Angle measurement method and system for improving output signal of shaft angle simulator to be zero

Abstract

The invention belongs to the field of angle calibration and measurement, and discloses an angle measurement method and system for improving the output signal of an axial angle simulator to be zero, and the method comprises the following steps: measuring a sinusoidal signal # imgabs 1 # and a cosine signal # imgabs 2 # output by the axial angle simulator when the nominal value is # imgabs 0 # + 45 degrees; according to the sinusoidal signal # imgabs3 # and the cosine signal # imgabs4 #, a sinusoidal signal voltage # imgabs5 #, a cosine signal voltage # imgabs6 # and a nominal value # imgabs7 # are calculated; according to the sine signal voltage # imgabs8 # and the cosine signal voltage # imgabs9 #, an actual measurement value # imgabs10 # is calculated; according to the method, the nominal value # imgabs12 # is subtracted from the actual measurement value # imgabs11 # to calculate the angle measurement error # imgabs13 #, error compensation is introduced, the measurement error of the zero-value voltage is eliminated, the angle measurement accuracy near the sine or cosine signal zero-value point is ensured, and the overall accuracy of angle calibration measurement of the shaft angle simulator is remarkably improved.

Description

Technical Field

[0001] The invention belongs to the technical field of angle calibration measurement, and relates to an angle measurement method and system for improving the angle measurement of a shaft angle simulator output signal to zero. Background Art

[0002] In many fields of rapid development of modern science and technology, the axis angle simulator plays a vital role. It provides an indispensable angle benchmark for many key systems. In the inertial navigation system, precise angle signals guide the navigation direction of aircraft, ships and other vehicles in the vast sky or ocean, ensuring that they move forward steadily along the predetermined route and maintain the correct trajectory with precise angle navigation. For the servo system, the standard angle output by the axis angle simulator is the key basis for controlling the precise rotation of the motor, allowing mechanical arms, gimbals and other equipment to accurately perform various complex actions. Whether it is the grasping and assembly of fine parts on the industrial production line, or the flexible adjustment of the shooting angle of surveillance cameras, it is inseparable from its assistance; in the field of radar angle control, the axis angle simulator is the core component for controlling the radar scanning direction and angle, ensuring that the radar can detect targets in an all-round and high-precision manner, and laying a solid information foundation for many important matters such as national defense security and aviation control.

[0003] However, the current calibration and measurement of the angle of the shaft angle simulator is faced with a series of problems that need to be overcome. At this stage, the mainstream calibration and measurement methods mainly rely on angle position indicators based on photoelectric coding technology, and standard devices consisting of inductive voltage dividers and phase angle voltmeters. Photoelectric coding technology uses its unique coding rules to convert angle information into digital codes to achieve angle measurement. The inductive voltage divider uses the principle of electromagnetic induction to finely distribute the voltage, and combines the phase angle voltmeter to accurately measure the phase angle, thereby calculating the angle value. Although these two methods meet some measurement needs to a certain extent, both use angle position indicators based on photoelectric coding technology, or standard devices consisting of inductive voltage dividers and phase angle voltmeters, with a measurement accuracy of 0.0015°. When faced with the increasingly stringent accuracy requirements of shaft angle simulators, they seem to be somewhat powerless.

[0004] At present, the angle output range of the shaft angle simulator is generally set between 0° and 360°. In this seemingly conventional range, the accuracy requirement has been raised to a high standard of less than 0.01°. When the traditional measurement method of measuring analog signals to calculate angles is used, the angle measurement error is large at those key special angles, namely 0°, 90°, 180°, 270°, and 360°, due to the influence of the zero-value voltage measurement error. Using a high-performance AC digital voltmeter 16-bit ADC, the measurement error at 0°, 90°, 180°, 270°, and 360° is greater than 0.02°, which is far beyond the expected accuracy range of the shaft angle simulator and cannot meet its demanding angle calibration requirements. Summary of the Invention

[0005] Aiming at the deficiencies of the existing technology, the present invention aims to provide an angle measurement method and system for improving the output signal of the shaft angle simulator to zero.

[0006] To achieve the above object, the present invention adopts the following technical solutions: The present invention provides an angle measurement method for improving the output signal of the shaft angle simulator to zero, including the following steps: measuring the sine signal output by the shaft angle simulator when the nominal value is +45° and the cosine signal ; calculating the sine signal voltage according to the sine signal and the cosine signal ; calculating the nominal value ; calculating the actual measured value according to the sine signal voltage and the cosine signal voltage ; subtracting the nominal value from the actual measured value to calculate the angle measurement error .

