CN110632345A - Accelerometer output zero Preisach model compensation method and device - Google Patents

Accelerometer output zero Preisach model compensation method and device Download PDF

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CN110632345A
CN110632345A CN201910827921.8A CN201910827921A CN110632345A CN 110632345 A CN110632345 A CN 110632345A CN 201910827921 A CN201910827921 A CN 201910827921A CN 110632345 A CN110632345 A CN 110632345A
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accelerometer
temperature
output
zero position
preisach model
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邵立伟
赖志林
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Research Institute Of Beijing University Of Technology Zhongshan City
Beijing University of Technology
Beijing Institute of Technology BIT
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Research Institute Of Beijing University Of Technology Zhongshan City
Beijing University of Technology
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups

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Abstract

The invention discloses a compensation method and a device for a Preisach model of an accelerometer output zero position, which are characterized in that a zero position output hysteresis curve caused by temperature change is collected according to the temperature characteristic of the accelerometer, and a temperature Preisach model of the accelerometer output zero position is established according to the zero position output hysteresis curve caused by the temperature change; the model is used for outputting a hysteresis function of temperature change and accelerometer zero position output, so that the prediction of the accelerometer zero position output by the temperature change is completed, and the influence of the temperature on the accelerometer zero position is eliminated, thereby improving the precision of the accelerometer.

