Angular measurement accuracy automatic detection device and method for shafting of rotary variable displacement unit

Abstract

This invention provides an automatic detection device and method for the angular accuracy of a resolver shaft system. The device's fixture includes a three-layer platform. A servo motor drive controller is mounted on the first layer platform, a servo motor is fixedly mounted on the second layer platform, and the shaft system to be measured is detachably mounted on the third layer platform. A coupling connects the rotor of the shaft system to be measured to the rotor of the servo motor. An angle measuring fixture is mounted on the azimuth or pitch axis end of the rotor of the shaft system to be measured. A polyhedron is fixedly mounted on the angle measuring fixture and connected to an angle measuring element. An autocollimator is fixedly mounted on a mounting bracket, flush with the polyhedron. The industrial control computer outputs a rotation signal to drive the resolver shaft system to rotate. After each rotation, the autocollimator detects the corresponding face of the polyhedron and collects the first angle measurement data of all faces output by the angle measuring element and the second angle measurement data of all faces output by the autocollimator. The angular accuracy of the shaft system is then calculated, achieving automated detection with accurate and reliable results.

Description

Technical Field

[0001] This invention belongs to the field of measurement technology, and specifically relates to an automatic detection device and method for the angular accuracy of a resolver shaft system. Background Technology

[0002] Shaft system angular measurement accuracy refers to the difference between the angle displayed value and the actual measured value of the angular position measurement system (hereinafter referred to as the angular measurement system) during the rotation of the shaft system.

[0003] In related technologies, the method for testing the angular accuracy of resolver shaft systems usually adopts a comprehensive test method. However, the rotation of resolver shaft systems, the recording of test data, and the calculation of angular accuracy all require manual operation, resulting in a low degree of automation. Summary of the Invention

[0004] In a first aspect, embodiments of the present invention provide an automatic detection device for the angular accuracy of a resolver shaft system, comprising: a fixed fixture, a servo motor drive controller, a servo motor, a coupling, an angular measuring fixture, a polyhedron, an angular measuring element, an autocollimator mounting bracket, an autocollimator, and an industrial control computer; the fixed fixture comprises a three-layer platform, the servo motor drive controller is mounted on the first layer platform, the servo motor is fixedly mounted on the second layer platform, the servo motor drive controller is connected to the servo motor, and the resolver shaft system to be tested is detachably mounted on the third layer platform; the coupling is used to connect the rotor of the resolver shaft system to the rotor of the servo motor; the angular measuring fixture is mounted on the azimuth or pitch shaft end of the rotor of the resolver shaft system, and a fixed mounting bracket is mounted on the angular measuring fixture. The polyhedron is mounted, and the angle measuring fixture is connected to the angle measuring element. The autocollimator is fixedly mounted on the autocollimator mounting bracket, and the autocollimator is flush with the polyhedron. The industrial control computer is connected to the servo motor drive controller, the angle measuring element, and the autocollimator. The industrial control computer outputs rotation signals to the servo motor drive controller to control the servo motor to drive the resolver shaft system to rotate. After each rotation, the autocollimator detects the corresponding face of the polyhedron. The industrial control computer collects the first angle measurement data of the corresponding face output by the angle measuring element and the second angle measurement data of the corresponding face output by the autocollimator, and calculates the shaft system angle measurement accuracy based on the first and second angle measurement data corresponding to all faces of the polyhedron.

[0005] In some embodiments, the polyhedron is a icosahedron.

[0006] In some embodiments, the control precision of the servo motor is higher than the preset precision; the preset precision is determined based on the preset radius, the initial radius and the number of rotations of the servo motor, the preset radius refers to the maximum radius of the cross image formed by the autocollimator at the center of the field of view when detecting each face of the polyhedron, and the initial radius refers to the radius of the cross image formed by the autocollimator at the center of the field of view when detecting the first face of the polyhedron.

[0007] In some embodiments, the second platform of the fixed fixture is provided with a first circular hole, the stator of the servo motor is fixed on the second platform, and the rotor of the servo motor passes through the first circular hole; the third platform of the fixed fixture is provided with a second circular hole at a position corresponding to the first circular hole, the stator of the resolver shaft system is fixed on the third platform, and the rotor of the resolver shaft system passes through the second circular hole.

[0008] In some embodiments, the fixed fixture, the autocollimator mounting bracket, and the industrial control computer are all mounted on the optical platform.

[0009] Secondly, embodiments of the present invention provide an automatic detection method for the angular accuracy of a resolver shaft system, applied to the automatic detection device for the angular accuracy of a resolver shaft system as described in any of the first aspects. The method includes: installing the resolver shaft system to be detected onto the third-layer platform of the fixed fixture, and connecting the rotor of the resolver shaft system to the rotor of the servo motor via the coupling; installing the angular measuring fixture onto the azimuth or pitch shaft end of the rotor of the resolver shaft system, and fixing the polyhedron onto the angular measuring fixture; and longitudinally adjusting the autocollimator mounting bracket to make the autocollimator... The collimator is aligned with the polyhedron; the industrial control computer is connected to the servo motor drive controller, the angle measuring element, and the autocollimator; the industrial control computer outputs a rotation signal to the servo motor drive controller to control the servo motor to drive the resolver axis system to rotate; after each rotation, the autocollimator detects the corresponding face of the polyhedron; based on the industrial control computer collecting the first angle measurement data of the corresponding face output by the angle measuring element and the second angle measurement data of the corresponding face output by the autocollimator, the axis system angle measurement accuracy is calculated according to the first and second angle measurement data corresponding to all faces of the polyhedron.

