CN111609785A - A kind of inclinometer automatic calibration device and calibration method - Google Patents

Abstract

The invention discloses an automatic calibration device and a calibration method of an inclinometer. The device includes a horizontal plane calibration unit and a vertical plane calibration unit; The shaft drives the servo motor; the vertical surface rate setting unit is set on the horizontal turntable and rotates with the rotation of the horizontal turntable, including the fixed wheel of the inclinometer and the horizontal axis drive servo that drives the fixed wheel of the inclinometer to rotate in the vertical plane The motor and the inclinometer fixed runner are provided with inclinometer pole fixing holes for installing the inclinometer pole; the axis of the horizontal turntable, the axis of the inclinometer fixed runner and the axis of the inclinometer pole always intersect at one point. Automatic calibration is realized by controlling two servo motors to advance and retreat at a certain angle and measure the output of the inclinometer. The invention can realize automatic calibration of the full attitude, full range and full performance index of the inclinometer, the calibration device is reliable, and the calibration method is simple, accurate and efficient.

Description

A kind of inclinometer automatic calibration device and calibration method

technical field

The invention belongs to the technical field of calibration devices, and in particular relates to an automatic calibration device and a calibration method for an inclinometer.

Background technique

Inclinometer is one of the main instruments for structural deformation measurement. It has been widely used in high slopes, dams and other projects, but the problem of inclinometer calibration has been difficult to solve. The current calibration methods are all obtained by using a cuboid block by manual positioning and calculation with calipers. It is difficult to consider the mutual influence of the two directions of X and Y, and it is impossible to test the influence of the axis twist of the inclinometer on the output, and the human error is large. The calibration accuracy is low and the operation is cumbersome.

SUMMARY OF THE INVENTION

The purpose of the present invention is to overcome the deficiencies in the prior art, and to provide an automatic calibration device and a calibration method for the inclinometer, which can achieve automatic calibration by controlling two servo motors to advance and retreat at a certain angle and measure the output of the inclinometer. The automatic calibration of the full attitude, full range and full performance index of the inclinometer is realized, the calibration device is reliable, and the calibration method is simple, accurate and efficient.

The invention provides the following technical solutions:

An automatic calibration device for an inclinometer, comprising a horizontal plane calibration unit and a vertical plane calibration unit;

The horizontal plane calibration unit includes a horizontal turntable and a vertical axis drive servo motor that drives the horizontal turntable to rotate in the horizontal plane;

The vertical surface rate determination unit is arranged on the horizontal turntable and rotates with the rotation of the horizontal turntable, and the vertical surface rate determination unit includes a fixed rotating wheel of the inclinometer and a fixed rotating wheel that drives the inclinometer to rotate in the vertical plane. The horizontal axis of the inclinometer drives the servo motor, and the inclinometer rod fixing hole for installing the inclinometer rod is provided on the inclinometer fixing wheel;

The axis of the horizontal turntable, the axis of the inclinometer fixed runner and the axis of the inclinometer rod always intersect at one point.

Preferably, the horizontal plane calibration unit further comprises a first transmission shaft fixedly connected with the horizontal turntable, the first transmission shaft is connected with a vertical shaft drive servo motor, and the vertical shaft drive servo motor can drive the first transmission shaft The shaft rotates in the horizontal plane.

Preferably, the vertical plane axis calibration unit further comprises a second transmission shaft fixedly connected with the fixed wheel of the inclinometer, the second transmission shaft is connected with a horizontal axis drive servo motor, and the horizontal axis drives the servo motor The second transmission shaft can be driven to rotate in the vertical plane.

Preferably, the second transmission shaft is connected to the horizontal turntable through a support frame.

Preferably, horizontal bubbles are provided on the horizontal turntable.

Preferably, it also includes a controller, which is respectively connected with the horizontal axis driving servo motor, the vertical axis driving servo motor and the reading device of the inclinometer.

