CN108614451A - A kind of real-time interference control method of magnetic simulation device - Google Patents
A kind of real-time interference control method of magnetic simulation device Download PDFInfo
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- CN108614451A CN108614451A CN201810326745.5A CN201810326745A CN108614451A CN 108614451 A CN108614451 A CN 108614451A CN 201810326745 A CN201810326745 A CN 201810326745A CN 108614451 A CN108614451 A CN 108614451A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
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Abstract
The invention discloses a kind of real-time interference control methods of magnetic simulation device, analyze the interference source of magnetic simulation device, and extraction magnetic field data is as magnetic interference template library；Using the magnetic field data average value of magnetic interference template library as magnetic interference template；It constructs adjacency matrix and predicts the imminent template to be matched of subsequent time；After interference signal occurs in detection, the L interference data occurred before choosing this moment match data to be matched and template to be matched as data to be matched, and finding highest be used as of matching degree may matched template sequence；Assuming that it is L that magnetic simulation device, which needs the magnetic field exported,i(i=0,1,2...n), and true field is Si(i=0,1,2...n), then the actual noise in this period is (Ni=Si‑Li) (i=0,1,2...n)；With possible matched template sequence TiIt predicts the interference magnetic field of subsequent time, is denoted as：Ti+1, then subsequent time magnetic simulation device export Li+1‑Ti+1Magnetic field intensity, can to magnetic interference carry out online compensation, solve environmental magnetic field interference on magnetic simulation device work normally caused by influence.
Description
【Technical field】
The invention belongs to fields of communication technology, and in particular to a kind of real-time interference control method of magnetic simulation device.
【Background technology】
The existing means to the interference control of magnetic simulation device are mainly the physical isolation mode by means of magnetic screen, are needed
Add different degrees of physical isolation safeguard procedures around environment, it is expensive and be possible to normal use to other equipment
Generate interference.
【Invention content】
The object of the present invention is to provide a kind of real-time interference control methods of magnetic simulation device, to solve environmental magnetic field interference pair
Magnetic simulation device influences caused by working normally.
The technical solution used in the present invention is：A kind of real-time interference control method of magnetic simulation device, according to the following steps
Implement：
Step 1. analyzes the interference source of magnetic simulation device, and the motion mode by controlling interference source extracts magnetic field
Data are as magnetic interference template library；
Step 2. calculating magnetic field interferes the magnetic field data average value of template library, using average value as magnetic interference template；
The adjacency matrix of the magnetic interference template obtained in step 3. constitution step 2, can be predicted down using adjacency matrix
One moment imminent candidate template, these candidate templates are the template to be matched filtered out；
Step 4. after detecting that interference signal occurs in magnetic simulation device, make by the L interference data occurred before choosing this moment
For data to be matched, the template to be matched in data to be matched and step 3 is matched, finds highest one group of matching degree
Data are as possible matched template sequence Ti(i=0,1,2...n)；
Assuming that it is L that magnetic simulation device, which needs the magnetic field exported, in a period of timei(i=0,1,2...n), and magnetic simulation device
True field be Si(i=0,1,2...n), then the actual noise in this period is (Ni=Si-Li) (i=0,1,
2...n)；
With possible matched template sequence TiIt predicts the interference magnetic field of subsequent time, is denoted as：Ti+1, then subsequent time magnetic
Field stimulation device exports Li+1-Ti+1Magnetic field intensity, can to magnetic interference carry out online compensation.
Further, the specific method of step 1 is：By controlling movement of the elevator between different floors, use simultaneously
High-precision magnetometer HMR2300 measures the interference magnetic field generated, and elevator moves between the buildings 1-5, according to its permutation and combination, totally 10
Middle motor pattern, and each motor pattern moves 30 times repeatedly, and magnetic interference template library is built with all magnetic field datas.
Further, the specific method of construction adjacency matrix is in step 3：N number of magnetic interference template is denoted as respectively：
{T1,T2,···,TN, construct the matrix M={ M of (N+1) × (N+1)I, j：(i=0,1 ..., N；J=0,1 ..., N) },
Wherein, Mi,jValue be 0 or 1, for the template sequence recurred, previous template is referred to as the elder generation of latter template
Template is sent, latter template is referred to as the follow-up template of previous template；
Element M in adjacency matrixi,jMeaning be：If the i-th template of previous time period occurs, work as Mi+1,j+1=1, then j-th
Template is the template that latter time period may occur；Work as Mi+1,j+1=0, then it represents that j-th of template can not in the latter period
It can occur；
At the end of 0th row of adjacency matrix indicates that the template being likely to occur when interference starts, the 0th row indicate that one section of interference is fast
The last one template.
