426 results about "Angular error" patented technology

The invention discloses a calibration method of correlation between a single line laser radar and a CCD (Charge Coupled Device) camera, which is based on the condition that the CCD camera can carry out weak imaging on an infrared light source used by the single line laser radar. The calibration method comprises the steps of: firstly, extracting a virtual control point in a scanning plane under the assistance of a cubic calibration key; and then filtering visible light by using an infrared filter to image infrared light only, carrying out enhancement, binarization treatment and Hough transformation on an infrared image with scanning line information, and extracting two laser scanning lines, wherein the intersection point of the two scanning lines is the image coordinate of the virtual control point in the image. After acquiring multiple groups of corresponding points through the steps, a correlation parameter between the laser radar and the camera can be solved by adopting an optimization method for minimizing a reprojection error. Because the invention acquires the information of the corresponding points directly, the calibration process becomes simpler and the precision is greatly improved with a calibrated angle error smaller than 0.3 degree and a position error smaller than 0.5cm.

The invention discloses a long-stroke two-dimensional nano worktable system with an angle compensation function. A six-degree-of-freedom micro table designed on the basis of a piezoelectric ceramic actuator and a soft hinge chain carries out comprehensive compensation of linear positioning and angle errors on a long-stroke two-dimensional nano worktable. A driving mode that a stepping motor and a ball screw are combined is adopted, so a long-stroke two-dimensional nano worktable has a large pitching angle, a deflection angle and roll angle errors, and positioning precision is of micron size. The six-degree-of-freedom micro table has nanoscale linear positioning precision and millisecond-level angle positioning precision. The long-stroke two-dimensional nano worktable and the six-degree-of-freedom micro table are combined to form the long-stroke two-dimensional nano worktable system. Under control of a closed-loop control system, the six-degree-of-freedom micro table carries out the comprehensive compensation of the linear positioning errors and the angle errors on the long-stroke two-dimensional nano worktable, so two-dimensional long-stroke nano positioning is achieved.

The invention relates to a multiturn absolute rotary encoder based on a rotary transformer, which is characterized in that: a sensor is displaced by taking the rotary transformer as a shaft angle; a shaft angle decoding circuit can be formed by adopting DSP as a core processor; a sine wave which can be controlled by frequency and phase in the method that the circuit is synthesized by direct digital frequency for the numerical control of an oscillator; and the sine wave is directly taken as an excitation rotary transformer signal via a power amplifier and a filter circuit; the rotary transformer signal is transferred to A / D converter after being run through a matching circuit of electronic transformer; after sampling, digital filtering and digital signal processing, the sine and cosine value for the actual angle of two channels is generated; the angle error change is tracked dynamically by the PI algorithm; the mechanical displacement of the rotating object is converted into digital shaft angle position and speed. The multiturn absolute rotary encoder based on a rotary transformer has the advantages of high tracking speed, high conversion accuracy, high reliability, simple structure, sensitive movement, low environmental condition, strong anti-interference capability, high measuring accuracy and speed voltage output.

The invention relates to a yaw control method for a large-sized wind powered generator unit. A current yaw angle reference value alpha reference is obtained according to a current wind direction, a current yaw angle practical value alpha practice is obtained by a encoder or a tachometer, a yaw angular error delta alpha is obtained by subtracting the yaw angle practical value alpha practice by the current yaw angle reference value alpha reference, and a corresponding yaw mechanism control rule is calculated by integrating the yaw angular error delta alpha and the variation tendency thereof by a fuzzy controller. Furthermore, an obtained electrical signal of the yaw mechanism control rule is sent to a yaw actuating mechanism to control a propeller pitch angle, and the yaw angle of the wind powered generator unit traces the yaw angle reference value alpha reference to enable the yaw angle practical value alpha practice and the yaw angle reference value alpha reference of the wind powered generator unit to be kept consistent. The invention obviously enhances the total precision, is favorable to increasing the year total generated energy of the wind powered generator unit, has high adaptability for complex and extreme cases, greatly enhances the operating effectiveness, furthest prolongs the mechanical life of the yaw actuating mechanism, and also has low remodel difficulty and low cost.

