CN210464929U - Rotary table mechanical transmission error detection system - Google Patents
Rotary table mechanical transmission error detection system Download PDFInfo
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- CN210464929U CN210464929U CN201921274994.0U CN201921274994U CN210464929U CN 210464929 U CN210464929 U CN 210464929U CN 201921274994 U CN201921274994 U CN 201921274994U CN 210464929 U CN210464929 U CN 210464929U
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Abstract
The utility model discloses a revolving stage mechanical transmission error detecting system, include: terminal, controller, motor drive, motor, shaft coupling, first angular displacement sensor and second angular displacement sensor, wherein: the controller is connected with the terminal; the motor driver is connected with the controller; the motor is connected with the motor driver; the first angular displacement sensor is connected with the motor and the controller; one end of the coupler is connected with the motor, and the other end of the coupler is connected with the tested rotary table; and the second angular displacement sensor is connected with the tested rotary table and the controller. The system can realize the detection of the mechanical transmission error of the tested rotary table, provides mechanical transmission error data for realizing the high-precision control of the rotary table and provides a basis for designing a high-precision control algorithm.
Description
Technical Field
The utility model relates to an automatic test technical field especially relates to a revolving stage mechanical transmission error detecting system.
Background
The turntable is used as important equipment in the fields of aviation, aerospace and navigation, and is commonly used for controlling the attitude of a carrier and simulating the motion characteristics of other equipment. The turntable is taken as a typical servo control system, the purpose of the turntable is to obtain high-precision control of the turntable, mechanical transmission errors of the turntable are one of main factors for restricting the high-precision servo control of the turntable, and taking a target tracking turntable driven by a motor as an example, gaps (including manufacturing errors, assembly errors, gear gaps, bearing gaps and the like) between a driving motor and a load greatly restrict the servo control effect of the turntable.
In view of the contradiction between the purpose of high-precision servo control of the turntable and the existence of mechanical transmission errors, designing a detection system capable of accurately detecting the mechanical transmission errors of the turntable becomes a problem to be solved by those skilled in the art.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides a revolving stage mechanical transmission error detecting system for realize among the prior art revolving stage high accuracy servo control's purpose and solve it and have the contradiction between the mechanical transmission error. The specific scheme is as follows:
the utility model provides a revolving stage mechanical transmission error detecting system, terminal, controller, motor drive, motor, shaft coupling, first angular displacement sensor and second angular displacement sensor, wherein:
the controller is connected with the terminal and receives a test instruction signal sent by the terminal;
the controller is connected with the motor driver and outputs a control signal to the motor driver according to the test instruction signal;
the motor driver is connected with the motor and drives the motor according to the control signal;
the two ends of the coupler are respectively connected with the motor and the tested rotary table, and the coupler transmits the output of the motor to the tested rotary table to drive the tested rotary table to rotate;
the two ends of the first angular displacement sensor are respectively connected with the motor and the controller, and the first angular displacement sensor acquires the actual position of the motor and sends the actual position to the controller;
two ends of the second angular displacement sensor are respectively connected with the tested rotary table and the controller, and the second angular displacement sensor acquires the actual position of the tested rotary table and sends the actual position to the controller;
the controller receives an actual position of the motor and an actual position of the measured turntable.
In the above system, optionally, the first angular displacement sensor and the second angular displacement sensor are photoelectric code discs.
In the above system, optionally, the first angular displacement sensor and the second angular displacement sensor are absolute position encoders.
In the above system, optionally, the first angular displacement sensor is mounted at a tail end of the motor.
In the above system, optionally, the second angular displacement sensor is mounted on the table top of the azimuth axis of the measured turntable.
In the above system, optionally, the motor and the adapter shaft of the tested turntable are connected through the coupler, and the coupler and the adapter shaft are fastened through screws to the corresponding shaft holes.
The above system, optionally, further includes: an adapter box for mounting the controller and the motor driver;
the controller and the motor driver are connected with the motor, the first angular displacement sensor and the second angular displacement sensor through the adaptation interfaces on the adaptation box.
Optionally, the system described above, wherein the adaptation interface includes: a first adaptation interface and a second adaptation interface;
the first adaptive interface is connected with the motor driver and used for outputting a control signal to the motor;
and the second adaptive interface is connected with the first angular displacement sensor and the second angular displacement sensor and is used for receiving the actual position of the motor and the actual position of the tested rotary table.
In the above system, optionally, the specification of the gear at the output end of the tested turntable is the same as that of the gear at the output end of the speed reducer.
In the system, optionally, the controller and the terminal are connected by a bus.
