CN104111079B - Micromechanical gyro closed loop detection design method and apparatus - Google Patents
Micromechanical gyro closed loop detection design method and apparatus Download PDFInfo
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- CN104111079B CN104111079B CN201410264560.8A CN201410264560A CN104111079B CN 104111079 B CN104111079 B CN 104111079B CN 201410264560 A CN201410264560 A CN 201410264560A CN 104111079 B CN104111079 B CN 104111079B
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Abstract
The invention discloses a kind of micromechanical gyro closed loop detection design method and apparatus, first the scheme under each level condition of each factor is selected according to controllable factor water-glass and tested, obtain each interior watch test scheme；Then outer watch test is carried out to watch test scheme in each according to uncontrollable factor water-glass, obtain corresponding phase margin, amplitude allowance, open-loop gain and bandwidth value；Calculate the performance evaluation value of each outer watch test further, calculate the signal to noise ratio of watch test scheme in each；Finally according to the signal to noise ratio of watch test scheme in each, calculate signal to noise ratio summation under each level condition of each factor of controllable factor water-glass, determine optimized interior watch test scheme.The present invention passes through controllable factor water-glass, uncontrollable factor water-glass design experiment, reduce test number (TN) and controller parameter design complexities it is ensured that the stability of closed loop detection, make systematic function maximum in warm scope average entirely, improve the performance of closed loop detection, there is good using value.
Description
Technical field
The present invention relates to micromechanical gyro technical field, more particularly to a kind of micromechanical gyro closed loop detection design method
And device.
Background technology
Micromechanical gyro is a kind of inertia device for measuring angular velocity, has small volume, lightweight, low in energy consumption, anti-
Overload capacity is strong, the advantages of be easily integrated and be intelligent, therefore, micromechanical gyro can be widely applied to vehicle traction and controls system
The fields such as system, driving stability system, camera stabilization system, aircraft stabilisation systemss and military affairs, related research enjoys domestic
Outer concern and attention.The research of silicon-base micro-mechanical gyro starts from late 1980s, through more than two decades development
Through achieving significant achievement, You Duo company or research institution provide and are based on MEMS (Micro-Electro- at present
Mechanical System, MEMS) technology micromechanical gyro product, its performance also improves constantly.According to not
Same performance indications, gyro can be divided into Three Estate：Inert stage, Tactics-level and angular velocity level.Angular velocity level MEMS gyro is made
It is used primarily in mobile phone, game machine, wireless mouse, digital camera, hard disk protector, intelligent toy, prevents for consumable electronic product
In the products such as theft system.Tactics-level MEMS gyro as technical grade product, is then mainly used in automobile ESP (Electronic
Stability Program, body electronics stabilisation systemss), safe automobile air bag, automobiles/ships/aircraft GPS (Global
Positioning System, global positioning system) navigation system, armarium, robot, instrument and meter etc..Inert stage
MEMS gyro, as army grade product, is mainly used in communications satellite, optical aiming system, space shuttle/missile flight control, appearance
State controls, driftage controls, long- and medium-range missiles guide etc..
In recent years, mode vectors correlation and fine vacuum are encapsulated into the focus of research.Mode vectors correlation can be greatly improved structure
Mechanical sensitivity, and fine vacuum encapsulation can be with improve quality factor Q value, therefore, mode vectors correlation and high q-factor design can be greatly
Improve signal to noise ratio, improve bias instaility etc., so that gyro performance is easier to reach Tactics-level level.
For MEMS gyro, its mechanical sensitivity and bandwidth are conflicting, therefore under detection open loop case
Can only between compromise.Although signal to noise ratio improves, bias instaility can reach relatively fine vacuum encapsulation mode vectors correlation gyro
High level, but bandwidth very low (or even only below 1Hz), lead to the range of application of MEMS gyro can be very limited.
On the other hand, sensed-mode force-balance closed-loop control technology can overcome the problem that above-mentioned technology exists, and its major advantage is：
(1) extension bandwidth of gyro；(2) increase range；(3) improve the nonlinearity of scale factor of gyro；(4) improve anti-vibrating and impact energy
Power.Therefore, carry out detecting that Force balance control is significant for promoting MEMS gyro industrialization.
