CN101727067B - Intelligent control algorithm used for passive hydrogen clock - Google Patents

Abstract

The invention discloses a frequency locking control algorithm used for a passive hydrogen clock, which comprises the following steps: (1) setting an initial value of the voltage of a control resonant cavity, and finding out a voltage value of a control crystal oscillator through coarse scanning; (2) setting the voltage of the control crystal oscillator as the voltage acquired in the last step, and finding out the voltage value of the control resonant cavity; (3) setting the voltage of the control resonant cavity as the voltage acquired in the last step, and finding out the voltage value of the control crystal oscillator through fine scanning based on the step 1; (4) setting the voltage of the control crystal oscillator as the voltage acquired in the last step, and finding out the voltage value of the control resonant cavity through fine scanning based on the step 2; (5) rescanning the control voltage based on the voltages acquired in the steps 3 and 4, calculating the coupling property of a loop circuit according to the scanning voltage and error, calculating a control parameter of a steady state process, and evaluating the error; and (6) calculating a control quantity comprising error decoupling and control state storage, and providing an optimal control quantity according to the latest control storage quantity and the current control value.

Description

A kind of intelligent control algorithm that is used for passive hydrogen clock

Technical field

The invention belongs to the atom frequency standard locking algorithm field, particularly, belong to the automatic frequency lock algorithms of the passive hydrogen clock servocontrol part of miniaturization, relate in particular to a kind of intelligent control algorithm that is used for passive hydrogen clock.

Background technology

Hydrogen atomic clock is a kind of frequency standard based on the hydrogen atom transition, and its jump frequency is greatly about 1.4GHz.Existing passive hydrogen clock is a kind of non-self-excitation type atomic oscillator, because the Q value of microwave cavity is lower, hydrogen maer can not self-sustained oscillation, needs the extraneous detectable signal ability operate as normal of injecting.The detectable signal that injects is close more with jump frequency, and it is just many more to excite the energy state of hydrogen atom to shift the energy of (stimulated radiation).By receiving the error signal that can detect reaction injected frequency and jump frequency deviation.

Two frequency-locked loop are arranged: crystal oscillator loop and resonant cavity loop in the control circuit of passive hydrogen clock.The hydrogen atom jump frequency is in order to the frequency of control crystal oscillator in the quantized system, and the pulling effect that change to produce for microwave cavity resonance frequency in the amount of cancellation subsystem also needs to come controlled microwave chamber frequency with crystal oscillator frequency.Ubiquitous two kinds of modulation systems are single-frequency modulation system and double frequency modulation system at present.In single-frequency modulation system commonly used, adopting a modulating frequency to produce detectable signal is injected in the microwave cavity, after process and the microwave cavity effect, utilize the absorption and the chromatic dispersion principle of atom to isolate the two-part error signal of crystal oscillator resonant cavity, carry out the locking of crystal oscillator resonant cavity by detection of error signals.In the double frequency modulation system, timesharing is injected into the two-way detectable signal in the microwave cavity, respectively with hydrogen atom transition spectral line and chamber curve effect, produces the two-part error signal of crystal oscillator resonant cavity.

These two kinds of methods all can't be avoided interfering with each other between the crystal oscillator resonant cavity loop fully, and this also is the difficult point place of frequency lock control, how to reduce the mutual draw amount of being controlled effectively to greatest extent.Exist in the debug process in addition the frequency lock electrical voltage point to seek speed slow, precision is not high, the controlled variable variation that the control loop change brings etc. needs the problem of debugging again, antijamming capability to need the needs of further strengthening.

Algorithm proposed by the invention is independent of modulator approach.The error requirements of being gathered can be reacted the poor of crystal oscillator frequency and atomic transition frequency, can distinguish crystal oscillator loop error resonant cavity loop error; Control output loop can be exported control crystal oscillator loop resonant cavity loop respectively.

Summary of the invention

Technical matters: the present invention proposes the rapid auto state switching of a kind of multistep and the process data collection strengthens jamproof intelligent control algorithm.

