CN111399369A - Digital closed-loop control method for photoelectric accelerometer sensor - Google Patents
Digital closed-loop control method for photoelectric accelerometer sensor Download PDFInfo
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Abstract
The invention provides an improved digital closed-loop control method for a photoelectric accelerometer, aiming at the defects of large overshoot, long system establishment time and the like of the conventional control algorithm of the photoelectric accelerometer sensor in the application of an inertial navigation system in the aviation industry. By analyzing the sensor gauge head signal, setting PID parameters, realizing the sensor gauge head signal by a hardware circuit and the like, and adopting a proportional integral derivative control algorithm which is resistant to integral saturation and has position weight information, the overshoot of a digital closed-loop control system is greatly reduced, the system stability time is shortened, the position sensitivity and the integral saturation resistance are effectively realized, the method has guiding significance on the design of a photoelectric accelerometer digital control system, and meanwhile, the method has important guiding value on the application of aviation industry engineering.
Description
Technical Field
The invention relates to a digital closed-loop control method of an accelerometer sensor, in particular to a proportional-integral-derivative (PID) control algorithm which is resistant to integral saturation and has position weight information for a photoelectric accelerometer sensor signal, and is suitable for a digital processing process of the photoelectric accelerometer sensor output signal.
Background
The structural block diagram of the photoelectric accelerometer sensor is shown in fig. 1, and the photoelectric accelerometer sensor mainly comprises a photoelectric sensor head, a preamplifier, an analog-to-digital converter, a digital controller, a digital-to-analog converter, an amplifying circuit, a triangular wave generating circuit and other modules. The working principle of the sensor is as follows: the photoelectric sensor receives natural light from the light window and generates a current signal through a photoelectric effect. The positive and negative accelerations of the acceleration sensor system can drive the optical window in the photoelectric sensor to swing, so that the light receiving quantity of a pair of photodiodes on the photosensitive circuit is different, and the change of the output current signal quantity of the sensor is caused. The current signal is processed by a front-end reading system and is sent to a digital controller after analog-to-digital conversion, a PID control function is realized in the digital controller, a control signal obtained by calculation is fed back to a driving loop of a photoelectric sensor through a digital-to-analog converter and an amplifying circuit, and the light transmission quantity is controlled by the opening area of a controlled optical window.
In a control method of a document (Zhaoyingyi, Zhang , Weiyuan digital closed-loop accelerometer controller design and simulation [ J ] missile and arrow and guidance science report, 2012,32(06):170-
Wherein the control deviation error (t) is the linear controller set value ydDifference between (t) and actual output value y (t)
error(t)＝yd(t)-y(t)(2)
Simulation of the step input signal of an electronic system using conventional algorithms, the step response of the system was observed, as shown in fig. 2, where the output signal was seen to have an overshoot of over 56%, and the system reached steady state in approximately 0.4 seconds.
According to the simulation result, the existing model has the following defects: in the model, neither the saturation condition of the input signal can be judged, nor a time window is set for integration, so that the integration operation is still carried out under the condition of integral saturation, and supersaturation is caused, so that the convergence time of the control system is longer, and the establishment time for the whole system to reach a steady state is too long, so that the sensitivity of the system is reduced.
Disclosure of Invention
Technical problem to be solved
Aiming at the problem of large overshoot of the existing control algorithm of the photoelectric accelerometer sensor, the invention provides a novel control method for setting a window in the integration process, solves the problem of easy integration saturation in the control process of the photoelectric accelerometer sensor, and achieves the purposes of reducing overshoot and improving the sensitivity of the sensor.
Technical scheme
A photoelectric accelerometer sensor digital closed-loop control method, the light sensor outputs the current signal, the current signal is sent to the digital controller after amplifying and A/D converting, realize PID control function in the digital controller, the control signal obtained by calculation is fed back to the driving circuit of the photoelectric sensor through the D/A converter and amplifying circuit, change the light transmission quantity by controlling the opening area of the optical window; the digital controller is characterized in that the output expression of the digital controller is as follows:
wherein, KpIs a proportionality coefficient, KiAs integral time coefficient, KdFor differential time coefficient, K is obtained in MAT L AB by PIDTuner software toolp、KiAnd KdThe optimum value of (d); error (k) is the deviation of the input and output, tsFor a sampling period, UmaxThe maximum output quantity of the moment coil in the feedback loop is obtained; wiPosition weight factor for the integration force affecting the integration process:
wherein, YkTo the extent that the pendulum deviates during movement, YdIs the final value of the system stability.