The utility model discloses a revolving stage mechanical transmission error detecting system, include: terminal, controller, motor drive, motor, shaft coupling, first angular displacement sensor and second angular displacement sensor, wherein: the controller is connected with the terminal; the motor driver is connected with the controller; the motor is connected with the motor driver; the first angular displacement sensor is connected with the motor and the controller; one end of the coupler is connected with the motor, and the other end of the coupler is connected with the tested rotary table; and the second angular displacement sensor is connected with the tested rotary table and the controller. The system can realize the detection of the mechanical transmission error of the tested rotary table, provides mechanical transmission error data for realizing the high-precision control of the rotary table and provides a basis for designing a high-precision control algorithm.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a block diagram of a turntable mechanical transmission error detection system according to an embodiment of the present invention;
fig. 2 is a schematic diagram of installation positions of an input end absolute position encoder and a load end absolute position encoder according to an embodiment of the present invention;
fig. 3 is a schematic view of an installation position of an output end gear of a tested turntable and an output end gear of a reducer, according to an embodiment of the present invention;
fig. 4 is the embodiment of the utility model discloses a mechanical transmission error test flow chart.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The utility model discloses a revolving stage mechanical transmission error detecting system, be applied to the testing process of the mechanical transmission error of revolving stage, in view of revolving stage high accuracy servo control's purpose and its contradiction that exists between the mechanical transmission error, need design a detecting system that is used for can accurate detection revolving stage mechanical transmission error, the mechanical transmission error of measurement revolving stage that can be accurate to guide structural engineer to improve the structural design of revolving stage, and guide algorithm engineer to adopt effectual control method compensation mechanical transmission error. The structural block diagram of the turntable mechanical transmission error detection system is shown in fig. 1, and the detection system comprises:
the controller 102 is connected with the terminal 101, wherein the terminal 101 is connected with the controller through a bus, the terminal 101 includes a computer, a tablet or other terminal equipment with display and storage functions, the terminal is a control part of the turntable mechanical transmission error detection system, and the terminal 101 is used for running test software, issuing test instruction signals, realizing acquisition, display and storage of test signal data, and realizing functions of test function editing, test task management and the like. And calculating the maximum value, the average value and the like of the mechanical transmission error of the tested rotary table 108 according to the position values of the first angular displacement sensor 106 and the second angular displacement sensor 107 by a data processing algorithm in test software, so as to evaluate the mechanical transmission precision of the tested rotary table 108 and output a test report.
The controller 102 is configured to control the operation of the motor driver 103, and is capable of receiving an instruction signal of the terminal 101, generating a control signal according to the instruction signal, controlling the motor driver 103 according to the control signal, and feeding back a corresponding sensor signal to the terminal 101, where the sensor signal includes displacement signals of the first angular displacement sensor 106 and the second angular displacement sensor 107.
The motor driver 103 is connected to the controller 102, wherein the motor driver is configured to implement an inverter function, receive the control signal, and drive the motor 104 to operate according to the control signal.
The motor 104 is connected to the motor driver 103, wherein the motor 104 is configured to drive the coupler 105 to rotate, and the motor 104 may be a dual-output-shaft motor.
The first angular displacement sensor 106 is connected to the motor 104 and the controller 102, wherein the first angular displacement sensor includes a photoelectric encoder, and the first angular displacement sensor 106 includes an absolute position encoder, wherein the first angular displacement sensor is configured to feed back an actual position of the motor 104, feed back an actual position of the motor 104 to the controller 102, and may further obtain a speed of the motor 104 by integrating the actual position of the motor 104.
One end of the coupler 105 is connected with the adapting shaft of the motor 104, the other end of the coupler 105 is connected with the adapting shaft of the tested rotary table 108, and the coupler 105 transmits the output of the motor 104 to the tested rotary table 108 to drive the tested rotary table 108 to rotate. The shaft coupling and the transfer shafts are connected through shaft hole matching to ensure transmission coaxiality and are fastened through screws. When the transmission shaft is installed, the switching shafts are driven to rotate in a positive pressure mode on the transmission shaft, the connection is reliable, the switching shafts do not rotate relatively, and transmission angle position errors cannot be introduced.
The second angular displacement sensor 107 is connected with the measured rotary table 108 and the controller 102, wherein the second angular displacement sensor includes a photoelectric encoder, and the second angular displacement sensor 107 includes an absolute position encoder, wherein the second angular displacement sensor is used for feeding back an actual position of a load end of the measured rotary table 108, feeding back the actual position of the measured rotary table 108 to the controller 102, and obtaining a speed of the measured rotary table 108 by integrating the actual position of the measured rotary table 108.