A wire electric discharge machine and a wire electric discharge machining method in which a workpiece set posture is compensated for an error. After a workpiece is set and fixed on a workpiece table, an upper guide measures three or more three-dimensional positions that are not situated on one straight line on an upper surface of the workpiece, utilizing detection of contact with the upper surface. A unit normal vector Nincl (Xn, Yn, Zn) is obtained, and a shift amount Δshif (ΔU, ΔV) for shift from an originally set vertical position (U0, V0) to a corrected position (Uc, Vc) is calculated. In machining, the shift amount Δshif (ΔU, ΔV) is added to the position (U0, V0) to compensate for an angle error of a machined surface, and a deviation of a machined point position caused by inclination of the workpiece is collaterally compensated for as required by correcting the upper and lower wire guides. Thus, the machined shape cannot be distorted, and the workpiece set posture error can be compensated for.

A resolver apparatus having a high detection precision detecting angle signals from signals detected at a resolver (7) and detecting a velocity signal from the detected angle signals. Utilizing the fact that an error waveform of a resolver is comprised of predetermined n-th order components inherent to the resolver and has reproducibility, an angle error estimator (13) applies a frequency transform, for example, a Fourier transform, to high frequency components of velocity signal including error generated from detected angle signals including error to calculate a magnitude of error for each of a plurality of divided components and combining the calculated errors to reproduce the detected error and generate an error waveform signal. An angle signal correction circuit (14) uses this error waveform signal to correct an angle signal including error detected at the resolver.

In an image drawing apparatus and an image drawing method for multiple-overlay image drawing, uneven density and resolution caused by an error of installation angle of an image drawing head and by pattern distortion can be reduced. A rectangular two-dimensional pixel array is installed in each of exposure heads in an exposure apparatus (image drawing apparatus) so as to make a predetermined angle with the scanning direction, facing an exposure surface. Slits and photo detectors detect in the exposure surface an actual installation angle of a representative light-spot column near the center of the pixel array. Active pixels in the pixel array are selected so as to realize multiple-overlay exposure ideally by causing overexposure and underexposure to be minimal in an area near the representative light-spot column, based on the measured angle. Exposure is carried out by causing only the active pixels to operate.

The invention discloses a numerical control machine tool rotating shaft error detection method based on binocular vision, belongs to the machine tool precision detection technology field and relates to a double rotating shaft geometry error detection and identification method of a five-axes numerical control machine tool. The method adopts a high-resolution binocular vision system. Position information of a marking point which is pasted on a machine tool rotation table surface is collected. Through camera calibration, image segmentation, marking point extraction and a machine tool rotating shaft error identification model, detection acquisition of a two-position error and a two-angle error of a machine tool rotating shaft is realized. Rapid measurement of a geometrical parameter is completed. A circular marking point is used. An image processing program is simple, feature extraction precision is high, robustness is good and measurement is rapid and convenient. Simultaneously, a problem that numerical control machine tool rotating shaft installation error detection and identification are difficult is solved and a new direction is provided for a machine tool error detection and identification technology.

The present invention belongs to the field of precise instrument manufacture and measurement technology, and is especially self-separation method and device for spatial error of super-precise revolution reference. The method of Z-direction section-by-section separation of super-precise revolution reference spatial motion error can meet the requirement of high precision cylindricity instrument to reduce spatial revolution error. The self-separation device for spatial error of super-precise revolution reference is developed by means of integrating roundness error separating system and cylindricity instrument revolution main shaft system. The bench revolving single-transposition small-angle error separation method is adopted in realizing the section-by-section separation of spatial revolution motion error of cylindricity instrument revolution main shaft, so as to reach the aim of reducing the effect of the spatial revolution motion error on measurement result.

To correct an angle error, acceleration data is received corresponding to a tracked object in a reference frame of the tracked object. Positional data of the tracked object is received from a positional sensor, and positional sensor acceleration data is computed from the received positional data. The acceleration data is transformed into a positional sensor reference frame using a rotation estimate. An amount of error between the transformed acceleration data and the positional sensor acceleration data is determined. The rotation estimate is updated responsive to the determined amount of error.