[0010] In some embodiments, after adjusting the autocollimator mounting bracket longitudinally to align the autocollimator with the polyhedron, the method further includes: rotating the rotor of the resolver system one revolution; if the autocollimator can autocollimate when detecting each face of the polyhedron, and the tilt error between the reflected image and the cross image of each face is less than a first preset value, then the step of connecting the industrial control computer to the servo motor drive controller, the angle measuring element, and the autocollimator is executed; otherwise, the step of adjusting the autocollimator mounting bracket longitudinally is executed again.

[0011] In some embodiments, calculating the angular accuracy of the shaft system based on the first and second angular measurement data corresponding to all faces of the polyhedron includes: determining the angular accuracy of the angular measurement system corresponding to the angular measuring element on the corresponding face based on the first and second angular measurement data corresponding to the corresponding face after each rotation; calculating the root mean square value of the angular accuracy of all faces of the polyhedron to obtain the angular accuracy of the shaft system.

[0012] In some embodiments, when the autocollimator detects that the calibration value of the current face of the polyhedron relative to the first face is not less than a preset ratio value that meets the preset axis angular measurement accuracy requirement, the formula for calculating the angular measurement accuracy of the angular measurement system on the corresponding face is as follows:

[0013] e i =a i -a1-b i +b1-θ×(i-1)-Δ

[0014] When the autocollimator detects that the calibration value of the current face of the polyhedron relative to the first face is less than the preset ratio value required for the angle measurement accuracy of the preset axis system, the formula for calculating the angle measurement accuracy of the angle measurement system on the corresponding face is as follows:

[0015] e i =a i -a1-b i +b1-θ×(i-1)

[0016] The formula for calculating the angular measurement accuracy of the shaft system is as follows:

[0017]

[0018] Among them, e i a represents the angular measurement accuracy of the angle measuring system on the i-th face. i b represents the first angle measurement data corresponding to the i-th face. i The second angle measurement data corresponding to the i-th face is represented by θ, which represents the standard value of the angle between two adjacent faces of the polyhedron, Δ represents the calibration value of the current face relative to the first face, N represents the total number of faces of the polyhedron, and RMS represents the angle measurement accuracy of the axis system.

[0019] Thirdly, embodiments of the present invention also provide an automatic detection method for the angular accuracy of a resolver shaft system, applied to an industrial control computer in an automatic detection device for the angular accuracy of a resolver shaft system as described in any of the first aspects. The method includes: outputting a rotation signal to the servo motor drive controller to control the servo motor to drive the resolver shaft system to rotate; after each rotation, the autocollimator detects the corresponding face of the polyhedron; collecting first angular measurement data of the corresponding face output by the angular measuring element and second angular measurement data of the corresponding face output by the autocollimator; and calculating the angular accuracy of the shaft system based on the first and second angular measurement data corresponding to all faces of the polyhedron.

[0020] The beneficial effects of this invention are as follows:

[0021] As can be seen from the above scheme, the embodiments of the present invention provide an automatic detection device and method for the angular accuracy of a resolver shaft system. The device installs the shaft system to be tested on a fixed fixture, wherein a polyhedron is mounted on the top of the rotor of the shaft system to be tested through the angular measuring fixture, and the angular measuring fixture is connected to the angular measuring element. Under the control of the industrial control computer, the servo motor rotates and drives the shaft system to be tested to rotate synchronously, so that the autocollimator can detect each face of the polyhedron. In this process, the industrial control computer automatically collects the angular measurement data of each face measured by the angular measuring system and the angular measurement data of each face measured by the autocollimator, and automatically calculates the angular accuracy of the resolver shaft system based on the angular measurement data of all faces. The entire detection process is fully automated, reducing human error and ensuring accurate and reliable detection results. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of an automatic detection device for the angular accuracy of a resolver shaft system provided in an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of a fixing fixture provided in an embodiment of the present invention;

[0024] Figure 3 This is a flowchart illustrating an automatic detection method for the angular accuracy of a resolver shaft system provided in an embodiment of the present invention.

[0025] Figure 4 A flowchart illustrating another automatic detection method for the angular accuracy of a resolver shaft system provided in an embodiment of the present invention;

[0026] Figure 5 This is a flowchart illustrating another automatic detection method for the angular accuracy of a resolver shaft system provided in an embodiment of the present invention.

[0027] Figure 6 This is a schematic diagram of the structure of an industrial control computer provided in an embodiment of the present invention;

[0028] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention;

[0029] 1-Fixed fixture, 2-Servo motor drive controller, 3-Coupling, 4-Angle measuring fixture, 5-Polyhedron, 6-Angle measuring element, 7-Autocollimator mounting bracket, 8-Autocollimator, 9-Industrial computer, 10-Servo motor rotor, 11-Servo motor stator, 12-Resolver shaft system rotor, 13-Resolver shaft system stator. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this invention, not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0031] Figure 1 This is a schematic diagram of the structure of an automatic detection device for the angular accuracy of a resolver shaft system provided in an embodiment of the present invention, as shown below. Figure 1 As shown, the device includes:

[0032] Fixed fixture 1, servo motor drive controller 2, servo motor, coupling 3, angle measuring fixture 4, polyhedron 5, angle measuring element 6, autocollimator mounting bracket 7, autocollimator 8 and industrial computer 9;