Further, in step 4, matched specific method is：Using normalized crosscorrelation matching algorithm, it is assumed that magnetic field is dry
It is respectively { X to disturb any two template inside template library:x1,x2,···,xNAnd { Y:y1,y2,···,yN, then this two mould
Matching degree between plate is：
Wherein,WithThe average value of two templates is indicated respectively, and the average value of two templates is more close, and matching degree is got over
Height, the result that numerical value resolves are also bigger.
The invention has the advantages that：The present invention eliminates environmental magnetic field using the method for template matches and interferes to magnetic field
The influence of simulator need not add special magnetic shield apparatus without using the means of physical electromagnetic shielding；Interference control is real-time
Property it is relatively high, and interfere control effect it is apparent.
【Description of the drawings】
Fig. 1~Figure 10 is the 10 kinds of movement magnetic characteristic templates of the elevator that is measured using high-precision magnetometer between the buildings 1-5
Library；
Figure 11 is to measure magnetic field intensity in real time using magnetometer, and carry out length of window L=in Real-time compensation control test
On-line matching result figure when 20；
Figure 12 is to measure magnetic field intensity in real time using magnetometer, and carry out length of window L=8 in Real-time compensation control test
When On-line matching result figure.
【Specific implementation mode】
The structural principle and operation principle of the present invention are described further below in conjunction with the accompanying drawings.
The present invention provides a kind of real-time interference control methods of magnetic simulation device, implement according to the following steps：
Step 1. analyzes the interference source of magnetic simulation device, and the motion mode by controlling interference source extracts magnetic field
Interfere template library.
Such as：When interference source is elevator, by controlling movement of the elevator between different floors, while high-precision magnetic is used
Strong meter HMR2300 measures the interference magnetic field generated, and elevator moves between the buildings 1-5, according to its permutation and combination, moves mould in totally 10
Formula, and each motor pattern moves 30 times repeatedly, obtains movement magnetic characteristic template library.
The design of in-orbit magnetic simulation device closed-loop control system theoretically uses this magnetic simulation system that can generate reason
Think magnetic field, however, due to by extraneous high-intensity magnetic field interfere, between the magnetic field data actually generated and theoretical value there is some partially
Difference, just because of these strongly disturbing presence so that the precision of magnetic simulation device is greatly reduced.Further analysis finds that magnetic field is dry
That disturbs has the characteristics that the shape of comparison rule and the period is presented, but its period and shape are not fixed.
When for the stronger real-time control problem of such periodicity, often there is a comparison using traditional control method
Long state transitional processes, it is often ineffective.It is analyzed by investigating, finds motor when elevator moves up and down around laboratory
Work the influence generated.Therefore, for convenience of the acquisition to interfering template, herein by fortune of the control elevator between different floors
It is dynamic, while the interference magnetic field generated is measured using high-precision magnetometer HMR2300.Elevator moves between the buildings 1-5, according to its row
Row combination, motor pattern in totally 10, and each motor pattern moves 30 times repeatedly, obtains magnetometer X-axis test result difference
Such as Fig. 1~movement shown in Fig. 10 magnetic characteristic template library.
Step 2. calculating magnetic field interferes the average value of template library, using these average values as magnetic interference template；Pass through control
Interference source processed obtains the database of magnetic field template, but there is still a need for be further processed the template that could be obtained for real-time matching.
Patent is using the average value of template library as the template for representing template library.
The adjacency matrix of the magnetic interference template obtained in step 3. constitution step 2, can be predicted down using adjacency matrix
One moment imminent candidate template, these candidate templates are the template to be matched filtered out.According to interference source movement
Objective law, there is also the sequencings of interdependence for the generation of template, rather than what random alignment combined.Therefore, according to preceding
A situation arises for one template, calculates next template being likely to occur or the template that can be excluded, can significantly contract
Small template number to be matched.Herein by the method for construction adjacency matrix, after indicating that certain template occurs using adjacency matrix
Next candidate template to be occurred.
