舵机减速器转角测量误差分析与补偿

发布时间：2018-04-02 19:27

本文选题：电动舵机　切入点：减速器　出处：《应用基础与工程科学学报》2017年01期

【摘要】：在舵机系统的力能传递测试实验中,减速器转角的测量精度是反映舵机特性的重要指标.由于机械安装、零件加工、控制算法采样量化误差和传感器非线性等因素综合影响,角度实测值与理论值之间存在误差并影响测量精度.本文以带有光栅传感器的舵机减速器作为研究对象,通过物理分析、数值计算与系统建模等手段分析了机械、传感器和控制算法采样量化等原因引入的测角误差,提出将机械偏心和传感器非线性作为系统误差,采用最小二乘法构建角度误差指标函数,通过优化指标函数获得由于控制算法采样量化造成角度误差的补偿量的观点.仿真曲线给出了动态静态加载时的误差曲线,以某型舵机减速器为测试设备的实验依此方法进行数据处理,实验结果将测角精度提高了一个数量级(30″),证明了此方法的有效性.
[Abstract]:In the test of force and energy transfer of steering gear system, the measuring accuracy of reducer angle is an important index to reflect the characteristic of steering gear.Due to the influence of mechanical installation, parts machining, sampling quantization error of control algorithm and sensor nonlinearity, there is an error between the measured angle value and the theoretical value, which affects the measurement accuracy.In this paper, the steering gear reducer with grating sensor is used as the research object. The angle error caused by the sampling quantization of mechanical, sensor and control algorithm is analyzed by means of physical analysis, numerical calculation and system modeling.Taking mechanical eccentricity and sensor nonlinearity as systematic errors, the angle error index function is constructed by least square method, and the compensation amount of angle error caused by sampling quantization of control algorithm is obtained by optimizing index function.The error curve of dynamic and static loading is given in the simulation curve, and the data is processed according to this method in the experiment of a reducer of a certain steering gear.The experimental results improve the accuracy of angle measurement by an order of magnitude of 30 ", which proves the effectiveness of this method.
【作者单位】：哈尔滨工业大学电气工程及自动化学院;
【基金】：央高校基本科研业务费专项基金(HIT.NSRIF.2010100) 中国博士后科学基金(2013M531025) 黑龙江省博士后科研启动基金(LBH-Q15064)
【分类号】：TH132.46;TG806

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