CN1195204C - Dynamic non-linear real-time correction system for sensor - Google Patents
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Abstract
The present invention relates to a signal processing system for sensors, which uses a digital signal processor (DSP) as a core and has the function of dynamic non-linear real-time correction. The signal processing system for sensors is composed of the DSP, an analog input channel, an analog output channel, a logic control circuit, a FLASH, a serial interface circuit and corresponding software. The signal processing system for sensors can carry out real-time correction on a dynamic non-linear response signal of a sensor. When the dynamic non-linear characteristic of the sensor is described by a Hammersein model, a dynamic non-linear correction sequence is that dynamic linear compensation is carried out first, and then static non-linear correction is carried out; when the dynamic non-linear characteristic of the sensor is described by a Wiener model, the dynamic non-linear correction sequence is that the static non-linear correction is carried out first, and then the dynamic linear compensation is carried out. In this way, the present invention can overcome the limitation of the existing dynamic non-linear correction method, can carry out correction on dynamic non-linear responses with different forms and different amplitudes, and can ensure processing real-time performance.
Description
Technical field
The present invention relates to sensor, particularly a kind of is the Sensor's Dynamic Nonlinearity System with Real-Time of core with the digital signal processor DSP.
Background technology
Along with producing and development of science and technology, much more more and more people require to measure dynamic non electrical quantity.Therefore, the research of sensor dynamic characteristic has caused people's attention, and is obtaining bigger progress aspect the sensor dynamic calibration (compensation).Wherein, it is core with the digital signal processor DSP that Xu Ke army of HeFei University of Technology etc. has developed a kind of, real-time dynamic correcting system with multi-dimension force sensor of dynamic decoupling-compensate function (is declared Chinese invention patent, the applying date: 1999.6.4, application number: 99108264.8,2003.3.14. send the authorization notification book, " real-time dynamic correcting system of multi-dimension force sensor ").But, people be basically sensor as linear system, adopt linear method that it is carried out dynamic calibration.When existing in the sensor dynamic characteristic when non-linear, linear bearing calibration is just inoperative, or effect is relatively poor.For this reason, people's research trends non-linear correction method.Foreign scholar Antonio Pardo etc. propose the nonlinear inverse dynamic system based on neuroid, remove to solve kinematic nonlinearity problem (the IEEE Trans.on IM of gas sensor system, 1998, Vol.47, No.3, pp.644-651, " Nonlinear inversedynamic models of gas sensing system based on chemical sensor arrays for quantitativemeasurements ").People such as Xu Ke army of domestic HeFei University of Technology propose kinematic nonlinearity characteristic (the 3rd the global Chinese's Based Intelligent Control intelligent automation conference collection of thesis with neuroid method correcting sensor, 2000, pp.1501-1504, Hefei: publishing house of China Science ﹠ Technology University, " research of Sensor's Dynamic Nonlinearity compensation ").
There is following problem aspect the Sensor's Dynamic Nonlinearity characteristic correction both at home and abroad:
(1) dynamic non-linear emendation method based on neuroid of foreign scholar's proposition, real-time is very poor.Because what adopt is the BP neuroid, calculated amount is big, can only be applicable to the sensor that response speed is very slow, and the input signal of sensor is had requirement, thereby this method range of application is limited to very much.
(2) dynamic non-linear emendation method based on function connecting-type neuroid of domestic proposition can only be applied to the input signal of particular form or amplitude and specific.Because nonlinear system does not satisfy homogeneous property and additivity, this method is not suitable for different amplitudes and multi-form dynamic response, and range of application is also limited to very much.
Summary of the invention
To the purpose of this invention is to provide with DSP be core, have the sensor signal processing system of Real-time and Dynamic non-linear correcting function.The present invention can sample to 1 road or multichannel output signal of sensor, carries out kinematic nonlinearity again and proofreaies and correct, and solves the slow and nonlinear problem of the dynamic responding speed that exists in the sensor simultaneously.
