基于正交球面并联机构的新型数控转台姿态求解及实时控制

导出正交球面并联机构姿态正、逆解模型显示解析表达,以“PMAC+PC”为硬件平台,采用二次(粗、精)插补策略和“双缓存技术”,研究了对这类系统的实时控制关键技术,并用于一台新型数控转台开发,相关核心技术对各类并联机构数控系统开发具有一定的指导意义。

Dynamic error research and application of an angular measuring system belonging to a high precision excursion test turntable

Angular measuring system is the most important component of a servo turntable in inertial test apparatus. Its function and precision determine the turntable＇ s function and precision. It attaches importance to research on inertial test equipment. This paper introduces the principle of the angular measuring system using amplitude discrimination mode. The dynamic errors axe analyzed from the aspects of inductosyn, amplitude and function error of double-phase voltage and wavefonn distortion. Through detailed calculation, theory is provided for practical application; system errors are allocated and the angular measuring system meets the accuracy requirement. As a result, the schedule of the angular measuring system can be used in practice.