[0033] The fixed fixture 1 includes a three-layer platform. The servo motor drive controller 2 is installed on the first layer platform. The servo motor is fixedly installed on the second layer platform, and the servo motor drive controller 2 is connected to the servo motor. The resolver shaft system to be tested is detachably installed on the third layer platform. The coupling 3 is used to connect the rotor 12 of the resolver shaft system to the rotor 10 of the servo motor. An angle measuring fixture 4 is installed on the azimuth or pitch axis end of the rotor 12 of the resolver shaft system. The polyhedron 5 is fixedly installed on the angle measuring fixture 4, and the angle measuring fixture 4 is connected to the angle measuring element 6. The autocollimator 8 is fixedly installed on the autocollimator mounting bracket 7. The autocollimator 8 is flush with the polyhedron 5; the industrial computer 9 is connected to the servo motor drive controller 2, the angle measuring element 6, and the autocollimator 8 respectively; the industrial computer 9 is used to output rotation signals to the servo motor drive controller 2 to control the servo motor to drive the resolver shaft system to rotate, and after each rotation, the autocollimator 8 detects the corresponding face of the polyhedron 5; the industrial computer 9 is used to collect the first angle measurement data of the corresponding face output by the angle measuring element 6 and the second angle measurement data of the corresponding face output by the autocollimator 8, and calculate the shaft system angle measurement accuracy based on the first angle measurement data and the second angle measurement data corresponding to all faces of the polyhedron 5.

[0034] Specifically, a servo motor includes a servo motor stator and a servo motor rotor, and the rotating shaft system to be tested (hereinafter referred to as the shaft under test) includes the shaft under test stator and the shaft under test rotor. For example... Figure 2 This is a schematic diagram of a fixing fixture provided in an embodiment of the present invention, as shown below. Figure 1 and 2As shown, the fixed fixture 1 has a three-layer platform structure. The first layer platform can be used to place or fix the servo motor drive controller 2, DC switching power supply, etc. The second layer platform is fixedly installed with the servo motor. The servo motor drive controller 2 is connected to the servo motor and can be used to forward various control signals sent by the industrial control computer 9. The third layer platform can be detachably installed with the resolver shaft system to be tested (hereinafter referred to as the shaft system under test). The rotor of the shaft system under test is connected to the rotor of the servo motor through the coupling 3, so that when the servo motor rotates, it drives the rotor of the shaft system under test to rotate synchronously.

[0035] In some embodiments, the second platform of the fixing fixture 1 is provided with a first circular hole, the stator 11 of the servo motor is fixed on the second platform, and the rotor 10 of the servo motor passes through the first circular hole; the third platform of the fixing fixture 1 is provided with a second circular hole at a position corresponding to the first circular hole, the stator 13 of the resolver system is fixed on the third platform, and the rotor 12 of the resolver system passes through the second circular hole.

[0036] Continue to refer to Figure 1 , 2 A circular hole with a diameter slightly larger than the diameter of the protruding part on the surface of the servo motor is reserved at the center of the second platform of the fixed fixture 1. Four through holes are drilled according to the size and position of the four holes on the servo motor stator. The servo motor stator is fixed on the second platform with screws and nuts to ensure that the servo electronic rotor is basically coaxial with the central circular hole of the second platform. A circular hole with a diameter of 300mm is also reserved at the center of the third platform of the fixed fixture 1 to adapt to the shaft system to be tested with a rotor diameter of less than 300mm. The inner diameter adjustment plate is fixed on the third platform with a threaded connection. The stator of the shaft system to be tested is fixed together with the inner diameter adjustment plate with screws and nuts. The position of the inner diameter adjustment plate can be adjusted by loosening the screws on the inner diameter adjustment plate to adjust the axis of the shaft system to be tested to be coaxial with the servo motor rotor. At the same time, it can adapt to shaft systems of different sizes.

[0037] An angle measuring fixture 4 is installed at the azimuth or pitch end of the rotor of the shaft system to be tested. A polyhedron 5 is fixedly installed on the angle measuring fixture 4. The horizontal direction or pitch angle of the polyhedron 5 can be adjusted by the angle measuring fixture 4. In some embodiments, the polyhedron 5 is a icosahedron.

[0038] The angle measuring fixture 4 is also connected to the angle measuring element 6. The angle measuring element 6 can obtain the angle of the polyhedron 5 by measuring the angle of the angle measuring fixture 4, that is, the angle measuring data measured by the angle measuring system. The angle measuring element 6 is connected to the industrial control computer 9, which can upload the angle measuring data measured by the angle measuring system to the industrial control computer 9.

[0039] The autocollimator 8 is fixedly installed on the platform of the autocollimator mounting bracket 7. The bracket can be adjusted up and down to make the autocollimator 8 basically aligned with the position of the polyhedron 5, so that the autocollimator 8 can detect each face of the polyhedron 5.

[0040] The industrial control computer 9 is connected to the servo motor drive controller 2 via a control cable. The industrial control computer 9 outputs a rotation signal to the servo motor drive controller 2, which then drives the servo motor to rotate, causing the rotor of the shaft system under test to rotate synchronously. After each rotation, the autocollimator 8 can detect a certain face of the polyhedron 5. Taking a 23-sided polyhedron as an example, after the servo motor rotates 23 times, the autocollimator 8 can detect all 23 faces of the polyhedron 5. At the same time, the data acquisition port of the industrial control computer 9 is connected to the data output port of the angle measuring system corresponding to the angle measuring element 6 and the detection data output port of the autocollimator 8, respectively, to collect the angle measurement data of each face measured by the angle measuring system and the angle measurement data of each face measured by the autocollimator 8. Finally, the angle measurement accuracy of the shaft system is calculated based on the angle measurement data of all faces.

[0041] In some embodiments, the control precision of the servo motor is higher than the preset precision; the preset precision is determined based on the preset radius, the initial radius and the number of rotations of the servo motor, the preset radius refers to the maximum radius of the cross image formed by the autocollimator 8 when detecting each face of the polyhedron 5 at the center of the field of view, and the initial radius refers to the radius of the cross image formed by the autocollimator 8 when detecting the first face of the polyhedron 5 at the center of the field of view.

