ROBOT'S MOTION ERROR AND ONLINE COMPENSATION BASED ON FORCE SENSOR

Robot＇s dynamic motion error and on-line compensation based on multi-axis force sensor are dealt with.It is revealed that the reasons of the error are formed and the relations of the error are delivered.A motion equation of robot＇s termination with the error is established,and then,an error matrix and an error compensation matrix of the motion equation are also defined.An on-line error＇s compensation method is put forward to decrease the displacement error,which is a degree of millimeter,shown by the result of simulation of PUMA562 robot.

On-Machine Measurement of the Straightness and Tilt Errors of a Linear Slideway Using a New Four-Sensor Method

Although there are some multi-sensor methods for measuring the straightness and tilt errors of a linear slideway, they need to be further improved in some aspects, such as suppressing measurement noise and reducing precondition.In this paper, a new four-sensor method with an improved measurement system is proposed to on-machine separate the straightness and tilt errors of a linear slideway from the sensor outputs, considering the influences of the reference surface profile and the zero-adjustment values. The improved system is achieved by adjusting a single sensor to di erent positions. Based on the system, a system of linear equations is built by fusing the sensor outputs to cancel out the e ects of the straightness and tilt errors. Three constraints are then derived and supplemented into the linear system to make the coe cient matrix full rank. To restrain the sensitivity of the solution of the linear system to the measurement noise in the sensor outputs, the Tikhonov regularization method is utilized. After the surface profile is obtained from the solution, the straightness and tilt errors are identified from the sensor outputs. To analyze the e ects of the measurement noise and the positioning errors of the sensor and the linear slideway, a series of computer simulations are carried out. An experiment is conducted for validation, showing good consistency. The new four-sensor method with the improved measurement system provides a new way to measure the straightness and tilt errors of a linear slideway, which can guarantee favorable propagations of the residuals induced by the noise and the positioning errors.

System modeling based measurement error analysis of digital sun sensors

Stringent attitude determination accuracy is required for the development of the advanced space technologies and thus the accuracy improvement of digital sun sensors is necessary.In this paper,we presented a proposal for measurement error analysis of a digital sun sensor.A system modeling including three different error sources was built and employed for system error analysis.Numerical simulations were also conducted to study the measurement error introduced by different sources of error.Based on our model and study,the system errors from different error sources are coupled and the system calibration should be elaborately designed to realize a digital sun sensor with extra-high accuracy.

Sensor array calibration for uniform rectangular array in presence of mutual coupling and sensor gain-and-phase errors

The sensor array calibration methods tailored to uniform rectangular array(URA)in the presence of mutual coupling and sensor gain-and-phase errors were addressed.First,the mutual coupling model of the URA was studied,and then a set of steering vectors corresponding to distinct locations were numerically computed with the help of several time-disjoint auxiliary sources with known directions.Then,the optimization modeling with respect to the array error matrix(defined by the product of mutual coupling matrix and sensor gain-and-phase errors matrix)was constructed.Two preferable algorithms(called algorithm I and algorithm II)were developed to minimize the cost function.In algorithm I,the array error matrix was regarded as a whole parameter to be estimated,and the exact solution was available.Compared to some existing algorithms with the similar computation framework,algorithm I can make full use of the potentially linear characteristics of URA's error matrix,thus,the calibration precision was obviously enhanced.In algorithm II,the array error matrix was decomposed into two matrix parameters to be optimized.Compared to algorithm I,it can further decrease the number of unknowns and,thereby,yield better estimation accuracy.However,algorithm II was incapable of producing the closed-form solution and the iteration operation was unavoidable.Simulation results validate the excellent performances of the two novel algorithms compared to some existing calibration algorithms.

Simulation of Current Measurement Using Magnetic Sensor Arrays and Its Error Model

Magnetic sensor arrays are proposed to measure electric current in a non-contact way. In order to achieve higher accuracy, signal processing techniques for magnetic sensor arrays are utilized. Simulation techniques are necessary to study the factors influencing the accuracy of current measurement. This paper presents a simulation method to estimate the impact of sensing area and position of sensors on the accuracy of current measurement. Several error models are built up to support computer-aided design of magnetic sensor arrays.