Existing H ∞ robust control is applied to the detection closed-loop control system of Wheel MEMS gyro, as shown in figure 1, wherein θ
S () is the anglec of rotation,For input angular velocity, IintFor input integral matrix, β (s) is output feedback vector, and μ (s) is dynamic
State controls error, and u is robust control output vector, and K (s) is robust controller, GopS () is controlled device, y11, y12, y13For Shandong
The output vector of excellent Performance Evaluation, W1(s), W2(s), W3S () is respectively dynamic control errors, controller output and output feedback
The weighting function of vector.The core of robust Controller Design is according to W1(s), W2(s), W3S () three weighting functions are adjusting control
Device parameter processed, is not affected by object parameters change with the stability of Guarantee control system.Because controlled device GopS () is subject to
Mismachining tolerance or environmental stress agent impact are larger, and therefore weighting function will be chosen according to the change of object parameters.Send out
A person of good sense finds that in prior art, there are the following problems：The theory of above-mentioned robust control method and circuit realiration are extremely complex, need
Substantial amounts of calculating；The design of robust control system is to be controlled studying based on some worst situations, robust controller
Only ensure that closed-loop system stability, and not necessarily can guarantee that the performance of system reaches most preferably.
Content of the invention
Based on above-mentioned situation, the present invention proposes a kind of micromechanical gyro closed loop detection design method, simple, accurate, protects
The stability of card closed loop detection, improves the performance of closed loop detection, has very high using value.
To achieve these goals, the embodiment of technical solution of the present invention is：
A kind of micromechanical gyro closed loop detection design method, comprises the following steps：
Select the scheme under each level condition of each factor according to controllable factor water-glass to be tested, obtain each interior watch test
Scheme, the controllable factor of the closed loop controller according to micromechanical gyro closed loop detecting system for the described controllable factor water-glass is formulated；
Outer watch test is carried out to watch test scheme in each obtaining according to uncontrollable factor water-glass, obtains corresponding
The phase margin of micromechanical gyro closed loop detecting system, amplitude allowance, open-loop gain and bandwidth value, described uncontrollable factor level
Table is formulated according to the uncontrollable factor of micromechanical gyro closed loop detecting system；
Try to achieve the micromechanics of each outer watch test according to described phase margin, amplitude allowance, open-loop gain and bandwidth value
The performance evaluation value of close loop mode detecting system；
After outer watch test finishes, the performance of the micromechanical gyro closed loop detecting system according to each outer watch test tried to achieve is commented
It is worth, calculate the signal to noise ratio of watch test scheme in each；
After each interior watch test scheme carries out outer watch test, according to the signal to noise ratio of watch test scheme in each obtaining,
Calculate corresponding signal to noise ratio summation under each level condition of each factor of described controllable factor water-glass, true according to described signal to noise ratio summation
Fixed optimized interior watch test scheme.
For prior art problem, the invention allows for a kind of micromechanical gyro closed loop detection design device, improve existing
There is closed loop detection to realize complexity it cannot be guaranteed that the present situation of systematic function, be suitable for application.
The embodiment of technical solution of the present invention is：
A kind of micromechanical gyro closed loop detection design device, including：
Interior watch test module, is tried for selecting the scheme under each level condition of each factor according to controllable factor water-glass
Test, obtain each interior watch test scheme, described controllable factor water-glass is according to the closed loop control of micromechanical gyro closed loop detecting system
The controllable factor of device is formulated；
Appearance tentative module, outer for being carried out to watch test scheme in each obtaining according to uncontrollable factor water-glass
Watch test, obtains phase margin, amplitude allowance, open-loop gain and the bandwidth value of corresponding micromechanical gyro closed loop detecting system,
Described uncontrollable factor water-glass is formulated according to the uncontrollable factor of micromechanical gyro closed loop detecting system；
Performance evaluation module, for trying to achieve each according to described phase margin, amplitude allowance, open-loop gain and bandwidth value
The performance evaluation value of the micromechanical gyro closed loop detecting system of outer watch test；
Signal-to-noise ratio computation module, for after outer watch test finishes, according to the micromechanical gyro of each outer watch test tried to achieve
The performance evaluation value of closed loop detecting system, calculates the signal to noise ratio of watch test scheme in each；
Scheme determining module, for after each interior watch test scheme carries out outer watch test, according to table in each obtaining
The signal to noise ratio of testing program, calculates corresponding signal to noise ratio summation under each level condition of each factor of described controllable factor water-glass, root
Determine optimized interior watch test scheme according to described signal to noise ratio summation.