[0042] Specifically, the preset radius is a pre-set value used to indicate the maximum radius of the crosshair image formed by the autocollimator 8 when detecting each face of the polyhedron 5 at the center of the field of view; the initial radius is the radius of the crosshair image formed by the autocollimator 8 at the center of the field of view during the initial detection, i.e., when detecting the first face of the polyhedron 5; the number of rotations of the servo motor is equal to the total number of faces of the polyhedron 5. Taking a 23-sided polyhedron as an example, for instance, if the operator pre-sets that the autocollimator 8's autocollimation crosshair image for each face of the 23-sided polyhedron is preferably within a circle with a radius of 600″ at the center of the field of view, and determines that when the autocollimator 8 detects the first face of the polyhedron 5, its autocollimation crosshair image is within a 200″ circle at the center of the field of view, then the control accuracy of the servo motor should be higher than 400″ / 23≈17″. Therefore, a servo motor with a rotation control accuracy higher than 17″ should be selected to drive the rotation of the axis system under test.

[0043] In some embodiments, the fixing fixture 1, the autocollimator mounting bracket 7, and the industrial computer 9 are all mounted on the optical platform. Specifically, integrating the fixing fixture 1, the autocollimator mounting bracket 7, and the industrial computer 9 onto a single optical platform can improve the stability of each component, reduce the need for position adjustments and calibrations between components, and facilitate operation by staff.

[0044] The automatic angular accuracy detection device for resolver shaft systems provided in this embodiment installs the shaft system to be tested on a fixed fixture. The top of the rotor of the shaft system to be tested is mounted on a polyhedron through the angular measuring fixture, and the angular measuring fixture is connected to the angular measuring element. Under the control of the industrial control computer, the servo motor rotates and drives the shaft system to be tested to rotate synchronously, so that the autocollimator can detect each face of the polyhedron. In this process, the industrial control computer automatically collects the angular measurement data of each face measured by the angular measuring system and the angular measurement data of each face measured by the autocollimator, and automatically calculates the angular accuracy of the resolver shaft system based on the angular measurement data of all faces. The entire detection process is fully automated, reducing human error and ensuring accurate and reliable detection results.

[0045] Figure 3 This is a flowchart illustrating an automatic detection method for the angular accuracy of a resolver shaft system provided in an embodiment of the present invention, applicable to, for example... Figure 1 The automatic detection device for the angular accuracy of the resolver shaft system shown is as follows: Figure 3 As shown, the automatic detection method for the angular accuracy of the resolver system includes:

[0046] Step S301: Install the resolver shaft system to be tested onto the third-layer platform of the fixed fixture, and connect the rotor of the resolver shaft system to the rotor of the servo motor through the coupling.

[0047] Specifically, the stator of the shaft system under test is fixedly mounted on the third-layer platform, and the rotor of the shaft system under test is connected to the rotor of the servo motor via a coupling, ensuring that the servo motor rotor can drive the rotor of the shaft system under test to rotate synchronously. It should be noted that the operating conditions of the shaft system under test should be kept as consistent as possible with those of the product.

[0048] Step S302: Install the angle measuring fixture onto the azimuth or pitch shaft end of the rotor of the resolver system, and fix the polyhedron onto the angle measuring fixture.

[0049] Specifically, the angle measuring fixture is installed on the azimuth or pitch axis of the rotor of the resolver system, the 23-sided polyhedron is fixed on the angle measuring fixture, the angle measuring fixture is adjusted to ensure that the axis of the 23-sided polyhedron is parallel to the rotation axis of the system to be measured, and the center of the first face of the 23-sided polyhedron is adjusted to the resolver angle value of 0±2°.

[0050] Step S303: Adjust the autocollimator mounting bracket longitudinally so that the autocollimator is flush with the polyhedron.

[0051] Specifically, the autocollimator is fixedly installed on the autocollimator mounting bracket. The bracket can be adjusted up and down to make the position of the autocollimator flush with the position of the 23-sided polyhedron and roughly aligned with the center of the first face of the 23-sided polyhedron.

[0052] In some embodiments, after step S303, the method further includes: rotating the rotor of the resolver system one revolution, and if the autocollimator can autocollimate when detecting each face of the polyhedron, and the tilt error between the reflected image and the cross image of each face is less than a first preset value, then performing the step of connecting the industrial control computer to the servo motor drive controller, the angle measuring element and the autocollimator respectively; otherwise, performing the step of longitudinally adjusting the autocollimator mounting bracket again.

[0053] Specifically, after adjusting the autocollimator to be basically aligned with the polyhedron, the rotor of the shaft system to be tested can be rotated clockwise one revolution. If it is detected that the autocollimator can autocollimate each face of the 23-faceted polyhedron within the rotation range, and the reflected image of each face is not significantly tilted relative to the cross phase, it indicates that the position of the autocollimator has been adjusted properly; otherwise, continue to adjust the support up and down.

[0054] Step S304: Connect the industrial control computer to the servo motor drive controller, the angle measuring element, and the autocollimator respectively.

[0055] Specifically, the control cable of the servo motor drive controller is connected to the industrial computer, and the data output of the angle measurement system of the shaft under test and the detection data output of the autocollimator are connected to the data acquisition port of the industrial computer.

[0056] Step S305: Based on the rotation signal output by the industrial control computer, the servo motor drive controller is sent to control the servo motor to drive the resolver shaft system to rotate. After each rotation, the autocollimator detects the corresponding face of the polyhedron.

[0057] Step S306: Based on the first angle measurement data of the corresponding surface output by the angle measuring element and the second angle measurement data of the corresponding surface output by the autocollimator, the axis system angle measurement accuracy is calculated according to the first angle measurement data and the second angle measurement data corresponding to all surfaces of the polyhedron.