[0007] Furthermore, the calculating of the sine signal voltage according to the sine signal and the cosine signal includes:

[0008] wherein, is the sine signal output by the shaft angle simulator when the nominal value is +45°, is the noise signal when the AC digital voltmeter measures the voltage.

[0009] Furthermore, the calculating of the cosine signal voltage according to the sine signal and the cosine signal includes:

[0010] wherein, is the cosine signal output by the shaft angle simulator when the nominal value is +45°, is the noise signal when the AC digital voltmeter measures the voltage.

[0011] Furthermore, the calculating of the actual measured value according to the sine signal , calculate the nominal value , including:

[0012]

[0013] Among them, is the sine signal output by the shaft angle simulator when the nominal value is , is the cosine signal output by the shaft angle simulator when the nominal value is , is the amplitude of the excitation signal, is the angular frequency of the excitation signal, is the time, is the nominal value.

[0014] Furthermore, the nominal value is:

[0015] Among them, is the sine signal output by the shaft angle simulator when the nominal value is +45°, is the cosine signal output by the shaft angle simulator when the nominal value is +45°.

[0016] Furthermore, the calculation of the actual measured value according to the sine signal voltage and the cosine signal voltage includes:

[0017] Among them, is the sine signal voltage measured by an AC digital voltmeter when the nominal value is +45°, is the cosine signal voltage measured by an AC digital voltmeter when the nominal value is +45°.

[0018] Furthermore, the calculation of the angle measurement error by subtracting the nominal value from the actual measured value includes:

[0019] Among them, is the sine signal output by the shaft angle simulator when the nominal value is +45°, is the cosine signal output by the shaft angle simulator when the nominal value is When it is +45°, the cosine signal output by the shaft angle simulator, is the noise signal when the AC digital voltmeter measures the voltage.

[0020] Furthermore, the nominal value at 0°, 180°, and 360° is = ; the nominal value at 90° and 270° is =- .

[0021] Furthermore, the nominal value at 0°, 180°, and 360°, the angle measurement error is 0; the nominal value at 90° and 270°, the angle measurement error is 0.

[0022] The present invention also provides an angle system for improving the output signal of the shaft angle simulator to be zero, including: a measurement module: used to measure the sine signal and cosine signal output by the shaft angle simulator when the nominal value is +45°; a first calculation module: used to calculate the sine signal voltage and cosine signal voltage according to the sine signal and cosine signal and the nominal value ; a second calculation module: used to calculate the actual measured value according to the sine signal voltage and cosine signal voltage ; a third calculation module: used to subtract the nominal value from the actual measured value to calculate the angle measurement error .

[0023] Compared with the prior art, the present invention has the following beneficial technical effects: The angle measurement method of the present invention for improving the output signal of the shaft angle simulator to be zero eliminates the measurement error of the zero voltage by introducing error compensation, ensures the measurement accuracy of the angles near the zero value point of the sine or cosine signal, significantly improves the overall accuracy of the angle calibration measurement of the shaft angle simulator, and solves the problem that the traditional measurement method has jumps or non-linear distortions due to the small deviation of the zero voltage, seriously affecting the accuracy of the angle calibration measurement.

[0024] The angle measurement method of the present invention for improving the output signal of the shaft angle simulator to be zero, by calculating the actual measured value and the nominal value Angle measurement error , which can reduce the systematic error and improve the reference for angle calculation. Especially when approaching critical points such as 0°, 90°, 180°, 270°, 360°, etc., it avoids angle jumps or non-linear distortions caused by zero-voltage deviations.

[0025] An angle measurement method for improving the output signal of the shaft angle simulator to zero according to the present invention covers the full angle range of 0° to 360°, avoids the quadrant ambiguity problem of traditional single-signal measurement, and significantly improves the angle resolution and measurement accuracy; it solves the problem that in the traditional method, when the angle crosses the quadrant boundary, due to the single signal, it is difficult to accurately judge the quadrant where it is located, resulting in a large error in the measurement result.

[0026] An angle measurement method for improving the output signal of the shaft angle simulator to zero according to the present invention controls the measurement accuracy within 0.01° without using an angle position indicator based on optoelectronic coding technology or a standard device composed of an inductive voltage divider and a phase angle voltmeter. Brief Description of the Drawings

[0027] Figure 1 is a flowchart of an angle measurement method for improving the output signal of the shaft angle simulator to zero according to the present invention. Detailed Description of the Embodiments

[0028] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0029] Embodiment 1 The existing angle measurement error is calculated as follows:

[0030] Wherein, is the sine signal output by the shaft angle simulator when the nominal value is , is the noise signal when the AC digital voltmeter measures the voltage, is the cosine signal output by the shaft angle simulator when the nominal value is .