Advantageous effects
The invention provides an improved digital closed-loop control method for a photoelectric accelerometer, aiming at the defects of large overshoot, long system establishment time and the like of the conventional control algorithm of the photoelectric accelerometer sensor in the application of an inertial navigation system in the aviation industry. By analyzing the sensor header signals, setting PID parameters, realizing the parameters by a hardware circuit and the like, and adopting a proportional integral derivative control algorithm which is resistant to integral saturation and has position weight information, the overshoot of a digital closed-loop control system is greatly reduced, the system stabilization time is shortened, the position sensitivity and the integral saturation resistance are effectively realized, the design of a photoelectric accelerometer digital control system has guiding significance, and meanwhile, the method has important guiding value for the application of aviation industry engineering.
The system using the algorithm of the present invention was simulated in MAT L AB software, and the results are shown in FIG. 5. the overshoot of the system output signal was about 6% and the system stabilized at about 0.3 seconds.
Compared with the prior art, the invention establishes the anti-integral saturation PID control method with the position weight information, and greatly reduces the overshoot of the acceleration sensor system and the system establishment time. Compared with the prior art, the overshoot amount of the invention is reduced to 10.7 percent of the original overshoot amount, and the system setup time is reduced by 0.1 s.
Compared with the prior art, the invention keeps the control effect of an s-domain (continuous time domain), simultaneously realizes the discrete digital signal processing process, and the z-domain PID algorithm can be applied to platforms such as FPGA, ASIC and the like.
Drawings
FIG. 1 is a block diagram of a conventional digital closed loop control system
FIG. 2 step response of an electronic system using a prior art algorithm
FIG. 3 is a schematic diagram of the sensor in connection with the back end electronics system
FIG. 4 is a diagram of defining a position weight factor according to the position of a flexible pendulum in motion
FIG. 5 shows that the control algorithm design method established by the invention realizes the obvious anti-saturation effect
FIG. 6 is a block diagram of a digital closed loop control system to which the present invention is applied
FIG. 7 signal amplification and analog-to-digital conversion implementation method
FIG. 8 digital to analog converter implementation of algorithm output to feedback quantity conversion
FIG. 9 force feedback structural design
FIG. 10 is a flow chart of the present algorithm in Verilog code,
FIG. 11 is a flow chart of applying the algorithm of the present invention to FPGA development
Detailed Description
The invention will now be further described with reference to the following examples and drawings:
the invention aims to construct a digital closed-loop control method for a photoelectric accelerometer sensor, and provides a proportional-integral-derivative control algorithm which is resistant to integral saturation and has position weight information, a PID control algorithm in the existing digital controller is improved, and finally the sensitivity of an accelerometer sensor system is improved by a processing method of hardware circuit operation. The modeling method starts from a continuous time domain signal processing method, deduces a transfer function model of a signal, and converts the transfer function into a discrete time signal model through z transformation. Different from the traditional method, a saturation judgment mechanism is designed in the digital controller, so that the new functional characteristics of a closed-loop control system are realized. The digital closed-loop control method of the invention is described in detail as follows:
the first step is as follows: modeling of photoelectric sensor flexible pendulum structure
In the photoelectric accelerometer sensor, the controlled object is a flexible pendulum structure. The flexible pendulum structure can be simplified to a transfer module in a closed-loop control system, and can be simplified to an s-domain model by analytically modeling the transfer module. That is to say that the first and second electrodes,
where a is the coefficient of the transfer function expression numerator and B, C, D, E is the coefficient of the transfer function expression denominator. Discretizing the model to obtain a z-domain model of
Where M, N is the coefficient of the transfer function expression numerator, and J, K, L are the coefficients of the transfer function expression denominator.
The second step is that: PID control parameter setting
The PID algorithm control principle is shown in FIG. 3. The PID control algorithm detects the signal deviation amount by using feedback, and controls the controlled amount by the deviation signal.
At a certain time t, assuming that the input quantity is rin (t) and the output quantity is rout (t), the deviation can be obtained as error (t) rin (t) -rout (t). Thus, the control law of PID can be expressed as
Wherein, KpIs a proportionality coefficient, KiAs integral time coefficient, KdFor the differential time coefficient, K was obtained in MAT L AB using the PIDTuner software toolp、KiAnd KdThe optimum value of (c).
The third step: algorithm implementation
For the motion process, with the center balance position of the flexible pendulum as a reference, different position weight factor systems are defined for the motions in the centripetal direction and the centrifugal direction, and the position weight factors for the motions in different directions at the same position are also different, as shown in fig. 4.
When the input is the step excitation function U (t), the system response is Y (t). The input and output functions are subjected to z transformation to obtain U (z) and Y (z), and the order is
From the formula (5), it can be found
For both sides of this equation, divide by z2And performing form conversion to obtain
So that the discretized transfer function of the controlled object is
Given a final value of system stability of YdThe residual error amount of the single regulation can be obtained as
error(k)＝Yd-Y(k) (9)
Defining a sampling period as tsThen the PID controller outputs the expression as
In order to accurately reflect the deviation degree Y of the flexible pendulum in the motion processkHere, a position weighting factor W is definediThe position weight factor affects the integration strength of the integration process.