The utility model discloses a revolving stage mechanical transmission error detecting system, include: terminal, controller, motor drive, motor, shaft coupling, first angular displacement sensor and second angular displacement sensor, wherein: the controller is connected with the terminal; the motor driver is connected with the controller; the motor is connected with the motor driver; the first angular displacement sensor is connected with the motor and the controller; one end of the coupler is connected with the motor, and the other end of the coupler is connected with the tested rotary table 108; the second angular displacement sensor is connected with the measured rotary table 108 and the controller. The system can realize the detection of the mechanical transmission error of the tested rotary table 108, provide mechanical transmission error data for realizing the high-precision control of the rotary table and provide a basis for designing a high-precision control algorithm.
In the embodiment of the present invention, the controller 102 and the motor driver 103 can be installed in the adapter box, the controller and the motor driver pass through the adaptation interface on the adapter box with the motor the first angular displacement sensor with the second angular displacement sensor is connected, the adaptation interface includes: the first adaptive interface is connected with the motor driver and used for outputting a control signal to the motor, and the second adaptive interface is connected with the first angular displacement sensor and the second angular displacement sensor and used for receiving the actual position of the motor and the actual position of the tested rotary table 108.
In the embodiment of the utility model provides an in, for measuring the mechanical transmission error of surveyed revolving stage 108 needs be in input absolute position encoder (first angular displacement sensor 106) and load end absolute position encoder (second angular displacement sensor 107) are installed respectively to the input and the load end of surveyed revolving stage 108, input absolute position encoder with load end absolute position encoder's mounted position schematic diagram is shown in FIG. 2, wherein, input absolute position encoder installs the tail end of motor 104, load end absolute position encoder installs on azimuth axis mesa.
In order to ensure that the rotation angle of the output shaft of the speed reducer is consistent, the specification of the output end gear of the speed reducer is also in gear transmission consistent with the specification of the output end gear of the tested rotary table, the installation schematic diagram of the output end gear of the speed reducer and the output end gear of the tested rotary table is shown in figure 3, gears with the same specification are selected, the transmission error in the gear operation process can be reduced, if the output end gear of the speed reducer or the output end gear of the tested rotary table needs to be replaced, only a gear spare part with one specification needs to be provided, and management is facilitated.
When calculating the transmission error of the measured turntable 108, the rotation angle position acquired by the input end absolute position encoder needs to be converted to the output shaft, and the difference is obtained with the rotation angle position acquired by the load end absolute position encoder, so as to obtain the angle error.
The specific detection process based on the turntable mechanical transmission error detection system comprises the following steps: the testing software sends different position instruction signals to the testing system according to different testing modes, wherein the testing modes comprise: acceleration test, deceleration test, constant speed test and the like. The turntable mechanical transmission error detection system executes a corresponding test process for obtaining a mechanical transmission error value (the positioning precision of the servo motor is ensured to be 0.005 degrees). The mechanical transmission error test flow is shown in fig. 4.
Selecting a test mode of mechanical transmission errors, and initializing through a tracking module and a reset module group, wherein the initialization method comprises the following steps:
tracking a reverse zeroing operation of the measured rotary table 108, wherein the zeroing of the two absolute position encoder values comprises: the tested rotary table 108 moves in the positive direction, and the maximum mechanical transmission error of the tested rotary table 108 can be measured after the tested rotary table 108 is tracked to perform a negative zero searching operation; and at the initial moment after the reverse zero searching operation is finished, the terminal 101 sends a reset instruction, wherein the reset instruction clears the absolute position encoder values of the load end and the absolute position encoder values of the input end, so that the subsequent calculation of the mechanical transmission error is facilitated.
After the initialization is accomplished, need set up position servo scope, the utility model discloses in use 360 to explain as the example, set up position servo scope 360, do not restrict position servo scope. The rotation speed of the tested turntable 108 is required to be set, the utility model discloses in explain with 5/s as an example, set up the rotation speed 5/s of tested turntable 108, do not limit the scope of rotation speed.
After the initialization is accomplished, set up initial position and final position, confirm surveyed revolving stage 108 by initial position arrives the number of times of test of final position, the operator can set up the number of times of test by oneself, and the number of times of test of data is more, and the mechanical transmission error that the test obtained is more accurate, the utility model discloses in explain as 10 with the number of times of test. Starting position movement, starting movement at the starting position, acquiring numerical values of two absolute position encoders, converting the numerical values, displaying real-time positions and rotation rates of an input end and a load end of the tested rotary table 108, judging that the position movement is in place when the real-time positions and the rotation rates are reached to the ending position, and judging whether the test times are executed 10 times? If not, the rotation direction is adjusted to the opposite direction of the last time, and if so, the rotation of the tested turntable 108 is stopped.
