CN103162710B - Based on MEMS gyro fault detection system and the detection method thereof of Wavelet Entropy - Google Patents
Based on MEMS gyro fault detection system and the detection method thereof of Wavelet Entropy Download PDFInfo
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- CN103162710B CN103162710B CN201110420343.XA CN201110420343A CN103162710B CN 103162710 B CN103162710 B CN 103162710B CN 201110420343 A CN201110420343 A CN 201110420343A CN 103162710 B CN103162710 B CN 103162710B
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Abstract
The present invention discloses a kind of MEMS gyro fault detection system based on Wavelet Entropy, and described device comprises D.C. regulated power supply module, MEMS gyro module, motion carrier module, data acquisition module, wavelet multi-scale analysis module, Wavelet Entropy fault detection module, multi-scale wavelet reconstructed module and data outputting module.The present invention can ensure reliability and the accuracy of system.Based on Wavelet Entropy MEMS gyro fault detection system stable performance, reliable operation, volume is little, cost performance is high, can provide fault detect accurately for various vehicle equipment.
Description
Technical field
The invention belongs to the technical field of signal transacting, be specifically related to a kind of fault detection system being specifically related to a kind of micro electronmechanical MEMS gyro based on Wavelet Entropy.
Background technology
MEMS (Micro-ElectroMechanicalSystem) gyro is development along with microelectronics and micromachining technology and the class Novel angle rate sensor developed, there is volume little, lightweight and cost is low, reliability is high, is easy to the advantage that the classical spinning top such as batch production are incomparable.Along with the develop rapidly of MEMS technology, its fault detection technique also receives much concern always.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 system.Due to the broad prospect of application of gyro, all a large amount of research work is carried out to MEMS gyro both at home and abroad, but in the fault detect of MEMS gyro, not yet had reliable and stable product so far.
According to the information source of fault detect institute foundation, fault detection technique generally can be divided into: carry out the detection of sensor itself and detect the filter information of sensor setting.The former is that built-in inspection has the advantage realizing detection and isolated fault in minimum rank; The latter's detection computations Measures compare is complicated, but due to the statistical properties based on system, therefore more responsive.
The product of MEMS gyro is all directly carry out some filtering process to the output data of gyro mostly now, and this method is to the improve of precision and not quite, reliability is not high yet.
Summary of the invention
When the technical problem to be solved in the present invention is MEMS gyro Product checking, reliability is not high, precision is not high, there is provided that a kind of precision is high, the MEMS gyro fault detection system based on Wavelet Entropy of good reliability, also describe the detection method of this detection system, solve 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 fault detection system based on Wavelet Entropy, comprises D.C. regulated power supply module, for powering to MEMS gyro; MEMS gyro module, for measuring the movable information of motion carrier; Motion carrier module, fixes MEMS gyro by test fixture; Data acquisition module, for gathering the signal of MEMS gyro, and transfers to wavelet multi-scale analysis module; Wavelet multi-scale analysis module, receives the information of data acquisition module, and transfers to Wavelet Entropy fault detection module after the signal of MEMS gyro is carried out multi-scale wavelet decomposition; Wavelet Entropy fault detection module, receive the information of wavelet multi-scale analysis module, detect the signal of MEMS gyro, the normal signal of detection is transported to multi-scale wavelet reconstructed module, the Signal transmissions of detection failure to MEMS gyro module, make MEMS gyro module reset; Multi-scale wavelet reconstructed module, after receiving the information of small echo entropy wave fault detection module by this signal reconstruct in original scale, and transfer to data outputting module; Data outputting module, receives the output signal of multi-scale wavelet reconstructed module, and exports the data after fault detect and isolation.
Based on a MEMS gyro fault detection method for Wavelet Entropy, carry out according to following step: MEMS gyro module measures the state of motion carrier module, and metrical information is passed to data acquisition module; Data acquisition module the information conveyance collected to wavelet multi-scale analysis module; Wavelet multi-scale analysis module carries out wavelet multi-scale analysis to the signal of MEMS gyro, then analysis result is transferred to Wavelet Entropy fault detection module; Wavelet Entropy fault detection module calculates Wavelet Entropy after receiving the data of wavelet multi-scale analysis, and by Wavelet Entropy, fault detect is carried out to the signal on multiple dimensioned, if testing result is fault, then the signal of this detection failure is returned the duty resetting MEMS gyro module, if testing result is normal, then give multiple dimensioned reconstructed module by the signal transmission after detection; Be transferred to data outputting module after the normal signal that Wavelet Entropy fault detection module obtains by multiple dimensioned reconstructed module carries out multi-scale wavelet reconstruct, data outputting module exports after the output information transition form of multiple dimensioned reconstructed module.
Compare with detection method with existing fault detection system, the present invention has following advantage: 1, wavelet multi-scale analysis effectively can detect the development trend of signal, utilize entropy statistically theoretical signal multiple dimensioned on fault detected and processes, namely multilayer fault detect is carried out to the data source of MEMS gyro, to ensure reliability and the accuracy of system.