The present invention has adopted following technical scheme in order to realize goal of the invention.This system is made up of analog input channel, DSP (for example, the dsp chip ADSP2189M of AD company), analog output channel, logic control circuit, flash memory FLASH, serial interface circuit and corresponding software.Analog input channel is made up of one or more (for example, 2) sampling/retainer S/H, 1 analog multichannel switch MUX, 1 amplifier AMP and A/D converter A/D.Output channel is made up of a plurality of D/A D/A and a plurality of wave filter.Logic control circuit mainly is made up of code translator.The present invention is with the ADSP2189M EZ-KITLITE (minimum system that AD company designs for ADSP2189M, comprising ADSP2189M chip, FLASH, serial interface circuit etc.) be core, adopt the kinematic nonlinearity correcting algorithm, the dynamic response signal of real-time processes sensor, both eliminate the non-linear of sensor, improved the rapidity of sensor dynamic response again.
2 tunnel output signals of sensor link to each other with the input end of 2 sampling/maintenance S/H of system of the present invention.ADSP2189M samples according to sample frequency control S/H or keeps.Multi-way switch MUX switches in turn to 2 road signals, after amplifying circuit AMP amplifies, send analog/digital converter A/D to handle.AMP provides best input range for A/D.The condition line BUSY pin of A/D links to each other with the input able to programme of ADSP2189M, delivery outlet (PF mouth), and ADSP2189M decides the time of reading by the state of inquiry BUSY pin.Adopt 2 road signals of synchronization into as ADSP2189M after, carry out kinematic nonlinearity and proofread and correct, its result is exported simultaneously by 2 digital/analog converter D/A, and filtering circuit is with the burr that removes after the D/A conversion.Logic control circuit is under the programmed control of ADSP2189M, and the sheet of decision A/D and D/A selects state.The present invention is to be example with correcting sensor 2 road kinematic nonlinearities responses, and its method and scheme are suitable for the response of the kinematic nonlinearity more than correcting sensor 1 road and 3 road or 3 tunnel is same.
The invention has the advantages that: can be decomposed into a dynamic linear link and static non linear link some sensors with kinematic nonlinearity characteristic.Based on this decomposition, the nonlinear dynamic models of sensor can be represented by dynamic linear link of a static non linear link serial connection, be called the Hammerstein model; Perhaps represent, be called the Wiener model by static non linear link of a dynamic linear link serial connection.The kinematic nonlinearity that is sensor can be described by Hammerstein model or Wiener model.When the kinematic nonlinearity characteristic of sensor was used the Hammersein model description, the order that kinematic nonlinearity is proofreaied and correct was advanced person's action attitude linear compensation, carried out static non linear again and proofreaied and correct.When the kinematic nonlinearity characteristic of sensor was used the Wiener model description, the order that kinematic nonlinearity is proofreaied and correct was to carry out static non linear earlier to proofread and correct, and carries out the dynamic linear compensation again.Can overcome the limitation of dynamic non-linear emendation method in the past like this, can proofread and correct with the kinematic nonlinearity response of different amplitudes multi-form, and guarantee the real-time of its processing.
Description of drawings
Fig. 1 is the hardware block diagram of system of the present invention, and system is made up of ADSP2189M EZ-KIT LITE (or ADSP2189M, FLASH, serial interface circuit etc.), analog input channel, analog output channel and logic control circuit.
Fig. 2 is the circuit diagram of the sampling/retainer of system of the present invention.
Fig. 3 is the circuit diagram of analog multichannel switch of the present invention.
Fig. 4 is the circuit diagram of amplifier of the present invention.
Fig. 5 is the circuit diagram of A/D converter of the present invention.
Fig. 6 is the circuit diagram of level conversion device of the present invention.
Fig. 7 is the circuit diagram of code translator of the present invention.
Fig. 8 is the circuit diagram of D/A of the present invention.
Fig. 9 is the circuit diagram of wave filter of the present invention.
Figure 10 is a system software overview flow chart of the present invention.
Figure 11 is data acquisition flow figure of the present invention.
Figure 12 is a dynamic linear compensation process flow diagram of the present invention.
Figure 13 is static non linear correcting process figure of the present invention.
Figure 14 is the kinematic nonlinearity response of passage 1.
Figure 15 is the kinematic nonlinearity response of passage 2.
Figure 16 is the correction result of passage 1, and wherein, curve 1 is the response of passage 1 kinematic nonlinearity, and curve 2 is the correction result of passage 1.
