Compensation of the accelerometer errors in solving the problem of kinematic control of dynamic objects

Abstract

The article provides the analysis of errors arising at the use of measuring accelerometer in the kinematic control systems. There is a graph of experimental errors of the accelerometer data. Percentage of the various types of errors ahs been calculated. The mean square error of one of the lines of the accelerometers considered in the article has been computed. The description of the methods and algorithms for error compensation is given. The paper proposes to use a phase-measuring method of joint motion control as a method of compensation of multiplicative errors and error conditions. The description of a specialized algorithm that reduces the sampling error and algorithmic error of the accelerometer is offered.