CN103162710A - MEMS gyro fault detection system based on wavelet entropy and detection method thereof - Google Patents

MEMS gyro fault detection system based on wavelet entropy and detection method thereof Download PDF

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CN103162710A
CN103162710A CN201110420343XA CN201110420343A CN103162710A CN 103162710 A CN103162710 A CN 103162710A CN 201110420343X A CN201110420343X A CN 201110420343XA CN 201110420343 A CN201110420343 A CN 201110420343A CN 103162710 A CN103162710 A CN 103162710A
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任亚飞
葛运旺
白旭灿
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Luoyang Institute of Science and Technology
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Abstract

The invention discloses an MEMS gyro fault detection system based on wavelet entropy. The system comprises a DC stabilized power supply module, an MEMS gyro module, a motion carrier module, a data acquisition module, a wavelet multi-scale analysis module, a wavelet entropy fault detection module, a wavelet multi-scale reconfiguration module and a data output module. According to the invention, reliability and accuracy of the system are guaranteed. The MEMS gyro fault detection system based on wavelet entropy has the advantages of stable performances, reliable working, a small volume and high cost performance and can provide accurate fault detection for a variety of carrier equipment.

Description

MEMS gyro failure detection system and detection method thereof based on Wavelet Entropy
Technical field
The invention belongs to the technical field that signal is processed, be specifically related to a kind of fault detection system that is specifically related to a kind of micro electronmechanical MEMS gyro based on Wavelet Entropy.
Background technology
MEMS (Micro-Electro Mechanical System) gyro is a class Novel angle rate sensor of developing along with the development of microelectronics and micromachining technology, has volume little, lightweight and cost is low, reliability is high, the incomparable advantage of traditional gyro such as is easy to produce in batches.Along with the develop rapidly of MEMS technology, its fault detection technique also receives much concern always.The MEMS gyro is used for drift angle or the angular velocity of sensitive analog coordinate system relative ideal coordinate system, is the core component in all kinds of inertia systems.Due to the broad prospect of application of gyro, all the MEMS gyro has been carried out a large amount of research work both at home and abroad, but aspect the fault detect of MEMS gyro, reliable and stable product has been arranged not yet so far.
According to the information source of fault detect institute foundation, fault detection technique generally can be divided into: detect from the detection of sensor itself with to the filter information of sensor setting.The former is that built-in check has advantages of that realization detects and isolated fault on minimum rank; Latter's detection computations method more complicated, but due to the statistical properties based on system, therefore more responsive.
The product of MEMS gyro is all directly the output data of gyro to be carried out some filtering to process mostly now, and this method is also little to the raising of precision, and reliability is not high yet.
Summary of the invention
When the technical problem to be solved in the present invention is the detection of MEMS gyro product, reliability is not high, precision is not high, provide that a kind of precision is high, the MEMS gyro failure detection system based on Wavelet Entropy of good reliability, also introduce the detection method of this detection system, solved the low or problem that computing method are complicated of existing detection method susceptibility.
Technical scheme of the present invention realizes in the following manner: a kind of MEMS gyro failure detection system based on Wavelet Entropy, comprise the D.C. regulated power supply module, and be used for powering to the MEMS gyro; The MEMS gyroscope modules is for the movable information of measuring motion carrier; The motion carrier module is by the fixing MEMS gyro of test fixture; Data acquisition module is used for gathering the signal of MEMS gyro, and transfers to the wavelet multi-scale analysis module; The wavelet multi-scale analysis module, the information of receive data acquisition module, and the signal of MEMS gyro is carried out transferring to the Wavelet Entropy fault detection module after multi-scale wavelet decomposes; The Wavelet Entropy fault detection module, receive the information of wavelet multi-scale analysis module, detect the signal of MEMS gyro, transport to the multi-scale wavelet reconstructed module detecting normal signal, the signal of detection failure is transferred to the MEMS gyroscope modules, make the MEMS gyroscope modules reset; The multi-scale wavelet reconstructed module receives after the information of small echo entropy wave fault detection module this signal reconstruct on original scale, and transfers to data outputting module; Data outputting module receives the output signal of multi-scale wavelet reconstructed module, and exports through the data after fault detect and isolation.