[0058] Specifically, the industrial control computer is equipped with shaft system angle measurement accuracy analysis software. This software outputs rotation signals to the servo motor drive controller via an RS485 interface, thereby controlling the servo motor to drive the rotor of the measured shaft to rotate synchronously, so that the autocollimator can detect each face of the polyhedron. At the same time, the industrial control computer samples, verifies, and stores the angle measurement data of the corresponding face measured by the angle measurement system and the corresponding face measured by the autocollimator after each rotation through a serial communication protocol, until all the required sampled data is completely sampled and stored. Finally, the industrial control computer calculates the shaft system angle measurement accuracy based on the angle measurement system data and the autocollimator data of all faces.

[0059] Taking a 23-sided polyhedron as an example, the industrial control computer automatically controls the servo motor to rotate 23 times in steps of 15°39′7.8″. At the same time, the industrial control computer will collect the angle measurement data 'a' of the corresponding face measured by the angle measurement system after each rotation. i And the angular data b of the corresponding surface measured by the autocollimator. i (i represents the i-th face being detected, i = 1 to 23), finally, based on the a corresponding to these multiple faces... i and b i The system automatically calculates the angular accuracy of the shaft system and completes the test.

[0060] In some embodiments, step S306, which calculates the angular accuracy of the shaft system based on the first and second angular measurement data corresponding to all faces of the polyhedron, includes: determining the angular accuracy of the angular measurement system corresponding to the angular measuring element on the corresponding face based on the first and second angular measurement data corresponding to the corresponding face after each rotation; calculating the root mean square value of the angular accuracy of all faces of the polyhedron to obtain the angular accuracy of the shaft system.

[0061] In some embodiments, when the autocollimator detects that the calibration value of the current face of the polyhedron relative to the first face is not less than a preset ratio value that meets the preset axis angular measurement accuracy requirement, the formula for calculating the angular measurement accuracy of the angular measurement system on the corresponding face is as follows:

[0062] e i =a i -a1-b i +b1-θ×(i-1)-Δ (1)

[0063] When the autocollimator detects that the calibration value of the current face of the polyhedron relative to the first face is less than the preset ratio value required for the angle measurement accuracy of the preset axis system, the formula for calculating the angle measurement accuracy of the angle measurement system on the corresponding face is as follows:

[0064] e i =a i -a1-b i +b1-θ×(i-1) (2)

[0065] The formula for calculating the angular measurement accuracy of the shaft system is as follows:

[0066]

[0067] Among them, e i a represents the angular measurement accuracy of the angle measuring system on the i-th face. i b represents the first angle measurement data corresponding to the i-th face. iThis represents the second angle measurement data corresponding to the i-th face, θ represents the standard value of the angle between two adjacent faces of the polyhedron, Δ represents the calibration value of the current face relative to the first face, N represents the total number of faces of the polyhedron, and RMS represents the angle measurement accuracy of the axis system. It should be noted that e1 is directly determined based on a1 and b1, e i i≥2 is determined according to formula (1) or formula (2).

[0068] Taking a 23-sided polyhedron as an example, substituting θ = 56347.83 into formula (1) or (2), we can calculate e2, e3, ..., e 23 Substitute N=23 into formula (3) to calculate the angular accuracy of the shaft system.

[0069] Optionally, after step S306, the method further includes: saving the first angle measurement data and the second angle measurement data corresponding to all faces of the polyhedron, as well as the axis system angle measurement accuracy, to a target file. Specifically, when the operator needs to output an inspection report, the angle measurement data of each face measured by the angle measurement system, the angle measurement data of each face measured by the autocollimator, and the calculated axis system angle measurement accuracy can be saved to a file, and the file can be named by the industrial control computer, with the output file format being .xlsx.

[0070] The automatic detection method for shaft system angular accuracy of resolver shaft systems provided in this embodiment involves installing the shaft system to be measured, installing an angle measuring fixture and a polyhedron on an automatic detection device for shaft system angular accuracy of resolver shaft systems, adjusting the autocollimator to align with the polyhedron, wiring the industrial control computer, and finally rotating the shaft system to be measured under the control of the industrial control computer. The shaft system angular accuracy is calculated by collecting angle measuring system data and autocollimator data, thus achieving automated detection. This effectively reduces the possibility of errors in detection data caused by human operation, effectively improves the detection efficiency of shaft system angular accuracy, and provides accurate and reliable detection results.

[0071] Figure 4 This is a flowchart illustrating another automatic detection method for the angular accuracy of a resolver shaft system provided in an embodiment of the present invention. Now, in conjunction with... Figure 4 Taking the angular accuracy detection of a certain type of azimuth resolver axis system as an example, the present invention will be described in detail.

[0072] Step 1: Install the 23-sided polyhedron.

[0073] Specifically, the 23-sided polyhedron is fixed on the angle measuring fixture, the angle measuring fixture is installed on the azimuth axis end, the fixture is adjusted to ensure that the axis of the 23-sided polyhedron is parallel to the rotation axis of the axis system to be measured, and the center of the first face of the 23-sided polyhedron is adjusted to the rotation angle value of 0±2°.

[0074] Step 2: Install the shaft system to be tested.

[0075] The shaft system under test is securely mounted on the optical platform using a fixing fixture. The rotor of the shaft system under test is connected to the rotor of the servo motor through a coupling, ensuring that the rotor of the servo motor can drive the rotor of the shaft system under test to rotate synchronously.

[0076] Step 3: Adjust the position of the autocollimator and the 23-sided polyhedron.