A New Study to Compensate Dynamic Measuring Error of Serial Multiple Degree of Freedom（DOF） Strain Gauge Force Sensor

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Research on Consistency Judgement of Indication Error for Calibration Result of Humidity Sensor in Meteorology

In order to solve the lack of relevant evaluation research on the accuracy of HMP155A humidity sensor calibration results in the past, this paper designs the corresponding experimental scheme, and obtains the corresponding calibration results according to the experimental scheme;Then the measurement uncertainty of the indication error in the calibration results is evaluated by GUM, and the corresponding extended uncertainty U95 is obtained. Finally, according to the requirements of JJF1094-2016 characteristic evaluation of measuring instruments, combined with the calibration results and the actual situation of U95, the conformity of the indication error of calibration is determined. The result is that each calibration point of the sensor meets the requirements of conformity determination and is within the qualified range. This research effectively makes up for the blank of the previous research on the conformity determination of the indication error of the calibration results and has strong theoretical and practical significance.

永磁定位系统磁传感器的两步迭代优化标定方法

为减小磁传感器位置、方向和灵敏度系数误差对永磁定位系统定位定向精度的影响,提出了一种基于最小二乘法的两步迭代(TSI)磁传感器标定方法。首先,校准磁传感器的方向和灵敏度系数,再进行位置校准,多次迭代后可以得到稳定的标定参数。其次,使用粒子群优化(PSO)算法与序列二次规划(SQP)算法结合进行迭代求解,在算法优化过程中,增加三组未知数约束,提高求解精度。最后对比使用不同标定方法的永磁定位系统定位定向精度,测试结果表明,所提标定方法较传统基于最小二乘的标定方法的系统定位精度提高20.48%,定向精度提高35.55%。

旋变二次谐波测角误差自校正

旋变幅值误差和正交误差在角速度频谱上表现为旋变转频的二次谐波,是旋变测角误差的主要来源,影响伺服系统角速度控制精度和稳定度。本文提出了一种基于特征频率参考的二次谐波误差自校正方法。首先,分析旋变测角误差产生的机理,获知其幅值误差和正交误差的互不相关性,并证明对旋变输出信号进行幅值调整和相位差调整可实现二次谐波误差校正。然后,在旋变和旋变数字信号转换器(Resolver-to-Digital Converter,RDC)之间设计基于比例放大的幅值校正器和基于交叉调节的相角校正器。最后,根据误差信号在线性控制系统中特征频率不变的特性,对伺服系统进行匀速控制,以角速度频谱中二次谐波频率的幅值为参考基准,分别调整幅值校正器和相角校正器,校正二次谐波误差。实验结果表明:本方法可将旋变二次谐波测角误差幅值降低78.5%,伺服系统速率波动量降低40.5%。本方法实现了旋变二次谐波测角误差的自校正,大幅提升了旋变的测角精度和伺服系统的转速控制稳定度。

近红外光谱传感器的测点热误差补偿方法设计

红外光谱传感器测量受测点不合理产生的热误差影响存在测量偏差较大的问题。提出一种近红外光谱传感器测点热误差补偿方法。根据近红外光谱传感器热变形和测点温度之间的关联性,确定近红外光谱传感器最佳测温点。根据偏F统计量的检验在回归模型中加入拟合处理后的温度变量,删除前期无利用价值的温度变量,以此为依据建立测点热误差模型。根据测点热误差模型中的约束条件,对各个测点进行标定处理,同时引入人工神经网络对近红外光谱传感器各个测点进行温度拟合补偿。实验结果表明,所提方法得到的测点热误差补偿量最高值为45μm、对丝杠XYZ三个轴的补偿量与实际值一致、补偿后的误差控制在4.5μm以内。证明采用所提方法可以获取满意的近红外光谱传感器温度补偿结果。

基于气动位移传感器的纵切车床热误差测量方法研究

针对传统纵切车床热误差测量方法时间长,导致测量过程中的瞬态热行为影响测量结果的问题,提出了一种基于气动位移传感器的纵切车床热误差测量方法。首先,将两个气动差动变压器(Linear Variable Displacement Transducer,LVDT)式位移传感器安装于刀具架上;其次,利用数控程序控制测量,可以实现刀具运动空间内X和Y方向热误差的测量,测量时间缩短至5 s;最后,进行热误差测量实验。实验表明:这种方法的测量结果与激光干涉仪测量结果平均偏差小于0.5μm,验证了这种方法的可行性与有效性。这种方法测量时间短、成本低,为纵切车床热误差补偿提供了依据。

