CN102879606B - A kind of ACTE detects and determines the method and apparatus in temperature detection path - Google Patents

Abstract

The invention provides a kind of method that ACTE detects, temperature sensor is fixed on the position of close accelerometer surface particles on accelerometer ring flange with thin tackifier, heating element is pasted onto on accelerometer surface particles, the lead-in wire of heating element is drawn from accelerometer side, utilizes temperature-measuring module to measure the temperature of described accelerometer.Present invention also offers the device that a kind of ACTE detects, comprise an accelerometer, one temperature sensor, it is fixed on described accelerometer ring flange on described accelerometer surface particles position, in order to obtain the temperature of described accelerometer with thin tackifier; One heating element, its lead-in wire is drawn from described accelerometer side and is used for as described accelerometer is heated; One temperature-measuring module gathers the temperature of described accelerometer.Utilize the present invention can acceleration measurement meter temperature fast and accurately, real-Time Compensation ACTE, thus improve navigation accuracy.

Description

A kind of ACTE detects and determines the method and apparatus in temperature detection path

Technical field

The present invention relates to temperature detection technology, particularly a kind of quartz flexible accelerometer temperature detection and determine the method and apparatus technical field in temperature detection path.

Background technology

Accelerometer, as the important devices of inertia measurement, has that precision is high, long-time stability good, is applicable to the advantage of small acceleration analysis.But the change of temperature directly affects accelerometer output accuracy, therefore, need when carrying out inertial navigation system design to consider that environment temperature affects accelerometer.Design temperature control system is needed for Platform Inertial Navigation System, for accelerometer provides the working environment of a temperature relative constancy, thus improves navigation accuracy; For strapdown inertial navitation system (SINS), need to set up temperature model, carry out real-Time Compensation, therefore should find a kind of method of temperature of Quick Measurement accelerometer.Current accelerometer carrys out the internal temperature of sensitive accelerometers usually through built-in temperature sensor.

The defect that current ACTE detects is: lack the prioritization scheme that ACTE detects path, indefinite to the relation of the speed of the influence factors such as temperature sensor location, Adhesive thickness and heating element wire locations and sense acceleration meter temperature, like this, the temperature of accelerometer inside can not be reflected in time, finally affect navigation accuracy.

Summary of the invention

The object of the invention is to overcome prior art deficiency, provide a kind of quartz flexible accelerometer temperature detection and determine the method and apparatus in temperature detection path.

The technical solution of the method that ACTE of the present invention detects:

The method that ACTE detects, comprises the following steps:

Temperature sensor is fixed on the position of close described accelerometer surface particles on accelerometer ring flange with thin tackifier, heating element is pasted onto on described accelerometer surface particles, the lead-in wire of described heating element is drawn from described accelerometer side, utilizes temperature-measuring module to gather the temperature of described accelerometer.

According to the method, be fixed on described accelerometer by the thin tackifier of described temperature sensor, Adhesive thickness scope is 15 μm ~ 60 μm.

According to the method, described ring flange is 1mm ~ 5mm scope of surface of shell described in span near the position of described accelerometer surface particles.

According to the method, described side refers to the described accelerometer surface of shell beyond corresponding accelerometer label location lower shell surface.

A kind of ACTE pick-up unit provided by the invention, comprise an accelerometer, one temperature sensor, it is fixed on described accelerometer ring flange on described accelerometer surface particles position, in order to obtain the temperature of described accelerometer with thin tackifier; One heating element, its lead-in wire is drawn from described accelerometer side and is used for as described accelerometer is heated; One temperature-measuring module is connected with described temperature sensor, gathers the temperature of the described accelerometer that described temperature sensor exports.

Temperature-measuring module described in this device comprises the described ACTE that a digital collection unit is used for gathering the output of described temperature sensor, one power supply unit is used for as described accelerometer is powered, one intensification unit is connected with described heating element, is used for as accelerometer provides intensification voltage.

The unit that heats up described in this device can be D.C. regulated power supply, and available voltage range is 0 ~ 30V.