[0031] The AC digital voltmeter measures the cosine voltage and the sine voltage , through the cosine voltage and sinusoidal voltage calculate and . Cosine voltage The nominal value is Measured using an AC digital voltmeter, the sinusoidal voltage The nominal value is Measured using an AC digital voltmeter.

[0032]

[0033]

[0034] in, It is the noise signal when the AC digital voltmeter measures voltage.

[0035] The nominal value is When the shaft angle simulator outputs a sinusoidal signal :

[0036]

[0037] in, is the amplitude of the excitation signal, is the angular frequency of the excitation signal, is the nominal value.

[0038] The present invention provides an angle measurement method for improving the output signal of the shaft angle simulator to zero, such as Figure 1 As shown, the following steps are included: measure the nominal value At +45°, the shaft angle simulator outputs a sinusoidal signal and cosine signal ; According to the sinusoidal signal and cosine signal , calculate the sinusoidal signal voltage , cosine signal voltage and nominal value ; According to the sinusoidal signal voltage and cosine signal voltage Calculate the actual measurement value ; The actual measured value Subtract nominal value Calculating the angle measurement error In this embodiment, the sinusoidal signal voltage The nominal value is +45° is measured using an AC digital voltmeter, and the cosine signal voltage The nominal value is Measured with an AC digital voltmeter at +45°.

[0039] By introducing error compensation, the measurement error of the zero voltage is eliminated, ensuring the accuracy of the angle calculation near the zero point of the sine or cosine signal, significantly improving the overall accuracy of the angle calibration measurement of the shaft angle simulator, and solving the problem that the traditional measurement method has jumps or nonlinear distortions due to the small deviation of the zero voltage, seriously affecting the accuracy of the angle calibration measurement.

[0040] First, use an AC digital voltmeter to measure the sine signal output by the shaft angle simulator when the nominal value is +45°, and the cosine signal . According to and , calculate the nominal value

[0041]

[0042] Among them, is the sine signal output by the shaft angle simulator when the nominal value is +45°, is the cosine signal output by the shaft angle simulator when the nominal value is +45°.

[0043] According to the sine signal and the cosine signal output by the shaft angle simulator, as well as the noise signal when the AC digital voltmeter measures the voltage, calculate the sine signal voltage and the cosine signal voltage .

[0044] The sine signal voltage is:

[0045] Among them, is the sine signal output by the shaft angle simulator when the nominal value is +45°, is the noise signal when the AC digital voltmeter measures the voltage.

[0046] The cosine signal voltage is:

[0047] Among them, is the cosine signal output by the shaft angle simulator when the nominal value is +45°, The noise signal when measuring voltage with an AC digital voltmeter.

[0048] According to the sine signal voltage and the cosine signal voltage calculate the actual measured value .

[0049]

[0050] Among them, is the sine signal voltage measured by the AC digital voltmeter when the nominal value is +45°, is the cosine signal voltage measured by the AC digital voltmeter when the nominal value is +45°.

[0051] Subtract the nominal value from the actual measured value to calculate the angle measurement error .

[0052]

[0053]

[0054]

[0055] It can be obtained that:

[0056] Among them, is the sine signal output by the shaft angle simulator when the nominal value is +45°, is the cosine signal output by the shaft angle simulator when the nominal value is +45°, is the noise signal when measuring voltage with an AC digital voltmeter.

[0057] When the nominal value is 0° or 360°, the sine signal output by the existing shaft angle simulator is equal to 0, then the existing angle measurement error is:

[0058] Among them, is the noise signal when measuring voltage with an AC digital voltmeter, is the cosine signal output by the shaft angle simulator when the nominal value is .

[0059] When the nominal value is 90°, the cosine signal output by the existing shaft angle simulator is equal to 0, then the existing angle measurement error is:

[0060] wherein, is the noise signal when the AC digital voltmeter measures voltage, is the nominal value of When, the sine signal output by the shaft angle simulator.

[0061] When the nominal value is 180°, the sine signal output by the existing shaft angle simulator is equal to 0, then the existing angle measurement error is:

[0062] wherein, is the noise signal when the AC digital voltmeter measures voltage, is the nominal value of When, the cosine signal output by the shaft angle simulator.