A kind of MEMS gyro failure detection method based on Wavelet Entropy, carry out according to following step: the MEMS gyroscope modules is measured the state of motion carrier module, and metrical information is passed to data acquisition module; The information conveyance that the data acquisition module handle collects is to the wavelet multi-scale analysis module; The wavelet multi-scale analysis module is carried out wavelet multi-scale analysis to the signal of MEMS gyro, then analysis result is transferred to the Wavelet Entropy fault detection module; The Wavelet Entropy fault detection module receives the data of wavelet multi-scale analysis and calculates Wavelet Entropy afterwards, and with Wavelet Entropy, the signal on multiple dimensioned is carried out fault detect, if testing result is fault, this sign is returned to the duty of replacement MEMS gyroscope modules, if testing result is normal, the signal after detecting passes to multiple dimensioned reconstructed module; The normal signal that multiple dimensioned reconstructed module obtains the Wavelet Entropy fault detection module carries out being transferred to data outputting module after multi-scale wavelet reconstruct, exports after the output information transition form of data outputting module with multiple dimensioned reconstructed module.
Compare with detection method with existing fault detection system, the present invention has following advantage: 1, wavelet multi-scale analysis can effectively detect the development trend of signal, utilize entropy theory statistically on signal multiple dimensioned, fault to be detected and processes, namely the data source of MEMS gyro is carried out the multilayer fault detect, to guarantee reliability and the accuracy of system.
2, based on the stable performance of MEMS gyro failure detection system, the reliable operation of Wavelet Entropy, volume is little, cost performance is high, can provide fault detect accurately for various vehicle equipments.
Description of drawings
Fig. 1 is theory diagram of the present invention.
Fig. 2 is small echo dimensional analysis process flow diagram in the present invention.
Fig. 3 is wavelet reconstruction process flow diagram in the present invention.
Embodiment
As shown in Figure 1, a kind of MEMS gyro failure detection system based on Wavelet Entropy comprises D.C. regulated power supply module 1, is used for powering to the MEMS gyro; MEMS gyroscope modules 2 is for the movable information of measuring motion carrier; Motion carrier module 3 is by the fixing MEMS gyro of test fixture; Data acquisition module 4 is used for gathering the signal of MEMS gyro, and transfers to wavelet multi-scale analysis module 5; Wavelet multi-scale analysis module 5, the information of receive data acquisition module 4, and the signal of MEMS gyro is carried out transferring to Wavelet Entropy fault detection module 6 after multi-scale wavelet decomposes; Wavelet Entropy fault detection module 6, receive the information of wavelet multi-scale analysis module 5, detect the signal of MEMS gyro, transport to multi-scale wavelet reconstructed module 7 detecting normal signal, the signal of detection failure is transferred to MEMS gyroscope modules 2, make MEMS gyroscope modules 2 reset; Multi-scale wavelet reconstructed module 7 receives after the information of small echo entropy wave fault detection module 6 this signal reconstruct on original scale, and transfers to data outputting module 8; Data outputting module 8 receives the output signal of multi-scale wavelet reconstructed module 7, and exports through the data after fault detect and isolation.
MEMS gyro failure detection method based on Wavelet Entropy of the present invention, carry out according to following step:
1. MEMS gyroscope modules 2 is measured the state of motion carrier module 3, and metrical information is passed to data acquisition module 4; To wavelet multi-scale analysis module 5, the signal of 5 pairs of MEMS gyros of wavelet multi-scale analysis module carries out wavelet multi-scale analysis to data acquisition module 4, then analysis result is transferred to Wavelet Entropy fault detection module 6 the information conveyance that collects.
The signal of 5 pairs of MEMS gyros of wavelet multi-scale analysis module carries out wavelet multi-scale analysis, the flow process of analysis as shown in Figure 2, specifically according to following implementation Process:
At yardstick
Figure DEST_PATH_IMAGE001
On, for the burst of input gyro
Figure 524803DEST_PATH_IMAGE002
, the analytical form of its wavelet transform such as following formula:
Figure DEST_PATH_IMAGE003
（1）
In formula,
Figure 284948DEST_PATH_IMAGE004
Be the scale coefficient in wavelet transformation,
Figure DEST_PATH_IMAGE005
Be the wavelet coefficient in wavelet transformation, select suitable wavelet basis function, just can obtain corresponding scale coefficient and wavelet coefficient, can obtain yardstick by formula (1)
Figure 302714DEST_PATH_IMAGE006
Approximate signal in upper gyro information
Figure DEST_PATH_IMAGE007
And detail signal
Figure 190030DEST_PATH_IMAGE008
Continue this process to yardstick The approximate signal of upper gyro
Figure 597145DEST_PATH_IMAGE007
Carry out discrete wavelet and decompose, can obtain yardstick Approximate signal in upper gyro information
Figure 790623DEST_PATH_IMAGE010
And detail signal
Figure DEST_PATH_IMAGE011
, repeat on optimum decomposition scale N, can obtain the approximate signal that wavelet discrete is decomposed
Figure 216050DEST_PATH_IMAGE012
And detail signal
Then with the result of multiscale analysis: (it is pending that the detail signal on the yardstick of i ~ N) and the approximate signal on N layer yardstick are delivered to Wavelet Entropy fault detection module 6 etc.
2. calculate Wavelet Entropy after the data of Wavelet Entropy fault detection module 6 reception wavelet multi-scale analysis, and with Wavelet Entropy, the signal on multiple dimensioned is carried out fault detect, if testing result is fault, this sign is returned to the duty of replacement MEMS gyroscope modules 2, if testing result is normal, the signal after detecting passes to multiple dimensioned reconstructed module 7.