The invention provides a kind of method that ACTE detects path fast of determining, comprise the following steps:

The first step, ACTE measuring state is determined and temperature survey:

1) determine to affect the factor that described ACTE measures the response time: the position at least comprising a. temperature sensor, center or near the Adhesive thickness of described accelerometer surface of shell position b. for fixing described temperature sensor on the ring flange being fixed on described accelerometer, the wire locations of thin or thick c. heating element, from described accelerometer front or side lead-in wire;

2) 8 kinds of ACTE measuring states are obtained according to above-mentioned 3 kinds of factor independent assortments;

3) successively according to certain sample frequency, temperature acquisition to described accelerometer is carried out to often kind of state in described 8 kinds of states and be warming up to design temperature;

Second step, data processing step:

Set up single order identification model wherein, K is scale-up factor, T is inertia time constant, Δ U is the voltage on heating element, Δ T is the sampling period, utilize Recursive Extended Least Squares Method to carry out identification of Model Parameters to described single order identification model, the temperature value of described often kind of state acquisition is carried out Model Distinguish, draw the value of K and T under described accelerometer different measuring state;

3rd step, evaluate steps in decision-making:

Determine evaluation index, the relation curve of the response time that matching T/K and described ACTE are measured, described ACTE required time is obtained the shortest when determining that T/K is minimum, thus determine in described 8 kinds of states, on the ring flange that the position of temperature sensor is fixed on described accelerometer on described accelerometer surface of shell position, Adhesive thickness for fixing described temperature sensor is thin, the wire locations of heating element from described accelerometer side lead-in wire be measure described ACTE detect path the most fast.

The invention provides a kind of device that ACTE detects path of determining, comprise temperature measuring state and determine and temperature measurement unit, data processing unit and evaluation decision package:

Described temperature measuring state is determined to comprise state setting module and temperature-measuring module with temperature measurement unit, described state setting module is used for measuring the factor of response time according to the described ACTE of impact and sets 8 kinds of ACTE measuring states, and described temperature-measuring module is used for gathering successively described ACTE under described 8 kinds of states;

Described data processing unit comprises model building module and identification of Model Parameters computing module, and described model building module is used for setting up single order identification model to temperature wherein, K is scale-up factor, and T is inertia time constant, and Δ U is the voltage on heating element, Δ T is the sampling period, and described identification of Model Parameters computing module is used for utilizing Recursive Extended Least Squares Method to carry out identification to described first order modeling and draws the value of K and T under described 8 kinds of measuring states;

Described evaluation decision package is used for determining evaluation index, the relation curve of the response time that matching T/K and described ACTE are measured, described ACTE required time is obtained the shortest when determining that T/K is minimum, thus determine in described 8 kinds of states, on the ring flange that the position of temperature sensor is fixed on described accelerometer on described accelerometer surface of shell position, select thin tackifier to fix described temperature sensor, the wire locations of heating element from described accelerometer side lead-in wire be measure described ACTE detect path the most fast.

Temperature-measuring module described in this device comprises a digital collection unit, be used for gathering according to certain sample frequency the temperature of described accelerometer of described temperature sensor transmission, one intensification unit, be used for as described accelerometer is heated to design temperature, one power supply unit, be used for as described accelerometer is powered, a digital multimeter is connected with described power supply unit, is used for detecting intensification cell voltage.

The present invention's beneficial effect compared with prior art:

1) select thinner thickness, its scope can make the temperature of temperature sensor more fast transport accelerometer at the tackifier of 15 μm ~ 60 μm; Apart within the scope of the 1mm ~ 5mm of accelerometer surface of shell on ring flange temperature sensor being fixed on accelerometer, heating element is drawn from accelerometer lateral location, sensor can the temperature of fast transport accelerometer, thus Quick Measurement ACTE.

2) by setting up single order identification model and utilizing Recursive Extended Least Squares Method to carry out parameter identification to identification model, by the comparison to accelerometer 8 kinds of measuring state Measuring Time, the path of quick sense acceleration meter temperature can be verified, thus the temperature of Quick Measurement accelerometer.

Accompanying drawing explanation

Fig. 1 is ACTE pick-up unit schematic diagram;

Fig. 2 is temperature sensor position view on accelerometer

Fig. 3 is temperature sensor adhesive thickness schematic diagram;

Fig. 4 is heating element location arrangements schematic diagram; ;

Fig. 5 is temperature-measuring module pie graph;

Fig. 6 is T/K value and temperature survey response time relation curve;

Main Reference symbol description:

1. temperature sensor 2. tackifier 3. heating element goes between 4. accelerometer ring flanges

5. accelerometer label location 6. heating element

Embodiment

Below in conjunction with accompanying drawing, specific embodiments of the invention are described in detail.In the following description, the nonrestrictive object for explanation, has set forth detail, to help to understand the present invention all sidedly.But, it will be apparent to those skilled in the art that and also can put into practice the present invention in other embodiment having departed from these details.

