CN108716913A - A kind of angular velocity measurement device and motion control device - Google Patents

A kind of angular velocity measurement device and motion control device Download PDF

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Publication number
CN108716913A
CN108716913A CN201810714648.3A CN201810714648A CN108716913A CN 108716913 A CN108716913 A CN 108716913A CN 201810714648 A CN201810714648 A CN 201810714648A CN 108716913 A CN108716913 A CN 108716913A
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CN
China
Prior art keywords
angular velocity
gyroscope
velocity measurement
value
motion control
Prior art date
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CN201810714648.3A
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Chinese (zh)
Inventor
孙海翔
古小文
李聪
窦新国
姚雨辰
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深圳市中科金朗产业研究院有限公司
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Priority to CN201810714648.3A priority Critical patent/CN108716913A/en
Publication of CN108716913A publication Critical patent/CN108716913A/en

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects

Abstract

The invention discloses a kind of angular velocity measurement device and motion control devices.The angular velocity measurement device includes:Multiple gyroscopes, for acquiring original angular velocity data;Data processing unit is connect with the multiple gyroscope respectively, and multiple original angular velocity datas for receiving the multiple gyroscope acquisition are determined the desired value of angular speed, and exported using the desired value as target angular velocity.Angular velocity measurement device and motion control device provided in an embodiment of the present invention, existing Random Drift Error when the angular speed output of single gyroscope can be effectively reduced, solve the problems, such as that there are larger noise and drifts for gyroscope in the prior art, improve the precision of angular velocity measurement, the acquisition that motion control device angular velocity parameter can be improved simultaneously, realizes accurately controlling for telecontrol equipment.

Description

A kind of angular velocity measurement device and motion control device

Technical field

The present embodiments relate to automation field more particularly to a kind of angular velocity measurement devices and motion control to fill It sets.

Background technology

Gyroscope is a kind of inertia device that can measure carrier angle or angular speed, in gesture stability and navigator fix etc. There is very important effect in field.

With the development of artificial intelligence and electron controls technology, gyroscope is filled as a kind of sensor of angular velocity measurement It sets, extensive use is had been obtained in terms of the motion control of various consumer goods.But in practical applications, the measurement of angular speed Precision is an important factor for user considers, the measurement accuracy of angular speed in by practical application noise and drift be affected, especially It is Random Drift Error therein, becomes the key for improving MEMS gyroscope precision.Also, as client is to high precision The further requirement of product, the precision of gyroscope increasingly can not meet the requirement in market.

Invention content

A kind of angular velocity measurement device of present invention offer and motion control device, to reduce the random drift of angular velocity measurement Error improves angular velocity measurement precision.

In a first aspect, an embodiment of the present invention provides a kind of angular velocity measurement devices, including:

Multiple gyroscopes, for acquiring original angular velocity data;

Data processing unit is connect with the multiple gyroscope respectively, for receiving the more of the multiple gyroscope acquisition A original angular velocity data is determined the desired value of angular speed, and is exported using the desired value as target angular velocity.

Optionally, the data processing unit determines the desired value of angular speed, including:

Angular speed probability density function is constructed with the frequency of the multiple original angular velocity data, fitting forms normal distribution Curve determines the desired value of the normal distribution curve, using the desired value of the normal distribution curve as the expectation of angular speed Value.

Optionally, the data processing unit determines the desired value of angular speed, including:

The sample mean for determining the multiple original angular velocity data, using the sample mean as the phase of angular speed Prestige value.

Optionally, the angular velocity measurement device further includes correction unit, the correction unit and the data processing list First and the multiple gyroscope electrical connection, the target angular velocity that the correction unit is used to be exported according to the data processing unit Correct the multiple gyroscope.

Optionally, the number of the multiple gyroscope is 100~1000.

Optionally, the multiple gyroscope is arranged in array.

Optionally, the gyroscope is micro-mechanical gyroscope.

Optionally, the gyroscope is single axis gyroscope or multiaxis gyroscope.

Second aspect, the embodiment of the present invention additionally provide a kind of motion control device, including at least one such as first aspect Any one of them angular velocity measurement device.

Optionally, the motion control device further includes:Control unit, Power Management Unit and motor;The control Unit is electrically connected with the Power Management Unit, the motor and the angular velocity measurement device respectively;

Described control unit is used to receive the target angular velocity of the angular velocity measurement device output, and according to the target Angular speed drives the motor, the Power Management Unit to be used to be described control unit, the motor and the angular speed Measuring device is powered.

