角度受限的编码器误差测试研究  

Research on Encoder Error Test with Limited Angle

作　　者：王涛[1] 田留德[1] 赵建科[1] 周艳[1] 陈琛[1] 赵怀学[1] 刘锴[1] 潘亮[1] 万伟[1] 刘艺宁 张婷[1] Wang Tao;Tian Liude;Zhao Jianke;Zhou Yah;Chen Chen;Zhao Huaixue;Liu Kai;Pan Liang;Wan Wei;Liu Yining;Zhang Ting Xi＇an(Institute of Optics and Precision Mechanics, Chinese Academy of Sciences, Xi＇ an, Shaanxi 710119, China)

机构地区：[1]中国科学院西安光学精密机械研究所,陕西西安710119

出　　处：《光学学报》2018年第5期103-109,共7页Acta Optica Sinica

基　　金：中国科学院创新基金(Y154451ZZ0);神光Ⅲ大科学工程资助项目(09lZ512BOA)

摘　　要：为解决转角受限编码器角度误差的精确测试问题,采用平面反射镜-自准直经纬仪法测试编码器角度误差。建立了角度误差和位姿失调参数、编码器角度以及经纬仪示值之间关系的数学模型,通过对失调参数的解算可对编码器角度系统误差进行修正。实验结果表明,在角度范围为0°~40°时,由位姿失调所引入的角度误差随编码器角度的增大单调递增,误差最大值为742.9″;经过修正后的角度误差和编码器位姿无失调时的角度误差基本相当,误差最大值分别为4.4″和3.5″。此方法可有效测试无法精确调整或不具备调平条件的转角受限的编码器角度误差。In order to solve the accurate test problem of encoder angle error with limited angle,the angle error of encoder is tested by plane mirror-autocollimation theodolite.The mathematical model of the relationship between the angle error,the pose dislocation parameters,the angle of encoder and the value of the theodolite is established,the system error of the encoder angle can be corrected by calculating the pose dislocation parameters.The experimental results show that the angle error introduced by the pose dislocation increases monotonically with the increase of encoder angle when the angle range is 0°~40°,the maximum angle error is 742.9＂.The corrected angle error is basically the same as the angle error without encoder pose dislocation,the maximum angle errors are 4.4＂and 3.5＂,respectively.Encoder angle error with limited angle that cannot be accurately adjusted or does not have a leveling condition can be effectively evaluated by this method.

关 键 词：测量 角度误差 位姿失调 数学模型 

分 类 号：O484[理学—固体物理]