方位俯仰转台误差参数辨识与指向精度分析  

Error parameters identification and pointing accuracy analysis of an azimuth-elevation turntable

作　　者：贾建援[1] 柴伟[1] 于大林[1] 韩晓静[1] 章云[1] 

机构地区：[1]西安电子科技大学机电工程学院,西安710071

出　　处：《仪器仪表学报》2016年第7期1500-1508,共9页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金(51305324);中央高校基本科研业务费专项资金(JB140408)项目资助

摘　　要：为提高方位俯仰两轴转台的指向精度,需要对机械加工和装配过程中产生的几何误差进行补偿,必须测量轴系误差参数。基于四元数变换理论,建立了包含两轴垂直度误差、电子水平仪摆放误差和安装基座倾斜度误差的瞄准指向和电子水平仪指向的运动学模型,并给出了方位与俯仰的位置补偿量。运用电子水平仪测量数据和运动学模型的误差极小化方法,提出了一种轴系误差参数辨识的方法。实验结果表明,该方法可以辨识出6项轴系误差参数,同时也验证了本文提出的辨识方法及指向误差模型的正确性。In order to improve the pointing accuracy of an azimuth-elevation turntable,the error parameters of shaft should be measured and the geometric error of the mechanism should be compensated. Based on the quaternion theory,the kinematic model of the system and electronic gradienter were established,which included error of perpendicularity、display error of electronic gradienter and tilt of the base.Then compensation of azimuth and elevation angle were given. Moreover,a method of error parameters identification was proposed using measurement data of electronic gradienter and error minimization method of kinematic model. Experimental results demonstrated that the proposed method identified six error parameters of shaft and also verified the correctness of identification method and pointing error model.

关 键 词：两轴转台 指向精度 参数辨识 电子水平仪 四元数 

分 类 号：TH115[机械工程—机械设计及理论]