The the (detail signal on the yardstick of i ~ N) and approximate signal on N layer yardstick by wavelet multi-scale analysis module 5 input that Wavelet Entropy fault detection module 6 will be collected, calculate Wavelet Entropy according to following algorithm, and with Wavelet Entropy, the signal on multiple dimensioned is carried out fault detect.
On the one hand, multiple dimensioned decomposition be the wavelet transformation equivalence be an arrangement of mirrors as wave filter, On individual yardstick with signal
Figure DEST_PATH_IMAGE015
Carry out Orthogonal Decomposition, be equivalent to one group of high pass and low pass mirror filter, signal be done progressively to decompose.Low-pass filter produces the low frequency component (signal approximation) of signal
Figure 789519DEST_PATH_IMAGE016
, Hi-pass filter produces the high fdrequency component (signal detail) of signal
Figure DEST_PATH_IMAGE017
The low frequency component of a upper yardstick is decomposed at every turn, obtain two decomposed components of next yardstick.Process
Figure 470292DEST_PATH_IMAGE014
After decomposing, layer obtains mutually orthogonal component:
Figure 870049DEST_PATH_IMAGE018
（2）
Can find out that by formula (2) the multiple dimensioned decomposition expression formula of a signal is detail signal on each yardstick and the approximate signal sum on the thickest yardstick.
On the other hand, establish
Figure 735276DEST_PATH_IMAGE015
Random signal train for the MEMS gyro to measure ,By Paasche Wa Er equation as can be known, the wavelet transformation under Orthogonal Wavelets has the character of energy conservation, and according to (2) formula, the energy of time-based sequence can decompose on scale domain, and namely the energy of multiresolution analysis can be decomposed into:
Figure DEST_PATH_IMAGE019
(3)
The variance based on measured data is:
Figure 758858DEST_PATH_IMAGE020
(4)
Due to
Figure DEST_PATH_IMAGE021
Be
Figure 425463DEST_PATH_IMAGE022
Approach, by average wavelet energy or the wavelet variance on (4) formula definition yardstick j, and normalization:
Figure 192693DEST_PATH_IMAGE024
(5)
In formula (5),
Figure DEST_PATH_IMAGE025
Be the signal gross energy, obviously have:
Figure 123959DEST_PATH_IMAGE026
Energy sequence after normalization
Figure DEST_PATH_IMAGE027
The experience that is called energy sequence distributes, and is the ratio of wavelet energy and the gross energy of each yardstick.The definition of combining information entropy, we adopt the distribution of the energy sequence of each yardstick of small echo Replace the probability distribution of signal, this entropy that obtains based on energy distribution is called Wavelet Entropy, and it is defined as:
Figure DEST_PATH_IMAGE029
(6)
Can find out from the definition of Wavelet Entropy, the sample entropy of its sequence computing time on a plurality of yardsticks embodied the random degree of time series on yardstick.If the small echo entropy increases suddenly, the instability of sequence increases, and information is also unreliable, and the work of MEMS gyro to measure may be broken down; If the small echo entropy does not have very large variation, representative information is reliable and stable, and the MEMS gyro to measure is working properly.
For breaking down, so this sign is returned to the duty of replacement MEMS gyroscope modules 2 as testing result.If testing result is normal, reliable multiple dimensioned MEMS gyro signal after detecting, pass to multi-scale wavelet reconstructed module 7.
3. multiple dimensioned reconstructed module 7 carries out the normal signal that obtains of Wavelet Entropy fault detection module 6 to be transferred to data outputting module 8 after multi-scale wavelet reconstruct.
As shown in Figure 3, in multiple dimensioned reconstructed module 7, the wavelet reconstruction detailed process is as follows:
Figure 472343DEST_PATH_IMAGE030
(7)
In formula (7),
Figure DEST_PATH_IMAGE031
With
Figure 37405DEST_PATH_IMAGE032
Respectively approximate signal and the detail signal on yardstick i,
Figure DEST_PATH_IMAGE033
With
Figure 829036DEST_PATH_IMAGE034
Respectively scale coefficient and the wavelet coefficient on yardstick i,
Figure DEST_PATH_IMAGE035
The approximate signal on the yardstick i+1 that obtains through wavelet reconstruction, i.e. the approximate information of the upper gyro of yardstick i+1.Signal on each yardstick is carried out multiple dimensioned reconstruct, obtain the MEMS gyro signal on original scale, send it to data outputting module 8.
4. data outputting module 8 is exported after converting the output information of multiple dimensioned reconstructed module 7 to need form, thinks that follow-up equipment provides accurately, the information of MEMS gyro to measure reliably, and the MEMS gyro failure of completing based on Wavelet Entropy detects and isolates.
The present invention adopts wavelet analysis method, and wavelet analysis has multi-resolution characteristics, and the information on same level of can giving be carried out multiple dimensioned decomposition, obtains the information on multi-level.Information entropy can characterize the general characteristic of information source, is that the uncertainty of information source output information and the statistics of the randomness that event occurs are measured.Wavelet Entropy is the research of combining information entropy on the multiple dimensioned decomposition base of small echo, utilizes the signal of MEMS gyro is analyzed, and reaches the fault detect effect of built-in sensitivity.