Wherein, the specific method for constructing adjacency matrix is：N number of magnetic interference template is denoted as respectively：{T1,T2,···,
TN, according to probability statistics, sufficiently long sampled data can include the adjacencies of all templates, only consider template here
Direct neighbor.Construct the matrix M={ M of (N+1) × (N+1)I, j：(i=0,1 ..., N；J=0,1 ..., N) },
Wherein, Mi,jValue be 0 or 1, the 0th row of matrix indicate interference start when template, the 1st row indicate template 1 after
Continuous template, and so on, the i-th row indicates the follow-up template of template i；The row of matrix the 0th indicate the template of end of interrupt, the 1st list
Show the advance template of template 1, and so on, jth row indicate the advance template of template j.
The meaning of adjacency matrix：For the template sequence recurred, previous template is referred to as the advance template of latter template,
Latter template is referred to as the follow-up template of previous template.Element M in adjacency matrixi,jMeaning be：If the i-th template of previous time period
Occur, works as Mi+1,j+1=1, then j-th of template is the template that latter time period may occur；Work as Mi+1,j+1=0, then it represents that j-th
Template can not possibly occur in the latter period；
0th row of adjacency matrix and the 0th row are more special, and the 0th row indicates the template being likely to occur when interference starts, the
0 row indicate the last one template at the end of one section of interference soon.
Step 4. after detecting that interference signal occurs in magnetic simulation device, make by the L interference data occurred before choosing this moment
For data to be matched, the template to be matched in data to be matched and step 3 is matched, finds highest one group of matching degree
Data are as possible matched template sequence Ti(i=0,1,2...n)；
Wherein, matched specific method is：Using normalized crosscorrelation matching algorithm, it is assumed that inside magnetic interference template library
Any two template is respectively { X:x1,x2,···,xNAnd { Y:y1,y2,···,yN, then the matching between this two template
Degree is：
Wherein,WithThe average value of two templates is indicated respectively, and the average value of two templates is more close, and matching degree is got over
Height, the result that numerical value resolves are also bigger.
Assuming that it is L that magnetic simulation device, which needs the magnetic field exported, in a period of timei(i=0,1,2...n), and magnetic simulation device
True field be Si(i=0,1,2...n), then the actual noise in this period is (Ni=Si-Li) (i=0,1,
2...n)；
With possible matched template sequence TiIt predicts the interference magnetic field of subsequent time, is denoted as：Ti+1, then subsequent time magnetic
Field stimulation device exports Li+1-Ti+1Magnetic field intensity, can to magnetic interference carry out online compensation.
When On-line matching, the interference data of next step are unknown, according to existing data prediction and can only be controlled next
Step output.Therefore the range for needing matched template is reduced by the methods of adjacency matrix, Feature Selection and matching, detected
When error occurs, gradually magnetic field data is predicted and controlled using the method for sliding window.
It after On-line matching model inspection to interference signal, is rapidly matched, is identified with existing data and template
Go out template and is rapidly performed by compensation control later.Correct template is matched in order to very fast, accurate, it is necessary to be minimized
The template data and matched data length matched.The quantity of ginseng template is greatly decreased by the screening of adjacency matrix, passes through
The design of online sliding window Matching Model, reduces matched data length.
Screen selecting formwork method：After detecting interference signal, it is one section of L interference data as " waiting for choose length
With data ", all templates are screened by adjacency matrix, " possible matched template " are filtered out from template library, and will
" data to be matched " and " possible matched template " carry out template matches.If there are multigroup " may matched template " with " wait for
With data " successful match, then use highest one group of matching degree " possible matched template " to compensate control to interference, and protect
The template for staying all successful match gives over to matching next time and uses.After measuring subsequent time magnetic field data, by window to Forward
A moment is moved, and continues to match remaining template.
Compensating control method：Assuming that it is L that magnetic simulation device, which needs the magnetic field exported, in a period of timei(i=0,1,
2...n), the magnetic field actually measured is Si(i=0,1,2...n), therefore the actual noise in this period is (Ni=Si-
Li) (i=0,1,2...n), it is assumed that and this section of actual noise matching degree highest " possible matched template sequence " is Ti (i
=0,1,2...n), i.e., | Ti-Ni| ＜ ＜ | Ni|.Then subsequent time magnetic simulation device exports Li+1-Ti+1Magnetic interference can be risen
To compensation control effect.