A method for determining a reference position for a pipetting needle which is part of an automatic analytical apparatus. The method comprises the following steps: a first measuring step for measuring a first displacement error (ΔX) in a displacement of the pipetting needle effected by a transport device, a first correcting step for correcting the first displacement error (ΔX) by means of a corresponding correction of an angular error (φ) of the initial angular position of the pipetting needle, a second measuring step for measuring a second displacement error (ΔY) in a displacement of the pipetting needle in a second direction (Y-axis) perpendicular to the vertical plane, a second correcting step for correcting the second displacement error (ΔY) by means of a corresponding change (α) of the angular position of the pipetting needle along a circular path, a third measuring step for determining the position of a vertical reference line, and a fourth measuring step for determining the position of a reference point (X0, Y0, Z0) along said reference line,

The invention relates to a method and device for observing and controlling a rotor position in motor control. According to the method and the device, an initial position angle of a motor rotor can be observed; angular errors caused by an imprecise assembled angle of a Hall sensor can be eliminated by online discrimination of software; a real-time speed detection program is provided to eliminate an angular accumulated error caused by imprecision of an angular speed omega; a rotor position angle can be precisely tracked in a motor vector control operation process, the rotor angle is prevented form overflowing, and self-detection of the motor in reverse rotation can be realized; and when a certain sensor has a fault, a system can judge a fault point per se and performs self-adaption to achieve the function of still normally running. According to the device and the method, independence on a hardware circuit is reduced, observation and real-time tracking of the rotor position angle can be realized, the function of fault judgment of the system can be used for protecting the motor, and loss caused by motor locking or running out is prevented. The device has a great practical value in the fields of electric vehicles and precise machine tools, and has the advantages of reliability in operation, low cost and wide application range.

An inverter that executes a d q-axis control of a three-phase synchronous motor needs a rotational position sensor that detects rotational positions of an electric motor for mutual conversion between two-phase and three-phase. An angle error of this rotational position sensor affects accuracy in the d q-axis control, so that it is necessary to make a compensation with accuracy. In the conventional method, however, there is a problem of occurrence of an ignorable error due to influence of noise. An origin offset calculation method according to the invention includes a first process of forcibly making d q-axis current command values zero; a second process of multiplying a magnetic flux component voltage command value at this time by a proportional integral gain; and a third process of storing a rotational position sensor phase error when a magnetic flux component voltage command value becomes zero being a result of the second process.

A navigation system includes: an angular velocity sensor 1 for detecting a change in an advancement direction of a vehicle; a vehicle azimuth calculation unit 13 for calculating a vehicle azimuth on the basis of angular velocity sensor information obtained from the angular velocity sensor; an on-board camera 2 for shooting a periphery of the vehicle; an image recognition unit 19 for recognizing an image obtained from the on-board camera; and an offset voltage correction unit 21 for performing a drift correction on the angular velocity sensor in accordance with an angle error between the vehicle azimuth calculated by the vehicle azimuth calculation unit and a vehicle azimuth determined from a white line on a road recognized by the image recognition unit.

The invention discloses a self-adaptive optical fiber coupler or collimator control system capable of bilaterally receiving and transmitting laser beams. The self-adaptive optical fiber coupler or collimator control system comprises a coupling or collimating lens, a connecting sleeve, an optical fiber end face positioner, a first optical fiber, a three-port optical fiber circulator, a second optical fiber, a third optical fiber, a laser, a photoelectric detector, a control platform and a high-voltage amplifier, wherein the optical fiber end face positioner comprises a flexible crossed beam, a bimorph driver, a damping material, a boss and a fixed seat. Due to the adoption of the self-adaptive optical fiber coupler or collimator control system, the light beam arriving angle errors caused by factors such as atmosphere turbulence, mechanical vibration, thermal distortion and the like can be corrected adaptively; and meanwhile, according to the reversibility principle of a light path, the transmitting angle correction of emitted collimating light beams is also realized. The self-adaptive optical fiber coupler or collimator control system has an important application prospect in the field of optical fiber-based laser space application, such as free space laser communication, laser precise positioning and laser radar.

