舵机减速器转角测量误差分析与补偿  

Rotating Angle Measurement Error Analysis and Compensation of Steering Gear's Reducer

作　　者：李凯[1] 袁峰[1] LI Kai YUAN Feng(Harbin Institute of Technology, School of Electrical Engineering and Automation, Harbin 150001, China)

机构地区：[1]哈尔滨工业大学电气工程及自动化学院,黑龙江哈尔滨150001

出　　处：《应用基础与工程科学学报》2017年第1期199-209,共11页Journal of Basic Science and Engineering

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)

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.The rotating angle＇ s measurement precision of reducers reflects the vital performance of steering gear in the force and energy transmission testing experiments of electrical steering gear system. Due to the comprehensive factors of mechanical installation, separate parts machining, control algorithm sampling quantization errors and sensor＇ s nonlinearities, there are errors between the measured and theoretical values of the angle and affect measurement precisions. Objected to the steering gear＇ s reducer with the grating sensor, the angle measurement errors caused by mechanics, sensor and control algorithm sampling quantization are analyzed by means of physical analysis, numberical calculation and system modeling, and the idea is proposed of regarding mechanical eccentricity and sensor＇s nonlinearties as systematic errors, establishing angle errors＇ index function based on Least values for angle errors generated from control Square Method, and acquiring the compensated algorithm sampling quantization by optimizing the index function. Simulation curves show angle errors in steady state loading and dynamical state loading,the actual experiment uses this method to process data taking a certain type of steering gear reducer as testing equipment, and the experiment results increase than uncompensated conditions（30＂） ,which validates the effectiveness one order of magnitude of such methods.

关 键 词：电动舵机 减速器 转角测量 误差补偿 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]