旋转机构零位姿态传感器设计及测量方法  

Design and measurement method of zero position attitude sensor for rotating mechanism

作　　者：张鹏波[1] 王舒雁[1] 张激扬[1] 樊亚洪[1] 赵同爽 ZHANG Pengbo;WANG Shuyan;ZHANG Jiyang;FAN Yahong;ZHAO Tongshuang(Beijing Institute of Control Engineering,Beijing 100190,China)

机构地区：[1]北京控制工程研究所,北京100190

出　　处：《中国惯性技术学报》2024年第7期696-706,共11页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金(62173033,52075545)。

摘　　要：面向新型旋转成像载荷姿态角测量需求,针对现有传感器无法同时测量无接触旋转机构零位三轴姿态角的问题,提出了一种基于光电传感的旋转载荷零位姿态测量方法,并研制了零位姿态传感器,使用光电传感器获取过零波形,采用最小二乘法得到过零时的时间信息,通过时间和转速获得精确的旋转角和定转子相对位移。在此基础上,通过坐标变换求解出零位时的三轴姿态信息。分析平台舱和旋转舱平动、转动对传感器的测量精度的影响,建立传感器测量误差与光源组件轴安装误差、采样误差、传感器安装误差等的理论模型,仿真分析各因素对零位测量误差的影响。搭建了磁悬浮旋转支撑机构测试平台,对比所设计零位姿态传感器测量结果与电涡流位移传感器和旋变传感测量结果,分析所设计传感器的测量精度。结果表明,所设计传感器位移测量误差均值不大于2.4μm,转动角度测量误差均值不大于3.7"。所设计传感器能够准确检测出定转子间隙变化时的零位姿态信息,可为高精度的载荷舱姿态控制提供参考。Aiming at the demand for measuring the attitude angle of a new type of rotating imaging payload,a zero position three-axis attitude angle measurement method for rotating payloads based on photoelectric sensing is proposed to address the problem that existing sensors cannot simultaneously measure the zero position three-axis attitude angle of non-contact rotating mechanisms.A zero position attitude sensor is developed,which uses photoelectric sensors to obtain the zero crossing waveform,uses the least squares method to obtain the time information of zero crossing,and obtains accurate rotation angle and relative displacement of the fixed rotor through time and speed.On this basis,the three-axis attitude information at zero position is solved through coordinate transformation.The influence of the translation and rotation of the platform cabin and the rotating cabin on the measurement accuracy of the sensor is analyzed,and the theoretical model of the sensor measurement error,light source assembly axis installation error,sampling error and sensor installation error is established,and the influence of various factors on the zero position measurement error is simulated.A testing platform for the magnetic levitation rotating support mechanism is built,and the measurement results of the designed photoelectric sensor are compared with those of the eddy current displacement sensor and rotary sensor to analyze the measurement accuracy of the designed sensor.The results show that the designed sensor has a mean displacement measurement error of no more than 2.4mm,and a mean rotation angle measurement error of no more than 3.7".The designed sensor can accurately detect the zero position attitude information when the clearance between the stator and rotor changes,providing a reference for high-precision attitude control of the load compartment.

关 键 词：旋转载荷 光电原理 零位检测 姿态测量 

分 类 号：V448.22[航空宇航科学与技术—飞行器设计]