[0063] When the nominal value is 270°, the cosine signal output by the existing shaft angle simulator is equal to 0, then the existing angle measurement error is:

[0064] wherein, is the noise signal when the AC digital voltmeter measures voltage, is the nominal value of When, the sine signal output by the shaft angle simulator.

[0065] When the nominal value is 0° or 360°, the sine signal output by the shaft angle simulator of the present invention is equal to the cosine signal output by the shaft angle simulator , that is = , the angle measurement error can be obtained is 0. At the nominal value of 0° or 360°, the sine and cosine output signals of the shaft angle simulator have the same amplitude and phase, thus ensuring the accuracy of angle measurement. Therefore, the angle measurement error calculated according to this output characteristic is 0.

[0066] When the nominal value is 90°, the sine signal output by the shaft angle simulator of the present invention is equal to - the cosine signal output by the shaft angle simulator , that is =- , the angle measurement error can be obtained is 0. At the nominal value of 90°, the sine and cosine output signals of the shaft angle simulator have the same amplitude but opposite phases. This output characteristic also ensures the accuracy of angle measurement because the relationship between the sine and cosine signals exactly conforms to the trigonometric function characteristics of a 90° angle. Therefore, the angle measurement error calculated based on this output characteristic is also 0.

[0067] When the nominal value is 180°, the sine signal output by the shaft angle simulator of the present invention is equal to the cosine signal output by the shaft angle simulator , that is = , and the angle measurement error can be obtained as 0. At the nominal value of 180°, the sine and cosine output signals of the shaft angle simulator still have the same amplitude and phase. Therefore, the angle measurement error calculated based on this output characteristic is 0.

[0068] When the nominal value is 270°, the sine signal output by the shaft angle simulator of the present invention is equal to - the cosine signal output by the shaft angle simulator , that is = - , and the angle measurement error can be obtained as 0. At the nominal value of 270°, the sine and cosine output signals of the shaft angle simulator have the same amplitude but opposite phases. This output characteristic also ensures the accuracy of angle measurement because this relationship between the sine and cosine signals exactly conforms to the trigonometric function characteristics of a 270° angle. Therefore, the angle measurement error calculated based on this output characteristic is still 0.

[0069] In summary, when the sine signal or the cosine signal output by the shaft angle simulator is 0, the present invention eliminates the zero - value voltage measurement error and improves the accuracy of the angle calibration measurement of the shaft angle simulator.

[0070] Example 1 For a certain model of shaft angle simulator, the conventional parameter configuration is adopted: the excitation signal parameters are voltage 5V and frequency 1kHz; the resolver signal parameters are voltage 5V and nominal value 0°. The cosine voltage measured by an AC digital voltmeter is 5.112V, and the sine voltage is 2mV. The measured value is 0.022°, and the existing angle measurement error is calculated as 0.022°. It shows that the traditional method at the nominal value When it is 0°, due to the zero - value voltage offset in the sine channel and the gain mismatch between the two channels, the small - angle measurement error is significant, affecting the system calibration accuracy.

[0071] The present invention sets the nominal value to be 45°. Using the same AC digital voltmeter, the measured value of the cosine signal voltage with the nominal value of + 45° and the excitation signal parameters and frequency remaining unchanged is 3.675V, and the sine signal voltage is 3.676V. The actual measured value is 0.008°, so the angle measurement error is 0.008°.

[0072] Compared with the 0.022° error of the traditional method, the present invention reduces the error to 0.008°, and the accuracy is improved by about 63.6%.

[0073] Example 2 For a certain type of shaft - angle simulator, the parameter configuration is as follows: set the excitation signal amplitude to 115V and the frequency to 400Hz; the resolver signal parameter voltage is 26V and the nominal value is 270°. The measured cosine voltage using the AC digital voltmeter is 13mV, and the sine voltage is 22.238V. The measured value is 269.967°, and the existing angle measurement error is - 0.033°. It shows that when the nominal value

[0074] is 270°, due to the gain mismatch between the sine and cosine channels (such as the non - linearity of the signal conditioning circuit) and the zero - value voltage residue, the angle calculation deviates from the theoretical value, especially the error is significant near the quadrant switching point (270°). The present invention sets the nominal value to be 315°. Using the same AC digital voltmeter, the measured value of the cosine signal voltage with the nominal value of + 45° is 19.345V, and the sine signal voltage is 19.343V. The actual measured value is 269.997°, so the angle measurement error

[0075] Compared with the - 0.033° error of the traditional method, the present invention reduces the error to - 0.003°, and the accuracy is improved by about 90.9%.