Description

Accelerometer output zero Preisach model compensation method and device
Technical Field
The invention relates to the field of instruments and meters, in particular to a compensation method and device for a Preisach model of an accelerometer output zero position.
Background
Under ideal conditions, the output of a quartz flexure accelerometer is proportional to the input, but in practice, various interference factors inevitably contribute, causing measurement errors. These errors are caused, on the one hand, by imperfections in the structure of the accelerometer itself; on the other hand, it is also related to the working environment and working condition of the accelerometer. For the existing quartz flexible accelerometer, the study on the influence rule of the environmental condition and the working condition is an important means for improving the test and use precision of the accelerometer. Among the various environmental factors that affect accelerometer accuracy, the temperature effect is not negligible. How to overcome the influence of temperature on the precision of the accelerometer becomes a problem to be solved urgently.
Disclosure of Invention
The present invention provides a preiach model compensation method and device for accelerometer output zero position to overcome at least one of the above-mentioned defects in the prior art. The invention researches the static temperature characteristic of the quartz flexible accelerometer, establishes a temperature model of the accelerometer zero offset error according to the temperature characteristic of the quartz flexible accelerometer, and compensates the accelerometer temperature interference by applying the model.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a Preisach model compensation method for outputting zero position of an accelerometer comprises the following steps:
acquiring a zero output hysteresis curve caused by temperature change according to the temperature characteristic of the accelerometer;
establishing a temperature Preisach model of an accelerometer output zero position according to a zero position output hysteresis curve caused by temperature change;
and (3) outputting a hysteresis function of temperature change and accelerometer zero position output by applying a temperature Preisach model, and further compensating the accelerometer temperature interference.
Preferably, the step of establishing the temperature Preisach model of the accelerometer output zero position is as follows:
s1: acquiring a zero output hysteresis curve brought by the temperature change of the incubator from minus 30 ℃ to 60 ℃ to an accelerometer, wherein the accelerometer is positioned in the incubator;
s2: and establishing a temperature Preisach model of the output zero position of the accelerometer according to the zero position output hysteresis curve.
Preferably, in step S2, the incubator is heated from-30 ℃ at a rate of less than 10 ℃ per hour, and the slow heating is performed to reduce the influence of the temperature change rate on the zero position of the accelerometer.
Preferably, the step of compensating the temperature interference of the accelerometer by using the temperature Preisach model of the accelerometer output zero position is as follows:
y1: initializing each matrix, including an accelerometer output zero position and a temperature matrix;
y2: judging whether the change rate of the temperature u (t) input into the accelerometer is larger than zero or not;
y3: if the temperature is larger than zero, updating the accelerometer output zero position and the temperature matrix, checking the Fab matrix according to a formula to obtain a temperature rise sequence FF1, and checking the sequence FF1 to obtain an output zero position;
otherwise, realizing the erasing characteristic, specifically updating the accelerometer output zero position and the temperature matrix, checking the Fab matrix according to a formula to obtain a cooling array FF2, and checking the array FF2 to obtain the accelerometer output zero position;
y4: and compensating the temperature interference of the accelerometer according to the output zero position of the accelerometer.
A preiach model compensation device for an accelerometer to output a zero position comprises:
a zero output hysteresis curve acquisition module: the accelerometer is used for acquiring a zero output hysteresis curve caused by temperature change according to the temperature characteristic of the accelerometer;
a temperature Preisach model building module: the temperature Preisach model is used for establishing an accelerometer output zero position according to a zero position output hysteresis curve caused by temperature change;
the accelerometer temperature interference compensation module: the method is used for compensating the temperature interference of the accelerometer by applying a hysteresis function of the temperature Preisach model output temperature change and the accelerometer zero position output.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that: the invention provides a Preisach model compensation method and a Preisach model compensation device for an accelerometer to output zero, wherein a zero output hysteresis curve caused by temperature change is collected according to the temperature characteristic of the accelerometer, and a temperature Preisach model of the accelerometer to output zero is established according to the zero output hysteresis curve caused by temperature change; the model is used for outputting a hysteresis function of temperature change and accelerometer zero position output, so that the prediction of the accelerometer zero position output by the temperature change is completed, and the influence of the temperature on the accelerometer zero position is eliminated, thereby improving the precision of the accelerometer.
Drawings
FIG. 1 is a graph of input temperature versus switching hysteresis operator for the Preisach model.
FIG. 2 is a flow chart of an implementation of a null and temperature Preisach model of an accelerometer.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent;
for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product;
it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
Example 1
A Preisach model compensation method for outputting zero position of an accelerometer comprises the following steps:
acquiring a zero output hysteresis curve caused by temperature change according to the temperature characteristic of the accelerometer;
establishing a temperature Preisach model of an accelerometer output zero position according to a zero position output hysteresis curve caused by temperature change;
and (3) outputting a hysteresis function of temperature change and accelerometer zero position output by applying a temperature Preisach model, and further compensating the accelerometer temperature interference.
