a stopping section, and the fourth inflection point is the inflection point when the voltage amplitude changes from the stopping section to a zero rate;

[0079] Obtaining a third time value corresponding to the third inflection point and a fourth time value corresponding to the fourth inflection point;

[0080] According to the formula a2'=ω / (t3-t2), the stop acceleration measurement value a2' is calculated, where ω is the preset command rate when the turntable is in a uniform motion state, t2 is the third time value, and t3 is the fourth time value. The waveform before t2 of the waveform measured by the oscilloscope corresponds to the uniform speed running state of the turntable, the waveform after t3 corresponds to the state where the turntable reaches zero speed, and the waveform between t2 and t3 corresponds to the turntable stopping acceleration running state;

[0081] As one of the optional implementations of this embodiment, the voltage amplitude U1 of the oscilloscope corresponding to the third time value t2 should satisfy |U1-E|≤100mV;

[0082] The voltage amplitude U2 of the oscilloscope corresponding to the fourth time value t3 should satisfy |U2|≤100mV;

[0083] The stop acceleration measurement value a2' should satisfy a2'-a2≥0, where a2 is the stop acceleration setting value set by the servo drive system of the turntable.

[0084] It should be noted that when using the turntable angular acceleration testing method provided in this embodiment for testing, the following matters should be noted:

[0085] During the inspection, the waveform measured by the oscilloscope should be smooth, without abnormal jumps or other abnormalities;

[0086] During the test, it is necessary to set appropriate target speed and acceleration values;

[0087] During the inspection, the start acceleration and stop deceleration can be tested step by step;

[0088] The above description is that the measured axis of the turntable works in rate mode, which is suitable for the situation that the measured axis can rotate continuously for multiple circles. If the measured axis has a limited rotation angle, the measured axis can be set to work in position mode. The oscilloscope can complete the measurement of the start acceleration and stop acceleration curves at one time. At this time, it is necessary to pre-calculate the running distance to ensure that the measured axis reaches the target speed within the limit range and stops after maintaining it for a period of time.

[0089] This method requires the turntable system to have a rate value analog output interface, and the output voltage range is generally required to be -10 to 10V;

[0090] This method requires that the turntable system has a rate value / analog voltage output ratio setting function.

[0091] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for testing the angular acceleration of a turntable, characterized in that: The following steps are involved: The output end of the angular velocity digital-to-analog converter of the turntable is electrically connected to an oscilloscope; Debugging and calibrating the angular velocity digital-to-analog converter and the oscilloscope so that the actual voltage value displayed on the oscilloscope is within the deviation range of the theoretical voltage value, wherein the theoretical voltage value is calculated according to the preset target speed of the turntable; After the debugging and calibration is completed, the turntable is driven to rotate so that the turntable changes from a static state to a uniform rotation state, and the voltage waveform of the startup acceleration stage displayed on the oscilloscope is recorded during the process; Stopping the rotation so that the turntable changes from a uniform rotation state to a stationary state, and recording a voltage waveform of the stop acceleration stage displayed on an oscilloscope during the process; The start-up acceleration measurement value of the turntable is calculated according to the voltage waveform in the start-up acceleration stage, and the stop-acceleration measurement value of the turntable is calculated according to the voltage waveform in the stop-acceleration stage.

2. The method for testing the angular acceleration of a turntable according to claim 1, characterized in that: The debugging and calibration of the angular velocity digital-to-analog converter and the oscilloscope so that the actual voltage value displayed on the oscilloscope is within the deviation range of the theoretical voltage value includes the following steps: Set the scale value of the angular velocity digital-to-analog converter, drive the turntable to rotate at a preset target rate, and observe whether the actual voltage value on the oscilloscope is within the deviation range of the theoretical voltage. If the actual voltage value is within the deviation range of the theoretical voltage value, proceed to the next step. If the actual voltage value is outside the deviation range of the theoretical voltage value, debug and calibrate the angular velocity digital-to-analog converter and the oscilloscope until the actual voltage value is within the deviation range of the theoretical voltage value and then proceed to the next step.