An automatic calibration method for an inclinometer, comprising the following steps:

Install the inclinometer rod to be calibrated in the inclinometer rod fixing hole, and ensure that the axis of the horizontal turntable, the axis of the inclinometer fixed wheel and the axis of the inclinometer rod intersect at one point;

Connect the reading device of the inclinometer, the horizontal axis driving servo motor and the vertical axis driving servo motor to the computer respectively, and the computer realizes synchronous control and reading;

Start the horizontal axis to drive the servo motor and the vertical axis to drive the servo motor, determine the step angle according to the accuracy requirements of the inclinometer, record the cumulative rotation angle of the two motors and the corresponding reading of the inclinometer itself, and calculate the rotation angle of the two servo motors. The theoretical measurement angle of the inclinometer, when the theoretical measurement angle of the inclinometer reaches twice the range of the inclinometer, the servo motor stops moving;

Control the horizontal axis to drive the servo motor and the vertical axis to drive the servo motor to rotate in reverse at the step angle until it is reset to the initial position;

The computer automatically calculates the maximum error of the inclinometer or the parameters such as linearity, stability and lag of the inclinometer, and realizes the automatic calibration of the inclinometer.

Preferably, the step angle when the horizontal axis drives the servo motor and the vertical axis drives the servo motor to move forward or backward is 1/10 of the precision of the inclinometer.

Preferably, the formula for calculating the theoretical measurement angle of the inclinometer through the rotation angles of the two servo motors is:

分别为测斜仪在水平面和竖直面内的理论测量角度。In the formula, α and β are the rotation angles of the vertical axis drive servo motor and the horizontal axis drive servo motor, respectively, θ and

are the theoretical measurement angles of the inclinometer in the horizontal and vertical planes, respectively.

Compared with the prior art, the beneficial effects of the present invention are:

(1) The inclinometer automatic calibration device provided by the present invention drives the servo motor to drive the fixed wheel of the inclinometer to rotate in the vertical plane through the horizontal axis, and drives the horizontal turntable to rotate in the horizontal plane through the vertical axis to drive the servo motor. And the axis of the horizontal turntable, the axis of the fixed runner of the inclinometer and the axis of the inclinometer rod always intersect at one point, so as to realize the movement of the inclinometer rod in the horizontal and vertical planes, so as to obtain the rotation angle of the two servo motors. And the actual measurement value of the inclinometer, after the rotation angle of the two servo motors is converted into the theoretical measurement angle of the inclinometer, the performance indicators such as the accuracy, stability and lag of the inclinometer can be calibrated;

(2) The automatic calibration device of the inclinometer provided by the present invention can realize the automatic calibration of the full attitude, the full range and the full performance index of the inclinometer through the computer, which reduces the human error, the calibration device is reliable, and the calibration method Simple, accurate and efficient;

(3) When the axis of the inclinometer rod remains vertical and only the horizontal turntable rotates, the torsion and rotation functions of the inclinometer and the measuring instrument can be checked and calibrated through the instrument of the inclinometer supporting manufacturer;

(4) The array displacement meter is also formed by connecting rod-type movable inclinometers in series, so the automatic calibration device and calibration method of the inclinometer provided by the present invention are also applicable to the calibration of the array displacement meter.

Description of drawings

Fig. 1 is the structural representation of the inclinometer automatic calibration device;

Fig. 2 is a schematic diagram of the axis positions of the inclinometer fixed runner, the inclinometer rod and the horizontal turntable;

FIG. 3 is a schematic structural diagram of the drive teeth of the servo motor driven by the horizontal axis and the drive teeth of the second drive shaft;

Fig. 4 is a schematic diagram of the principle of automatic calibration of the inclinometer;

Marked as: 1. The horizontal axis drives the servo motor; 2. The second transmission shaft; 3. The inclinometer fixing wheel; 4. The inclinometer rod fixing hole; 5. The support frame; 6. The horizontal turntable; 7. The vertical axis drives the servo motor; 8. The first transmission shaft; 9. The axis of the fixed runner of the inclinometer; 10. The axis of the inclinometer rod; 11. The intersection of the three axes; 12. The axis of the horizontal turntable; 13, The horizontal shaft drives the transmission teeth of the servo motor; 14. The transmission teeth of the second transmission shaft.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solutions of the present invention more clearly, and cannot be used to limit the protection scope of the present invention.

As shown in Figures 1 and 2, an inclinometer automatic calibration device includes a horizontal plane calibration unit and a vertical plane calibration unit; The straight axis drives the servo motor 7; the vertical surface rate setting unit is arranged on the horizontal turntable 6 and rotates with the rotation of the horizontal turntable 6, and the vertical surface rate setting unit includes the inclinometer fixed wheel 3 and the driving inclinometer fixed wheel 3. The horizontal axis that rotates in the vertical plane drives the servo motor 1, and the inclinometer fixing wheel 3 is provided with the inclinometer rod fixing hole 4 for installing the inclinometer rod; the axis of the horizontal turntable 12, the inclinometer is fixed The axis 9 of the runner and the axis 10 of the inclinometer rod always intersect at one point (the intersection 11 of the three axes).