The invention provides an improved large curvature radius curved surface part normal measuring and adjusting method. Four sensors are changed to taper inwardly for installation, thereby reducing the laser measuring area on a wallboard; displacement sensors measure distances among four points on the wallboard, and the deviation angle of a tool coordinate system relative to the detection area plane of the wallboard is calculated; and then the rear end of a driving robot rotates for a corresponding angle relative to the origin of the tool coordinate system, thereby meeting precision requirements through iterative adjustment. In the method, angular errors of two shafts are adjusted successively; after the angular error adjustment of a first shaft, the coordinate system of a sensor system changes relative to the corresponding position of a wallboard plane; before the angular error adjustment of a second shaft, range finding information is collected again, and the error between the second shaft and the plane is calculated and adjusted according to updated range finding information. The method of the invention can improve large curvature radius curved surface part automatic processing and assembling precision and quality.

Disclosed is an automatic measuring compensation and correction method for five-axis machine tool structure errors. A five-axis correction block is mounted on a machine tool worktable and comprises adatum square table and a datum circular ring. The side surface and the top surface of the datum square table are parallel to the coordinate axis of a machine tool. A five-axis error model is established, and the error components delta<x>, delta<y> and delta<z> in the x, y and z directions and the main shaft axial error L<spd> are obtained; a machine tool numerical control system is used for starting a five-axis structural error automatic measuring cycle macroprogram, the axis angle error of a rotating shaft of the machine tool and the position error of the rotating shaft axis and the main shaft axis are measured; the axial error of a main shaft is measured; and the measured and obtained axis structural error of the main shaft and the main shaft axis error are substituted into the established five-axis error model, and compensated to all movement coordinate axes in the interpolation cycle of the machine tool numerical control system. The invention further discloses an automatic measuring and compensating correction device for the five-axis machine tool structure errors, automatic measuring and compensating of the five-axis machine tool structure errors are achieved.

A resolver signal converter and a resolver signal conversion method amplify and perform analogue-digital conversion on a sine wave output from a resolver; thereafter, among frequency components of the sine wave output, pass and thereby extract a predetermined bandwidth of which the center frequency is the frequency of an excitation signal, by means of a band-pass filter; sample the sine wave output while synchronizing the sine wave output with a reference signal which is based on the excitation signal; and generate a detection angle signal sine value from the sampled signal. Similarly, a detection angle signal cosine value is generated from a cosine wave output from the resolver. A detection angle is calculated based on the detection angle signal sine value and the detection angle signal cosine value. Accordingly, an influence, on an input resolver signal, of disturbance noise such as noise caused due to a magnetic field generated by a motor and switching noise caused due to PWM driving, is eliminated, and frequency dependence of arithmetic processing is eliminated. As a result, detection angle errors are reduced.

The invention provides a self tracking method for a spacecraft dynamic target by a spherical phased array antenna, which aims at providing a simple and reliable tracking method with little hardware resource consumption. The technical scheme comprises steps: radio frequency signals received by four array antenna links form beam forming signals through a DBF weighting module, a difference beam forming module transmits sum / difference beam signals to a rear-end baseband angle error demodulation module for being processed, azimuth error voltage and pitching error voltage are solved, the azimuth error voltage and the pitching error voltage are transmitted to a waveform control computer for being processed, the waveform control computer uses waveform control software to estimate a target incomingwave direction, a two-order digital tracking loop is used to enable a tracking intermediate variable V(Z) and a multi-beam lectronic scanning gain coefficient K0 to be multiplied, a new beam direction theta(Z) is obtained, and finally, the beam direction is updated through the waveform control software of the waveform control computer, after deviation is corrected, the real-time target position is transmitted to a beam forming unit, and self tracking on the dynamic target is completed.