Technical scheme: the key step of this method is as follows:

The voltage that step 1. is controlled resonator cavity is set to the middle threshold voltage of its output voltage range, with the width V of voltage range that the crystal oscillator error occurs _CbwHalf be step-length, in the voltage output range of control crystal oscillator, provide the magnitude of voltage of control crystal oscillator continuously and detect corresponding crystal oscillator error amount successively; Pairing voltage V when recording error is obtained the absolute value maximum _CbsThe voltage of control crystal oscillator is set to V _Cbs

The voltage of step 2. retentive control crystal oscillator is constant; To scan the suitable step-length V of step number with crystal oscillator _Abw, the magnitude of voltage of continuous sweep control resonator cavity and the corresponding resonator cavity error amount of detection in the voltage output range of resonator cavity; Recording error is obtained hour corresponding voltage V of absolute value _Abs, the voltage of control resonator cavity is set to V _Abs

The voltage of step 3. retentive control resonator cavity is constant; The voltage of control crystal oscillator is with V _CbsBeing central point, is V at width _CbwScope in, with the output accuracy V of control crystal oscillator voltage _ComsTwentyfold voltage V _CsssFor the magnitude of voltage of step-length continuous sweep control crystal oscillator and detect the crystal oscillator error amount, obtain hour corresponding voltage V of its absolute value _Css, the voltage of control crystal oscillator is set to V _Css

The voltage of step 4. retentive control crystal oscillator is constant; The voltage of control resonator cavity is with V _AbsBeing central point, is V at width _AbwScope in, with control cavity voltage output accuracy V _AomsTen times voltage V _AsssFor the magnitude of voltage of step-length continuous sweep control resonator cavity and detect the resonator cavity error amount, obtain hour corresponding voltage V of its absolute value _AssThe resonator cavity output voltage is set to V _Ass

The voltage of step 5. control resonator cavity keeps V _AssConstant, the voltage of control crystal oscillator is at V _CssEquidistant the getting a little in both sides, keeping crystal oscillator voltage is V _CssConstant, with same method at V _AssTwo survey equidistant getting a little; As controlled quentity controlled variable and scanning errors, calculate the yield value of two control loops, the linear coupling parameter of two loops with four groups of magnitudes of voltage getting; Error evaluation is carried out in two intervals that four points of high precision scanning are formed;

Step 6. is asked for optimum pid control parameter by the result of calculation loop gain result in the 5th step; The control voltage that obtains with step 3,4 is initial value, moves the PID control section of simplifying in the hope of separating the controlled variable and the decoupling parameter that obtain; The limited field when formulating dynamically control according to noise level and the preservation length of control data provide controlled quentity controlled variable according to antinoise restriction processing section simultaneously.

Wherein equidistant the getting a little in analyzing spot both sides is in the step 5, big and two magnitudes of voltage littler than analyzing spot magnitude of voltage than analyzing spot magnitude of voltage, and they are identical with analyzing spot voltage difference absolute value; This absolute value be in the one-sided S curve error from center origin to error growing direction maximum point apart from V _CLw1/4 of width, the linearity of this scope is relatively good, and dynamically the voltage range of control is much smaller than this; Step 5 neutral line error coupled wave equation is as follows:

$\left[\begin{array}{c}\mathrm{\Δ}{E}_c\\ \mathrm{\Δ}{E}_a\end{array}\right]=\left[\begin{array}{cc}{K}_{\mathrm{cc}}& K_{\mathrm{ca}}\\ K_{\mathrm{ac}}& K_{\mathrm{aa}}\end{array}\right]\left[\begin{array}{c}\mathrm{\Δ}{U}_c\\ \mathrm{\Δ}{U}_a\end{array}\right]$

Controlled quentity controlled variable here and error are the form of increment;

Find the solution the parameter K that this equation obtains _CcBe used to describe the gain of crystal oscillator loop; K _AaBe used to describe the gain of resonant cavity loop; And K _AcAnd K _CaBe respectively applied for crystal oscillator to the loop coupled characteristic of resonator cavity resonant cavity to crystal oscillator; Step 5 depends on the scanning voltage that step 3 and 4 provides in this scheme, and simultaneously preceding two steps are accelerated the search of frequency lock point, make control procedure enter steady state (SS) faster.