Figure 17 is the correction result of passage 2, and wherein, curve 1 is the responses of passage 2 kinematic nonlinearities, and curve 2 is the correction result of passage 2.
Embodiment
Below in conjunction with accompanying drawing and example the present invention is elaborated.
2 tunnel output signals of sensor are linked the input end of 2 S/H of system of the present invention, as shown in Figure 2.Connect 24k resistance and 1k potentiometer on the 2nd pin of LF398N and form the direct current zeroing circuit.Connect the maintenance electric capacity of 1 1000pF between the 6th pin and the 7th pin.The 8th pin is the sample end, should directly link to each other with input able to programme, the delivery outlet PF0 of ADSP2189M.But because the IO mouth high level of ADSP2189M is 3.3V, and the sampling high level of LF398N is 5V.In order to make sampling/retainer can stablize operate as normal, PF0 will pass through the 74FCT164245 level conversion, and high level is risen to 5V by 3.3V, becomes cPF0.By ADSP2189M control sampling/hold mode, the high level sampling, low level keeps.
The output terminal of 2 road S/H links to each other with the input end of MUX, as shown in Figure 3.CD4051BE widely used eight selects a multi channel selecting chip, connect respectively at VDD, VSS and VEE+5V, and-during 5V, allow the scope of input signal to be-5V-+5V; The gating of multiple signals is determined by A, B, C.System of the present invention only uses 2 the tunnel, so only need be connected as control signal B and C ground connection by A.A is controlled by PF2.Because the CD4051 logic high is not less than 3.5V, and the high level of the external control port of ADSP2189M is no more than 3.3V, so the PF2 of ADSP2189M will be by after the 74FCT164245 level conversion, becoming cPF2 could link to each other with A.
Simulating signal by multi-way switch will be through amplifying, and the circuit of amplifier as shown in Figure 4.Because the amplitude of simulating signal is between-5V-+5V, and the input range of the A/D converter ADS7810P that selects for use is-10V-+10V, in order to realize that the full scale conversion to guarantee conversion accuracy, need add amplifier; Simultaneously, because the input impedance of ADS7810P is less, be generally 3.1K Ω, amplifier can also play the effect of impedance matching.Select operational amplifier LF351P for use, its bandwidth is 4MHz, and be 2 μ s Time Created, and error only is 0.01%, input impedance 10
12Ω, these performance index are enough to satisfy the requirement of hardware design.
Deliver to A/D through the simulating signal of amplifying.In order to satisfy the requirement of real-time dynamic correcting, select ADS7810P for use.It is the A/D of 12 bit resolutions, switching rate 1.25 μ s, and power supply ± 5V has internal reference voltage, and the input range of aanalogvoltage is ± 10V, after the conversion of signals and 12 two's complement of line output.The circuit diagram of ADS7810P as shown in Figure 5.The CS of ADS7810P links to each other with the Y0 of 3-8 code translator, and R/ C links to each other with the PF3 of ADSP2189M.PF3 only needs as output control, and high level is 3.3V, and the logic control high level of ADSP2189M is not less than 2.4V and gets final product, so PF3 does not need the level conversion by 74FCT164245.When CS effective, R/ C keep low level at least 40ns will start conversion.A/D conversion beginning back BUSY just becomes low level by high level, through 1.25 μ s, and EOC, the output register Data Update, BUSY becomes high level again.When BUSY kept low level, other all conversions were all with invalid.Can determine by the state of inquiry BUSY pin whether conversion finishes, determine whether to receive the data after the conversion.
Select the core of DSP for use as the Sensor's Dynamic Nonlinearity System with Real-Time.The DSP volume is little, fast operation, and the instruction cycle is the ns level, and is the parallel processing mode, an instruction just can be finished a multiply operation or shift operation, also has multifunction instructions, can satisfy the rate request that Sensor's Dynamic Nonlinearity is proofreaied and correct in real time fully.Specifically select the ADSP2189M chip for use, it is 16 a fixed DSP, and externally under the excitation of 37.5M hertz crystal oscillator, the instruction cycle is 13.3ns, and in general this has been quickish instruction execution speed.Chip internal core supply voltage 2.5V, its external interface can be operated in 2.5V or 3.3V.Arithmetic logic unit alu, multiply-accumulator MAC, shift unit SR are contained in its inside, also have two serial ports, timer, two groups of data address generators, DMA mouth BDMA and IDMA and 24 program storage of 32K word and 16 bit data storeies of 48K word.Certainly, also can adopt other serial DSP.