It should be noted that at this, in order to avoid the present invention fuzzy because of unnecessary details, illustrate only in the accompanying drawings with according to the closely-related device structure of the solution of the present invention and/or treatment step, and eliminate other details little with relation of the present invention.

With reference to the accompanying drawings embodiments of the invention are described.

Embodiment 1

The invention provides a kind of method that ACTE detects path of determining, comprise the following steps:

The first step, described ACTE measuring state is determined and temperature survey:

First determine to affect the factor that described ACTE measures the response time, at least comprise:

A. temperature sensor 1 is fixed on the position on described accelerometer, has two kinds of situations as shown in Figure 2, center or near described accelerometer surface of shell position on the ring flange 4 being fixed on described accelerometer.Described is within the scope of the 1mm ~ 5mm of surface of shell described in span near described accelerometer surface of shell position, and be close surface of shell position, center refers to that described temperature sensor center overlaps with described ring flange 4 center of circle.

B. as shown in Figure 3, for tackifier 2 thickness of fixing described temperature sensor 1, two kinds of situations and thin or thick are had.When tackifier 2 thickness is within the scope of 15 μm ~ 60 μm, tackifier 2 thinner thickness, when tackifier 2 thickness is within the scope of 60 μm ~ 300 μm, tackifier 2 thickness is thicker.

C. as shown in Figure 4, heating element goes between 3 positions, there are two kinds of situations, from described accelerometer front or side lead-in wire, as shown in Figure 1, the front of accelerometer refers to the surface of shell position that accelerometer ring flange 4 marks accelerometer label location and faces for 5 times, and the side of accelerometer surface particles refers to the surface of shell beyond accelerometer housing front.

Secondly, according to above-mentioned 3 kinds of factors, often kind of constraints independent assortment obtains 8 kinds of ACTE measuring states.

By above-mentioned state, setting completed, successively to temperature sensor 1, temperature acquisition is carried out according to certain sample frequency to often kind of state in described 8 kinds of states, obtain the described ACTE of described temperature sensor 1 transmission, until described ACTE is warming up to design temperature, in the present embodiment, design temperature is 85 degree, during higher than 85 degree, stop measuring tempeature.

Second step, data processing step:

First, Modling model, single order identification model can represent the model of thermal control object, and because of in the present embodiment, accelerometer as thermal control object, thus can set up single order identification model to ACTE variable quantity relative control voltage variable quantity: wherein, K is scale-up factor, and T is inertia time constant, order ts is the sampling period, carries out discretize obtain single order identification model $T\left(k\right)-\frac{T}{T_s+T}T(k-1)=\frac{K_s{T}_s}{T_s+T}U(k-1),$ Order: $a=\frac{T}{T_s+T},b=\frac{K_s{T}_s}{T_s+T}.$

Definition Model parameter vector and data vector:

$\left\{\begin{array}{c}h\left(k\right)={[-T(k-1),u(k-1)]}^T\\ \mathrm{\θ}={[a,b]}^T\end{array}\right.$

Then, utilize Recursive Extended Least Squares Method (RecursiveExtendedLeastSquares, RELS) to carry out parameter identification to described model,

RELS promotes as the one of least square method, has good convergence, and this algorithm has expanded the dimension of parameter vector and data vector.If as follows for the RELS algorithm of Model Distinguish, wherein, identified parameters for model:

$\left\{\begin{array}{c}\widehat{\mathrm{\θ}}\left(k\right)=\widehat{\mathrm{\θ}}(k-1)+K\left(k\right)[z\left(k\right)-h^T\left(k\right)\widehat{\mathrm{\θ}}(k-1)]\\ K\left(k\right)=P(k-1)h\left(k\right){[h^T\left(k\right)P(k-1)h\left(k\right)+\frac{1}{\mathrm{\Λ}\left(k\right)}]}^{-1}\\ P\left(k\right)=[I-K\left(k\right)h^T\left(k\right)]P(k-1)\end{array}\right.---\left(1\right)$

Above-mentioned reckoning process can refer to " process identification " (Fang Chongzhi edits, publishing house of Tsing-Hua University), repeats no more herein.