Controlled variable in the step 5 is adjusted and is similar to expert PID control; Determining of three parameters of PID is not only relevant with the gain of loop, and relevant with error state; The function of this part correspondence of this algorithm is as follows:

[P，I，D]＝f(K，E)

This formula can be obtained the controlled variable of crystal oscillator loop resonant cavity loop correspondence; Wherein K represents loop gain, then is k for the crystal oscillator loop _CcAbout function f is to need the parameter of testing in the middle of this process; Be mainly reflected on segmentation and each section parameter determine, form is as follows:

$[P,I,D]=\frac{1}{K}\×\left\{\begin{array}{c}[p_1,i_1,d_1]\·\·\·\·\·\·\left|E\right|\∈A1\\ [p_2,i_2,d_2]\·\·\·\·\·\·\left|E\right|\∈A2\\ [p_3,i_3,d_3]\·\·\·\·\·\·\left|E\right|\∈A3\\ \·\·\·\end{array}\right.$

A1 in the formula, A2 etc. are through testing definite error burst; In the middle of the actual process error burst is divided into three intervals and just can describes the current power of loop error; P wherein ₁, i ₁, d ₁Parameter and loop parameter are proportional, and the purpose of quick control will be better played in the selection of these three parameters simultaneously.

The discrete increment PI D control that control section in the step 6 adopts; With the form substitution governing equation of detected error with increment, controlled increment expression formula, and original High Accuracy Control amount of depositing of preserving that is added to drop to the hardware precision with it when needing and export; The increment control type of simplifying is as follows:

ΔU _out＝P×(ΔE _k-ΔE _k-1)+I×ΔE _k+D×(ΔE _k-2ΔE _k-1+ΔE _k-2)

The parameter of adopt separating here, various piece can better be adjusted at the effect in the control procedure, and wherein parameter I plays main effect overcoming fast in the following error.

Annular controlled quentity controlled variable in the step 6 is preserved, and the annular here refers to the array that is used to deposit controlled quentity controlled variable and has the round-robin function, can jump to the array head from the end of array during visit.This annular storage space is mainly used to deposit up-to-date 2 ⁿIndividual controlled quentity controlled variable, the state of up-to-date controlled device is also described in the preservation of up-to-date controlled quentity controlled variable to a certain extent, algorithm can therefrom be understood and calculate the current controlled quentity controlled variable output area under the error disturbed condition that do not have, thereby under the situation that single disturb to take place, judge the generation of disturbing and make the retentive control amount or the method for output mean control amount avoids disturbing effect.Disturb the controlled quentity controlled variable that can send up-to-date preservation when taking place successively when continuous several times, come the time of contention system recovery from disturb, chronic this method of algorithm that makes of trouble of brilliant shake drift has failover capability.

The present invention solves in the middle of the passive hydrogen clock commissioning test process, the voltage range of frequency lock point only accounts for whole voltage range per mille, even littler, frequency lock point voltage manual search efficient is lower, and the loop gain change causes that overall permanence changes a series of activities that brings; And keyed end is explored excessive cycle in the middle of the operation, the relatively poor problem of control antijamming capability.The secondary search that this algorithm adopts, the function of existing large area scanning can make the scanning result precision higher again, has accomplished the quick high accuracy search.And in the middle of the process of rescan according to scanning voltage and error detection loop gain, noise circumstance, thus obtain the assessment of accurate decoupling zero controlled variable and noise circumstance, the parameter setting intellectuality, speed is fast.Effectively improved each product since parameter and environmental difference cause repeat debugging.Controlled quentity controlled variable preservation array of the present invention not only helps increasing the inhibition to glitch, also has the function of fault recovery to a certain extent.

Beneficial effect: advantage of the present invention and characteristics are as follows:

1. gamut scans fast, goes for dissimilar controlling object crystal oscillators, and the reference offset voltage of most of crystal oscillator has been contained in gamut scanning, and applicable surface is quite wide; 1st, the large area scanning characteristic of 2 steps changes for loop performance adaptive faculty faster, the approximate range of search rate keyed end fast under some the unknowns or known facts influence.

2. the double action of rescan, rescan comprises step 3,4,5, position that not only can more accurate qualification frequency lock point, surveyed the external loop-around gain characteristic for follow-up control simultaneously, approximate double loop error coupled characteristic, rational initial reference mark, make control algolithm to external world environmental interference an assessment is arranged, and then select suitable controlled variable, reach the purpose of intelligent interaction control.

The core control section simplify PID control formula, this formula solves the quick offset correction that requires in the middle of the passive hydrogen clock control procedure at the servo-actuated incremental control system, the effect that this formula can each parameter of separate analysis makes laid down by more flexible.