The ADSP2189M operating voltage is 2.5V, and the level of its IO mouth can be configured in 2.5V or 3.3V, can not bear the input that is higher than the 3.6V level.The high level of the data bus of A/D is about 5V in the system, the control pin that also has segment chip in addition, as PF0, PF2 and FI etc., the effective high level of these control pins is also all about 5V, therefore the IO mouth of 3.3V can not satisfy the requirement of system's operate as normal, the chip that need add a level conversion is realized the conversion of level, simultaneously the data bus is also played buffer action.Adopt 74FCT164245, its circuit diagram as shown in Figure 6.74FCT164245 is that 1 16 3.3V is to 5V level conversion device, by 3.3V and 5V dual power supply, the A end links to each other with the bus of 3.3V, and the B end links to each other with the bus of 5V, 1DIR and 2DIR control conducting direction, 1OE and 2OE decision chip are in conducting state or high-impedance state.High 12 of the data bus of ADSP2189M are connected with the B of 74FCT164245 end, and the corresponding A end is connected with the data bus of A/D and D/A.1DIR links to each other with the PF7 of DSP with 2DIR, as long as because effective high level of 74FCT164245 is not less than 2V, for the PF7 of high level 3.3V, can satisfy the level requirement of operate as normal fully so.And sign input FI and mark P F0 able to programme and PF2 also will make corresponding level conversion.
Control the sheet choosing of A/D and D/A with 3-8 code translator DM74LS138N.Because 1 A/D and 2 D/A are arranged in the system, so need 3 logic control ends.The circuit diagram of code translator as shown in Figure 7.Address port A, B, C connect A0, A1 and the A2 of DSP respectively, and E1 is connected on the IOMS of DSP, E2 ground connection, and E3 meets power supply+5V.Output terminal Y0 is connected on the CS sheet choosing end of A/D, and Y1 and Y2 are connected on the CS sheet choosing end of 2 road D/A respectively.When the DSP address generator passed through the address wire addressing, IOMS was effective simultaneously, and the control register DM_Wait_Reg of configuration DSP inside makes IOMS be no less than 40ns effective time, and code translator is just exported according to the value decision steering logic of A0, A1 and A2.When for example A0, A1 and A2 were low level simultaneously, the Y0 output low level also kept always, guarantees choosing of A/D.
The analog output channel of designing in the system of the present invention is the effect of proofreading and correct in real time with the verificating sensor kinematic nonlinearity in order to observe.Because 2 tunnel outputs are arranged, so, 2 D/A in the analog output channel, used.Select 12 D/A chip MAX507ACNG for use.It is the input of offset binary code numeral, be output as voltage signal, and output voltage has identical polarity with reference voltage.Data write time 100ns, output μ s Times Created 5, full scale output voltage error ± 0.2%FSR.Employing-15V and+the 15V dual power supply, output voltage range-5V-+5V adopts 2 MAX507ACNG chips.The circuit diagram of MAX507ACNG as shown in Figure 8.There is the input of two buffering logics MAX507ACNG inside: INPUTLATCH and DAC LATCH, controlled by the external logic input signal.CS and WR control INPUT LATCH, LDAC control DAC LATCH.Two CS link to each other with Y2 with the Y1 of 3-8 code translator respectively, and WR links to each other with the WR of DSP.Two LDAC link to each other with PF5 with the PF1 of DSP respectively.PF1 and PF5 do not need to carry out level conversion by 74FCT164245, are because the effective high level of input of this MAX507ACNG gets final product greater than 2.4V.When CS and WR were in low level together, INPUT LATCH changed with the data on the data bus, and DAC LATCH changes with the data of INPUTLATCH during the LDAC low level.When CS was effectively low, the rising edge of WR made the data latching of data bus to INPUTLATCH, and CS and WR remain on effective low level time and be not less than 100ns.After CS and WR become high level, LDAC will keep low level to be not less than 100ns, the rising edge of LDAC makes the data latching of INPUT LATCH to DAC LATCH, and begins to change.