[0077] The autocollimator is placed on the mounting bracket. The position of the autocollimator is adjusted to be aligned with the position of the 23-sided polyhedron by adjusting the bracket up and down, and roughly aligned with the center of the first face of the 23-sided polyhedron. The 23-sided polyhedron is adjusted, and the rotor of the axis to be measured is rotated clockwise one revolution to ensure that the autocollimator can autocollimate each face of the 23-sided polyhedron within the rotation range, and that the reflected image is not significantly tilted relative to the crosshairs.

[0078] Step 4: Connect the industrial control computer.

[0079] Connect the data output of the angle measurement system of the shaft to be measured and the detection data output of the autocollimator to the data acquisition port of the industrial control computer, and connect the control cable of the servo motor drive control device to the industrial control computer.

[0080] Step 5: Setting the hardware parameters of the angle measurement module.

[0081] For angle measuring elements and autocollimators, open the software "FB930HR Series Serial Port Parameter Setting Software" and set the coarse and fine machining ratio to the number of pole pairs in the product specification of the shaft system under test in the parameter settings.

[0082] Step 6: Open the angle measurement software and fill in the axis system parameters.

[0083] For shaft system angle measurement accuracy software on industrial control computers, such as "Multiple Polar Resolver Angle Measurement Software", open the software, in the parameter setting area, first click "Query Serial Port", then click "Open Serial Port", and enter the number of polar pairs of the resolver shaft system in the box after "Set Number of Polar Pairs".

[0084] Step 7: Perform shaft system angle measurement accuracy test.

[0085] Adjust the position of the autocollimator so that the center of the autocollimation crosshair on the first face of the 23-sided polyhedron appears within the 200″ circle on the autocollimator display screen. After the autocollimator reading stabilizes, select "Automatic Mode" in the "Mode Selection" of the "Multiple Epipolar Rotation Angle Measurement Software". First, click "Configure Angle Measurement Parameters", then click "Acquire Angle". The industrial control computer collects the measurement data of the angle measurement system and the detection data of the autocollimator at this time. Then, it automatically controls the servo motor to rotate 23 times in steps of 15°39′7.8″. At the same time, the industrial control computer collects the measurement data of the angle measurement system and the detection data of the autocollimator after each rotation. The angle value output by the angle measuring element is recorded as 'a'. i The reading of the autocollimator is recorded as b. iThen click "Accuracy Calculation," and the software will automatically calculate the angular accuracy of the shaft system and complete the test.

[0086] In summary, this embodiment achieves automated detection of the angular accuracy of the resolver shaft system through an automatic detection device for shaft system angular accuracy and shaft system angular accuracy software deployed on an industrial control computer. This reduces human error and effectively improves the detection efficiency and the accuracy and reliability of the detection results.

[0087] Figure 5 This is a flowchart illustrating another automatic detection method for the angular accuracy of a resolver shaft system provided in an embodiment of the present invention, applicable to, for example... Figure 1 The industrial control computer in the automatic detection device for the angular accuracy of the resolver shaft system shown, the method includes:

[0088] Step S501: Output a rotation signal to the servo motor drive controller to control the servo motor to drive the resolver shaft system to rotate. After each rotation, the autocollimator detects the corresponding face of the polyhedron.

[0089] Step S502: Collect the first angle measurement data of the corresponding surface output by the angle measuring element and the second angle measurement data of the corresponding surface output by the autocollimator.

[0090] Step S503: Calculate the axis system angle measurement accuracy based on the first angle measurement data and the second angle measurement data corresponding to all faces of the polyhedron.

[0091] In some embodiments, step S503 includes:

[0092] Based on the first and second angle measurement data corresponding to the corresponding surface after each rotation, determine the angle measurement accuracy of the angle measurement system corresponding to the angle measurement element on the corresponding surface;

[0093] The root mean square value of the angular measurement accuracy of all faces of the polyhedron is calculated to obtain the angular measurement accuracy of the axis system.

[0094] In some embodiments, when the autocollimator detects that the calibration value of the current face of the polyhedron relative to the first face is not less than a preset ratio value that meets the preset axis angular measurement accuracy requirement, the formula for calculating the angular measurement accuracy of the angular measurement system on the corresponding face is as follows:

[0095] e i =a i -a1-b i +b1-θ×(i-1)-Δ

[0096] When the autocollimator detects that the calibration value of the current face of the polyhedron relative to the first face is less than the preset ratio value required for the angle measurement accuracy of the preset axis system, the formula for calculating the angle measurement accuracy of the angle measurement system on the corresponding face is as follows:

[0097] e i =a i -a1-b i +b1-θ×(i-1)

[0098] The formula for calculating the angular measurement accuracy of the shaft system is as follows:

[0099]

[0100] Among them, e i a represents the angular measurement accuracy of the angle measuring system on the i-th face. i b represents the first angle measurement data corresponding to the i-th face. i The second angle measurement data corresponding to the i-th face is represented by θ, which represents the standard value of the angle between two adjacent faces of the polyhedron, Δ represents the calibration value of the current face relative to the first face, N represents the total number of faces of the polyhedron, and RMS represents the angle measurement accuracy of the axis system.

[0101] In some embodiments, after step S503, the method further includes: saving the first angle measurement data and the second angle measurement data corresponding to all faces of the polyhedron, as well as the axis system angle measurement accuracy, to a target file.

[0102] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process and corresponding beneficial effects of the automatic detection method for shaft angular accuracy of resolver shaft systems applied to industrial control computers, as described above, can be found in the foregoing. Figure 3 or Figure 4 The corresponding process in the method example shown will not be repeated here.

[0103] Figure 6 This is a schematic diagram of the structure of an industrial control computer provided in an embodiment of the present invention, such as... Figure 6 As shown, the industrial control computer includes:

[0104] The signal output unit 601 is used to output a rotation signal to the servo motor drive controller to control the servo motor to drive the resolver shaft system to rotate. After each rotation, the autocollimator detects the corresponding face of the polyhedron.