4. crystal oscillator and the decoupling zero of resonator cavity error can reduce two couplings between the loop error though adjust the time period of circuit external and digital integration, and effect is bad and bring the problem that repeats to debug; Adopt de to handle and can tackle along with loop parameter changes the coupled characteristic that produces to change, MIN minimizing coupling makes control procedure reduce fluctuation to the influence of control procedure, raising speed, and the result is more reasonable in control.

5. noiseproof feature in the control procedure, passive hydrogen clock can take place to drift about slowly as time goes by; The circulation array of adopt preserving controlled quentity controlled variable has double action: the one, can be in the hope of the controlled quentity controlled variable average of a dynamic change, thus try to achieve between dynamic interference inhibition zone, glitch (single control cycle) is made correction; The 2nd, provide current control output according to the control reserve capacity under special circumstances, thereby reach the purpose that overcomes continuous interference, provide during this period of time (a plurality of control cycle) reasonably controlled quentity controlled variable.

Description of drawings

Fig. 1 is a passive hydrogen clock loop synoptic diagram.

Fig. 2 is gamut error sigmoid curve and V _CLwSelect synoptic diagram.

Fig. 3 is a control flow chart.

Embodiment:

Below the specific embodiment of the present invention is made a detailed description:

1, error obtains and the parameter selection

The error of mentioning among the present invention all is meant the error on the basis of one-level error.The speed faster or slower of two control loops of passive hydrogen clock.In the double frequency modulation, have only at a slow speed the pumping signal injection of (1Hz) that corresponding error signal output just can be arranged.And the frequency of single-frequency modulation can be up to more than the 10K Hz.Use unified control method and must carry out pre-service error.In order better to reflect the value of actual error, sample rate reaches KHz up to a hundred usually, and the precision of utilizing the over-sampling law to improve error improves control accuracy thereupon.Pre-service has comprised multiple error signal averaged in the double frequency modulation system, and the digital filtering that improves performance, the digital integrator in the single-frequency modulation.Make that the secondary error cycle that sends algorithm to is consistent with control cycle.The error that relates in this algorithm belongs to the error of control cycle thus, the difference error of promptly repeatedly sampling in control cycle and obtaining on mean value error that pre-service obtains or integral error basis.

The voltage range V of the crystal oscillator error of step 1 _CbwBe meant the voltage range of correspondence when in the gamut of crystal oscillator output voltage, obvious errors occurring, the voltage range between the voltage terminating point that the voltage starting point of S shape graph of errors and S shape graph of errors disappear promptly occurs.In the step 2, to scan the suitable step-length V of step number with crystal oscillator _AbwAcquiring method: at first ask for scanning step number n, just obtain V with the voltage range of controlling resonator cavity divided by n then according to control voltage scan range of crystal oscillator and scanning step _AbwThe scanning that occurs in the step is meant a control of output voltage, obtains corresponding error, exports second control voltage then, up to the scope that reaches voltage output.V in the step 4 _AbwTo choose scope bigger, little to the system performance influence, provide a reference value V here _Abw/ 6

2, loop parameter is determined

Loop parameter has comprised the gain of crystal oscillator loop, the gain of resonant cavity loop, and the coupling parameter that exists between these two loop errors.Can be used as one to outside unknown loop this moment is input with the controlled quentity controlled variable, and the margin of error is the black box of output, and to the detection of controlling object characteristic.

Because the reference mark is in the near zero-crossing point small range of error S curve all the time in the control procedure, so the control loop gain, and coupling coefficient can be represented with approximate lienarized equation.Error control magnitude relation formula is as follows:

$\left[\begin{array}{c}\mathrm{\Δ}{E}_c\\ \mathrm{\Δ}{E}_a\end{array}\right]=\left[\begin{array}{cc}{K}_{\mathrm{cc}}& K_{\mathrm{ca}}\\ K_{\mathrm{ac}}& K_{\mathrm{aa}}\end{array}\right]\left[\begin{array}{c}\mathrm{\Δ}{U}_c\\ \mathrm{\Δ}{U}_a\end{array}\right]$

E wherein _cRepresent the crystal oscillator loop error, E _aRepresent the resonant cavity loop error.Δ U _c, Δ U _aThe voltage bias value of the voltage distances reference point of the voltage of expression control crystal oscillator, control resonator cavity respectively.