Adding location weight information WiThereby realizing the following controller structure expression
Since the computer system is not a real-time feedback loop, instead of continuous time, a series of sampling time points, W, is usedi(j)Representing the position weight of the jth sampling period, the above equation can be written as
Definition of UmaxFor increasing the maximum output of the torque coil in the feedback loop, the saturation determination process is increased, and the integral action of the integrator is dynamically adjusted according to the output of the controller
The digital closed-loop control algorithm provided by the invention is realized by adopting a hardware circuit, the structural block diagram of an electronic system is shown in 6. after the MAT L AB simulation is completed, the digital closed-loop control algorithm is modeled by adopting a Verilog hardware description language, and is downloaded to an FPGA for realization after being synthesized.
(1) Description of circuit structure
The photoelectric accelerometer sensor signal needs to be amplified using a preamplifier, the schematic of which is shown in fig. 7. Charge signal on feedback capacitor cfIntegrating to form an output voltage signal Vout. The chip type of the amplifier is OPA 380.
VoutThe analog-to-digital converter is selected as L TC 2246L, and realizes three steps of sampling, quantizing and encoding, thereby converting V into analog signaloutConversion to D0～D13For a total of 14 bits of data. The sampling frequency of the ADC is 25 MS/s.
The invention selects the FPGA based on the S-DRAM for digital signal processing, and particularly selects a Cyclone IV device series. Specific parameters of the Cyclone IV device are shown in the following table.
TABLE 1 FPGA internal resources
The output of the FPGA, i.e. the result produced by the present algorithm, is a 16-bit digital quantity, which is sent to the digital-to-analog converter shown in fig. 8 to be converted into an analog voltage, thereby driving the force feedback structure of the photoelectric sensor and realizing the control of the flexible pendulum of the photoelectric sensor.
In order to make the arm of the accelerometer always be pulled back to the equilibrium position, the feedback electric signal needs to be converted into a corresponding force to be applied on the arm, so as to realize the compensation of the offset.
As shown in fig. 9, the driving current in the electromagnetic coil is from a current-steering digital/analog converter, and the magnitude of the current is positively correlated with the deviation degree of the pendulum piece. The current flows through the magnetic induction coil to make the torquer move to the balance position by force, the process converts the electric signal in the circuit into force, and the compensation of the deviation of the pendulum piece is realized.
The specific operation is composed of a 2-time preamplifier circuit, an analog-to-digital converter with an output bit width of 14 bits, an FPGA chip which is manufactured by Altera and is of a model number EP4CE6622C8N, a digital-to-analog converter circuit with an input data bit width of 16 bits, and a feedback amplifying circuit with an amplification factor of 2 times.
(2) Digital closed-loop algorithm hardware implementation
The first step is as follows: the writing of Verilog (adopting IEEE 1800 + 2009 standard) code is realized according to the above-mentioned anti-integral saturation algorithm. The design flow is shown in fig. 10.
At the beginning of each period, the system starts the analog/digital converter to sample and quantize the output signal of the accelerometer sensor, thereby obtaining a digital sample value point. And then judging whether the actuating mechanism reaches the limit, if not, integrating, otherwise, not integrating. And the PID controller reads the output quantity of the controlled object, and judges the position of the flexible pendulum by referring to the full range of the accelerometer sensor, so that a position weight factor is added in an integration link.
The second step is that: and modularizing the formed Verilog code, writing a test file aiming at the module, and realizing the simulation verification of the module by using ModelSim simulation software.
The third step: the implementation ranges from algorithms to code implementation and verification. And downloading the Verilog engineering after simulation verification into an FPGA chip, thereby realizing the implementation of the algorithm of the invention.
Claims (1)
1. A photoelectric accelerometer sensor digital closed-loop control method, the light sensor outputs the current signal, the current signal is sent to the digital controller after amplifying and A/D converting, realize PID control function in the digital controller, the control signal obtained by calculation is fed back to the drive circuit of the photoelectric sensor through D/A converter and amplifying circuit, change the light transmission quantity by controlling the opening area of the optical window; the digital controller is characterized in that the output expression of the digital controller is as follows:
wherein, KpIs a proportionality coefficient, KiAs integral time coefficient, KdFor differential time coefficient, K is obtained in MAT L AB by PIDTuner software toolp、KiAnd KdThe optimum value of (d); error (k) is the deviation of the input and output, tsFor a sampling period, UmaxThe maximum output quantity of the moment coil in the feedback loop is obtained; wiPosition weight factor for the integration force affecting the integration process:
wherein, YkTo the extent that the pendulum deviates during movement, YdIs the final value of the system stability.
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