As shown in FIG. 1, the horizontal plane calibration unit also includes a first transmission shaft 8 that is fixedly connected to the horizontal turntable 6. The first transmission shaft 8 is connected to the vertical shaft drive servo motor 7, and the vertical shaft drive servo motor 7 can drive the first transmission shaft 8. A drive shaft 8 rotates in the horizontal plane. Horizontal bubbles are provided on the horizontal turntable 6, which is convenient to maintain the level of the horizontal turntable 6, so as to facilitate the realization that the axis 12 of the horizontal turntable, the axis 9 of the inclinometer fixed wheel and the axis 10 of the inclinometer rod always intersect at one point.

As shown in FIG. 1 , the vertical surface calibration unit also includes a second drive shaft 2 that is fixedly connected to the fixed runner 3 of the inclinometer, the second drive shaft 2 is connected to the horizontal axis drive servo motor 1, and the horizontal axis drives the servo motor 1 can drive the second transmission shaft 2 to rotate in the vertical plane. The second transmission shaft 2 is connected with the horizontal turntable 6 through the support frame 5 .

The inclinometer automatic calibration device provided by the present invention further includes a controller, which is respectively connected with the vertical axis driving servo motor 7, the horizontal axis driving servo motor 1 and the reading device of the inclinometer.

As shown in Figure 3, in order to improve the calibration accuracy, the transmission between the transmission teeth 13 of the horizontal axis drive servo motor and the transmission teeth 14 of the second transmission shaft and the transmission between the transmission teeth of the vertical axis drive servo motor and the first transmission shaft can be increased. The diameter difference between the teeth is achieved.

分别为Y-O-Z平面上的投影OD与Y轴的夹角、X-Z平面上的投影OF与X轴的夹角，并且存在公式(1)的关系：As shown in Figure 4, the line segment OA represents the inclinometer rod obtained by rotation, and the line segments OD and OF are the projections of OA on the YOZ plane and the XOZ plane, respectively. α and β are the rotation angles of the vertical axis driving the servo motor 7 and the horizontal axis driving the servo motor 1, respectively, θ and

are the angle between the projection OD on the YOZ plane and the Y axis, and the angle between the projection OF on the XZ plane and the X axis, and there is a relationship in formula (1):

的关系。Since the servo motor can control the angle of each step, the total rotation angle α and β can be obtained by accumulating the number of steps. The total rotation angle of the two servo motors and the inclinometer readings θ and β can be obtained by calculating formula (1).

Relationship.

区间，因此有公式(2)成立：Due to the small-angle deformation obtained in hydraulic geotechnical engineering, the above angles are all in

interval, so formula (2) holds:

Taking the angle value calculated by formula (2) as the theoretical measurement angle of the inclinometer, the performance indicators such as the accuracy and repeatability of the inclinometer can be calibrated.

An automatic calibration method for an inclinometer, comprising the following steps:

S1. Adjust the vertical axis drive servo motor 7 and the horizontal axis drive servo motor 1 so that the initial values of α and β are α(0)=0, β(0)=0;

S2, install the inclinometer rod to be calibrated in the inclinometer rod fixing hole 4, and ensure that the axis 12 of the horizontal turntable, the axis 9 of the inclinometer fixed runner and the axis 10 of the inclinometer rod intersect at one point;

S3, the reading device of the inclinometer, the horizontal axis drive servo motor 1 and the vertical axis drive servo motor 7 are respectively connected with the computer, and the computer realizes synchronous control and reading;

当θ(t)和

达到测斜仪两倍量程时伺服电机停止前进；S4. Start the vertical axis to drive the servo motor 7 and the horizontal axis to drive the servo motor 1, determine the step angle according to the accuracy requirements of the inclinometer, each step is 1/10 of the angle of the inclinometer accuracy, and record the cumulative rotation of the two servo motors The angles α(t) and β(t) and the corresponding readings α′(t) and β′(t) of the inclinometer itself, according to formula (2), the theoretical measurement angles θ(t) and

When θ(t) and

The servo motor stops moving forward when it reaches twice the range of the inclinometer;

S5. Control the vertical axis to drive the servo motor 7 and the horizontal axis to drive the servo motor 1 to rotate in the opposite direction, and each step back is 1/10 of the inclinometer's accuracy until it is reset to the initial position;

计算测斜仪的最大误差，或根据最小一乘法获得测斜仪的线性度、稳定性及滞后等参数，上述计算通过计算机程序进行，从而实现对测斜仪的自动率定。S6. According to the formula max|α′(t)-θ(t)| and

Calculate the maximum error of the inclinometer, or obtain parameters such as linearity, stability and lag of the inclinometer according to the least-one multiplication. The above calculation is performed by a computer program, thereby realizing the automatic calibration of the inclinometer.