基于无迹卡尔曼滤波算法的喷涂机器人末端位姿补偿系统

喷涂建筑机器人在进行建图时无法将地面平整度的信息包含在地图中。当机器人按照所建地图运行时,由于地面信息的缺失,喷涂建筑机器人工作末端的喷涂夹具无法与墙面平行。为补偿喷涂夹具相对于墙面之间的位姿误差,提出一种基于无迹卡尔曼滤波的多传感器融合的喷涂夹具位姿补偿方法:以位移测量传感器测得的数据构建夹具位姿的状态方程,以陀螺仪测得的数据构建夹具位姿测量方程;利用无迹卡尔曼滤波算法获得夹具姿态的最优估计并将其传递给机器人,从而实现对喷涂夹具位姿误差的补偿。搭建实验平台验证了误差补偿系统的可行性。实验结果表明,误差补偿后的喷涂夹具相对于墙面之间的角度误差减小至0.005°。

人体上肢运动姿态多点视觉自动跟踪仿真

由于视觉传感器本身的噪声以及运动模糊等原因,使得采集的运动上肢姿态数据存在噪声和误差,导致多点视觉自动跟踪精度较低。为此,提出人体运动上肢姿态多点视觉自动跟踪方法仿真。布设多维传感器对姿态多点采集,建立传感器加速度误差模型,获取误差修正目标函数,利用蚁群算法(Ant Colony Optimization, ACO)寻优,修正传感器采集过程中的误差;采用卡尔曼滤波算法(Kalman Filtering Algorithm, Kalman),实现人体运动上肢姿态的多点视觉自动跟踪。实验结果表明,所提方法能够在保障跟踪稳定性的用时,提高姿态跟踪的精度和效率,跟踪耗时仅为10ms左右。

射电望远镜基于座架温度的热致指向误差建模

温度是影响高频大型射电望远镜性能的关键因素之一。以天马望远镜(TMRT)为例,研究了座架节点温度与天线指向之间的关系,提出了基于节点温度的指向误差修正模型构建方法。将指向误差视为座架节点温度的线性组合,以节点的温度灵敏度作为特征条件优化自变量的个数,将北极附近源2344+8226的指向测试结果作为样本集,与自变量简化前后的温度模型的效果进行对比。同时,这两种温度模型也进行了有限元分析验证,模型计算和有限元分析结果都与样本集相吻合。为了验证模型的通用性,对比分析了模型简化前后在4个季度的表现,结果表明简化后的温度模型预测效果更佳。建立的基于节点温度的指向误差修正模型的快速计算结果,也为座架热致指向误差实时修正提供数据支持。

面向无线传感网络的同步时钟技术研究

考虑到传统的时钟同步技术在信息交互过程中产生的延迟具有不确定性,为了消除其对时钟同步的影响,提出了面向无线传感网络的同步时钟技术研究。通过对任意一个网络节点在真实物理时间的本地时间进行变换处理,构建无线传感网络的线性时钟模型,根据高斯分布所具有的加减特性,计算两个连续同步轮次的动态响应时间差值,在离散形式下,构建无线传感网络观测模型。通过计算无线传感网络时钟差值的均值,得到无线传感网络节点的时间戳,将无线传感网络节点数据交互误差补偿的目标函数转换成向量的形式,补偿无线传感网络节点数据交互误差,实现无线传感网络的时钟同步处理。实验结果表明,在微秒级延迟下,该技术的同步精度仍较高,可以有效消除网络信息延迟的不确定性对同步时钟的影响。