Optionally, the motion control device further includes refrigeration unit, and the refrigeration unit is electrically connected with described control unit It connects, the refrigeration unit is used to freeze for the angular velocity measurement device.

Optionally, described control unit, which controls the refrigeration unit, makes the operating temperature of the gyroscope chip be arrived for 0 degree Minus 20 degrees.

Angular velocity measurement device and motion control device provided in an embodiment of the present invention, by the way that multiple gyroscopes are arranged, and According to the desired value of the original angular speed of multiple gyroscopes acquisition, the output of target angular velocity is realized, can effectively reduce single Existing Random Drift Error when the angular speed output of gyroscope, solve in the prior art gyroscope there are larger noise and The problem of drift, improves the precision of angular velocity measurement, while can improve adopting for motion control device angular velocity parameter Collection, contributes to accurately controlling for telecontrol equipment.

Description of the drawings

Fig. 1 is a kind of structural schematic diagram of angular velocity measurement device provided in an embodiment of the present invention;

Fig. 2 is angular velocity data provided in an embodiment of the present invention and the fitting normal distribution curve schematic diagram of frequency ratio;

Fig. 3 is the structural schematic diagram of another angular velocity measurement device provided in an embodiment of the present invention;

Fig. 4 is the arrangement mode schematic diagram of gyroscope provided in an embodiment of the present invention;

Fig. 5 is the arrangement mode schematic diagram of another gyroscope provided in an embodiment of the present invention

Fig. 6 is a kind of structural schematic diagram of motion control device provided in an embodiment of the present invention;

Fig. 7 is a kind of structural schematic diagram of the control panel of motion control device provided in an embodiment of the present invention;

Fig. 8 is the structural schematic diagram of another motion controller provided in an embodiment of the present invention.

Specific implementation mode

The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched The specific embodiment stated is used only for explaining the present invention rather than limitation of the invention.It also should be noted that in order to just Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.

Fig. 1 is a kind of structural schematic diagram of angular velocity measurement device provided in an embodiment of the present invention, with reference to figure 1, angle speed Spending measuring device includes:Multiple gyroscopes 11, for acquiring original angular velocity data;Data processing unit 12, respectively with it is multiple Gyroscope 11 connects, and multiple original angular velocity datas for receiving the acquisition of multiple gyroscopes 11 determine the desired value of angular speed, And it is exported using desired value as target angular velocity.

Wherein, multiple gyroscopes 11 are carried out at the same time the data acquisition of angular speed, and the original angular velocity data of acquisition is each The angular speed that the angular velocity measurement device that gyroscope 11 measures is presently in, each original angular velocity data when acquisition due to existing Random error, thus between each other there may be difference, one group of discrete data of each original angular velocity data composition passes through calculating Mathematical expectation can get accurate target angular velocity data.Wherein, gyroscope quantity shown in FIG. 1 is used only for showing for 5 Meaning, the quantity of gyroscope can be limited in space, and from the perspective of statistics, the gyroscope of setting is more, accordingly former The quantity of beginning angular velocity data is more, that is, the discrete data acquired is abundanter, then the desired value calculated by the discrete data is got over The current angular speed of approach angle velocity measuring device.

Angular velocity measurement device provided in an embodiment of the present invention acquires rudimentary horn number of speed by the way that multiple gyroscopes are arranged According to, and the desired value of original angular velocity data is calculated according to statistical method, using the desired value as target angular velocity data Output can effectively reduce existing Random Drift Error when the angular speed output of single gyroscope, solve in the prior art There is larger noise and drift in gyroscope, improve the precision of angular velocity measurement.

There are many modes that desired value is calculated according to original angular velocity data, since there are the original angular speed of random error Data Normal Distribution, and the mean value of the normal distyribution function is the desired value namely target angular velocity of angular speed, because This, data processing unit determines that the desired value of angular speed may include:Angular speed is constructed with the frequency of multiple original angular velocity datas Probability density function, fitting form normal distribution curve, the desired value of normal distribution curve are determined, with the phase of normal distribution curve Desired value of the prestige value as angular speed.

