摘要
二维摆动台常由离轴布局的两个一维摆动台组成。双轴倾角传感器用于二维摆动台倾斜测量时,难以避免出现传感器安装误差。同时,离轴布局的摆动台存在二维转轴间的角度耦合,即底层摆动台倾斜会造成上方摆动台的角度测量偏差。首先,对上述二维离轴倾斜系统的角度误差进行了分析和建模,将误差分类为近似线性误差和非线性误差。线性误差包括竖直和水平方向的倾角传感器安装误差。非线性误差则仅由摆动台离轴布局造成。随后,联合线性单应矩阵和非线性离轴倾角模型,提出了针对两类误差的校正方法,并制定了自动校正流程。最后,为了检验所提方法的校正精度,在±12°范围内进行了离轴角度调控实验。实验结果表明,二维摆动台倾斜角度测量精度由校正前的0.559°和-0.216°提高到了0.025°和0.013°,使角度误差减小了一个数量级。此外,为了进一步验证所提方法的有效性,与两种现有方法进行了对比实验。实验结果表明所提方法在校正精度和操作简易性方面均优于其他两种方法,证明了本文误差校正模型具有较高的完备性。
The two-dimensional angular displacement table often consists of two two-dimensional angular displacement table.It is difficult to avoid installation errors when mounting a biaxial tilt sensor on a two-dimensional angular displacement table,which can lead to inaccuracies in the measurement of two-dimensional tilt angles.Meanwhile,there is a two-dimensional angular coupling between the rotating axes of the off-axis angular displacement table.And the tilt of the bottom angular displacement table will cause the angle measurement deviation of the upper angular displacement table.Based on the existing angle accuracy of the angular displacement table and the tilt sensor,we hope that a method can be proposed to correct the above linear and nonlinear angle errors through the system model establishment and error analysis.Our work consists of the following parts.First,the systematic angle errors of the two-dimensional off-axis tilting system are analyzed and modeled in this paper,which are categorized into quasi-linear errors and nonlinear errors.The quasi-linear errors include vertical and horizontal tilt sensor installation errors.The nonlinear error is only caused by the off-axis layout of the angular displacement table.Second,a correction method combining the linear homography matrix and the nonlinear off-axis inclination model is proposed for compensating the two types of errors.Furthermore,the automatic correction process is designed.Finally,the calibration accuracy of the proposed method was verified by experiments.In order to verify the calibration accuracy of the proposed method,the off-axis angle control experiment was carried out in the range of±12°to verify the calibration accuracy of the proposed method.The experimental results proved that the measurement accuracy of the two-dimensional angular displacement table tilt angle is improved from 0.559°and-0.216°before correction to 0.025°and 0.013°,which reduces the error by an order of magnitude.The method can meet the requirements of precise measurement and control of off-axis tilt angles.Furthermore,in order to verify the effectiveness of the proposed method,a comparative experiment was conducted with two existing methods.The experimental results show that the proposed method is superior to the other two methods in terms of accuracy and ease of operation.The errors of the biaxial tilt sensor mounted on a two-dimensional angular displacement table are analyzed and modeled,which are classified into quasi-linear errors and nonlinear errors.The corresponding correction method has been established by combining linear homography matrix and nonlinear off-axis inclination model.The experimental results proved that the proposed method effectively improve the measurement accuracy of the two-dimensional tilt angles.Compared with two existing methods,the accuracy of proposed method is higher,while the operation is much simpler.
作者
王森
常颖
崔尧尧
刘斌
Wang Sen;Chang Ying;Cui Yaoyao;Liu Bin(Tianjin Key Laboratory of Complex System Control Theory and Application,School of Electrical Engineering and Automation,Tianjin University of Technology,Tianjin 300384,China;Tianjin Institute of Metrological,Supervision and Testing,Tianjin 300192,China)
出处
《电子测量与仪器学报》
CSCD
北大核心
2024年第8期178-187,共10页
Journal of Electronic Measurement and Instrumentation
基金
天津市自然科学基金多元投入基金项目重点项目(21JCZDJC00760)
天津市“项目+团队”重点培养专项(创新类XC202054)
天津理工大学校级研究生科研创新实践项目(Y2325)资助。
关键词
双轴倾角传感器
单应变换
系统标定
非线性误差
dual-axis tilt sensor
homography transformation
system calibration
nonlinear error