Compared with prior art, beneficial effects of the present invention are：Micromechanical gyro closed loop detection design method of the present invention and
Device, by controllable factor water-glass, uncontrollable factor water-glass design experiment, reduces test number (TN) and controller parameter sets
Meter complexity, improve design efficiency it is ensured that closed loop detection stability；Just for closed loop detecting system closed loop controller can
Control factor carries out EXPERIMENTAL DESIGN, and the mathematical model of closed loop controller is constant, and that reduces closed loop controller realizes difficulty；According to closed loop
The phase margin of detecting system, amplitude allowance, open-loop gain and bandwidth value carry out evaluation system performance, make systematic function in full Wen Fan
Enclose average maximum, improve the performance of closed loop detection, there is good using value.
Brief description
Fig. 1 is the detection closed-loop control system schematic diagram that existing H ∞ robust control is applied to Wheel MEMS gyro；
Fig. 2 is micromechanical gyro closed loop detection design method flow diagram in an embodiment；
Fig. 3 is based on micromechanical gyro closed loop detection design method flow diagram in method one shown in Fig. 2 specific example；
Fig. 4 is the arrowband dynamic balance closed loop detecting system schematic diagram based on modulation /demodulation；
Fig. 5 is micromechanical gyro closed loop detection design apparatus structure schematic diagram in an embodiment.
Specific embodiment
For making the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with drawings and Examples, to this
Invention is described in further detail.It should be appreciated that specific embodiment described herein is only in order to explain the present invention,
Do not limit protection scope of the present invention.
Micromechanical gyro closed loop detection design method in one embodiment, as shown in Fig. 2 comprise the following steps：
Step S201：Select the scheme under each level condition of each factor according to controllable factor water-glass to be tested, obtain
Each interior watch test scheme, described controllable factor water-glass is controlled according to the closed loop controller of micromechanical gyro closed loop detecting system
Factor is formulated；
Step S202：Outer watch test is carried out to watch test scheme in each obtaining according to uncontrollable factor water-glass,
Obtain phase margin, amplitude allowance, open-loop gain and the bandwidth value of corresponding micromechanical gyro closed loop detecting system, described can not
Control factor level table is formulated according to the uncontrollable factor of micromechanical gyro closed loop detecting system；
Step S203：Each outer watch test is tried to achieve according to described phase margin, amplitude allowance, open-loop gain and bandwidth value
Micromechanical gyro closed loop detecting system performance evaluation value；
Step S204：After outer watch test finishes, according to the micromechanical gyro closed loop detection system of each outer watch test tried to achieve
The performance evaluation value of system, calculates the signal to noise ratio of watch test scheme in each；
Step S205：After each interior watch test scheme carries out outer watch test, according to watch test scheme in each obtaining
Signal to noise ratio, calculate each level condition of each factor of described controllable factor water-glass under corresponding signal to noise ratio summation, according to described letter
Make an uproar and determine optimized interior watch test scheme than summation.
It is evidenced from the above discussion that, micromechanical gyro closed loop detection design method of the present invention is simple, accurately it is ensured that closed loop is examined
The stability surveyed, improves the performance of closed loop detection, suitable practical application.
As an embodiment, select the scheme under each level condition of each factor according to controllable factor water-glass and enter described
Before row test, also include step：
According to preset algorithm, described controllable factor water-glass is converted into positive quadraturing design test table, using positive quadraturing design test
Table can reduce test number (TN), simplifies subsequent treatment, and using value is high.
As an embodiment, after the optimized interior watch test scheme of described determination, also include step：
Verify the correctness analyzing described optimized interior watch test scheme it is ensured that watch test scheme is optimum in being determined
The scheme changed, improves the performance of micromechanical gyro closed loop detection.
As an embodiment, described optimized interior watch test scheme is the maximum interior watch test side of signal to noise ratio summation
Case, signal to noise ratio is bigger, and micromechanical gyro closed loop system is less by extraneous factor influence of fluctuations, and performance is better.
As an embodiment, the performance evaluation value of described micromechanical gyro closed loop detecting system passes through validity function
Obtain, the expression formula of described validity function is：Wherein R, AM and BW represent micro- respectively
The Fuzzy Reliability of mechanical gyro closed loop detecting system, open-loop gain and bandwidth value, b1、b2Represent weight factor, b1+b2=1,
AM0And BW0Represent maximum open-loop gain and the bandwidth value of micromechanical gyro closed loop detecting system desired design respectively；Using closed loop
The Fuzzy Reliability of system, open-loop gain and bandwidth value carry out evaluation system performance so that in warm range systems performance average entirely
Greatly, improve the control performance of closed loop system；
The expression formula of described signal to noise ratio is：WhereinRepresent the meansigma methodss of validity function y, V represents
The variance of validity function y；Signal to noise ratio evaluation is carried out using above-mentioned formula, the performance that can make closed loop system is in warm scope entirely
Interior fluctuation reaches minimum, meets practical application；
Described Fuzzy Reliability, according to described phase margin, amplitude allowance, is calculated using preset rules, using fuzzy
Reliability to carry out estimation of stability to closed loop system, can effectively assess the impact to system for the temperature.
