CN109341721B - Dead zone elimination method for accelerometer injection current source - Google Patents

Dead zone elimination method for accelerometer injection current source Download PDF

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CN109341721B
CN109341721B CN201811351175.1A CN201811351175A CN109341721B CN 109341721 B CN109341721 B CN 109341721B CN 201811351175 A CN201811351175 A CN 201811351175A CN 109341721 B CN109341721 B CN 109341721B
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current
accelerometer
current source
injection
output
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CN109341721A (en
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程海彬
鲁浩
徐剑芸
位晓峰
李群生
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China Airborne Missile Academy
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China Airborne Missile Academy
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B17/00—Systems involving the use of models or simulators of said systems
    • G05B17/02—Systems involving the use of models or simulators of said systems electric

Abstract

The invention provides a dead zone elimination method for an accelerometer injection current source, belonging to inertial navigation and guidance returnThe technical field of road semi-physical simulation mainly relates to the problem of how to eliminate the dead zone of a current source for improving the current injection precision when the high-precision current source is used as the current excitation of an accelerometer. The method is characterized in that when a control signal S of an accelerometer injection current source requires the accelerometer injection current source to output an injection current C positioned in an output dead zone0While injecting a current C0Superposed with a periodic disturbance current C1The actually outputted injection current C is made to be the current C0And current C1A periodic disturbance current C1Is greater than or equal to the difference between the upper and lower limits of the output dead band. The method can effectively eliminate the influence of an output dead zone of the excitation current source when the accelerometer is injected in the inertial navigation semi-physical simulation and the excitation current source is output at a small current, greatly improve the injection precision of the accelerometer and enhance the simulation test truth.