The output of the D/A high frequency noise that often mixes forms burr.To carry out filtering for eliminating burr, design no source resistance-capacitance filter filtering is carried out in the output of D/A conversion, as shown in Figure 9.Get R=100 Ω, C=0.1 μ F, the cutoff frequency of the wave filter of design is
By filtering can the erasure signal transmission channel in frequency be higher than the noise of 8K, but signal is also had slight decay.
The system software overview flow chart as shown in figure 10, the real-time correction of kinematic nonlinearity comprises that mainly data acquisition, digital signal processing and three parts of simulating signal output form.The sample frequency of part of data acquisition is controlled by timer, and the setting of sample frequency will be satisfied sampling thheorem.The digital signal processing of DSP is finished kinematic nonlinearity in real time and is proofreaied and correct, and will proofread and correct the result and export by D/A, watches the effect of correction by oscillograph.
In order to verify the correctness of kinematic nonlinearity System with Real-Time, with the Sensor's Dynamic Nonlinearity response signal that magnetic tape station output has been gathered, point of the every collection of system of the present invention is just handled a point in real time, is exported by D/A subsequently.
The program circuit of signals collecting part as shown in figure 11.Hardware design the collection of 2 road signals, software section is also handled at 2 road signals.In a sampling period, control sampling/retainer at first is in sample states, follows the tracks of the variation of outer signal,, keeps by control then to guarantee accurate tracking through the capture time time-delay; Next the signal of gating 2 tunnel collections also carries out the A/D conversion respectively respectively, and data converted is given DSP and handled, and prepares to enter the next sampling period again with post-sampling/retainer.
When the kinematic nonlinearity characteristic of sensor is based on the Hammerstein model, earlier the data of gathering are carried out the dynamic linear dynamic compensation, its flow process is as shown in figure 12.The essence of dynamic linear compensation is exactly to find the solution 1 second order difference equation, and its expression formula is
y(k)＝-a
1y(k-1)-a
2y(k-2)+b
1x(k)+b
2x(k-1)+b
3x(k-2) (2)
Result after the dynamic linear compensation is placed on the AX0 register, as the input of next step static non linear correction.
Carry out static non linear again and proofread and correct, its program circuit as shown in figure 13.Static non linear is proofreaied and correct and is adopted dichotomy to table look-up.Dichotomy is a kind of high efficiency data search method, and number of data points is generally 2 high order power.For one 1024 form, certain data in this form to be searched for, maximum searching times is 10 times (2
10=1024).System imports two forms of internal memory when resetting, form one is deposited source data, form two stored target data.From leaving the position of correspondence as a result in this form in the AX0 after one li of form is found out dynamic linear compensation in, and find out corresponding data, static shift correction result just, the end of once tabling look-up from the relevant position of form two.Subroutine is imported with AX0, and return results leaves among the AX1.
The kinematic nonlinearity signal of structure is based on Hammerstein model, static non linear link expression formula x=u+0.5u
2(u＞0), x=u-0.5u
2(u＜0), damping ratio ξ=0.025 of second order dynamic linear link, undamped concussion frequencies omega
n=200 (rad/s).The output of passage 1 is the kinematic nonlinearity response that a positive step input signal produces, and the output of passage 2 is kinematic nonlinearity responses of a negative sense step signal, respectively as Figure 14 and shown in Figure 15.
Signal to passage 1 and passage 2 generations carries out kinematic nonlinearity compensation, result such as Figure 16 and shown in Figure 17.From the output of dynamic nonlinear compensation as seen, compensation makes signal decay rapidly and tend towards stability.
The kinematic nonlinearity signal attenuation concussion that produces, arrive and remain on final value ± adjusting time in 5% scope
And after proofreading and correct through kinematic nonlinearity, to the numerical analysis of response as can be known, reach and remain on final state ± time in 5% scope is 15.4ms, with t
sCompare, after proofreading and correct through kinematic nonlinearity, response speed is accelerated greatly.