In order to more fully understand this method, a micromechanical gyro closed loop detection design method of the present invention detailed below
Application example.
In this application example, this micromechanical gyro closed loop detection design method can be divided into pretreatment and vigorousness sets
Meter two parts, in conjunction with shown in Fig. 3, wherein pretreatment includes step S301 shown in Fig. 3, step S302, step S303, step
S304 and step S305 are however not excluded that also have other methods can carry out pretreatment；Robust Design includes the step shown in Fig. 3
S306, step S307, step S308, step S309, step S310 and step S311 are however not excluded that also have other methods can carry out
Robust Design.
Micromechanical gyro closed loop detection design method comprises the following steps：
Step S301：Determine micromechanical gyro closed loop detecting system scheme and closed loop controller；
Using the arrowband dynamic balance closed loop detecting system scheme based on modulation /demodulation as shown in Figure 4, controlled in the program
The expression formula of object G (s) is：Wherein B and A with micro-
The resonant frequency of mechanical gyro two axle and quality factor are all relevant, temperature change ultimately result in controlled device G (s) have uncertain
Property；Closed loop controller K in the program2S the expression formula of () is：Wherein (s+ ω2)/(s+ω1) can
To regard a broad sense PI controller or a lag compensator, k/ (s+ ω as3) it is considered as low-pass first order filter, use
In the interference filtering high-frequency signal, this closed loop controller K2S () is the second order feedback controller of a simplification, only 4 controllable parameters
k、ω1、ω2、ω3, reduce the complexity of controller and realize difficulty；
Step S302：Determine Fuzzy Linguistic Variable set, formulate fuzzy rule and control table；
Due to the phase margin PM of micromechanical gyro closed loop detecting system and amplitude allowance GM be evaluation system stability
Two important parameters, so above-mentioned closed loop controller K2S () adopts two-dimensional structure, that is, " if A and B, then C " (if
Input is A and B, then be output as C) fuzzy structure of type, preset rules meter is utilized based on above-mentioned phase margin PM, amplitude allowance GM
Calculate Fuzzy Reliability R of the computing system that must arrive, this preset rules is prior art, such as in order to more preferably assess micromechanical gyro
The stability of closed loop system warm scope entirely, proposes a kind of evaluation of programme of Fuzzy Reliability, that is, PM, GM and R all can adopt 7 grades of moulds
Paste quantifies, and PM, GM and R qualitatively represent size with 7 fuzzy sets nb, nm, ns, ze, ps, pm, pb respectively, fuzzy set,
The membership function of linguistic variable is as shown in table 1；Rule of thumb set the fuzzy reasoning table between PM, GM and R, as shown in table 2,
Design philosophy is as follows：PM and GM is less, then R is less；PM and GM is larger, then R is larger；There is a very little, then R is very among PM and GM
Little；According to " maximum-minimum synthetic method ", Mamdani algorithm and de-fuzzy centroid method, obtaining obscuring between PM, GM and R can
By property evaluation table, as shown in table 3, the span of Fuzzy Reliability R is [0,1]；
Table 1 fuzzy set, the membership function of linguistic variable
The two dimension fuzzy rule list of table 2 amplitude allowance, phase margin and Fuzzy Reliability
The Fuzzy reliability design table of table 3 amplitude allowance, phase margin and Fuzzy Reliability
Step S303：Determine the uncontrollable factor of micromechanical gyro closed loop detecting system, formulate uncontrollable factor water-glass
(appearance)；
Because operating ambient temperature is generally uncontrollable, and different temperature can affect resonant frequency and the product of gyro two axle
Prime factor, and then change controlled device G (s), it is thus determined that the uncontrollable factor of micromechanical gyro closed loop detecting system is set to temperature
Degree, selects 5 different temperature spots, the uncontrollable factor water-glass such as table 4 of 1 factor 5 level at equal intervals in operating temperature range
Shown；
Table 4 uncontrollable factor water-glass
Step S304：Determine the controllable factor of micromechanical gyro closed loop detecting system, formulate controllable factor water-glass (interior
Table)；
The closed loop controller K of above-mentioned micromechanical gyro closed loop detecting system2S () only has 4 adjustable parameters k, ω1、
ω2、ω3, this 4 adjustable parameters are elected as controllable factor, rule of thumb 3 kinds of levels are selected to each parameter, formulation can
As shown in table 5,4 kinds of factors use A to control factor level table respectively, and B, C, D represent, in order to reduce test number (TN), according to preset algorithm
Controllable factor water-glass is converted into orthogonal test table, this is converted into prior art, for example according to Taguchi's method by controlled for table 5 because
