Design Of Ball Angle Measurement Method Based On Time Grating Technology

With the rapid development of modern industrial automation,multiple degrees of freedom motion has been widely used in more and more occasions,such as robots ball movements bionic eye,panoramic camera,all-round bionic sports spherical joints,radar and so on.Multi-degree of freedom operation mode can be realized by the combination of a plurality of one-dimensional operating mechanisms,which has many disadvantages,such as complex mechanism,large volume,poor dynamic response performance and so on.Therefore,the ball motor which can carry out the space fixed point motion is produced.As the feedback link of motion control,Ball angle measurement,as known as rotor position detection technology,is one of the key technologies to realize the accurate space fixed point motion.However,this kind of detection device is very large,and the combination of multiple sensors can cause a large systematic error.With the development trend of miniaturization and integration of various mechanical devices,the method of detecting the spatial position of multi DOF mechanism is becoming a hot topic.Therefore,based on the research of time grating displacement sensing technology,this paper studies the method of ball angle composite detection.The main contents and achievements of this paper are as follows:(1)Based on the comprehensive analysis of the current methods for the detection of multiple free motion position,this paper makes a deep research on the method of sphere angle detection.In this paper,a new method based on time gate sensing is proposed.Combined with the special structure of time grating sensor and sphere,the structure design of ball angle measurement model has been carried out.The spatial coupling field is formed by multi frequency excitation.The coupling problem of the coupling field is solved by the multi-frequency method,and then the three uniform vertical coordinate system of the rotating axis is formed.(2)According to the characteristics of multi degree of freedom motion,the angle of the ball is converted to the rotation angle of each axis.By decoupling,the rotating magnetic field with relatively uniform motion is formed on each axis.The dual coordinate system used in the time grating technique is established to realize the displacement modulation of each axis.(3)The simulation experiment of the ball angle compound measurement method hasbeen carried out.Based on the finite element simulation software,the spherical angle measurement model is established and the magnetic field simulation is carried out.The characteristic curves of the measured rotation angle and the output signal with displacement modulation are obtained by solving the analysis.The measurement error is analyzed quantitatively.The correctness and feasibility of the ball angle measurement method are verified.(4)On the basis of time grating signal processing system,the key circuit of the signal processing circuit is designed,which mainly includes the excitation signal generation circuit and the induction signal extraction circuit.(5)Based on the experimental platform,The single frequency single axis angle measurement experiment was carried out under the condition of no inclination angle.At the same time,the multi-angle measurement of angle measurement with the inclination angle is also carried out.To sum up,this paper studies the method of measuring ball angle based on time grating technology from three aspects of theoretical analysis,model simulation and experimental verification.The feasibility of the proposed method is proved.