3. The method for testing the angular acceleration of a turntable according to claim 1, characterized in that: The deviation range is ±100mV.

4. The method for testing the angular acceleration of a turntable according to claim 1, characterized in that: The theoretical voltage value is calculated according to the following formula: E=ω / λ, where E is the theoretical voltage value, ω is the preset target rate of the turntable, λ is the scale value of the angular velocity digital-to-analog converter, and the value of λ is 50% to 90% of the maximum conversion voltage that can convert the E value into the angular velocity digital-to-analog converter.

5. The method for testing the angular acceleration of a turntable according to claim 1, characterized in that: The step of calculating the start-up acceleration measurement value of the turntable according to the voltage waveform in the start-up acceleration stage comprises the following steps: Observe the voltage waveform in the startup acceleration stage, and determine a first inflection point and a second inflection point on the waveform curve, wherein the first inflection point is an inflection point where the voltage amplitude changes from zero rate to the startup segment, and the second inflection point is an inflection point where the voltage amplitude reaches a constant value from the startup segment; Obtaining a first time value corresponding to the first inflection point and a second time value corresponding to the second inflection point; The starting acceleration measurement value a1' is calculated according to the formula a1'=ω / (t1-t0), wherein ω is the preset instruction rate when the turntable is in a uniform motion state, t1 is the second time value, and t0 is the first time value.

6. The method for testing the angular acceleration of a turntable according to claim 5, characterized in that: The voltage amplitude U0 of the oscilloscope corresponding to the first time value t0 should satisfy |U0|≤100mV; The voltage amplitude U1 of the oscilloscope corresponding to the second time value t1 should satisfy |U1-E|≤100mV, where E is the theoretical voltage value; The starting acceleration measurement value a1' should satisfy a1'-a1≥0, where a1 is the starting acceleration setting value set by the servo drive system of the turntable.

7. The method for testing the angular acceleration of a turntable according to claim 1, characterized in that: The step of calculating the stop acceleration measurement value of the turntable according to the voltage waveform in the stop acceleration stage comprises the following steps: Observe the voltage waveform in the acceleration stop stage to determine a third inflection point and a fourth inflection point on the waveform curve, wherein the third inflection point is an inflection point where the voltage amplitude changes from a constant value to a stop section, and the fourth inflection point is an inflection point where the voltage amplitude changes from the stop section to a zero rate; Obtaining a third time value corresponding to the third inflection point and a fourth time value corresponding to the fourth inflection point; According to the formula a2'=ω / (t3-t2), the stop acceleration measurement value a2' is calculated, wherein ω is the preset instruction rate when the turntable is in a uniform motion state, t2 is the third time value, and t3 is the fourth time value.

8. The method for testing the angular acceleration of a turntable according to claim 1, characterized in that: The voltage amplitude U1 of the oscilloscope corresponding to the third time value t2 should satisfy |U1-E|≤100mV; The voltage amplitude U2 of the oscilloscope corresponding to the fourth time value t3 should satisfy |U2|≤100mV; The stop acceleration measurement value a2' should satisfy a2'-a2≥0, where a2 is the stop acceleration setting value set by the servo drive system of the turntable.

9. The method for testing the angular acceleration of a turntable according to claim 1, characterized in that: The following steps are also included: Compare the start acceleration measurement value and the stop acceleration measurement value with the corresponding indicator requirement value: If both the start acceleration measurement value and the stop acceleration measurement value are greater than the corresponding index requirement values, the inspection is qualified; If at least one of the start acceleration measurement value and the stop acceleration measurement value is smaller than the corresponding index requirement value, the inspection fails.

10. The method for testing the angular acceleration of a turntable according to claim 1, characterized in that: The following steps are also included: Issue a test result report: The test result report records the voltage waveform of the start acceleration stage displayed on the oscilloscope, and the voltage waveform of the stop acceleration stage displayed on the oscilloscope.

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