The above are only the preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, without departing from the technical principle of the present invention, several improvements and modifications can also be made. These improvements and modifications It should also be regarded as the protection scope of the present invention.

Claims (9)

1. an inclinometer automatic calibration device, is characterized in that, comprises horizontal plane rate determination unit and vertical plane rate determination unit; The horizontal plane calibration unit includes a horizontal turntable and a vertical axis drive servo motor that drives the horizontal turntable to rotate in the horizontal plane; The vertical surface rate determination unit is arranged on the horizontal turntable and rotates with the rotation of the horizontal turntable, and the vertical surface rate determination unit includes a fixed rotating wheel of the inclinometer and a fixed rotating wheel that drives the inclinometer to rotate in the vertical plane. The horizontal axis of the inclinometer drives the servo motor, and the inclinometer rod fixing hole for installing the inclinometer rod is provided on the inclinometer fixing wheel; The axis of the horizontal turntable, the axis of the inclinometer fixed runner and the axis of the inclinometer rod always intersect at one point. 2 . The inclinometer automatic calibration device according to claim 1 , wherein the horizontal plane calibration unit further comprises a first transmission shaft fixedly connected with the horizontal turntable, and the first transmission shaft is connected to the vertical shaft. 3 . The driving servo motor is connected, and the vertical shaft driving the servo motor can drive the first transmission shaft to rotate in the horizontal plane. 3. The inclinometer automatic calibration device according to claim 1, wherein the vertical plane calibration unit further comprises a second transmission shaft fixedly connected with the inclinometer fixed runner, the second The transmission shaft is connected with the horizontal shaft drive servo motor, and the horizontal shaft drive servo motor can drive the second transmission shaft to rotate in the vertical plane. 4 . The automatic inclinometer calibration device according to claim 3 , wherein the second transmission shaft is connected to the horizontal turntable through a support frame. 5 . 5 . The inclinometer automatic calibration device according to claim 1 , wherein a horizontal bubble is provided on the horizontal turntable. 6 . 6. inclinometer automatic calibration device according to claim 1, is characterized in that, also comprises controller, described controller and horizontal axis drive servo motor, vertical axis drive servo motor and the reading of inclinometer respectively device is connected. 7. an automatic calibration method of inclinometer, is characterized in that, comprises the following steps: Install the inclinometer rod to be calibrated in the inclinometer rod fixing hole, and ensure that the axis of the horizontal turntable, the axis of the inclinometer fixed wheel and the axis of the inclinometer rod intersect at one point; Connect the reading device of the inclinometer, the horizontal axis driving servo motor and the vertical axis driving servo motor to the computer respectively, and the computer realizes synchronous control and reading; Start the horizontal axis to drive the servo motor and the vertical axis to drive the servo motor, determine the step angle according to the accuracy requirements of the inclinometer, record the cumulative rotation angle of the two motors and the corresponding reading of the inclinometer itself, and calculate the rotation angle of the two servo motors. The theoretical measurement angle of the inclinometer, when the theoretical measurement angle of the inclinometer reaches twice the range of the inclinometer, the servo motor stops moving; Control the horizontal axis to drive the servo motor and the vertical axis to drive the servo motor to rotate in reverse at the step angle until it is reset to the initial position; The computer automatically calculates the maximum error of the inclinometer or the linearity, stability and hysteresis parameters of the inclinometer, and realizes the automatic calibration of the inclinometer. 8. The inclinometer automatic calibration method according to claim 7, wherein the step angle when the horizontal axis drives the servo motor and the vertical axis drives the servo motor forward or backward is 1/10 of the inclinometer precision angle. 9. inclinometer automatic calibration method according to claim 7 is characterized in that, the formula that calculates the theoretical measurement angle of inclinometer by the rotation angle of two servomotors is:

In the formula, α and β are the rotation angles of the vertical axis drive servo motor and the horizontal axis drive servo motor, respectively, θ and

are the theoretical measurement angles of the inclinometer in the horizontal and vertical planes, respectively.

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