In order to find the solution this equation fast, what select for use here is the method for bringing into.Method according to describing in the step 5 is selected to right voltage input point, specifically implements as follows:

At first make the voltage of control resonator cavity keep V _Ass, the output voltage of control crystal oscillator is

Read the crystal oscillator sum of errors resonator cavity error E of this moment _C1And E _A1, the output voltage of control crystal oscillator is Read the crystal oscillator sum of errors resonator cavity error E of this moment _C2And V _A2Thereby, obtain two points.In like manner can be when constant in the hope of the voltage of control crystal oscillator, the error of correspondence when the voltage of control resonator cavity is output as at 2.The substitution equation has following equation to set up:

$\left[\begin{array}{c}|E_{c1}-E_{c2}|\\ |E_{a1}-E_{a2}|\end{array}\right]=\left[\begin{array}{cc}{K}_{\mathrm{cc}}& K_{\mathrm{ca}}\\ K_{\mathrm{ac}}& K_{\mathrm{aa}}\end{array}\right]\left[\begin{array}{c}\frac{1}{2}{V}_{\mathrm{cLw}}\\ 0\end{array}\right]$

$\left[\begin{array}{c}|E_{c3}-E_{c4}|\\ |E_{a3}-E_{a4}|\end{array}\right]=\left[\begin{array}{cc}{K}_{\mathrm{cc}}& K_{\mathrm{ca}}\\ K_{\mathrm{ac}}& K_{\mathrm{aa}}\end{array}\right]\left[\begin{array}{c}0\\ \frac{1}{2}{V}_{\mathrm{aLw}}\end{array}\right]$

V wherein _CLwAnd V _CLwBe theoretical value, V _CLwCan obtain the value of each parameter of loop thus with reference to figure 2.If the requirement for precision is higher than speed, the parameter here can replace by the interval linear fit parameter that obtains more than the continuous sampling.

3, steady state control parameters is adjusted

The control of stable state is initial controlling value with scanning result when all ends of scan, based on the pid control algorithm of incremental form.The increment pid control algorithm depends on it and blocks in each time error and have higher precision and improve control accuracy.Controlled variable is herein adjusted and is similar to expert PID control; Determining of three parameters of PID is not only relevant with the gain of each loop, and relevant with error state (state that has reflected locking of living in to a certain extent).This algorithm parameter corresponding function of adjusting is as follows:

[P，I，D]＝f(K，E)

This formula can be found out the controlled variable of crystal oscillator loop resonant cavity loop correspondence.Wherein K represents loop gain, then is K for the crystal oscillator loop _Cc, function f is the parameter that need test repeatedly, is mainly reflected on segmentation and each section parameter determine.Form is as follows:

$[P,I,D]=\frac{1}{K}\×\left\{\begin{array}{c}[p_1,i_1,d_1]\·\·\·\·\·\·\left|E\right|\∈A1\\ [p_2,i_2,d_2]\·\·\·\·\·\·\left|E\right|\∈A2\\ [p_3,i_3,d_3]\·\·\·\·\·\·\left|E\right|\∈A3\\ \·\·\·\end{array}\right.$

A1 in the formula, A2 etc. are through testing definite error burst.Error burst being divided in the middle of the actual process three intervals just can description control process original state.A kind of way of selection is exactly that the maximum error absolute value that occurs in the experiment is enlarged 10%, is divided into 3 intervals again.P wherein ₁, i ₁, d ₁Parameter selects better to play the purpose of quick control, and parameter selects to see error decoupling zero and control section.

4, error decoupling zero and control

The result of calculation of loop parameter has been used in the error decoupling zero here.At first the decoupling zero processing is not carried out in control, later on the control increment of last time is used for this error decoupling zero.For example the control increment of current crystal oscillator is Δ U _c, because the change of control crystal oscillator voltage is described below the coupling that the resonator cavity error causes: Δ E _a=K _Ac* Δ U _c

In resonator cavity when control,, the resonator cavity error that is used to control computing must be to deduct because the amount of the influence Δ E that the coupling of crystal oscillator causes _aThe result of value, i.e. decoupling and error.In like manner can use Δ E at the crystal oscillator control cycle _c=K _Ca* Δ U _aCalculate the influence that resonator cavity control voltage causes the crystal oscillator error.