[0105] The data acquisition unit 602 is used to acquire the first angle measurement data of the corresponding surface output by the angle measuring element and the second angle measurement data of the corresponding surface output by the autocollimator;

[0106] The data processing unit 603 calculates the angular accuracy of the axis system based on the first and second angular measurement data corresponding to all faces of the polyhedron.

[0107] In some embodiments, the data processing unit 603 is specifically used for:

[0108] Based on the first and second angle measurement data corresponding to the corresponding surface after each rotation, determine the angle measurement accuracy of the angle measurement system corresponding to the angle measurement element on the corresponding surface;

[0109] The root mean square value of the angular measurement accuracy of all faces of the polyhedron is calculated to obtain the angular measurement accuracy of the axis system.

[0110] In some embodiments, when the autocollimator detects that the calibration value of the current face of the polyhedron relative to the first face is not less than a preset ratio value that meets the preset axis angular measurement accuracy requirement, the formula for calculating the angular measurement accuracy of the angular measurement system on the corresponding face is as follows:

[0111] e i =a i -a1-b i +b1-θ×(i-1)-Δ

[0112] When the autocollimator detects that the calibration value of the current face of the polyhedron relative to the first face is less than the preset ratio value required for the angle measurement accuracy of the preset axis system, the formula for calculating the angle measurement accuracy of the angle measurement system on the corresponding face is as follows:

[0113] e i =a i -a1-b i +b1-θ×(i-1)

[0114] The formula for calculating the angular measurement accuracy of the shaft system is as follows:

[0115]

[0116] Among them, e i a represents the angular measurement accuracy of the angle measuring system on the i-th face. i b represents the first angle measurement data corresponding to the i-th face. i The second angle measurement data corresponding to the i-th face is represented by θ, which represents the standard value of the angle between two adjacent faces of the polyhedron, Δ represents the calibration value of the current face relative to the first face, N represents the total number of faces of the polyhedron, and RMS represents the angle measurement accuracy of the axis system.

[0117] In some embodiments, the industrial control computer further includes a data output unit 604, which is used to save the first angle measurement data and the second angle measurement data corresponding to all faces of the polyhedron, as well as the axis angle measurement accuracy, to a target file.

[0118] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the industrial control computer described above, as well as its corresponding beneficial effects, can be referred to the corresponding process in the aforementioned method examples, and will not be repeated here.

[0119] like Figure 7As shown, this embodiment of the invention provides an electronic device, including a processor 701, a communication interface 702, a memory 703, and a communication bus 704, wherein the processor 701, the communication interface 702, and the memory 703 communicate with each other via the communication bus 704.

[0120] Memory 703 is used to store computer programs;

[0121] In one embodiment of the present invention, when the processor 701 executes the program stored in the memory 703, it implements the steps of the automatic detection method for the shaft system angle measurement accuracy of the resolver shaft system provided in any of the aforementioned method embodiments.

[0122] The electronic device provided in this embodiment of the invention has a similar implementation principle and technical effect to the above embodiments, and will not be described again here.

[0123] The aforementioned memory 703 can be an electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, hard disk, or ROM. Memory 703 has storage space for program code used to perform any of the method steps described above. For example, the storage space for program code may include individual program codes for implementing the various steps in the methods described above. This program code can be read from or written to one or more computer program products. These computer program products include program code carriers such as hard disks, optical discs (CDs), memory cards, or floppy disks. Such computer program products are typically portable or fixed storage units. The storage unit may have storage segments or storage spaces arranged similarly to memory 703 in the aforementioned electronic device. The program code may be compressed, for example, in a suitable form. Typically, the storage unit includes programs for performing the method steps according to embodiments of the invention, i.e., code that can be read by a processor such as 701, which, when run by the electronic device, causes the electronic device to perform the various steps in the methods described above.

[0124] Embodiments of the present invention also provide a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the automatic detection method for the angular accuracy of a resolver system as described above.

[0125] The computer-readable storage medium may be included in the device / apparatus described in the above embodiments; or it may exist independently and not assembled into the device / apparatus. The computer-readable storage medium carries one or more programs that, when executed, implement the method according to the embodiments of the present invention.

[0126] According to embodiments of the present invention, the computer-readable storage medium may be a non-volatile computer-readable storage medium, such as including, but not limited to: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In the present invention, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0127] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0128] The above are preferred embodiments of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An automatic detection device for the angular accuracy of a resolver shaft system, characterized in that, include: Fixed fixtures, servo motor drive controllers, servo motors, couplings, angle measuring fixtures, polyhedra, angle measuring elements, autocollimator mounting brackets, autocollimators, and industrial control computers; The fixed fixture includes a three-layer platform. The servo motor drive controller is installed on the first layer platform. The servo motor is fixedly installed on the second layer platform, and the servo motor drive controller is connected to the servo motor. The resolver shaft system to be tested is detachably installed on the third layer platform. The coupling is used to connect the rotor of the resolver shaft system to the rotor of the servo motor. An angle measuring fixture is installed on the azimuth or pitch shaft end of the rotor of the resolver shaft system. The polyhedron is fixedly installed on the angle measuring fixture, and the angle measuring fixture is connected to the angle measuring element. The autocollimator is fixedly mounted on the autocollimator mounting bracket, and the autocollimator is flush with the polyhedron. The industrial control computer is connected to the servo motor drive controller, the angle measuring element, and the autocollimator, respectively. The industrial control computer is used to output rotation signals to the servo motor drive controller to control the servo motor to drive the resolver shaft system to rotate. After each rotation, the autocollimator detects the corresponding face of the polyhedron. The industrial control computer is used to collect the first angle measurement data of the corresponding face output by the angle measuring element and the second angle measurement data of the corresponding face output by the autocollimator, and calculate the axis system angle measurement accuracy based on the first angle measurement data and the second angle measurement data corresponding to all faces of the polyhedron.

