【作者】 张杰；

【导师】 刘青； 杨勇；

【作者基本信息】 西安理工大学 ， 机械工程（专业学位）， 2019， 硕士

【摘要】 随着现代装备制造业的快速发展,在飞机、船舶等大型设备的制造与装配中,对大尺寸测量技术有着越来越高的标准,其测量范围达到了几十米,甚至上百米,传统的大尺寸测量设备由于测量效率低、测量范围小、单点测量及需要手动瞄准等多方面缺陷,已经不能满足现代化大尺寸测量技术发展的要求。目前飞机、火箭等大型设备在装配过程中通常采用激光跟踪仪、iGPS系统等大空间测量设备进行空间位置测量,但大空间定位技术基本被国外垄断,我国尚未研究出具有自主知识产权的大尺寸空间精密测量设备,所以大尺寸空间精密测量系统已成为我国大尺寸测量领域中的一项重要研究内容。本文提出的旋转激光经纬仪空间定位系统(Rotary-laser automatic theodolites,R-LATs)是一种基于前方交会原理开发的新型大尺寸空间精密测量系统,具有测量效率高、精度高、测量覆盖范围大、扩展性能好以及并行测量能力的优点,为大空间测量设备的发展提供良好的基础。本文对R-LATs系统的组成、测量原理以及测量模型,系统参数的标定技术以及特征角度精度分析等关键技术进行了研究,论文的主要工作如下:1)研究了R-LATs空间定位系统的测量方法。根据R-LATs系统测量原理与系统组成,分别建立了单台R-LAT测量模型与多台R-LAT测量模型。研究了特征时间的提取过程、特征角度的识别、计算方法以及系统的精度影响因素。2)设计了R-LAT的硬件系统。利用电磁感应原理的无线电能传输系统,保证了扇形激光供电的稳定性与电能传输效率,减少了物理摩擦,提高了发射头旋转的稳定性。采用ns级基准光源的驱动电路,提高了基准信号的触发精度。3)研究了单个测量单元下的系统参数标定技术与误差分析技术。针对激光平面线宽由宽变窄、由窄到宽的特性,提出了单位置标定方法与多位置标定方法,实验结果表明,在15 m的测量范围内,单位置标定方法下的长度测量误差小于0.15 mm,结果优于多位置标定方法。针对主轴回转误差对特征角度误差影响的问题,建立了发射头主轴轴向窜动、径向跳动及主轴摆动对特征角度影响的误差分析模型,利用Matlab仿真了主轴轴向窜动、径向跳动对特征角误差影响与被测目标点坐标之间的关系,并采用选配法完成了主轴摆动对特征角度影响实验验证,实验表明发射头与电机主轴的装配间隙小于0.015 mm时特征角精度较高。4)构建了R-LATs原型系统。从准确性与重复性两个精度评定指标,进行了R-LATs系统测量精度评定实验,实验结果表明,在15 m的测量范围内,测量误差优于0.2 mm,重复测量精度小于0.05 mm,说明本文研究的R-LATs系统具有较高的大空间测量定位精度。更多还原

【Abstract】 With the rapid development of modern manufacturing equipment industry,there are higher and higher standards for large-scale measurement technology in the manufacture and assembly of large-scale equipment such as aircraft and ships.The measuring range of large-scale equipment reaches tens of meters or even hundreds of meters,so the traditional large-scale measuring equipment can not meet the requirements of the development of modern large-scale measurement technology because of its low measuring efficiency,small measuring range,single-point measurement and the need for manual aiming.At present,laser tracker and iGPS system are usually used to measure the space position of large-scale equipment such as aircraft and rocket in the process of assembling,but the technology of large-scale space positioning is basically monopolized by foreign countries.China has not yet developed large-scale space precision measurement equipment with independent intellectual property rights.Therefore,the large-scale space precision measurement system has become an important research content in the field of large-scale measurement in China.The R-LATs system proposed in this dissertation is a new large-scale space precision measurement system based on forward rendezvous principle.It has high measurement efficiency,high accuracy,wide measurement coverage,good scalability and parallel measurement ability,and provides a good basis for the development of large-scale space measurement equipment.In this dissertation,the key technologies of R-LATs system,such as its composition,measurement principle,measurement model,calibration technology of system parameters and accuracy analysis of characteristic angle,are studied.The main work of this dissertation is as follows:1)The measurement method of R-LATs spatial positioning system was studied.According to the measurement principle and composition of R-LATs system,single R-LAT measurement model and multiple R-LAT measurement model were established respectively.And the extraction process of feature time,the recognition of feature angle,the calculation method and the factors affecting the accuracy of the system were studied.2)The hardware system of the transmitter was designed.The radio power transmission system based on electromagnetic induction principle ensured the stability of power supply and transmission efficiency of sector laser,reduced physical friction,and improved the stability of transmitter rotation.The triggering accuracy of the reference signal is improved by designing the driving circuit of the ns-level reference light source.3)The calibration technology and error analysis technology of system parameters under a single measurement unit are studied.In view of the characteristics of the laser plane linewidth from width to narrowness and from narrowness to width,this dissertation proposed a unit calibration method and a multi-position calibration method.The experimental results showed that the length measurement error of the unit calibration method was less than 0.15 mm,and the result was better than that of the multi-position calibration method.Aiming at the influence of spindle rotation error on characteristic angle error,this dissertation established an error analysis model for the influence of spindle axial migration,radial runout and spindle swing on characteristic angle.The relationship between the characteristic angle error and the coordinates of the measured target points were simulated by using Matlab.The experimental verification of the influence of spindle swing on the characteristic angle was completed by the selection method.The experiment showed that the precision of the characteristic angle is higher when the assembly gap between the transmitter and the motor spindle is less than 0.015 mm.4)A prototype system of R-LATs was constructed.In terms of accuracy and repeatability,the measurement accuracy evaluation experiment of R-LATs system was carried out.The experimental results showed that the measurement error was better than 0.2 mm and the repetitive measurement accuracy was less than 0.05 mm in the measurement range of 15 m,which indicates that the R-LATs system studied in this dissertation has a high spatial measurement and positioning accuracy.更多还原