There are many models representing hysteresis, and the Preisach model was first proposed in 1935 by German scientist F. Russian scientist krassoselski describes the preiach model using mathematical expressions so that it can be applied to hysteresis describing any physical property. On the basis, Brokate and Visntin carry out in-depth analysis on the mathematical model and give relevant mathematical properties of a Preisach model and an inverse model thereof. The mathematical expression of the Preisach model is as follows:
Figure RE-GDA0002244201280000031
where f (t) represents the lag nonlinear output, u (t) represents the input,
Figure RE-GDA0002244201280000032
representing the switching hysteresis operator, as shown in fig. 1, alpha and beta are their rising and falling thresholds, respectively.
Mayergyz gives the classical non-parametric recognition method of the Priescap model, called Mayergyz method. The method utilizes experimental data to perform interpolation prediction lag output, thereby realizing a Preisach model. The method does not need differential operation, and the discrete calculation formula is as follows:
Figure RE-GDA0002244201280000033
wherein f (t) is the same as in formula (1); f. ofαAn output value corresponding to the limit rising branch line when the temperature u (t) is α; f. ofαβRepresents the output value on the first-order rotation curve when the temperature decreases from u (t) ═ α to u (t) ═ β; f (α, β) ═ Fα-fαβRepresenting the difference of these two displacements.
Equation (2) is a regular description of the mathematical realization method of the Preisach model, and it is feasible to directly use the equation when the temperature extreme value in the rising process is a monotone decreasing sequence or the temperature extreme value in the falling process is a monotone increasing sequence, but if the input temperature extreme value sequence is not monotone changing, the equation cannot completely express the hysteresis characteristic of the accelerometer output and the temperature due to the existence of the hysteresis. A classification and sorting implementation method for a Preisach model of hysteresis enables an input to predict an output more accurately when the input is not monotonous. The concrete implementation formula is as follows:
Figure RE-GDA0002244201280000041
in the formula of alphamin、βmaxThe minimum value of the rising temperature sequence and the maximum value of the falling temperature sequence at the moment t are respectively. Defining a boundary matrix v2×q∈R2，v1k＝Vu(k),v2k＝Vf(k) K is 1,2, …, q, which is used to store all the history extreme values which have influence on the current output value, and when some history extreme value is surpassed and loses the influence on the displacement output, the history extreme value will be erased immediately; vu(k) The k-th boundary extreme, V, in the boundary sequencef(k) Refers to its corresponding displacement output value, kα i、kβ jRespectively refer to the input extreme value alphai、βjThe permutation number in the boundary sequence.
Specifically, the step of establishing the temperature Preisach model of the accelerometer output zero position is as follows:
s1: acquiring a zero output hysteresis curve brought by the temperature change of the incubator from minus 30 ℃ to 60 ℃ to an accelerometer, wherein the accelerometer is positioned in the incubator;
s2: and establishing a temperature Preisach model of the output zero position of the accelerometer according to the zero position output hysteresis curve.
Specifically, in step S2, the temperature of the incubator is raised from-30 ℃, and the temperature raising rate is lower than 10 ℃ per hour, and the slow temperature raising is performed to reduce the influence of the temperature change rate on the zero position of the accelerometer.
Specifically, the step of compensating the temperature interference of the accelerometer by applying the temperature Preisach model of the zero position output by the accelerometer comprises the following steps:
y1: initializing each matrix, including an accelerometer output zero position and a temperature matrix;
y2: judging whether the change rate of the input temperature u (t) is greater than zero or not;
y3: if the temperature is larger than zero, updating the accelerometer output zero position and the temperature matrix, checking the Fab matrix according to a formula to obtain a temperature rise sequence FF1, and checking the sequence FF1 to obtain an output zero position;
otherwise, realizing the erasing characteristic, specifically updating the accelerometer output zero position and the temperature matrix, checking the Fab matrix according to a formula to obtain a cooling array FF2, and checking the array FF2 to obtain the accelerometer output zero position;
y4: and compensating the temperature interference of the accelerometer according to the output zero position of the accelerometer.
According to the above formula, the input value is the temperature of the accelerometer, and the output displacement is changed into a zero value output by the accelerometer. A flow chart of the implementation procedure of the accelerometer null and temperature hysteresis preiscape model is shown in fig. 2. The F (. alpha.,. beta.) function is obtained by looking up the matrix Fab-, -.
As shown in table 1, the rows of the matrix correspond to temperature values α, and the columns of the matrix correspond to temperature values β. Temperature alpha of the matrix rowiAnd column temperature betajCorresponding numerical values of Fab [ R ]α,Cβ]And F (α, β), which represents the decrease in the accelerometer null as the temperature input u (t) ═ α decreases to u (t) ═ β. At the same time, F (α, β) is also the increment of the accelerometer null when the input temperature rises from u (t) ═ β to u (t) ═ α.
TABLE 1 Fab < - > - ] matrix
By the formula (3), the hysteresis function relation between the temperature change and the accelerometer zero output can be established as long as the matrix Fab < - >, -) of the temperature extreme value and the accelerometer zero output is established, so that the prediction of the accelerometer zero output by the temperature change is completed.
After the hysteresis function of the temperature change and the zero position output of the accelerometer is obtained, the influence of the temperature on the zero position of the accelerometer can be eliminated, and therefore the precision of the accelerometer is improved.
Example 2
The embodiment provides a preiach model compensation device for accelerometer output zero position, which comprises:
a zero output hysteresis curve acquisition module: the accelerometer is used for acquiring a zero output hysteresis curve caused by temperature change according to the temperature characteristic of the accelerometer;
a temperature Preisach model building module: the temperature Preisach model is used for establishing an accelerometer output zero position according to a zero position output hysteresis curve caused by temperature change;
the accelerometer temperature interference compensation module: the method is used for compensating the temperature interference of the accelerometer by applying a hysteresis function of the temperature Preisach model output temperature change and the accelerometer zero position output.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims (6)