Plain water-glass is converted into L9 (34) positive quadraturing design test table, as shown in table 6, only need to altogether carry out the orthogonal test of 9 times, significantly
Reduce test number (TN)；
Table 5 controllable factor water-glass
Table 6 L9 (34) positive quadraturing design test table and signal to noise ratio
Step S305：Formulate the validity function of micromechanical gyro closed loop detecting system, determine signal noise ratio；
Validity function is used for evaluating performance and the stability of micromechanical gyro closed loop detecting system, is ensureing that closed loop is steady
Qualitatively at the same time, it is desirable to the best performance of system, therefore evaluated with reference to closed loop fuzzy reliability and system control performance；
Fuzzy Reliability R determines, R is bigger, system temperature stability by phase margin PM and amplitude allowance GM fuzzy reasoning
Better；On the other hand, system bandwidth value BW is bigger, and system range of application is wider, and open-loop gain AM of system amplitude-frequency response is bigger,
Closed loop control effect is better, and shock resistance and jamming performance are stronger, and therefore closed loop controller is related to system stability, simultaneously be
System control performance is closely related, and system reliability and control performance are series relationship, BW and AM decision systems control performance, for simultaneously
Connection relation, in sum, the expression formula formulating validity function is：Wherein y represents micro-
The validity function of mechanical gyro closed loop detecting system, b1、b2Represent weight factor, b1+b2=1, AM0And BW0Represent respectively
The maximum open-loop gain of micromechanical gyro closed loop detecting system desired design and bandwidth value；
For each orthogonal test scheme, comprehensive uncontrollable factor analysis of experiments will be carried out, i.e. the L9 (3 of table 64)
The orthogonal test of 9 times in positive quadraturing design test table considers the situation of table 45 kinds of different temperatures of uncontrollable factor water-glass, to
To each orthogonal test scheme carry out the outer watch test of 5 kinds of different temperatures, carry out altogether 9*5=45 outer watch test, right
In each orthogonal test scheme, carry out 5 outer watch test post analysis and obtain the system performance metric y's under different temperatures
Value, calculates its variance V and meansigma methodssTherefore each orthogonal test scheme can be calculated according to the field mouth formula of Definite purpose
Signal to noise ratio η：Wherein meansigma methodssBe considered as location factor, variance V is considered as the divergence factor, position because
Son is bigger to represent that Performance of Closed Loop System is better, and the divergence factor is less, shows that system is subject to ambient temperature influence of fluctuations less, and total comes
Say, signal to noise ratio η is bigger, then system schema is more excellent, such as in 9 kinds of testing programs of table 6, scheme 4 (A2B1C2D3) signal to noise ratio maximum
(for 55.109dB), therefore it is the more excellent scheme in 9 kinds of schemes, but still is not necessarily the combination of optimum；
After pretreatment process finishes, Robust Design can be started：
Step S306：Different factor varying level schemes are selected according to table 6 positive quadraturing design test table and carries out orthogonal test, obtain
To different orthogonal test schemes；
Step S307：5 appearances are carried out to each the orthogonal test scheme obtaining according to table 4 uncontrollable factor water-glass
Test, obtains phase margin PM, amplitude allowance GM, open-loop gain AM and the bandwidth of corresponding micromechanical gyro closed loop detecting system
Value BW, can ask according to the Fuzzy reliability design table of PM, the GM obtaining and table 3 amplitude allowance, phase margin and Fuzzy Reliability
Obtain Fuzzy Reliability R；
Step S308：Based on above-mentioned phase margin PM, amplitude allowance GM, open-loop gain AM, bandwidth value BW and fuzzy reliable
Degree R, according to the expression formula of validity functionCalculate the property of each appearance testing program
The value of energy evaluation function；
Step S309：After outer watch test finishes, the value according to the validity function y under different temperatures and field mouth formulaIt is calculated signal to noise ratio η of each orthogonal test scheme；
Step S310：After each orthogonal test scheme carries out outer watch test, according to each orthogonal test calculated
The signal to noise ratio of scheme, the computational chart 6 positive quadraturing design test table difference corresponding signal to noise ratio summation of factor varying level scheme, with noise
Than total value, maximum orthogonal test scheme is optimized orthogonal test scheme, specific as follows：According to the result of the test of table 6,
Can calculate and work as A, B, C, D take the summation of corresponding testing program signal to noise ratio when 1,2,3 respectively, as shown in table 7 it is seen that A takes A1When,