Wherein, because of random angular velocity data Normal Distribution, angular speed probability density function is that normal distribution is general Rate density function, illustratively, the normal distribution curve of the fitting, the step of seeking desired value includes:One, by each rudimentary horn speed Degrees of data counts the frequency of each original angular velocity data by sorting from small to large, calculates each original angular velocity data frequency and accounts for The ratio of total data bulk obtains the probability of the data of each original angular speed;Two, general using normal distribution under least square method Rate density function is fitted frequency ratio and angular velocity data, obtains the pattern function of angular velocity data;Three, general using normal distribution Rate density function f (ω, μ, σ) curve determines the mean μ of the normal distribution curve, using the mean μ as original angular velocity data Desired value.

Fig. 2 is angular velocity data provided in an embodiment of the present invention and the fitting normal distribution curve schematic diagram of frequency ratio, With reference to figure 2, by being fitted discrete original angular velocity data and frequency ratio to form normpdf curve C, then the mean value by calculating normal distyribution function, so as to more be accurately obtained the approximation of angular speed desired value.

In addition to the original angular velocity data of above-mentioned fitting forms normal distribution curve, data processing unit determines the phase of angular speed The mode of prestige value further includes:The sample mean for determining multiple original angular velocity datas, using sample mean as angular speed Desired value.

The limited original angular velocity data acquired using rate-of-turn gyroscope calculates the discrete sample as discrete sample data The sample mean of notebook data, wherein sample mean is approximately equal to the desired value of angular speed, using sample mean as target Angular speed simultaneously exports.

When gyroscope drifts about since random noise or temperature change cause to measure, the result of the drift will produce cumulative, shadow Subsequent data acquisition is rung, needs that gyroscope is made to carry out self-correction at this time.Fig. 3 is another angle provided in an embodiment of the present invention The structural schematic diagram of velocity measuring device, with reference to figure 3, optionally, angular velocity measurement device further includes correction unit 13, and correction is single Member 13 is electrically connected with data processing unit 12 and multiple gyroscopes 11, and correction unit 13 is used to be exported according to data processing unit 12 Target angular velocity correct multiple gyroscopes 11.

Wherein, the angular speed desired value that correction unit 13 is calculated using data processing unit 12, each corresponding gyro The original angular speed that instrument 11 exports, and then correct the zero-speed rate output valve of each gyroscope, i.e., when not being applied in angular speed Signal value, it is possible to further which corrected threshold is arranged, if the difference of the original angular speed of gyroscope and target angular velocity is super Overcorrect threshold value is then corrected the gyroscope.

Original angular velocity data is acquired above by limitedly gyroscope, obtains discrete sample data, and then seek sample Mode of the desired value of notebook data as target angular velocity, the accuracy of target angular velocity is largely by calculation shadow It is also related with the capacity of sample data namely related with the quantity of gyroscope, it is contemplated that the space hold of gyroscope while sound And the range of quantity, optionally, the number of multiple gyroscopes is 100~1000.

In order to save the space hold of a large amount of gyroscopes, and ensure the environmental standard of each gyroscope acquisition angular velocity data Identical, optionally, multiple gyroscopes are arranged in array, and Fig. 4 is the arrangement mode signal of gyroscope provided in an embodiment of the present invention Figure, with reference to figure 4, illustratively, the gyroscope of different number can arrange according to the array of ranks.In addition to this, may be used also According to the position of the data processing unit in actual angular speed measuring device, multiple gyroscopes to be grouped and array is arranged Cloth, Fig. 5, which is the arrangement mode schematic diagram of another gyroscope provided in an embodiment of the present invention, can be divided into gyroscope with reference to figure 5 Four groups, every group of 4 gyroscopes are according to array arrangement.

Micro-mechanical gyroscope is as a kind of sensor device of angular velocity measurement, in terms of the motion control of various consumer goods Have been obtained for extensive use.Optionally, gyroscope can be used as micromechanics (Micro-Electro-Mechanical System, MEMS) gyroscope.MEMS gyroscope has pole for high-precision fibre optic gyroscope and lasergyro Big cost advantage, and the requirement of most motion controls can be substantially met.Meanwhile there is also use process shift for MEMS gyroscope The problem of error of generation, drift about 10-100 degree per hour, increasingly can not meet the requirement in market, therefore, using micromechanics Gyroscope can reduce cost while ensureing high-precision angular velocity measurement.

