摘要
针对某大尺寸飞行器质量特性测量设备,利用运动学原理对测量结果进行误差补偿,提高其测量精度。根据D-H模型建立机械结构的运动学方程,分析机械结构的几何参数误差对测量结果的影响。在标定几何参数时,对一些能够精准测量得到的参数,忽略其微变化量,在简化标定方程的同时,方便了参数误差的解算。为提高标定效率,利用粒子群(Particle swarm optimization,PSO)算法对标定位姿进行寻优,分析并建立标定姿态与观测指标函数之间的关系,确定当观测指标函数取最大值时对应最优的标定姿态。标定试验结果表明,利用最优标定位姿进行标定可以快速而准确地得到几何参数的误差,进而得到测量位姿误差。分别在补偿位姿误差和未补偿位姿误差的情况下测量标准件的质量特性,测量结果表明补偿后的质心的最大误差减小为原来的10%左右,转动惯量和惯性积的最大误差分别减小为原来的50%和20%。
To increase the accuracy of the large size mass property measurement system,a method of error compensation based on kinematics model is presented.The kinematics equation of the machine is established with D-H transform matrix and the relation between the measurement error and geometric parameters error is established.For some parameters which can be measured accurately,the error of them can be ignored,which simplify the calibration equation and calculating.To speed up the calibration process,optimal measure poses,which realize high positioning accuracy with small point number,are selected using particle swarm optimization algorithm（PSO）.The relationship between pose of the calibration and fitness function is established.Experimental studies are performed to demonstrate the importance of PSO to the efficiency of calibration.Through the pose error compensation the max errors of the centroid,the moment of inertia and the product of inertia are reduced to approximately 10％,50％ and 20％ respectively.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2014年第10期25-31,共7页
Journal of Mechanical Engineering
关键词
质量特性
运动学
几何参数
标定
粒子群算法
位姿误差
补偿
mass properties
kinematics
geometric parameters
calibration
particle swarm optimization algorithm
pose error
compensation