Signal to noise ratio is maximum；B takes B1When, signal to noise ratio is maximum；C takes C2When, signal to noise ratio is maximum；D takes D3When, signal to noise ratio is maximum, therefore, by this 4
The optimum level of individual factor combines, you can the optimal case obtaining Robust Design is A1B1C2D3；
The signal to noise ratio summation analysis of the varying level testing program of the different factor of table 7
Step S311：Checking analyzes the correctness of above-mentioned optimized orthogonal test scheme it is ensured that determined orthogonal test
Scheme is optimized scheme, and the result is as shown in table 8, Robust Design optimal case A1B1C2D3Signal to noise ratio be
55.178dB is bigger than the signal to noise ratio of any one the orthogonal test scheme in table 6, thus demonstrating the correct of Robust Design
Property and superiority, PM, GM, Ms (sensitivity allowance) from different temperatures, BW and AM can be seen that close loop mode detecting system
Stability and control performance very good, and temperature sensitivity is relatively low, and the optimal case reliability of Robust Design is very high.
Table 8 Robust Design option A1B1C2D3Performance verification
Micromechanical gyro closed loop detection design device in one embodiment, as shown in figure 5, include：
Interior watch test module, is tried for selecting the scheme under each level condition of each factor according to controllable factor water-glass
Test, obtain each interior watch test scheme, described controllable factor water-glass is according to the closed loop control of micromechanical gyro closed loop detecting system
The controllable factor of device is formulated；
Appearance tentative module, outer for being carried out to watch test scheme in each obtaining according to uncontrollable factor water-glass
Watch test, obtains phase margin, amplitude allowance, open-loop gain and the bandwidth value of corresponding micromechanical gyro closed loop detecting system,
Described uncontrollable factor water-glass is formulated according to the uncontrollable factor of micromechanical gyro closed loop detecting system；
Performance evaluation module, for trying to achieve each according to described phase margin, amplitude allowance, open-loop gain and bandwidth value
The performance evaluation value of the micromechanical gyro closed loop detecting system of outer watch test；
Signal-to-noise ratio computation module, for after outer watch test finishes, according to the micromechanical gyro of each outer watch test tried to achieve
The performance evaluation value of closed loop detecting system, calculates the signal to noise ratio of watch test scheme in each；
Scheme determining module, for after each interior watch test scheme carries out outer watch test, according to table in each obtaining
The signal to noise ratio of testing program, calculates corresponding signal to noise ratio summation under each level condition of each factor of described controllable factor water-glass, root
Determine optimized interior watch test scheme according to described signal to noise ratio summation.
As shown in figure 5, a preferred embodiment of this device each module annexation is：Interior watch test module, appearance
Tentative module, performance evaluation module, signal-to-noise ratio computation module and scheme determining module are linked in sequence successively.
Interior first watch test module is selected the scheme under each level condition of each factor according to controllable factor water-glass and is tried
Test, obtain each interior watch test scheme；Then appearance tentative module according to uncontrollable factor water-glass to table in each obtaining
Testing program carries out outer watch test, obtains the phase margin of corresponding micromechanical gyro closed loop detecting system, amplitude allowance, open loop
Gain and bandwidth value；Again each is tried to achieve according to phase margin, amplitude allowance, open-loop gain and bandwidth value by performance evaluation module
The performance evaluation value of the micromechanical gyro closed loop detecting system of outer watch test；After outer watch test finishes, signal-to-noise ratio computation module
The performance evaluation value of the micromechanical gyro closed loop detecting system according to each outer watch test tried to achieve, calculates watch test side in each
The signal to noise ratio of case；Finally after each interior watch test scheme carries out outer watch test, scheme determining module is according in each obtaining
The signal to noise ratio of watch test scheme, calculates corresponding signal to noise ratio summation under each level condition of each factor of controllable factor water-glass, according to
Signal to noise ratio summation determines optimized interior watch test scheme.
It is evidenced from the above discussion that, micromechanical gyro closed loop detection design device of the present invention, improves existing closed loop detection and realizes
Complexity, it cannot be guaranteed that the present situation of systematic function, is suitable for application.