2, based on Wavelet Entropy MEMS gyro fault detection system stable performance, reliable operation, volume is little, cost performance is high, can provide fault detect accurately for various vehicle equipment.
Accompanying drawing explanation
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 fault detection system based on Wavelet Entropy, comprises D.C. regulated power supply module 1, for powering to MEMS gyro; MEMS gyro module 2, for measuring the movable information of motion carrier; Motion carrier module 3, fixes MEMS gyro by test fixture; Data acquisition module 4, for gathering the signal of MEMS gyro, and transfers to wavelet multi-scale analysis module 5; Wavelet multi-scale analysis module 5, receives the information of data acquisition module 4, and transfers to Wavelet Entropy fault detection module 6 after the signal of MEMS gyro is carried out multi-scale wavelet decomposition; Wavelet Entropy fault detection module 6, receive the information of wavelet multi-scale analysis module 5, detect the signal of MEMS gyro, the normal signal of detection is transported to multi-scale wavelet reconstructed module 7, the Signal transmissions of detection failure to MEMS gyro module 2, MEMS gyro module 2 is reset; Multi-scale wavelet reconstructed module 7, after receiving the information of small echo entropy wave fault detection module 6 by this signal reconstruct in original scale, and transfer to data outputting module 8; Data outputting module 8, receives the output signal of multi-scale wavelet reconstructed module 7, and exports the data after fault detect and isolation.
MEMS gyro fault detection method based on Wavelet Entropy of the present invention, carry out according to following step:
1.MEMS gyroscope modules 2 measures the state of motion carrier module 3, and metrical information is passed to data acquisition module 4; Data acquisition module 4 is the information conveyance collected to wavelet multi-scale analysis module 5, and the signal of wavelet multi-scale analysis module 5 pairs of MEMS gyro carries out wavelet multi-scale analysis, then analysis result is transferred to Wavelet Entropy fault detection module 6.
The signal of wavelet multi-scale analysis module 5 pairs of MEMS gyro carries out wavelet multi-scale analysis, the flow process of analysis as shown in Figure 2, specifically according to following implementation Process:
At yardstick
on, for the burst of input gyro
, the analytical form of its wavelet transform is as following formula:
（1）
In formula,
for the scale coefficient in wavelet transformation,
for the wavelet coefficient in wavelet transformation, select suitable wavelet basis function, just can obtain corresponding scale coefficient and wavelet coefficient, can yardstick be obtained by formula (1)
approximate signal in upper gyro information
and detail signal
.Continue this process to yardstick
the approximate signal of upper gyro
carry out discrete wavelet transformation, can yardstick be obtained
approximate signal in upper gyro information
and detail signal
, repeat on optimum decomposition scale N, the approximate signal that wavelet discrete is decomposed can be obtained
and detail signal
.
Then by the result of multiscale analysis: it is pending that the detail signal on (i ~ N) yardstick and the approximate signal on n-th layer yardstick deliver to Wavelet Entropy fault detection module 6 etc.
2. Wavelet Entropy fault detection module 6 calculates Wavelet Entropy after receiving the data of wavelet multi-scale analysis, and by Wavelet Entropy, fault detect is carried out to the signal on multiple dimensioned, if testing result is fault, then the signal of this detection failure is returned the duty resetting MEMS gyro module 2, if testing result is normal, then give multiple dimensioned reconstructed module 7 by the signal transmission after detection.
Wavelet Entropy fault detection module 6 is by the detail signal on (i ~ N) yardstick inputted by wavelet multi-scale analysis module 5 of collecting and the approximate signal on n-th layer yardstick, calculate Wavelet Entropy according to following algorithm, and by Wavelet Entropy, fault detect is carried out to the signal on multiple dimensioned.
On the one hand, multi-resolution decomposition is that wavelet transformation is equivalent to one group of mirror filter,
by signal on individual yardstick
carry out Orthogonal Decomposition, be equivalent to progressively decompose signal by one group of high pass and low pass mirror filter.Low-pass filter produces the low frequency component (signal approximation) of signal
, Hi-pass filter produces the high fdrequency component (signal detail) of signal
.The low frequency component of a upper yardstick is done to decompose at every turn, obtain two decomposed components of next yardstick.Pass through
layer obtains mutually orthogonal component after decomposing:
（2）
Can find out that the multi-resolution decomposition expression formula of a signal is the detail signal on each yardstick and the approximate signal sum on the thickest yardstick by formula (2).