Description

Dead zone elimination method for accelerometer injection current source
Technical Field
The invention belongs to the technical field of inertial navigation and guidance loop semi-physical simulation, and mainly relates to a problem how to eliminate a current source dead zone in order to improve current injection precision when a high-precision current source is used as current excitation of an accelerometer.
Background
In the inertial navigation and guidance loop semi-physical simulation, a high-precision current source is adopted as an excitation signal of an accelerometer to carry out acceleration dynamic injection, which is also successfully applied in engineering; however, the current sources capable of high dynamic refresh have the problem of small current output dead zone, and there are two general approaches to this problem: firstly, an expensive current source is adopted, and an output dead zone is small enough to be negligible; and secondly, tolerating the existence of dead zones and navigation errors caused by the dead zones. The elaboration and application of the additive injection current source dead zone elimination algorithm has not been found in the existing literature.
Disclosure of Invention
The invention aims to solve the problem that when an accelerometer is injected in the semi-physical simulation of an inertial navigation and guidance loop, a current source for providing excitation has an output dead zone when a small current is output, and the output dead zone directly influences the output precision of the accelerometer.
The technical scheme provided by the invention is as follows:
a dead-zone elimination method for an accelerometer to inject a current source, the method comprising: when the control signal S of the accelerometer injection current source requires the accelerometer injection current source to output an injection current C within the output dead zone0While injecting a current C0Superposed with a periodic disturbance current C1The actually outputted injection current C is made to be the current C0And current C1A periodic disturbance current C1Is greater than or equal to the difference between the upper and lower limits of the output dead band.
According to the technical scheme, the output dead zone of the accelerometer injection current source is bypassed, so that the output current of the accelerometer injection current source is always positioned outside the output dead zone at any moment, and the injection current C at the moment is reserved through the superposed injection current C0The increased periodic disturbance current C can be filtered by arranging the front end of the accelerometer1Obtaining the injection current C expected to be output by the original platform simulation0。
Preferably, the current C is disturbed periodically1The calculation method comprises the following steps: for a counter n of perturbation periods, when n ═ i, C1δ when n is i +1, C1- δ, wherein i is an integer.
Preferably, the current C is disturbed periodically1Is greater than or equal to the refresh rate of the accelerometer injection current source.
Preferably, the current C is disturbed periodically1The current source output is injected by the accelerometer.
Preferably, an independent current source is arranged in parallel with the accelerometer injection current source, and the output time and the periodic disturbance current C are1Current C in opposite direction2The actual injection current C of the accelerometer is made to be current C0Current C1And current C2Of (2)
The beneficial effects brought by one aspect of the invention are as follows: by adopting the method, the influence of the dead zone of the current source can be effectively eliminated, the injection precision of the accelerometer is greatly improved, and the simulation test truth is enhanced.
The beneficial effects brought by one aspect of the invention are as follows: the method has simple design and convenient realization, can successfully avoid the dead zone only by adding disturbance with proper magnitude in the odd-even period of the injected current, thereby improving the injection precision of the adding meter, and does not influence the simulation result of the inertial navigation and the guidance loop because the mean value of the disturbance current is zero in a long time; the system precision is greatly improved on the basis of the existing hardware, and the hardware design cost is not increased.
Drawings
FIG. 1 is a schematic diagram of a signaling system according to an embodiment of the present application;
FIG. 2 is an ideal injection current C for the signal system of FIG. 10A schematic diagram;
FIG. 3 is a prior art actual injection current C of the signaling system of FIG. 10' schematic view;
FIG. 4 shows an embodiment of the present application with an injection current C0Superimposed periodic disturbance current C1；
FIG. 5 is a schematic diagram of the injection current C of the signal system of FIG. 1 using the present method;
FIG. 6 is a schematic diagram of a signaling system according to an embodiment of the present application;
101, a control signal output module, 102, an accelerometer injection current source, 103, an accelerometer, 104 and an independent current source.
Detailed Description
Firstly, it should be noted that the semi-physical simulation of the inertial navigation and guidance loop under the current injection condition, i.e. the navigation test, usually requires that the test system has an accelerometer injection current source with high precision and high refresh rate as the excitation of the accelerometer, so that the dynamic change process of the inertial navigation and guidance loop system can be tracked, otherwise, the test precision is reduced to cause distortion, and the test loses the degree of truth.
The accelerometer injection current source typically requires: the amplitude of the output voltage is +/-20V, the amplitude of the output current is +/-2A, the minimum output resolution of 1nA, the refresh rate of more than 1000 times/s and the output dead zone control of less than 0.1 uA. The output dead zone control below 0.1uA is a technical requirement which is difficult to achieve in power supply development, and higher economic and time cost is required for achieving the standard.
Taking a current source with a typical value output dead zone of +/-4 muA as an example, when a control signal S of the current source is expected to control the output current to be 0 to 4 muA, the actual output of the current source is always 4 muA; the control signal for the current source is intended to be output at a magnitude of-4 to 0 muA, the current source actually outputting a constant of-4 muA. This output dead zone of 4 μ A is a very serious problem for accelerometer injection, and is not negligible, e.g., for an accelerometer with 320 μ A representing 1g, 4 μ A corresponds to 1/75g of null offset, and this single axis error alone will cause about 1/75rad of misalignment angle estimation error of about 45.8' during inertial navigation transfer alignment simulation; a velocity error of about 7.8m/s is introduced into the 60s navigation simulation, which is unacceptable for the navigation system. Simulated accelerometer proportional output fbThe formula converted to the injection current is: i ═ k · fbWhere k is a scaling factor, the accelerometer current I values in the non-measurement axes are typically small, typically falling within a range of + -4 μ A.
The method provided by the present invention is described more clearly below by means of specific examples and comparison with the prior art.
Example one
The embodiment is a dead zone elimination method of an accelerometer injection current source, and is used for a signal system in an inertial navigation and guidance loop semi-physical simulation platform (hereinafter referred to as a platform) shown in fig. 1, wherein a control signal output module 101 outputs a control signal S to an accelerometer injection current source 102, and the accelerometer injection current source 102 outputs an injection current C to an accelerometer 103 under the control of the control signal S. The control signal S may be a digital signal carrying information of the corresponding current output by the desired accelerometer injection current source 102, which is generally linear, e.g., may be a number 8000, 9000, which corresponds to an accelerometer injection current source 102 output current of 8 μ Α, 9 μ Α. The accelerometer injection current source 102 is a current source with an output dead band of + -4 μ A.
The present embodiment solves the output dead zone problem of the speedometer injection current source 102 by a method comprising the steps of:
and S01, acquiring the control signal S in real time.
In a specific implementation, if the control signal output module 101 is a software module, the control signal S may be synchronously extracted through multithreading by receiving a call message of the control signal output module 101, and if the control signal output module 101 is a hardware output unit with storage, the control signal S may be received through the high-speed board via a communication line.
The current information carried by the control signal S is ideally in a linear relationship with the accelerometer injection current source 102, so that the magnitude of the injection current C output by the accelerometer injection current source 102 can be determined by acquiring the control signal S in real time.
S02, judging the injection current C required to be output by the accelerometer injection current source 1020In the output dead zone, the control signal S1 is used to replace the control signal S, so that the accelerometer injection current source 102 actually outputs an injection current C0An injection current C superimposed with a periodic disturbance current C1.
The control signal S1 may cause the current C to0Superposed with a periodic disturbance current C1The injection current C actually output by the accelerometer injection current source 102 is the current C0And current C1A combination of (1) and (b). The injection current C of the zero crossing point in the output diagram of the platform expectation accelerometer injection current source 102 can be judged according to the acquired control signal S0FIG. 2 shows that the injection current C0The ideal current variation curve is that in the prior art, because the accelerometer injection current source 102 has an output dead zone near the current zero crossing point, the actual output current C thereof0' will exhibit a current profile as shown in fig. 3. According to the method provided by the embodiment, the control signal S is used1Instead of the control signal S, the accelerometer can be caused to inject a current source 102 such as current C within an output dead band when required to be output0Synchronously outputting a signal as shown in FIG. 4Periodic disturbance current C1The injection current C actually output by the accelerometer injection current source 102 is made to have a current variation curve as shown in fig. 5.
In specific implementation, in a simulation test of the platform, the control signal S adjusts the injection current C in real time at a refresh rate of 1ms0During the process, the injection current C is judged in real time according to the control signal S0When the injection current C is judged0When the current value is within the range of +/-4 mu A, a counter n of one perturbation period is started, and a strategy is adopted for adjusting the control signal S to be the control signal S1 so that when n is equal to i, C is used1δ when n is i +1, C1Where i is an integer and δ is a periodic perturbation C1The magnitude of the disturbance. The disturbance amplitude δ should be greater than or equal to the difference between the upper and lower limits of the output dead band
If the original control signal S is shown in the table below, the accelerometer injection current source 102 should ideally output the injection current C of the table below according to the control signal S0。
T(ms) 13 14 15 16 17 18 19 20 21
S -4000 -3000 -2000 -1000 0 1000 2000 3000 4000
C0(μA) -4 -3 -2 -1 0 1 2 3 4
At this time, the control signal S1 controls the accelerometer injection current source 102 to consider the superimposed periodic disturbance current C1The disturbance period is 1ms, the disturbance amplitude δ is 8 μ a, and the difference between the upper limit and the lower limit of the output dead zone, the control signal S1 and the corresponding current output may be in the following form.
Figure BDA0001865699650000051
Figure BDA0001865699650000061
Namely: determining the injection current C0When the current enters an output dead zone +/-4 uA, the current C is injected0Plus or minus 8uA of disturbance is added in the upper odd-even period, the disturbance period of the added disturbance current is short enough, and the control signal S1 enables the accelerometer injection current source 102 to output current outside the output dead zone all the time, so that the influence of the dead zone is avoided, and the superposed periodic disturbance current C1The navigation result is not influenced when the average value is 0 in a long time period of a plurality of disturbance periods, so that dead areas of the board cards are effectively eliminated, and the purpose of improving the output precision of the current source is achieved.
Example two
The difference between this embodiment and the first embodiment is that, as shown in fig. 6, an independent current source 104 is further provided in this embodiment and is connected in parallel with the accelerometer injection current source 102, the independent current source 104 obtains the control signal S from the control signal output module 101, and determines the required injection current C as in the first embodiment0Whether the current source is in the output dead zone or not, but not, a synchronous signal of the control signal output module 101 is received, wherein the synchronous signal enables the independent current source 104 to output the time and the periodic disturbance current C1Current C in opposite direction2The actual injection current C of the accelerometer is made to be current C0Current C1And current C2When considering a high-precision current source with an independent current source as the accelerometer injection current source 102, the accelerometer 103 obtains the injection current C at any time and the required injection current C0The same is true.