As an embodiment, also include conversion module, for turning described controllable factor water-glass according to preset algorithm
Turn to positive quadraturing design test table；
Described interior watch test module is selected the scheme under each level condition of each factor according to described positive quadraturing design test table and is entered
Row test, obtains each orthogonal test scheme, can reduce test number (TN) using positive quadraturing design test table, simplifies subsequent treatment, should
High with being worth.
As an embodiment, also include authentication module, for verifying the described optimum that described scheme determining module determines
Change interior watch test scheme correctness it is ensured that in being determined watch test scheme be optimized scheme, raising micromechanical gyro
The performance of closed loop detection.
As an embodiment, described optimized interior watch test scheme is the maximum interior watch test side of signal to noise ratio summation
Case, signal to noise ratio is bigger, and micromechanical gyro closed loop system is less by ambient temperature influence of fluctuations, and performance is better.
As an embodiment, the performance evaluation value of described micromechanical gyro closed loop detecting system passes through validity function
Obtain, the expression formula of described validity function is：Wherein R, AM and BW represent micro- respectively
The Fuzzy Reliability of mechanical gyro closed loop detecting system, open-loop gain and bandwidth value, b1、b2Represent weight factor, b1+b2=1,
AM0And BW0Represent maximum open-loop gain and the bandwidth value of micromechanical gyro closed loop detecting system desired design respectively；Using closed loop
The Fuzzy Reliability of system, open-loop gain and bandwidth value carry out evaluation system performance so that in warm range systems performance average entirely
Greatly, improve the control performance of closed loop system；
The expression formula of described signal to noise ratio is：WhereinRepresent the meansigma methodss of validity function y, V represents
The variance of validity function y；Signal to noise ratio evaluation is carried out using above-mentioned formula, the performance that can make closed loop system is in warm scope entirely
Interior fluctuation reaches minimum, meets practical application；
Described Fuzzy Reliability, according to described phase margin, amplitude allowance, is calculated using preset rules, using fuzzy
Reliability to carry out estimation of stability to closed loop system, can effectively assess the impact to system for the temperature.
Embodiment described above only have expressed the several embodiments of the present invention, and its description is more concrete and detailed, but simultaneously
Therefore the restriction to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, some deformation can also be made and improve, these broadly fall into the guarantor of the present invention
Shield scope.Therefore, the protection domain of patent of the present invention should be defined by claims.
Claims (10)
1. a kind of micromechanical gyro closed loop detection design method is it is characterised in that comprise the following steps：
Select the scheme under each level condition of each factor according to controllable factor water-glass to be tested, obtain each interior watch test side
Case, the controllable factor of the closed loop controller according to micromechanical gyro closed loop detecting system for the described controllable factor water-glass is formulated；
Outer watch test is carried out to watch test scheme in each obtaining according to uncontrollable factor water-glass, obtains corresponding microcomputer
The phase margin of tool close loop mode detecting system, amplitude allowance, open-loop gain and bandwidth value, described uncontrollable factor water-glass root
Uncontrollable factor according to micromechanical gyro closed loop detecting system is formulated；
Try to achieve the micromechanical gyro of each outer watch test according to described phase margin, amplitude allowance, open-loop gain and bandwidth value
The performance evaluation value of closed loop detecting system；
After outer watch test finishes, the performance evaluation of the micromechanical gyro closed loop detecting system according to each outer watch test tried to achieve
Value, calculates the signal to noise ratio of watch test scheme in each；
After each interior watch test scheme carries out outer watch test, according to the signal to noise ratio of watch test scheme in each obtaining, calculate
Corresponding signal to noise ratio summation under each level condition of each factor of described controllable factor water-glass, determines according to described signal to noise ratio summation
The interior watch test scheme optimizing；
The performance evaluation value of described micromechanical gyro closed loop detecting system is obtained by validity function, described performance evaluation letter
Number expression formula be：Wherein R, AM and BW represent micromechanical gyro closed loop detecting system respectively
Fuzzy Reliability, open-loop gain and bandwidth value, b1、b2Represent weight factor, b1+b2=1, AM0And BW0Represent micromechanics respectively
The maximum open-loop gain of close loop mode detecting system desired design and bandwidth value, described Fuzzy Reliability is abundant according to described phase place
Amount, amplitude allowance, are calculated using preset rules.
2. micromechanical gyro closed loop detection design method according to claim 1 is it is characterised in that described according to controlled
Before the scheme that factor level table is selected under each level condition of each factor is tested, also include step：
According to preset algorithm, described controllable factor water-glass is converted into positive quadraturing design test table.