1. A Preisach model compensation method for outputting zero position of an accelerometer is characterized by comprising the following steps:
acquiring a zero output hysteresis curve caused by temperature change according to the temperature characteristic of the accelerometer;
establishing a temperature Preisach model of an accelerometer output zero position according to a zero position output hysteresis curve caused by temperature change;
and (3) compensating the temperature interference of the accelerometer by applying a hysteresis function of the temperature Preisach model output temperature change and the accelerometer zero position output.
2. The method for compensating the Preisach model of the accelerometer output zero position of claim 1, wherein the step of establishing the Preisach model of the temperature of the accelerometer output zero position comprises the following steps:
s1: acquiring a zero output hysteresis curve brought by the temperature change of the incubator from minus 30 ℃ to 60 ℃ to an accelerometer, wherein the accelerometer is positioned in the incubator;
s2: and establishing a temperature Preisach model of the output zero position of the accelerometer according to the zero position output hysteresis curve.
3. The Preisach model compensation method of accelerometer output zero position of claim 2, wherein in step S1, the accelerometer is horizontally placed in an incubator.
4. The method of claim 2, wherein in step S2, the temperature of the incubator is raised from-30 ℃ at a rate of less than 10 ℃ per hour.
5. The method for compensating the Preisach model of the accelerometer output zero position of claim 2, wherein the step of compensating the temperature interference of the accelerometer by applying the temperature Preisach model of the accelerometer output zero position comprises the following steps:
y1: initializing each matrix, including an accelerometer output zero position and a temperature matrix;
y2: judging whether the change rate of the temperature u (t) input into the accelerometer is larger than zero or not;
y3: if the temperature is larger than zero, updating the accelerometer output zero position and the temperature matrix, checking the Fab matrix according to a formula to obtain a temperature rise sequence FF1, and checking the sequence FF1 to obtain the accelerometer output zero position;
otherwise, realizing the erasing characteristic, specifically updating the accelerometer output zero position and the temperature matrix, checking the Fab matrix according to a formula to obtain a cooling array FF2, and checking the array FF2 to obtain the accelerometer output zero position;
y4: and compensating the temperature interference of the accelerometer according to the output zero position of the accelerometer.
6. A preiach model compensation device for an accelerometer to output a zero position is characterized by comprising:
a zero output hysteresis curve acquisition module: the accelerometer is used for acquiring a zero output hysteresis curve caused by temperature change according to the temperature characteristic of the accelerometer;
a temperature Preisach model building module: the temperature Preisach model is used for establishing an accelerometer output zero position according to a zero position output hysteresis curve caused by temperature change;
the accelerometer temperature interference compensation module: the method is used for compensating the temperature interference of the accelerometer by applying a hysteresis function of the temperature Preisach model output temperature change and the accelerometer zero position output.
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Citations (2)

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Publication number Priority date Publication date Assignee Title
CN102536208A (en) * 2011-12-31 2012-07-04 中天启明石油技术有限公司 Device and method for temperature compensation of accelerometer and fluxgate for underground directional-measuring instrument
CN107544241A (en) * 2017-09-25 2018-01-05 广州佳越实业有限公司 The sluggish non-linearity PID of piezoelectric ceramic actuator is against compensating control method

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102536208A (en) * 2011-12-31 2012-07-04 中天启明石油技术有限公司 Device and method for temperature compensation of accelerometer and fluxgate for underground directional-measuring instrument
CN107544241A (en) * 2017-09-25 2018-01-05 广州佳越实业有限公司 The sluggish non-linearity PID of piezoelectric ceramic actuator is against compensating control method

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Title
李黎 等: "压电陶瓷执行器Preisach模型的分类排序实现", 《压电与声光》 *
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Application publication date: 20191231