Optionally, which may be used single axis gyroscope or multiaxis gyroscope, for single axis gyroscope, then each Gyroscope exports an original angular velocity data of certain dimension, and for multiaxis gyroscope, the original of multiple dimensions can be exported Beginning angular velocity data, by the expectation for determining an original angular speed of certain dimension or the original angular velocity data of multiple dimensions Value, and then certain dimension or the more accurate target angular velocity of multiple dimensions can be obtained.

The embodiment of the present invention additionally provides a kind of motion control device, and Fig. 6 is a kind of movement provided in an embodiment of the present invention The structural schematic diagram of control device, with reference to figure 6, which includes any angular velocity measurement dress of embodiment as above Set 110.Motion control device carries out the acquisition of angular velocity data by the angular velocity measurement device of above-described embodiment, and then to fortune Dynamic device is controlled.

Motion control device provided in an embodiment of the present invention is filled by using the angular velocity measurement for being provided with multiple gyroscopes It sets, and the desired value of the original angular speed according to the acquisition of multiple gyroscopes, realizes the output of target angular velocity, can effectively reduce Existing Random Drift Error when the angular speed output of single gyroscope, solving gyroscope in the prior art, there are larger to make an uproar The problem of sound and drift, the precision of angular velocity measurement is improved, so as to improve adopting for motion control device angular velocity parameter Collection, contributes to accurately controlling for telecontrol equipment.

With continued reference to Fig. 6, which further includes control unit 120, Power Management Unit 130 and motor 140;Control unit 120 is electrically connected with Power Management Unit 130, motor 140 and angular velocity measurement device 110 respectively;Control Unit 120 is used for the target angular velocity that acceptance angle velocity measuring device 110 exports, and according to target angular velocity driving motor 140, Power Management Unit 130 is powered for unit 120 in order to control, motor 140 and angular velocity measurement device 110.

Wherein, angular velocity measurement device 110 is a parameter measuring device for motion of motion control device, and Fig. 7 is this hair A kind of structural schematic diagram of the control panel for motion control device that bright embodiment provides, with reference to figure 7, motion control device is one A more complicated control system, wherein can also include multi-motion parameter measuring apparatus and communication device, such as can be with Dress is passed including global positioning system (Global Positioning System, GPS), compass, ultrasonic positioner, figure It sets, radar installations, WIFI communication device and wireless transmitting and receiving device.The motor of motion control device is not showed that in Fig. 5, And motor can play the role of providing power in motion controller, and by taking aircraft as an example, in the flight course of aircraft, Motor plays critically important effect, such as can control the main wing, steering engine and empennage of aircraft, winged to be provided for aircraft Capable power, change of flight posture and offer torsion etc..

There are large effects for angular velocity data acquisition of the temperature change to gyroscope, in order to reduce the drift of gyroscope, Temperature-compensating can be carried out to the angular velocity measurement device in motion controller.Fig. 8 is another kind provided in an embodiment of the present invention The structural schematic diagram of motion controller, with reference to figure 8, optionally, motion controller further includes refrigeration unit 150, refrigeration unit 150 It is electrically connected with control unit 120, refrigeration unit 150 is used to freeze for angular velocity measurement device 110.

Refrigeration unit 150 can be used electronic refrigerator such as electronic refrigerating sheet and freeze, and specifically, angular speed can be arranged The shell of measuring device is the good metal material of heat conductivility, and cooling piece is fitted on metal shell, cooling piece is facilitated Angular velocity measuring device is freezed.In order to make angular velocity measurement device realize preferably temperature-compensating, optionally, control is single Member control refrigeration unit makes the operating temperature of angular velocity measurement device arrive minus 20 degrees at 0 degree.

Note that above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that The present invention is not limited to specific embodiments described here, can carry out for a person skilled in the art it is various it is apparent variation, It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out to the present invention by above example It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also May include other more equivalent embodiments, and the scope of the present invention is determined by scope of the appended claims.