For example, the turntable mechanical transmission error detection system is tested 10 times to obtain 20 sets of test data, and the mechanical transmission error processing process is shown in table 1:
TABLE 1
| Number of times | Input encoder (") | Load side encoder (") | Processed data (") | Maximum value (") |
| 1 | A1[1…] | B1[1…] | C1[1…] | D1 |
| 2 | A2[1…] | B2[1…] | C2[1…] | D2 |
| 3 | A3[1…] | B3[1…] | C3[1…] | D3 |
| 4 | A4[1…] | B4[1…] | C4[1…] | D4 |
| 5 | A5[1…] | B5[1…] | C5[1…] | D5 |
| 6 | A6[1…] | B6[1…] | C6[1…] | D6 |
| 7 | A7[1…] | B7[1…] | C7[1…] | D7 |
| 8 | A8[1…] | B8[1…] | C8[1…] | D8 |
| i | Ai[1…] | Bi[1…] | Ci[1…] | Di |
| 20 | A20[1…] | B20[1…] | C20[1…] | D20 |
Wherein: di: represents the maximum value of the ith mechanical transmission error;
t: an average value representing the mechanical transmission error;
Ci[1…]＝Ai[1…]/n-Bi[1…]；
Di＝max{Ci[1…]}；
T＝sum(D1，…，D20)/20；
wherein: and n is the reduction ratio of the speed reducer.
Wherein, aiming at each test, the number of data contained in Ai [1 … ] collected by the input end absolute position encoder and Bi [1 … ] collected by the load end absolute position encoder can be set according to experience or specific conditions, and the embodiment of the invention is not limited specifically.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. For the device-like embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the various elements may be implemented in the same one or more software and/or hardware implementations of the invention.
From the above description of the embodiments, it is clear to those skilled in the art that the present invention can be implemented by software plus necessary general hardware platform. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which can be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., and includes instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.
The present invention provides a system for detecting mechanical transmission error of a turntable, which is introduced in detail above, and the present invention applies specific examples to explain the principle and the implementation of the present invention, and the description of the above examples is only used to help understanding the method and the core idea of the present invention; meanwhile, for the general technical personnel in the field, according to the idea of the present invention, there are changes in the specific implementation and application scope, to sum up, the content of the present specification should not be understood as the limitation of the present invention.
Claims (10)
1. The utility model provides a revolving stage mechanical transmission error detecting system which characterized in that, terminal, controller, motor drive, motor, shaft coupling, first angular displacement sensor and second angular displacement sensor, wherein:
the controller is connected with the terminal and receives a test instruction signal sent by the terminal;
the controller is connected with the motor driver and outputs a control signal to the motor driver according to the test instruction signal;
the motor driver is connected with the motor and drives the motor according to the control signal;
the two ends of the coupler are respectively connected with the motor and the tested rotary table, and the coupler transmits the output of the motor to the tested rotary table to drive the tested rotary table to rotate;
the two ends of the first angular displacement sensor are respectively connected with the motor and the controller, and the first angular displacement sensor acquires the actual position of the motor and sends the actual position to the controller;
two ends of the second angular displacement sensor are respectively connected with the tested rotary table and the controller, and the second angular displacement sensor acquires the actual position of the tested rotary table and sends the actual position to the controller;
the controller receives an actual position of the motor and an actual position of the measured turntable.
2. The system of claim 1, wherein the first and second angular displacement sensors are opto-electronic code discs.
3. The system of claim 2, wherein the first angular displacement sensor and the second angular displacement sensor are absolute position encoders.
4. The system of claim 1, wherein the first angular displacement sensor is mounted at a trailing end of the motor.
5. The system of claim 1, wherein the second angular displacement sensor is mounted on an azimuth axis table of the measured turret.
6. The system of claim 1, wherein the motor is connected with the adapter shaft of the tested turntable through the coupler, and the coupler and the adapter shaft fasten the corresponding shaft holes through screws.
7. The system of claim 1, further comprising: an adapter box for mounting the controller and the motor driver;
the controller and the motor driver are connected with the motor, the first angular displacement sensor and the second angular displacement sensor through the adaptation interfaces on the adaptation box.
8. The system of claim 7, wherein the adaptation interface comprises: a first adaptation interface and a second adaptation interface;
the first adaptive interface is connected with the motor driver and used for outputting a control signal to the motor;
and the second adaptive interface is connected with the first angular displacement sensor and the second angular displacement sensor and is used for receiving the actual position of the motor and the actual position of the tested rotary table.
9. The system of claim 1, wherein the output gear of the tested turntable is the same size as the output gear of the reducer.
10. The system of claim 1, wherein the controller and the terminal are connected by a bus.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112923953A (en) * | 2021-01-28 | 2021-06-08 | 北京比得机器人科技有限公司 | Robot motor positioning method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112923953A (en) * | 2021-01-28 | 2021-06-08 | 北京比得机器人科技有限公司 | Robot motor positioning method |
| CN112923953B (en) * | 2021-01-28 | 2022-01-04 | 北京比得机器人科技有限公司 | Robot motor positioning method |
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