基于红外传感器的多无人机对高速飞行器协同定位跟踪方法综述

为了实现高精度远距离稳定定位与跟踪,多无人机搭载红外传感器对高速飞行器的定位跟踪方法成为研究热点。就此背景进行了综合评述,以相关技术难点及关键技术为切入点,分析了瞬时定位和动态跟踪问题的研究现状和发展方向。在瞬时协同定位方面,首先对目标瞬时定位的算法进行了分析对比,然后对造成定位误差的影响因素进行分析并探讨了误差补偿方法,最后针对传感器资源优化,讨论了能够使计算结果最优的传感器分布阵型。在动态跟踪方面,首先探讨了时间不同步问题对目标跟踪的影响及补偿方法,然后对目标运动学建模的问题进行了分析,最后对最优估计问题中各种滤波算法的应用进行对比。综述表明,无人机搭载红外传感器对高速飞行器进行定位和跟踪,存在误差来源多、相对运动速度快的技术难点,需要特别关注定位算法、误差来源及最优估计算法的影响,以尽可能实现稳定跟踪。

施肥对TDR土壤水分传感器测量精度的影响研究

为明析施肥对时域反射法(TDR)土壤水分传感器测量精度的影响规律,并提出适宜的标定方法,以提高其测量精度。以TDR土壤水分传感器作为研究对象,考虑土壤质地、土壤含水率、施肥量3个因素,选取新疆棉花主产区喀什的壤质砂土、克拉玛依的粉质壤土、昌吉的粉砂质黏壤土,设5个土壤含水率水平,5个施肥水平,共计75个处理;以烘干法为基准,建立了TDR土壤水分传感器标定模型,并进行验证。结果表明:在不同土壤含水率条件下,TDR传感器误差随着含水率的增加整体呈增大的趋势。同一含水率时,壤质砂土条件下的TDR传感器误差随施肥量的增加整体呈现增大的趋势;粉质壤土条件下的TDR传感器误差随施肥量的增加呈先减小后急剧增大的趋势;粉砂质黏壤土条件下的TDR传感器误差随施肥量的增加呈先增大后减小再增大的趋势。建立了TDR土壤水分传感器输出值与施肥量、含水率之间的多元回归预测模型并采用Logistic模型进行了标定,壤质砂土、粉质壤土、粉砂质黏壤土试验条件下标定后的平均绝对误差分别为-0.18%、1.46%、0.01%,表明考虑施肥量及含水率的变化对TDR传感器检测精度的提高有积极作用。

基于电涡流效应的绝对式直线位移传感器误差分析及抑制方法研究

基于电涡流效应的绝对式直线位移传感器具有结构简单、分辨率高、响应速度快和抗干扰能力强的特点。相比于增量式直线位移传感器,该类型的传感器不仅不受断电的影响,还能实现更加快速和精确的绝对定位。但是,传感器制造、安装及电信号处理等环节处理不理想会产生无效电动势,带来对极内的1次、2次和4次误差。针对上述问题,使用信号补偿的方式抑制1次和2次误差,采用空间移相的方式消除感应信号中的3次谐波,以此抑制4次误差。对优化后的传感器进行误差抑制实验,验证了误差来源分析的正确性以及抑制方法的有效性。实验表明:误差抑制后的传感器节距内误差峰峰值由32μm优化为6μm,性能大幅度提升。

基于拼接技术的大量程绝对式直线时栅位移传感器自校准方法研究

针对大量程直线位移传感器扩展测量范围和实现绝对定位互相矛盾的问题,在其应用场合缺乏高效安装高精度参考器件的条件,导致难以频繁在线校准以保持其测量精度,基于拼接技术提出一种适用于直线时栅位移传感器的误差延拓自校准新方法。,将复杂的大量程绝对式测量拆分为单段栅尺上的绝对位移测量和栅尺拼接后的绝对位置判断;将绝对位置数据作为位置判断依据并构建双测头结构,实现接缝处感应信号的平滑过渡;利用原生的双测头结构获得定距测量序列,结合误差延拓法构建周期误差函数,再使用快速傅里叶变换获得测量序列幅度谱重构误差函数。为了验证上述方法的可行性和有效性,制作了单段栅尺长度为600 mm的传感器样机进行实验。结果表明,2段栅尺拼接后在量程903 mm内能够实现绝对位置测量;采用自校准方法后传感器单周期内平均误差峰值从2.00μm降至0.59μm,误差补偿效果为70.50%;大量程误差峰值从18.93μm降至0.75μm,误差补偿效果为96.04%;此外,通过校准效果对比实验证明了误差延拓自校准方法优于基于傅里叶谐波补偿的比较校准法,误差校准效果提升约76.20%。