This is to a certain extent to initial state (U _a, U _c) dependence strengthen.Obtain for the error that just enters controlling unit, the scanning fluctuation causes certain concussion to disturb to loop.Obtaining of initial departure must wait for that loop is after the voltage of analyzing spot is stable.Here the method for Cai Yonging is sustaining voltage (V _Ass, V _Css) carry out obtaining of error again after several cycles, thus original state stablized.

The discrete increment PI D control module that control section adopts.With detected error as error increment substitution governing equation, the value of controlled increment, the high-precision control amount of depositing is added to.The increment control type of simplifying is as follows:

ΔU _out＝P×(ΔE _k-ΔE _k-1)+I×ΔE _k+D×(ΔE _k-2ΔE _k-1+ΔE _k-2)

Here adopting the parameters of separating is in order better to adjust the effect of each control section in control procedure.Passive hydrogen clock belongs to following control system, simultaneously the rate of decay of error is had relatively high expectations, and when deviation occurring, comes correcting frequency offset with the fastest speed.If the process of response is slower, then can in the long time, produce the data of frequency shift (FS) reference frequency, this frequency average for the long period will produce considerable influence, and assessment will be fatal to frequency stability.Because it is identical with control cycle that departure is obtained the cycle, omitted sampling time T here _dBecause this formula simplified formula, the parameter tuning process in having simplified at the 3rd.

Wherein P parametric representation controlled quentity controlled variable remains the intensity of original controlled quentity controlled variable, also claims inertia.This parameter setting is big more, and the constant intensity of retentive control amount is big more in the control procedure, i.e. controlled quentity controlled variable malleable not.

The i parameter is used to correct the frequency departure of appearance, and when this parameter was 1, this moment, the parameter I parameter was

The frequency departure that causes is just in time filled up in the controlled quentity controlled variable skew that then produces in theory.This parameter has mainly influenced the error attenuated speed of control procedure, and span is between (0,2).Usually value decays with quickening near 1.

The d parameter is used for the error variation tendency is made response.Be used for detecting the error variation tendency early, make correction and prepare.Since it works representative be the previous margin of error therefore its accuracy is the poorest, this parameter proportion should be less.

The parameter of different error bursts is selected thought in the f function in the 3rd.For the error range of maximum one-level, need make that the p parameter is less than normal, reduce inertia, the i parameter levels off to and 1 guarantees that error is decay fast, increases d to revise early.The error range of minimum one-level, the p parameter increases, and strengthens inertia, and the i parameter can have certain distance to increase effective control action of error from 1, reduces d to guarantee stability.The error of middle one-level is got intermediate value.

5, error evaluation

Error evaluation in the step 5 adopts method as follows: between choose in this step 2 with the highest exportable uniform precision scanning, the two-dimensional coordinate point that writing scan magnitude of voltage and error are formed.These points are carried out least square fitting, ask for the residual error quadratic sum then, assess the noise size with this quadratic sum.Because counting that the method is used to estimate then to choose can be satisfied the estimation requirement at tens of points.Near initial point control-graph of errors can replace with following linear equation:

E=k ₁V+k ₂, wherein V is control voltage, E is corresponding error, k ₁, k ₂For in generation, asked parameter.

Order $\hat{X}=\left[\begin{array}{c}{k}_1\\ k_2\end{array}\right],L=\left[\begin{array}{c}{E}_1\\ E_2\\ \·\·\·\\ E_n\end{array}\right],A=\left[\begin{array}{cc}{V}_1& 1\\ V_2& 1\\ \·\·\·& \·\·\·\\ V_n& 1\end{array}\right],$ Wherein n is counting of sampling.Then $v=L-A\hat{X}.$

Can get according to the least square method computing formula $\hat{X}={\left(A^{T}A\right)}^{-1}{A}^{T}L;$ And then calculating v.E then _L=v ^TV can be used for assessing the size of noise.Its value effect the size of the export-restriction value of the preservation length of annular controlled quentity controlled variable and control procedure in the step 6.