On the other hand, if
for the random signal train that MEMS gyro is measured
,from Paasche Wa Er equation, the wavelet transformation under Orthogonal Wavelets has the character of energy conservation, and according to (2) formula, can decompose based on seasonal effect in time series energy in scale domain, namely the energy of multiresolution analysis can be analyzed to:
(3)
Variance then based on measured data is:
(4)
Due to
be
approach, define average wavelet energy on yardstick j or wavelet variance by (4) formula, and normalization:
(5)
In formula (5),
for signal gross energy, obviously have:
.Energy sequence after normalization
being called the experience distribution of energy sequence, is the wavelet energy of each yardstick and the ratio of gross energy.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 obtained based on energy distribution is called Wavelet Entropy, and it is defined as:
(6)
As can be seen from the definition of Wavelet Entropy, the sample entropy of its sequence computing time on multiple yardstick, embodies the random degree of time series on yardstick.If small echo entropy increases suddenly, then the instability of sequence increases, and information is also unreliable, and MEMS gyro surveying work may break down; If small echo entropy does not have very large change, representative information is reliable and stable, and MEMS gyro surveying work is normal.
If testing result is for breaking down, so the signal of this detection failure is returned the duty resetting MEMS gyro module 2.If testing result is normal, reliable multiple dimensioned MEMS gyro signal after detection, pass to multi-scale wavelet reconstructed module 7.
3. multiple dimensioned reconstructed module 7 is transferred to data outputting module 8 after the normal signal obtained of Wavelet Entropy fault detection module 6 is carried out multi-scale wavelet reconstruct.
As shown in Figure 3, in multiple dimensioned reconstructed module 7, wavelet reconstruction detailed process is as follows:
(7)
In formula (7),
with
the approximate signal on yardstick i and detail signal respectively,
with
the scale coefficient on yardstick i and wavelet coefficient respectively,
be through the approximate signal on yardstick i+1 that wavelet reconstruction obtains, i.e. the approximate information of gyro on yardstick i+1.Multiple dimensioned reconstruct is carried out to the signal on each yardstick, obtains the MEMS gyro signal in original scale, sent to data outputting module 8.
4. data outputting module 8 exports after converting the output information of multiple dimensioned reconstructed module 7 form of needs to, thinks that follow-up equipment provides accurate, the information that reliable MEMS gyro is measured, and the MEMS gyro fault completed based on Wavelet Entropy detects and isolation.
The present invention adopts wavelet analysis method, and wavelet analysis has multi-resolution characteristics, and the information on same level of can giving carries out multi-resolution decomposition, obtains the information at many levels.Information entropy can characterize the general characteristic of information source, is that the statistics of the uncertainty of information source output information and the randomness of event generation is measured.Wavelet Entropy is the research of combining information entropy on the multi-resolution decomposition basis of small echo, utilizes and analyzes the signal of MEMS gyro, reaches the fault detect effect of built-in sensitivity.
Claims (2)
1. based on a MEMS gyro fault detection system for Wavelet Entropy, it is characterized in that: comprise D.C. regulated power supply module (1), for powering to MEMS gyro;
MEMS gyro module (2), for measuring the movable information of motion carrier;
Motion carrier module (3), fixes MEMS gyro by test fixture;
Data acquisition module (4), for gathering the signal of MEMS gyro, and transfers to wavelet multi-scale analysis module (5);
Wavelet multi-scale analysis module (5), receives the information of data acquisition module (4), and transfers to Wavelet Entropy fault detection module (6) after the signal of MEMS gyro is carried out multi-scale wavelet decomposition;
Wavelet Entropy fault detection module (6), receive the information of wavelet multi-scale analysis module (5), detect the signal of MEMS gyro, the normal signal of detection is transported to multi-scale wavelet reconstructed module (7), the Signal transmissions of detection failure to MEMS gyro module (2), MEMS gyro module (2) is reset;
Multi-scale wavelet reconstructed module (7), after receiving the information of small echo entropy wave fault detection module (6) by this signal reconstruct in original scale, and transfer to data outputting module (8);
Data outputting module (8), receives the output signal of multi-scale wavelet reconstructed module (7), and exports the data after fault detect and isolation.
2. based on a MEMS gyro fault detection method for Wavelet Entropy, it is characterized in that carrying out according to following step: MEMS gyro module (2) measures the state of motion carrier module (3), and metrical information is passed to data acquisition module (4); Data acquisition module (4) the information conveyance collected to wavelet multi-scale analysis module (5); Wavelet multi-scale analysis module (5) carries 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) calculates Wavelet Entropy after receiving the data of wavelet multi-scale analysis, and by Wavelet Entropy, fault detect is carried out to the signal on multiple dimensioned, if testing result is fault, then the signal of this detection failure is returned the duty resetting MEMS gyro module (2), if testing result is normal, then give multiple dimensioned reconstructed module (7) by the signal transmission after detection; Multiple dimensioned reconstructed module (7) is transferred to data outputting module (8) after the normal signal that Wavelet Entropy fault detection module (6) obtains is carried out multi-scale wavelet reconstruct, and data outputting module (8) exports after the output information transition form of multiple dimensioned reconstructed module (7).
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| CN107976206B (en) * | 2017-11-06 | 2020-06-02 | 湖北三江航天万峰科技发展有限公司 | MEMS gyroscope performance evaluation method based on information entropy |
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