The Temperature numerical of described often kind of state acquisition is brought into formula (1) recursive identification and goes out a and b, by separate quadratic equation with one unknown, can in the hope of K and T shown in the value of described accelerometer under different measuring state (as table 1):

Table 1: corresponding K, T value of accelerometer different conditions

3rd step, evaluate steps in decision-making:

Determine evaluation index, the relation curve of the response time that matching T/K and described ACTE are measured, K gets 5, when T is 250, 500, 1000, 1250, when 1500, be input as 1, export the time reaching 98% of setting value, as shown in Figure 6, known T/K obtains described ACTE required time time minimum the shortest, thus determine in described 8 kinds of states, on the ring flange 4 that the position of temperature sensor 1 is fixed on described accelerometer on described accelerometer surface of shell position, for tackifier 2 thinner thickness of fixing described temperature sensor 1, heating element go between 3 positions from described accelerometer side lead-in wire be measure described ACTE detect path the most fast.

Embodiment 2

The invention provides a kind of device that ACTE detects path of determining, comprise ACTE measuring state and determine and temperature measurement unit, data processing unit and evaluation decision package:

Described temperature measuring state is determined to comprise state setting module and temperature-measuring module with temperature measurement unit, described state setting module is used for measuring the factor of response time according to the described ACTE of impact and sets 8 kinds of ACTE measuring states, described temperature-measuring module is used for gathering successively described ACTE under described 8 kinds of states, temperature-measuring module schematic diagram as shown in Figure 4, described temperature-measuring module comprises a digital collection unit, be used for gathering according to certain sample frequency the temperature of described accelerometer of described temperature sensor 1 transmission, the frequency selected in the present embodiment is p.s. 1 time.Power supply unit is used for as accelerometer is powered, select in the present embodiment ± 12V D.C. regulated power supply is that accelerometer is powered as power supply unit.Intensification unit is used for as accelerometer provides intensification voltage, D.C. regulated power supply can be selected as intensification unit, described D.C. regulated power supply can be selected within the scope of 0 ~ 30V, 29V D.C. regulated power supply is selected in the present embodiment, make ACTE progressively be elevated to design temperature by room temperature, in the present embodiment, design temperature is 85 degree, during higher than 85 degree, 29V D.C. regulated power supply disconnects, and stops as described accelerometer heats up.Described temperature-measuring module also comprises a digital multimeter, measures described intensification cell voltage.

Described data processing unit comprises model building module and identification of Model Parameters computing module, and described model building module is used for setting up single order identification model to temperature wherein K is scale-up factor, and T is inertia time constant, and described identification of Model Parameters computing module is used for utilizing Recursive Extended Least Squares Method to carry out identification to described first order modeling and draws the value of K and T under described 8 kinds of measuring states;

Described evaluation decision package is used for determining evaluation index, the relation curve of the response time that matching T/K and described ACTE are measured, described ACTE required time is obtained the shortest when determining that T/K is minimum, thus determine in described 8 kinds of states, on the ring flange 4 that the position of temperature sensor 1 is fixed on described accelerometer on described accelerometer surface of shell position, select thin tackifier 2 to fix described temperature sensor 1, heating element go between 3 positions from described accelerometer side lead-in wire be measure described ACTE detect path the most fast.

Embodiment 3

The invention provides a kind of ACTE pick-up unit, as shown in Figure 1, comprise an accelerometer, accelerometer can be quartz flexible accelerometer.

One temperature sensor 1, stick with glue agent 2 described temperature sensor to be fixed on described accelerometer ring flange 4, tackifier 2 thickness should be thinner, thickness should be selected within the scope of 15 μm ~ 60 μm, the position of described temperature sensor 1 should apart within the scope of the 1mm ~ 5mm on described accelerometer surface particles surface on described ring flange 4, in order to obtain the temperature of described accelerometer;

One heating element 6, its lead-in wire is drawn from described accelerometer side and is used for as described accelerometer is heated, and heating element 6 can select sheet of heating, and the present embodiment selects resistance to be the sheet of heating of 150 ohm.

One temperature-measuring module is connected with described temperature sensor 1, gathers the temperature of the described accelerometer that described temperature sensor 1 exports.Described temperature-measuring module, comprises a digital collection unit as shown in Figure 4, is used for gathering according to certain sample frequency the temperature of described accelerometer of described temperature sensor transmission, and the frequency selected in the present embodiment is p.s. 1 time.Power supply unit is used for as accelerometer is powered, select in the present embodiment ± 12V D.C. regulated power supply is that accelerometer is powered as power supply unit.Intensification unit is used for as accelerometer provides intensification voltage, D.C. regulated power supply can be selected as intensification unit, described D.C. regulated power supply can be selected within the scope of 0 ~ 30V, 29V D.C. regulated power supply is selected in the present embodiment, make ACTE progressively be elevated to design temperature by room temperature, in the present embodiment, design temperature is 85 degree, during higher than 85 degree, this device stops measuring tempeature, and described 29V D.C. regulated power supply stops as described accelerometer heats up.Described temperature-measuring module also comprises a digital multimeter, is connected with described intensification unit, detects intensification cell voltage.