6, annular controlled quentity controlled variable is preserved and is recovered

It mainly is in order to overcome the interference of single and a plurality of control cycles that annular controlled quentity controlled variable in the step 6 is preserved; At first distribute one 2 ⁿArray be used for depositing up-to-date control sequence, distribute an enough high-precision sum variable preserve control sequence and; In control procedure, safeguard a cycle index pointer, automatically backward increase progressively after controlling end of output at every turn, and automatically from 2 ⁿMove to 0 position; Current controlled quentity controlled variable U _Out+ Δ U _OutCalculating finishes, and carries out anti-interference judgement, judges whether it drops on the interval:

[(sum＞＞n)-wide，(sum＞＞n)+wide]

If drop on this interval, then upgrade the value of sum, upgrade array element:

sum＝sum-array[pointer]+U ₀，array[pointer++]＝U ₀；

Otherwise output sum＞＞n, detect abnormality mark, when running into a plurality of unusual situations, the controlled quentity controlled variable save value that then repeats to export whole array continuously satisfies interval require or up to the fixing number of times of annular controlled quentity controlled variable circulation output up to detected error, sends to report to the police and stop; Because the crystal oscillator drift relatively slowly makes controlled quentity controlled variable that better repeatability is arranged in the short period of time, so effect is better; Under rugged environment, the number of times that repeats to export can be set export the interference that suppresses several cycles with the control that reaches the long period as far as possible, under the situation that situation allows, carry out match according to the control array and dope controlled quentity controlled variable and then have better effect.

Extra time complexity is approximately plus and minus calculation twice in the control procedure, once displacement and comparison operation.Time complexity is O (1), can play very strong anti-interference effect simultaneously again.The wide that uses chooses and can choose empirical value V _CLw/ 4, and suitably adjust according to the noise size, noise hour minimizing increased when noise is big.

Claims (1)

1. intelligent control algorithm that is used for the passive hydrogen clock frequency lock is characterized in that the step of this algorithm is as follows:

The voltage that step 1. is controlled resonator cavity is set to the middle threshold voltage of its output voltage range, with the width V of voltage range that the crystal oscillator error occurs _CbwHalf be step-length, in the voltage output range of control crystal oscillator, provide the magnitude of voltage of control crystal oscillator continuously and detect corresponding crystal oscillator error amount successively; Pairing voltage V when recording error is obtained the absolute value maximum _CbsThe voltage of control crystal oscillator is set to V _Sbs

The voltage of step 2. retentive control crystal oscillator is constant; To scan the suitable step-length V of step number with crystal oscillator _Abw, the magnitude of voltage of continuous sweep control resonator cavity and the corresponding resonator cavity error amount of detection in the voltage output range of resonator cavity; Recording error is obtained hour corresponding voltage V of absolute value _Abs, the voltage of control resonator cavity is set to V _Abs

The voltage of step 3. retentive control resonator cavity is constant; The voltage of control crystal oscillator is with V _CbsBeing central point, is V at width _CbwScope in, with the output accuracy V of control crystal oscillator voltage _ComsTwentyfold voltage V _CsssFor the magnitude of voltage of step-length continuous sweep control crystal oscillator and detect the crystal oscillator error amount, obtain hour corresponding voltage V of its absolute value _Css, the voltage of control crystal oscillator is set to V _Css

The voltage of step 4. retentive control crystal oscillator is constant; The voltage of control resonator cavity is with V _AbsBeing central point, is V at width _AbwScope in, with control cavity voltage output accuracy V _AomsTen times voltage V _AsssFor the magnitude of voltage of step-length continuous sweep control resonator cavity and detect the resonator cavity error amount, obtain hour corresponding voltage V of its absolute value _AssThe resonator cavity output voltage is set to V _Ass

The voltage of step 5. control resonator cavity keeps V _AssConstant, the voltage of control crystal oscillator is at V _CssEquidistant the getting a little in both sides, keeping crystal oscillator voltage is V _CssConstant, with same method at V _AssTwo survey equidistant getting a little; As controlled quentity controlled variable and scanning errors, calculate the yield value of two control loops, the linear coupling parameter of two loops with four groups of magnitudes of voltage getting; Error evaluation is carried out in two intervals that four points of high precision scanning are formed;

Step 6. is asked for optimum pid control parameter by the result of calculation loop gain result in the 5th step; The control voltage that obtains with step 3,4 is initial value, moves the PID control section of simplifying in the hope of separating the controlled variable and the decoupling parameter that obtain; The limited field when formulating dynamically control according to noise level and the preservation length of control data provide controlled quentity controlled variable according to antinoise restriction processing section simultaneously.

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