Claims (3)

1. The dead zone elimination method of the accelerometer injection current source is characterized by being used for reducing misalignment angle estimation errors in the inertial navigation transfer alignment simulation process and speed errors in the navigation simulation;
the method comprises the following steps: when the control signal S of the accelerometer injection current source requires the accelerometer injection current source to output an injection current C within the output dead zone0When the temperature of the water is higher than the set temperature,at the time of injection of current C0Superposed with a periodic disturbance current C1The actually outputted injection current C is made to be the current C0And current C1A periodic disturbance current C1Is greater than or equal to the difference between the upper limit and the lower limit of the output dead zone;
periodic disturbance current C1The disturbance period of (a) is greater than or equal to the refresh rate of the accelerometer injection current source;
an independent current source connected with an accelerometer injection current source in parallel is arranged to output a moment and a periodic disturbance current C1Current C in opposite direction2The actual injection current C of the accelerometer is made to be current C0Current C1And current C2A combination of (1) and (b).
2. The method of claim 1, wherein the periodic disturbance current C is a current source1The calculation method comprises the following steps: for a counter n of perturbation periods, when n = i, C1= δ, C when n = i +11= δ, wherein i is an integer.
3. The method of claim 1, wherein the dead zone elimination of the accelerometer injection current source is as follows: periodic disturbance current C1The current source output is injected by the accelerometer.
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CN105656433A (en) * 2014-11-27 2016-06-08 航天恒星科技有限公司 Low noise amplifier

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CN103078589B (en) * 2013-01-10 2016-04-13 重庆长安汽车股份有限公司 Dead-time compensation method and device
JP2015177613A (en) * 2014-03-14 2015-10-05 株式会社日立情報通信エンジニアリング Step-up/down converter device
CN105320199B (en) * 2014-07-10 2018-08-17 广州市力驰微电子科技有限公司 A kind of reference voltage source with high-order compensation
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CN102720876A (en) * 2012-05-17 2012-10-10 浙江工业大学 Soft match grinding method for eliminating flow characteristic dead zone of electro-hydraulic servo valve
CN105656433A (en) * 2014-11-27 2016-06-08 航天恒星科技有限公司 Low noise amplifier

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