Embodiment 4

The invention provides a kind of method that ACTE detects, it is characterized in that comprising the following steps:

Temperature sensor 1 is fixed on the position of close described accelerometer surface particles on accelerometer ring flange 4 with thin tackifier 2, heating element 6 is pasted onto on described accelerometer surface particles, described heating element lead-in wire 3 is drawn from described accelerometer side, utilizes temperature-measuring module to gather the temperature of described accelerometer.

The unspecified part of the present invention is known to the skilled person technology.

Claims (3)

1. determine that ACTE detects the method in path fast, it is characterized in that comprising the following steps:

The first step, ACTE measuring state is determined and temperature survey:

1) determine to affect the factor that described ACTE measures the response time: at least comprise: the position of a. temperature sensor, be fixed on center or close described accelerometer surface of shell position on described accelerometer ring flange; B. for the Adhesive thickness of fixing described temperature sensor, thin or thick, described thin or thick when referring to that Adhesive thickness is within the scope of 15 μm ~ 60 μm, Adhesive thickness is thinner, when Adhesive thickness is within the scope of 60 μm ~ 300 μm, Adhesive thickness is thicker; C. the wire locations of heating element, from described accelerometer front or side lead-in wire;

2) 8 kinds of ACTE measuring states are obtained according to above-mentioned 3 kinds of factor independent assortments;

3) successively according to certain sample frequency, temperature acquisition to described accelerometer is carried out to often kind of state in described 8 kinds of ACTE measuring states and be warming up to design temperature;

Second step, data processing step:

Set up single order identification model wherein, K is scale-up factor, T is inertia time constant, Δ U is the voltage on heating element, Δ T is the sampling period, utilize Recursive Extended Least Squares Method to carry out identification of Model Parameters to single order identification model, the temperature value of often kind of state acquisition is carried out Model Distinguish, draw the value of K and T under described accelerometer different measuring state;

3rd step, evaluate steps in decision-making:

Determine evaluation index, the relation curve of the response time that matching T/K and described ACTE are measured, described ACTE required time is obtained the shortest when determining that T/K is minimum, thus determine in described 8 kinds of ACTE measuring states, on the ring flange that the position of temperature sensor is fixed on described accelerometer on described accelerometer surface of shell position, Adhesive thickness for fixing described temperature sensor is thin, the wire locations of heating element from described accelerometer side lead-in wire be measure described ACTE detect path the most fast.

2. determine that ACTE detects the device in path, it is characterized in that comprising temperature measuring state determines and temperature measurement unit, data processing unit and evaluation decision package:

Described temperature measuring state is determined to comprise state setting module and temperature-measuring module with temperature measurement unit, described state setting module is used for measuring the factor of response time according to the described ACTE of impact and sets 8 kinds of ACTE measuring states, and described temperature-measuring module is used for gathering successively described ACTE under described 8 kinds of ACTE measuring states;

Described data processing unit comprises model building module and identification of Model Parameters computing module, and described model building module is used for setting up single order identification model to temperature wherein K is scale-up factor, T is inertia time constant, Δ U is the voltage on heating element, Δ T is the sampling period, and described identification of Model Parameters computing module is used for utilizing Recursive Extended Least Squares Method to carry out identification to described single order identification model and draws the value of K and T under described 8 kinds of ACTE measuring states;

Described evaluation decision package is used for determining evaluation index, the relation curve of the response time that matching T/K and described ACTE are measured, described ACTE required time is obtained the shortest when determining that T/K is minimum, thus determine in described 8 kinds of ACTE measuring states, on the ring flange that the position of temperature sensor is fixed on described accelerometer on described accelerometer surface of shell position, thin tackifier is selected to fix described temperature sensor, described Adhesive thickness scope is 15 μm ~ 60 μm, the wire locations of heating element from described accelerometer side lead-in wire be measure described ACTE detect path the most fast.

3. the device determining ACTE detection path according to claim 2, it is characterized in that described temperature-measuring module comprises a digital collection unit, be used for gathering according to certain sample frequency the temperature of described accelerometer of described temperature sensor transmission, one intensification unit, be used for as described accelerometer is heated to design temperature, a power supply unit, be used for as described accelerometer is powered, one digital multimeter is connected with described power supply unit, is used for detecting intensification cell voltage.