When the kinematic nonlinearity characteristic of sensor is based on the Wiener model, the data of gathering are carried out static non linear earlier proofread and correct, carry out the dynamic linear compensation again.
Claims (2)
1. a Sensor's Dynamic Nonlinearity System with Real-Time is made up of a plurality of samplings/retainer S/H, 1 analog multichannel switch MUX, 1 amplifier AMP and A/D converter A/D, 1 digital signal processor DSP, 1 logic control circuit, a plurality of D/A D/A and wave filter, 1 flash memory FLASH, serial interface circuit and corresponding software; A plurality of output signals of said sensor link to each other with the input end of a plurality of S/H; Said DSP samples according to sample frequency control S/H or keeps; Said MUX switches in turn to multiple signals, after AMP amplifies, send A/D to handle; Said AMP provides best input range for A/D; The condition line BUSY pin of said A/D links to each other with input able to programme, the delivery outlet of DSP, and DSP decides the time of reading by the state of inquiry BUSY pin; Adopt the multiple signals of synchronization into as DSP after, carry out kinematic nonlinearity and proofread and correct; Its result is exported simultaneously by a plurality of D/A, the wave filter burr that removes after D/A changes; Logic control circuit is under the programmed control of DSP, and the sheet of decision A/D and D/A selects state; It is characterized in that representing by dynamic linear link of a static non linear link serial connection when the kinematic nonlinearity characteristic of sensor, when promptly using the Hammerstein model description, the order that kinematic nonlinearity is proofreaied and correct is advanced person's action attitude linear compensation, carries out static non linear again and proofreaies and correct.
2. a Sensor's Dynamic Nonlinearity System with Real-Time is made up of a plurality of samplings/retainer S/H, 1 analog multichannel switch MUX, 1 amplifier AMP and A/D converter A/D, 1 digital signal processor DSP, 1 logic control circuit, a plurality of D/A D/A and wave filter, 1 flash memory FLASH, serial interface circuit and corresponding software; A plurality of output signals of said sensor link to each other with the input end of a plurality of S/H; Said DSP samples according to sample frequency control S/H or keeps; Said MUX switches in turn to multiple signals, after AMP amplifies, send A/D to handle; Said AMP provides best input range for A/D; The condition line BUSY pin of said A/D links to each other with input able to programme, the delivery outlet of DSP, and DSP decides the time of reading by the state of inquiry BUSY pin; Adopt the multiple signals of synchronization into as DSP after, carry out kinematic nonlinearity and proofread and correct; Its result is exported simultaneously by a plurality of D/A, the wave filter burr that removes after D/A changes; Logic control circuit is under the programmed control of DSP, and the sheet of decision A/D and D/A selects state; It is characterized in that representing by static non linear link of a dynamic linear link serial connection when the kinematic nonlinearity characteristic of sensor, when promptly using the Wiener model description, the order that kinematic nonlinearity is proofreaied and correct is to carry out static non linear earlier to proofread and correct, and carries out the dynamic linear compensation again.
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| JP4768248B2 (en) * | 2004-10-13 | 2011-09-07 | 株式会社ミツトヨ | Encoder output signal correction apparatus and method |
| CN1851398B (en) * | 2006-05-19 | 2010-09-15 | 梁宜勇 | Micro-displacement driver with non-linear correcting function |
| CN102095430B (en) * | 2010-11-18 | 2012-06-27 | 合肥工业大学 | Sensor dynamic error frequency-domain correction technology based on step response |
| CN103064319A (en) * | 2012-09-20 | 2013-04-24 | 太原科技大学 | Digital signal processor (DSP) full-hydraulic straightener servo controller synchronous serial interface (SSI) |
| CN103940462A (en) * | 2014-04-23 | 2014-07-23 | 中国科学院合肥物质科学研究院 | Sensor linear correction circuit outputting in electric signal mode |
| CN105157813B (en) * | 2015-08-24 | 2018-02-23 | 中国地震局工程力学研究所 | Detection method and device for force-balanced accelerometer |
| CN108300659A (en) * | 2017-12-30 | 2018-07-20 | 宁波大学 | Cell incubator and its working method |
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