2. The automatic detection device for shaft system angular accuracy of the resolver shaft system according to claim 1, characterized in that, The polyhedron is a 23-sided polyhedron.

3. The automatic detection device for shaft system angular accuracy of the resolver shaft system according to claim 1, characterized in that, The control precision of the servo motor is higher than the preset precision. The preset accuracy is determined based on the preset radius, the initial radius, and the number of rotations of the servo motor. The preset radius refers to the maximum radius of the cross image formed by the autocollimator at the center of the field of view when detecting each face of the polyhedron. The initial radius refers to the radius of the cross image formed by the autocollimator at the center of the field of view when detecting the first face of the polyhedron.

4. The automatic detection device for shaft system angular accuracy of the resolver shaft system according to claim 1, characterized in that, The second platform of the fixed fixture is provided with a first circular hole, the stator of the servo motor is fixed on the second platform, and the rotor of the servo motor passes through the first circular hole. A second circular hole is provided on the third platform of the fixed fixture at a position corresponding to the first circular hole. The stator of the resolver shaft system is fixed on the third platform, and the rotor of the resolver shaft system passes through the second circular hole.

5. The automatic detection device for shaft system angular accuracy of a resolver shaft system according to any one of claims 1-4, characterized in that, The fixed fixture, autocollimator mounting bracket, and industrial control computer are all mounted on the optical platform.

6. An automatic detection method for the angular accuracy of a resolver shaft system, characterized in that, The automatic angular accuracy detection device for shaft systems applied to the resolver shaft system as described in any one of claims 1-5, the method comprising: The resolver shaft system to be tested is installed on the third platform of the fixed fixture, and the rotor of the resolver shaft system is connected to the rotor of the servo motor through the coupling. The angle measuring fixture is installed on the azimuth or pitch axis of the rotor of the resolver system, and the polyhedron is fixedly installed on the angle measuring fixture. Adjust the autocollimator mounting bracket longitudinally to make the autocollimator flush with the polyhedron; The industrial control computer is connected to the servo motor drive controller, the angle measuring element, and the autocollimator, respectively. The industrial control computer outputs a rotation signal to the servo motor drive controller to control the servo motor to drive the resolver shaft system to rotate. After each rotation, the autocollimator detects the corresponding face of the polyhedron. Based on the first angle measurement data of the corresponding face output by the angle measuring element and the second angle measurement data of the corresponding face output by the autocollimator, the axis system angle measurement accuracy is calculated according to the first angle measurement data and the second angle measurement data corresponding to all faces of the polyhedron.

7. The automatic detection method for shaft system angular accuracy of a resolver shaft system according to claim 6, characterized in that, After adjusting the autocollimator mounting bracket longitudinally to align the autocollimator with the polyhedron, the method further includes: If the rotor of the resolver system is rotated one revolution, and the autocollimator is able to autocollimate when detecting each face of the polyhedron, and the tilt error between the reflected image and the cross image of each face is less than a first preset value, then the step of connecting the industrial control computer to the servo motor drive controller, the angle measuring element and the autocollimator is executed; otherwise, the step of longitudinally adjusting the autocollimator mounting bracket is executed again.

8. The automatic detection method for shaft system angular accuracy of a resolver shaft system according to claim 6, characterized in that, The step of calculating the angular accuracy of the axis system based on the first and second angular measurement data corresponding to all faces of the polyhedron includes: Based on the first and second angle measurement data corresponding to the corresponding surface after each rotation, determine the angle measurement accuracy of the angle measurement system corresponding to the angle measurement element on the corresponding surface; The root mean square value of the angular measurement accuracy of all faces of the polyhedron is calculated to obtain the angular measurement accuracy of the axis system.

9. The automatic detection method for shaft system angular accuracy of a resolver shaft system according to claim 8, characterized in that, When the autocollimator detects that the calibration value of the current face of the polyhedron relative to the first face is not less than the preset ratio value required by the preset axis angular measurement accuracy, the formula for calculating the angular measurement accuracy of the angular measurement system on the corresponding face is as follows: e i =a i -a1-b i +b1-θ×(i-1)-Δ When the autocollimator detects that the calibration value of the current face of the polyhedron relative to the first face is less than the preset ratio value required for the angle measurement accuracy of the preset axis system, the formula for calculating the angle measurement accuracy of the angle measurement system on the corresponding face is as follows: e i =a i -a1-b i +b1-θ×(i-1) The formula for calculating the angular measurement accuracy of the shaft system is as follows: Among them, e i a represents the angular measurement accuracy of the angle measuring system on the i-th face. i b represents the first angle measurement data corresponding to the i-th face. i The second angle measurement data corresponding to the i-th face is represented by θ, which represents the standard value of the angle between two adjacent faces of the polyhedron, Δ represents the calibration value of the current face relative to the first face, N represents the total number of faces of the polyhedron, and RMS represents the angle measurement accuracy of the axis system.

10. An automatic detection method for the angular accuracy of a resolver shaft system, characterized in that, The industrial control computer used in the automatic detection device for shaft system angle measurement accuracy of the resolver shaft system as described in any one of claims 1-5, the method comprising: The rotation signal is output to the servo motor drive controller to control the servo motor to drive the resolver shaft system to rotate. After each rotation, the autocollimator detects the corresponding face of the polyhedron. Collect the first angle measurement data of the corresponding surface output by the angle measuring element and the second angle measurement data of the corresponding surface output by the autocollimator; The angular accuracy of the axis system is calculated based on the first and second angular measurement data corresponding to all faces of the polyhedron.

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