The invention provides a data transmission antenna whole-satellite testing method based on a minisatellite information system. At first, orbital data are input to a satellite attitude control system and a GPS dynamic simulator, by regulating orbit parameters of the satellite attitude control system, controlling start-up time of the GPS dynamic simulator and satellite-arrow separating time, and combining a program control command and a program control data block sequence, time information, orbit information and attitude information of the satellite attitude control system, a GPS receiver and a satellite task distribution system are completely synchronized, testing data are obtained by controlling a data transmission antenna to carry out ground station tracking, and finally, by comparing theoretical data and the testing data of antenna tracking, actual antennal tracking angle errors under different orbit conditions and different satellite attitudes are obtained. According to the data transmission antenna whole-satellite testing method, the orbit and time information state of a minisatellite are accurately simulated, testing of the data transmission antenna under the whole-satellite state of the minisatellite is achieved, and the method is applied to other types of minisatellites at present.

To obtain a radar system capable of obtaining an appropriate angular precision by calculating an angle error based on distributions of relative speeds and angles of reflecting points, and of obtaining the appropriate angular precision including an axis deviation angle by simultaneously calculating the angle error and the axis deviation angle. A radar system mounted on a movable body is provided with a radar device that calculates relative speeds and azimuth angles of plural reflecting points; an azimuth angle error estimating device that estimates an error of the azimuth angle calculated by the radar device based on the relative speeds and the azimuth angles of the plural reflecting points; and a correcting device that corrects the azimuth angle calculated by the radar device by using the azimuth angle error estimated by the azimuth angle error estimating device.

This application discloses a control device for controlling a motor configured to drive an oscillatory cyclo-speed reducer including an oscillatory gear portion formed with at least one hole at an eccentric position. The control device includes an angle acquirer for acquiring input information about an input rotational angle indicating a rotational angle of the motor, an estimator for estimating an angular error between the input rotational angle and an output rotational angle indicating a rotational angle of the oscillatory cyclo-speed reducer based on a quantity of the hole(s) and a corrector for determining a compensation current value in correspondence to the angular error and setting a magnitude of a current to be supplied to the motor by correcting a command current value using the compensation current value.

The object of the invention is to provide a rotational angle measurement apparatus that is capable of correcting an error due to pin-angle error with a small amount of calculation operation.The rotational angle measurement apparatus includes a magnetic sensor 301 and a signal processing unit 303M. The magnetic sensor includes two bridges comprising magneto-resistance elements each having a pinned magnetic layer. A ratio-calculation unit 381 of the signal processing unit 303M calculates a ratio Vy / Vx of output signals Vx and Vy. A parameter correction unit 382 subtracts a predetermined correction parameter β from the ratio Vy / Vx calculated by the ratio-calculation unit. An a tan-processing unit 383 conducts arctangent processing on the value calculated by the parameter correction unit and calculates an angle of magnetic field θ.

In an optical space communication system, a remote controller is provided at an arbitrary position remote from an optical space communication apparatus. The optical space communication apparatus is provided with an interface device for exchanging status information of the operating apparatus, operation start setup / manipulation information or operating setup / manipulation information of the apparatus with the interface device. Communication between the remote controller and the interface device is made for a transmission light power, a transmission signal power, a reception light power, a reception signal power, a light beam transmission angle, a temperature of a predetermined portion in the apparatus, an angular error between the reception light and an optical axis of a light reception unit in the apparatus, a transmission light beam divergence angle or the like.

The invention relates to a three-axis acceleration sensor mounting error correcting method, and is used for correcting angle error between an acceleration sensor coordinate system and a vehicle coordinate system, so that a theoretical value of an acceleration sensor is obtained, the method is characterized in that, the method comprises the steps: the acceleration sensor is arranged on the vehicle, a measured value vector A0 of the acceleration sensor when the vehicle is static on a horizontal ground and a measured value vector A1 of the acceleration sensor when the vehicle acceleratedly moves on the horizontal ground are read, an error correction coefficient matrix K is calculated, wherein the K and other formulas are shown in the description, a theoretical value formula which is shown in the description of the acceleration sensor in the vehicle coordinate system is obtained, wherein vector Aa is a measured value of the acceleration sensor in a general condition. Compared with the technology in the prior art, the method considers vehicle pitch angle influence, the requirements of the measurement condition are low, the calculation method is simple, and the sensor coordinate axis error can be effectively eliminated.