Here is test result：
Magnetic field intensity is measured in real time using magnetometer, and carries out Real-time compensation control.It is L to enable length of window, it is known that L is longer
Then matched result is more accurate, and equally also implies that the time of interference effect is longer, and matched speed is slower；Conversely, L is shorter
Then matched speed is faster, and matched precision is also relatively worse.
On-line matching when providing L=20 and L=8 separately below is as a result, as is illustrated by figs. 11 and 12.From Figure 11 and Figure 12
As can be seen that length of window L is bigger, then it is bigger to control delay, and relatively matched position is also more accurate；Length of window L is smaller,
It is smaller then to control delay, and relatively matched position is also inaccurate.
Mean error relationship between length of window L and control result and ideal value is as shown in table 1.
The relationship of table 1 length of window L and mean error
From table 1 it follows that length of window L more big mean errors then between control result and ideal value are bigger, with
Length of window L to be gradually reduced, then its mean error is also smaller, illustrates that control result is become better and better, as length of window L=8,
Its mean error is 1.3134nT.And there is the case where error hiding as window L is small again, during On-line matching, taken as
Match it is unsuccessful, not in limit of consideration.
Claims (4)
1. a kind of real-time interference control method of magnetic simulation device, which is characterized in that implement according to the following steps：
Step 1. analyzes the interference source of magnetic simulation device, and the motion mode by controlling interference source extracts magnetic field data
As magnetic interference template library；
Step 2. calculating magnetic field interferes the magnetic field data average value of template library, using average value as magnetic interference template；
The adjacency matrix of the magnetic interference template obtained in step 3. constitution step 2 can predict lower a period of time using adjacency matrix
Imminent candidate template is carved, these candidate templates are the template to be matched filtered out；
After detecting that interference signal occurs in magnetic simulation device, L of generation interferes data to be used as and waits for step 4. before choosing this moment
Matched data matches the template to be matched in data to be matched and step 3, finds the highest one group of data of matching degree
As possible matched template sequence Ti(i=0,1,2...n)；
Assuming that it is L that magnetic simulation device, which needs the magnetic field exported, in a period of timei(i=0,1,2...n), and the reality of magnetic simulation device
Border magnetic field is Si(i=0,1,2...n), then the actual noise in this period is (Ni=Si-Li) (i=0,1,2...n)；
With possible matched template sequence TiIt predicts the interference magnetic field of subsequent time, is denoted as：Ti+1, then subsequent time magnetic simulation
Device exports Li+1-Ti+1Magnetic field intensity, can to magnetic interference carry out online compensation.
2. a kind of real-time interference control method of magnetic simulation device as described in claim 1, which is characterized in that the step 1
Specific method is：Production is measured by controlling movement of the elevator between different floors, while using high-precision magnetometer HMR2300
Raw interference magnetic field, elevator move between the buildings 1-5, according to its permutation and combination, motor pattern in totally 10, and each movement mould
Formula moves 30 times repeatedly, and magnetic interference template library is built with all magnetic field datas.
3. a kind of real-time interference control method of magnetic simulation device as claimed in claim 1 or 2, which is characterized in that the step 3
It is middle construction adjacency matrix specific method be：N number of magnetic interference template is denoted as respectively：{T1,T2,···,TN, construct (N+
1) the matrix M={ M of × (N+1)I, j：(i=0,1 ..., N；J=0,1 ..., N) },
Wherein, Mi,jValue be 0 or 1, for the template sequence recurred, previous template is referred to as the advance mould of latter template
Plate, latter template are referred to as the follow-up template of previous template；
Element M in adjacency matrixi,jMeaning be：If the i-th template of previous time period occurs, work as Mi+1,j+1=1, then j-th of template
The template that may occur for latter time period；Work as Mi+1,j+1=0, then it represents that j-th of template can not possibly be sent out in the latter period
It is raw；
0th row of adjacency matrix indicates the template being likely to occur when interference starts, at the end of the 0th one section of interference of row expression is fast most
The latter template.
4. a kind of real-time interference control method of magnetic simulation device as claimed in claim 1 or 2, which is characterized in that the step 4
In, matched specific method is：Using normalized crosscorrelation matching algorithm, it is assumed that any two mould inside magnetic interference template library
Plate is respectively { X:x1,x2,···,xNAnd { Y:y1,y2,···,yN, then the matching degree between this two template is：
Wherein,WithThe average value of two templates is indicated respectively, and the average value of two templates is more close, and matching degree is higher, numerical value
The result of resolving is also bigger.
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