火电厂汽包水位测量及误差分析

汽包水位信号的准确测量直接关系到机组的安全稳定运行及汽水调节的品质，是机组安全、稳定运行的重要保证，因此需要采取必要措施提高汽包水位的测量精度并减少测量误差。本文介绍了汽包水位常用的测量方法、汽包水位测量误差产生的原因以及因汽包压力及取样管温度引起的水位测量误差的校核计算方法，提出r适用于发电厂汽包水位校核计算及实际补偿的通用原理和试验方法。     

专用瞄准设备自动检定系统

介绍了专用瞄准设备自动检定系统的系统配置、工作原理及软件设计，并对系统的测量不确定度进行了分析和评定。     

J2级经纬仪竖盘指标自动补偿误差不确定度

介绍了按照ＪＪＧ４１４—９４《光学经纬仪》检定、校准Ｊ２级经纬仪竖盘指标自动补偿误差时，依据“’９３国际指南”要求，对其测量不确定度进行的分析、计算。     

Determination of optimal samples for robot calibration based on error similarity

Industrial robots are used for automatic drilling and riveting.The absolute position accuracy of an industrial robot is one of the key performance indexes in aircraft assembly,and can be improved through error compensation to meet aircraft assembly requirements.The achievable accuracy and the difficulty of accuracy compensation implementation are closely related to the choice of sampling points.Therefore,based on the error similarity error compensation method,a method for choosing sampling points on a uniform grid is proposed.A simulation is conducted to analyze the influence of the sample point locations on error compensation.In addition,the grid steps of the sampling points are optimized using a statistical analysis method.The method is used to generate grids and optimize the grid steps of a Kuka KR-210 robot.The experimental results show that the method for planning sampling data can be used to effectively optimize the sampling grid.After error compensation,the position accuracy of the robot meets the position accuracy requirements.     

Application in prestiction friction compensation for angular velocity loop of inertially stabilized platforms

To overcome the influence of the nonlinear friction on the gimbaled servo-system of an inertial stabilized platforms(ISPs) with DC motor direct-drive, the methods of modeling and compensation of the nonlinear friction are proposed. Firstly, the inapplicability of LuGre model when trying to interpret the backward angular displacement in the prestiction regime is observed experimentally and the reason is deduced theoretically. Then, based on the dynamic model of direct-drive ISPs, a modified LuGre model is proposed to describe the characteristic of the friction in the prestiction regime. Furthermore, the state switch condition of the three friction regimes including presliding, gross sliding and prestiction is presented. Finally, a composite compensation controller including a nonlinear friction observer and a feedforward compensator based on the novel LuGre model is designed to restrain the nonlinear friction and to improve the control precision. Experimental results indicate that compared with those of the conventional proportion–integration–differentiation(PID) control method and the PID plus LuGre model-based friction compensation method, the dwell-time has decreased from 0.2 s to almost 0 s, the position error decreased to 86.7%and the peak-to-peak value of position error decreased to 80% after the novel compensation controller is added. It concludes that the composite compensation controller can greatly improve the control precision of the dynamic sealed ISPs.     

激光陀螺四位置寻北仪提高精度方法

为消除激光陀螺零偏和常值漂移的影响,采用四位置方案来实现高精度寻北。本文简述了单轴激光陀螺四位置寻北方案,给出了陀螺敏感轴与机体系前向偏差角标定方法,研究了寻北仪在倾斜基座下数据补偿算法。本文研究了由于在四个位置上电机转动不到位所引起的误差补偿算法。通过对寻北仪系统测试,采用电机转动不到位补偿后数据标准差降低了0.02º,激光陀螺寻北仪系统达到了高精度快速寻北的要求。     

基于PSO算法的半球谐振陀螺惯导系统陀螺温度补偿方法

针对半球谐振陀螺受温度影响出现零位漂移的问题，以测温电路温度为基准，建立温度频率函数实时解算温度，提出一种基于粒子群优化(PSO)算法的半球谐振陀螺惯导系统陀螺温度补偿方法。在求解温度时，需要先将温度频率函数转换为一元三次方程，存在测试计算量大的问题。引入逆向拟合思想，建立频率温度函数，提高陀螺输出温度实时性和降低测试计算量，替代了传统陀螺测温硬件电路，为惯导系统轻小型设计提供新思路。考虑温度变化、温度变化率以及两者的交叉项，建立温度补偿模型，引入PSO算法求解模型系数。温度试验结果表明，在温箱温度为-40~50 ℃内，补偿后的半球谐振陀螺的零偏稳定性较补偿前提升了46％。     

差动式电涡流传感器在摆式加速度计中的应用

差动电涡流传感器因结构简单、灵敏度高、线性范围大而得到广泛的应用。本文主要论述了差动式电涡流传感器在摆式加速度计中的应用,实验结果表明该设计结构合理、工艺可行,能满足使用要求。     

弹地人在回路末制导时延补偿改进模型

基于弹地通信链路的人在回路制导导弹利用惯性导航系统短时导航精度高的特点,对导弹末制导中导引指令的时间延迟提出了两种补偿模型及改进方法。通过Simulink仿真,得出距离和导引量与目标横向误差的关系及其方法改进后精度的提高幅度,并进行了分析。仿真结果验证了该方法的有效性。     

多加速度计振动分离惯性补偿测力技术

为解决在高超声速脉冲风洞中进行大长细比等特殊模型测力实验所面临的惯性补偿问题,笔者提出了多加速度计振动分离惯性补偿方法。这一方法应用在长细比达20 :1 的模型气动力实验中,得到了较为理想的实验结果