[0076] Example 2 The present invention provides an angle system for improving the output signal of an axis angle simulator to zero, which includes a measurement module, a first calculation module, a second calculation module, and a third calculation module.

[0077] Measurement module: used to measure the sine signal output by the axis angle simulator when the nominal value is +45° and the cosine signal; First calculation module: used to calculate the sine signal voltage , the cosine signal voltage and the nominal value based on the sine signal and the cosine signal; Second calculation module: used to calculate the actual measured value based on the sine signal voltage and the cosine signal voltage; Third calculation module: used to calculate the angle measurement error by subtracting the nominal value from the actual measured value .

[0078] The angle system for improving the output signal of the axis angle simulator provided by the present invention can implement the method steps consistent with the above method, so it will not be elaborated here.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: still can modify the specific implementation manners of the present invention or make equivalent substitutions, and any modification or equivalent substitution without departing from the spirit and scope of the present invention should be covered within the protection scope of the claims of the present invention.

Claims

1. An angle measurement method for improving the output signal of an axis angle simulator to zero, characterized in that, comprising the following steps: When measuring the nominal value of the sine signal output by the shaft angle simulator at +45° and the cosine signal ; According to the sine signal and the cosine signal , calculate the sine signal voltage , the cosine signal voltage and the nominal value ; According to the sine signal voltage and the cosine signal voltage calculate the actual measured value ; Subtract the nominal value from the actual measured value to calculate the angular measurement error .

2. The angle measurement method for increasing the output signal of the shaft angle simulator to zero according to claim 1, characterized in that, Said according to the sine signal and the cosine signal , calculating the sine signal voltage , including: Among them, is the sine signal output by the shaft angle simulator when the nominal value is +45°, and is the noise signal when the AC digital voltmeter measures voltage.

3. The angle measurement method for increasing the output signal of the shaft angle simulator to zero according to claim 1, characterized in that, Said according to the sine signal and the cosine signal , calculating the cosine signal voltage , including: Among them, is the cosine signal output by the shaft angle simulator when the nominal value is +45°, and is the noise signal when the AC digital voltmeter measures the voltage.

4. The angle measurement method for improving the output signal of the shaft angle simulator to zero according to claim 1, characterized in that: Said according to the sine signal and the cosine signal , calculate the nominal value , including: Among them, is the sine signal output by the shaft angle simulator when the nominal value is . is the cosine signal output by the shaft angle simulator when the nominal value is . is the amplitude of the excitation signal, is the angular frequency of the excitation signal, is the time, is the nominal value.

5. The angle measurement method for improving the output signal of the shaft angle simulator to zero according to claim 4, characterized in that: The nominal value is: Wherein, is the sine signal output by the shaft angle simulator when the nominal value is +45°, is the cosine signal output by the shaft angle simulator when the nominal value is +45°.

6. The angle measurement method for increasing the output signal of the shaft angle simulator to zero according to claim 1, characterized in that, The actual measured value calculated according to the sine signal voltage and the cosine signal voltage includes: including: Among them, is the sinusoidal signal voltage measured by an AC digital voltmeter when the nominal value is +45°. is the cosine signal voltage measured by an AC digital voltmeter when the nominal value is +45°.

7. The angle measurement method for increasing the output signal of the shaft angle simulator to zero according to claim 1, characterized in that, The actual measured value is subtracted from the nominal value to calculate the angular measurement error , including: Among them, when the nominal value is +45°, it is the sine signal output by the shaft angle simulator, when the nominal value is +45°, it is the cosine signal output by the shaft angle simulator, it is the noise signal when the AC digital voltmeter measures the voltage.

8. The angle measurement method for improving the output signal of the shaft angle simulator to zero according to claim 7, characterized in that: The nominal value when it is 0°, 180°, 360°, = ; The nominal value When it is 90° and 270°, = - .

9. The angle measurement method for improving the output signal of the shaft angle simulator to zero according to claim 8, characterized in that: The nominal value When it is 0°, 180°, 360°, the angle measurement error is 0; The nominal value When it is 90° or 270°, the angle measurement error is 0.

10. An angle system for improving the output signal of the shaft angle simulator to zero, comprising: Measurement module: used to measure when the nominal value is +45°, the sine signal output by the shaft angle simulator and the cosine signal ; The first calculation module: used to calculate the sine signal voltage , the cosine signal , and calculate the sine signal voltage , the cosine signal voltage , and the nominal value ; Second calculation module: for calculating the actual measured value according to the sine signal voltage and the cosine signal voltage ; ​ Third calculation module: used to subtract the nominal value from the actual measured value to calculate the angular measurement error .​

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