Claims (2)

1. the MEMS gyro failure detection system based on Wavelet Entropy, is characterized in that: comprise D.C. regulated power supply module (1), be used for powering to the MEMS gyro;
MEMS gyroscope modules (2) is for the movable information of measuring motion carrier;
Motion carrier module (3) is by the fixing MEMS gyro of test fixture;
Data acquisition module (4) is used for gathering the signal of MEMS gyro, and transfers to wavelet multi-scale analysis module (5);
Wavelet multi-scale analysis module (5), the information of receive data acquisition module (4), and the signal of MEMS gyro is carried out transferring to Wavelet Entropy fault detection module (6) after multi-scale wavelet decomposes;
Wavelet Entropy fault detection module (6), receive the information of wavelet multi-scale analysis module (5), detect the signal of MEMS gyro, transport to multi-scale wavelet reconstructed module (7) detecting normal signal, the signal of detection failure is transferred to MEMS gyroscope modules (2), make MEMS gyroscope modules (2) reset;
Multi-scale wavelet reconstructed module (7) receives after the information of small echo entropy wave fault detection module (6) this signal reconstruct on original scale, and transfers to data outputting module (8);
Data outputting module (8) receives the output signal of multi-scale wavelet reconstructed module (7), and exports through the data after fault detect and isolation.
2. MEMS gyro failure detection method based on Wavelet Entropy, it is characterized in that carrying out according to following step: MEMS gyroscope modules (2) is measured the state of motion carrier module (3), and metrical information is passed to data acquisition module (4); Data acquisition module (4) the information conveyance that collects to wavelet multi-scale analysis module (5); Wavelet multi-scale analysis module (5) is carried out wavelet multi-scale analysis to the signal of MEMS gyro, then analysis result is transferred to Wavelet Entropy fault detection module (6); Wavelet Entropy fault detection module (6) receives the data of wavelet multi-scale analysis and calculates Wavelet Entropy afterwards, and with Wavelet Entropy, the signal on multiple dimensioned is carried out fault detect, if testing result is fault, this sign is returned to the duty of replacement MEMS gyroscope modules (2), if testing result is normal, the signal after detecting passes to multiple dimensioned reconstructed module (7); The normal signal that multiple dimensioned reconstructed module (7) obtains Wavelet Entropy fault detection module (6) carries out being transferred to data outputting module (8) after multi-scale wavelet reconstruct, exports after the output information transition form of data outputting module (8) with multiple dimensioned reconstructed module (7).
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