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Guidance Systematic error separation Method Based on Nonlinear Combinatorial Model

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Guidance Systematic Error Separation Method Based on Nonline...

separation of Comprehensive Geometrical errors of a 3-DOF Parallel Manipulator Based on Jacobian Matrix and Its Sensitivity Analysis with Monte-Carlo Method

第37届中国控制会议

作者： Xuanying Zhou Zhengming Wang Dong Li Haiyin Zhou Jiongqi Wang Department of Mathematics Nation University of Defense and Technology College of Systems Engineering Nation University of Defense and Technology Unit 94 PLA 91550

In order to improve the attack accuracy about sea-based missiles, an accurate separation of the guidance systematic errors including the instrumentation errors and the initial errors, is the key problem. However, the environmental matrix in traditional linear model is ill-conditioning as some systematic errors are coupling. Here we provide a nonlinear combinatorial model by making use of trajectory tracking data, and give a parameter estimation method to separate the guidance systematic errors under launch coordinate. In this study, we give the Bayesian Maximum a posterior（MAP） estimation, and apply this method to separate the guidance instrumentation errors and the initial errors simultaneously combining with trajectory tracking data fusion model. The simulation result shows that the precision of nonlinear combinatorial guidance systematic errors separation is higher than that of the traditional linear model.

关键词： Guidance system error separation nonlinear combinatorial model Bayesian Estimation sea-based missile

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Chinese Journal of Mechanical Engineering 2011年第3期24卷 406-413页

作者： SUN Tao SONG Yimin LI Yonggang2 XU Liang School ofMechanicalEngineering Tianjin University Tianjin 300072 China School ofMechanicalEngineering Tianjin University of Technology andEducation Tianjin 300022 China

Parallel kinematic machines （PKMs） have the advantages of a compact structure,high stiffness,a low moving inertia,and a high load/weight *** have been intensively studied since the 1980s,and are still attracting much *** with extensive researches focus on their type/dimensional synthesis,kinematic/dynamic analyses,the error modeling and separation issues in PKMs are not studied adequately,which is one of the most important obstacles in its commercial applications *** a 3-PRS parallel manipulator as an example,this paper presents a separation method of source errors for 3-DOF parallel manipulator into the compensable and non-compensable errors *** kinematic analysis of 3-PRS parallel manipulator leads to its six-dimension Jacobian matrix,which can be mapped into the Jacobian matrix of actuations and constraints,and then the compensable and non-compensable errors can be separated *** compensable errors can be compensated by the kinematic calibration,while the non-compensable errors may be adjusted by the manufacturing and assembling *** by the influence of the latter,i.e.,the non-compensable errors,on the pose error of the moving platform through the sensitivity analysis with the aid of the Monte-Carlo method,meanwhile,the configurations of the manipulator are sought as the pose errors of the moving platform approaching their *** compensable and non-compensable errors in limited-DOF parallel manipulators can be separated effectively by means of the Jacobian matrix of actuations and constraints,providing designers with an informative guideline to taking proper measures for enhancing the pose accuracy via component tolerancing and/or kinematic calibration,which can lay the foundation for the error distinguishment and compensation.

关键词： parallel kinematic machines (PKMs) limited-degree-of-freedom (limited-DOF) error separation accuracy analysis Jacobian matrix compensable error non-compensable error sensitivity analysis

Geometric error Identification of Gantry-Type CNC Machine Tool Based on Multi-Station Synchronization Laser Tracers

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Chinese Journal of Mechanical Engineering 2024年第2期37卷 150-162页

作者： Jun Zha Huijie Zhang School of Mechanical Engineering Xi’an Jiaotong UniversityXi’an 710049China Xi’an Jiaotong University Suzhou Academy Suzhou 215123China

Laser tracers are a three-dimensional coordinate measurement system that are widely used in industrial *** propose a geometric error identification method based on multi-station synchronization laser tracers to enable the rapid and high-precision measurement of geometric errors for gantry-type computer numerical control(CNC)machine *** method also improves on the existing measurement efficiency issues in the single-base station measurement method and multi-base station time-sharing measurement *** consider a three-axis gantry-type CNC machine tool,and the geometric error mathematical model is derived and established based on the combination of screw theory and a topological analysis of the machine kinematic *** four-station laser tracers position and measurement points are realized based on the multi-point positioning principle.A self-calibration algorithm is proposed for the coordinate calibration process of a laser tracer using the Levenberg-Marquardt nonlinear least squares method,and the geometric error is solved using Taylor’s first-order linearization *** experimental results show that the geometric error calculated based on this modeling method is comparable to the results from the Etalon laser *** a volume of 800 mm×1000 mm×350 mm,the maximum differences of the linear,angular,and spatial position errors were 2.0μm,2.7μrad,and 12.0μm,respectively,which verifies the accuracy of the proposed *** research proposes a modeling method for the precise measurement of errors in machine tools,and the applied nature of this study also makes it relevant both to researchers and those in the industrial sector.

关键词： Multi-point positioning Multi-station synchronization CNC machine tool Geometric error error separation

Orthogonality of inductosyn angle-measuring system error and error-separating technology

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Journal of Harbin Institute of Technology(New Series) 2003年第4期10卷 376-379页

作者：任顺清曾庆双王常虹 Space Control and Inertial Technology Research Center Harbin Institute of Technology

Round inductosyn is widely used in inertial navigation test equipment, and its accuracy has significant effect on the general accuracy of the equipment. Four main errors of round inductosyn,i.e. the first-order long-period (360°) harmonic error, the second-order long-period harmonic error, the first-order short-period harmonic error and the second-order short-period harmonic error, are described, and the orthogonality of these four kinds of errors is studied. An error separating technology is proposed to separate these four kinds of errors, and in the process of separating the short-period harmonic errors, the arrangement in the order of decimal part of the angle pitch number can be omitted. The effectiveness of the technology proposed is proved through measuring and adjusting the angular errors.

关键词： inductosyn angle measurement error separation orthogonality

A New Method of error Compensation for Numerical Control System

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Journal of Shanghai University(English Edition) 2003年第4期7卷 395-398页

作者：夏蔚军吴智铭李济顺张洛平 Department of Automation Shanghai Jiaotong University Shanghai 200030 China Department of Mechatronics Engineering Henan University of Science and Technology Luoyang 471003 China

This paper presents a method of rapid machine tool error modeling, separation, and compensation using grating ruler. A robust modeling procedure for geometric errors is developed and a fast data processing algorithm is designed by using the error separation technique. After compensation with the new method, the maximum position error of the experiment workbench can be reduced from 400 μm to 15 μm. The experimental results show the effectiveness and accuracy of this method.

关键词： error model error separation error compensation position error.

Research on Aspheric Machining System error Compensation and Experiment

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Research on Aspheric Machining System Error Compensation and...

Modeling and Predicting Mixed errors of Shipboard Measurement Equipments

The International Conference on Surface Finishing Technology and Surface Engineering

作者： H. Huang Y.B. Guo and Z.Z. Wang Dept. of Mechanical and Electrical Engineering Xiamen Univ. Xiamen 361005 China

＜正＞According to the requirement of axisymmetric aspheric grinding, and analysis the reason of error generation and propagation, a set of technology that can reduce machining error have been put forward. And an experiment to verify this technology use high-precision grinding machine tool has been done. The experiments results show that: these new machining methods can reduce machining error efficiently and improve machining accuracy more.

关键词： axisymmetric aspheric machining accuracy error separation compensation machining grinding wheel.

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Modeling and Predicting Mixed Errors of Shipboard Measuremen...