Claims (12)

1. a kind of angular velocity measurement device, which is characterized in that including:
Multiple gyroscopes, for acquiring original angular velocity data;
Data processing unit is connect with the multiple gyroscope respectively, multiple originals for receiving the multiple gyroscope acquisition Beginning angular velocity data is determined the desired value of angular speed, and is exported using the desired value as target angular velocity.
2. angular velocity measurement device according to claim 1, which is characterized in that the data processing unit determines angular speed Desired value, including:
Angular speed probability density function is constructed with the frequency of angular speed, fitting forms normal distribution curve, determines the normal state point The desired value of cloth curve, using the desired value of the normal distribution curve as the desired value of angular speed.
3. angular velocity measurement device according to claim 1, which is characterized in that the data processing unit determines angular speed Desired value, including:
The sample mean for determining the multiple original angular velocity data, using the sample mean as the expectation of angular speed Value.
4. angular velocity measurement device according to claim 1, which is characterized in that further include correction unit, the correction is single First to be electrically connected with the data processing unit and the multiple gyroscope, the correction unit is used for according to the data processing list The target angular velocity of member output corrects the multiple gyroscope.
5. angular velocity measurement device according to claim 1, which is characterized in that the number of the multiple gyroscope is 100 ~1000.
6. angular velocity measurement device according to claim 5, which is characterized in that the multiple gyroscope is arranged in array.
7. angular velocity measurement device according to claim 1, which is characterized in that the gyroscope is micro-mechanical gyroscope.
8. angular velocity measurement device according to claim 1, which is characterized in that the gyroscope is single axis gyroscope or more Axis gyroscope.
9. a kind of motion control device, which is characterized in that including at least one such as claim 1-7 any one of them angular speed Measuring device.
10. motion control device according to claim 9, which is characterized in that further include:Control unit, power management list Member and motor;Described control unit respectively with the Power Management Unit, the motor and the angular velocity measurement device Electrical connection;
Described control unit is used to receive the target angular velocity of the angular velocity measurement device output, and according to target angle speed Degree drives the motor, the Power Management Unit to be used to be described control unit, the motor and the angular velocity measurement Device is powered.
11. motion control device according to claim 10, which is characterized in that further include refrigeration unit, the refrigeration is single Member is electrically connected with described control unit, and the refrigeration unit is used to freeze for the angular velocity measurement device.
12. motion control device according to claim 11, which is characterized in that it is single that described control unit controls the refrigeration Member makes the operating temperature of the angular velocity measurement device arrive minus 20 degrees for 0 degree.
CN201810714648.3A 2018-07-03 2018-07-03 A kind of angular velocity measurement device and motion control device CN108716913A (en)

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101144719A (en) * 2006-09-13 2008-03-19 西北工业大学 Gyroscope virtual implementation method
CN102023010A (en) * 2010-10-26 2011-04-20 西安理工大学 MEMS (micro-electromechanical system)-based wavelet field multisensor information fusion system and fusion method
CN103162678A (en) * 2013-03-11 2013-06-19 哈尔滨工业大学 Batch MEMS gyro information fusion method
CN106342175B (en) * 2010-01-14 2013-11-13 西北工业大学 A kind of data fusion method that improves Gyro Precision
CN203719811U (en) * 2014-01-14 2014-07-16 南京信息工程大学 Weak voltage signal detection device of micro-voltage sensor
CN107817821A (en) * 2017-10-27 2018-03-20 成都鼎信精控科技有限公司 A kind of stable head and control method based on MEMS gyroscope combination
CN108038123A (en) * 2017-11-06 2018-05-15 重庆大学 A kind of Method of Data Discretization based on frequency disribution
CN108195404A (en) * 2018-04-03 2018-06-22 珠海市微半导体有限公司 A kind of calibration method of gyroscope null offset

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101144719A (en) * 2006-09-13 2008-03-19 西北工业大学 Gyroscope virtual implementation method
CN106342175B (en) * 2010-01-14 2013-11-13 西北工业大学 A kind of data fusion method that improves Gyro Precision
CN102023010A (en) * 2010-10-26 2011-04-20 西安理工大学 MEMS (micro-electromechanical system)-based wavelet field multisensor information fusion system and fusion method
CN103162678A (en) * 2013-03-11 2013-06-19 哈尔滨工业大学 Batch MEMS gyro information fusion method
CN203719811U (en) * 2014-01-14 2014-07-16 南京信息工程大学 Weak voltage signal detection device of micro-voltage sensor
CN107817821A (en) * 2017-10-27 2018-03-20 成都鼎信精控科技有限公司 A kind of stable head and control method based on MEMS gyroscope combination
CN108038123A (en) * 2017-11-06 2018-05-15 重庆大学 A kind of Method of Data Discretization based on frequency disribution
CN108195404A (en) * 2018-04-03 2018-06-22 珠海市微半导体有限公司 A kind of calibration method of gyroscope null offset

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