3. micromechanical gyro closed loop detection design method according to claim 1 and 2 is it is characterised in that in described determination
After optimized interior watch test scheme, also include step：
The correctness of described optimized interior watch test scheme is analyzed in checking.
4. micromechanical gyro closed loop detection design method according to claim 3 is it is characterised in that described optimized interior
Watch test scheme is the maximum interior watch test scheme of signal to noise ratio summation.
5. micromechanical gyro closed loop detection design method according to claim 1 is it is characterised in that the table of described signal to noise ratio
Reaching formula is：WhereinRepresent the meansigma methodss of validity function y, V represents the variance of validity function y.
6. a kind of micromechanical gyro closed loop detection design device is it is characterised in that include：
Interior watch test module, is tested for selecting the scheme under each level condition of each factor according to controllable factor water-glass,
Obtain each interior watch test scheme, described controllable factor water-glass is according to the closed loop controller of micromechanical gyro closed loop detecting system
Controllable factor is formulated；
Appearance tentative module, for carrying out appearance examination according to uncontrollable factor water-glass to watch test scheme in each obtaining
Test, obtain phase margin, amplitude allowance, open-loop gain and the bandwidth value of corresponding micromechanical gyro closed loop detecting system, described
Uncontrollable factor water-glass is formulated according to the uncontrollable factor of micromechanical gyro closed loop detecting system；
Performance evaluation module, for trying to achieve each appearance according to described phase margin, amplitude allowance, open-loop gain and bandwidth value
The performance evaluation value of the micromechanical gyro closed loop detecting system of test；
Signal-to-noise ratio computation module, for after outer watch test finishes, according to the micromechanical gyro closed loop of each outer watch test tried to achieve
The performance evaluation value of detecting system, calculates the signal to noise ratio of watch test scheme in each；
Scheme determining module, for after each interior watch test scheme carries out outer watch test, according to watch test in each obtaining
The signal to noise ratio of scheme, calculates corresponding signal to noise ratio summation under each level condition of each factor of described controllable factor water-glass, according to institute
State signal to noise ratio summation and determine optimized interior watch test scheme；
The performance evaluation value of described micromechanical gyro closed loop detecting system is obtained by validity function, described performance evaluation letter
Number expression formula be：Wherein R, AM and BW represent micromechanical gyro closed loop detecting system respectively
Fuzzy Reliability, open-loop gain and bandwidth value, b1、b2Represent weight factor, b1+b2=1, AM0And BW0Represent micromechanics respectively
The maximum open-loop gain of close loop mode detecting system desired design and bandwidth value, described Fuzzy Reliability is abundant according to described phase place
Amount, amplitude allowance, are calculated using preset rules.
7. micromechanical gyro closed loop detection design device according to claim 6 is it is characterised in that also include converting mould
Block, for being converted into positive quadraturing design test table according to preset algorithm by described controllable factor water-glass；
Described interior watch test module is selected the scheme under each level condition of each factor according to described positive quadraturing design test table and is tried
Test, obtain each orthogonal test scheme.
8. the micromechanical gyro closed loop detection design device according to claim 6 or 7 is it is characterised in that also include verifying
Module, for verifying the correctness of the described optimized interior watch test scheme of described scheme determining module determination.
9. micromechanical gyro closed loop detection design device according to claim 8 is it is characterised in that described optimized interior
Watch test scheme is the maximum interior watch test scheme of signal to noise ratio summation.
10. micromechanical gyro closed loop detection design device according to claim 6 is it is characterised in that described signal to noise ratio
Expression formula is：WhereinRepresent the meansigma methodss of validity function y, V represents the variance of validity function y.
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| CN101458095A (en) * | 2009-01-06 | 2009-06-17 | 北京航空航天大学 | Forward gain estimating system suitable for complete-digital closed-loop optical fiber gyroscope |
| CN202119447U (en) * | 2011-06-29 | 2012-01-18 | 东南大学 | Closed loop detection device for silicon micromachined and dynamically-turned mixed gyroscope |
| CN102620726A (en) * | 2012-04-04 | 2012-08-01 | 西北工业大学 | Double-closed-loop control circuit of micromechanical gyroscope |
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| CN202119447U (en) * | 2011-06-29 | 2012-01-18 | 东南大学 | Closed loop detection device for silicon micromachined and dynamically-turned mixed gyroscope |
| CN102620726A (en) * | 2012-04-04 | 2012-08-01 | 西北工业大学 | Double-closed-loop control circuit of micromechanical gyroscope |
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