CN111077773B - Self-adaptive adjustment method for gyro drift amount - Google Patents
Self-adaptive adjustment method for gyro drift amount Download PDFInfo
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- CN111077773B CN111077773B CN201911236900.5A CN201911236900A CN111077773B CN 111077773 B CN111077773 B CN 111077773B CN 201911236900 A CN201911236900 A CN 201911236900A CN 111077773 B CN111077773 B CN 111077773B
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- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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Abstract
The invention discloses a self-adaptive adjusting method of a gyro drift amount, which belongs to the technical field of servo control, wherein when a servo system is in a stable state, the gyro drift amount is calculated by combining a feedback value of a position sensor in a set gyro adjusting period T, the gyro drift amount is subjected to self-adaptive correction according to the gyro drift amount, and a gyro sampling value is adjusted in real time by using the self-adaptively corrected gyro adjusting value, so that the drift amount of the output gyro sampling value is almost zero, thereby greatly reducing the gyro drift in a servo stabilizing system with low gyro precision; the flexibility is high, and the period T is adjusted according to different servo stability system performances, so that the effect is better.
Description
Technical Field
The invention relates to the technical field of servo control, in particular to a self-adaptive adjusting method for a gyro drift amount.
Background
In a servo stabilizing system, the drift amount of a gyroscope is an important index, and if the cost or the use environment of the system is limited to the use of a gyroscope with low precision, the drift amount is too large, so that the servo stabilizing system slowly deviates from the original direction when the angular speed is zero, and the stability of the system is greatly influenced.
The commonly used method for adjusting the drift amount of the gyroscope comprises the following steps: after the system is electrified, the system is still, and the gyro angular velocity value sampled at the moment is used as the drift amount. But the method is only adjusted once. For the gyro with lower precision, the drift can be serious with the increase of the working time of the system after the power-on regulation.
Therefore, in a stable state of the servo system, how to perform continuous adaptive adjustment on the gyro drift is a problem to be solved urgently at present.
Disclosure of Invention
In view of this, the present invention provides an adaptive adjustment method for a gyro drift amount, which can perform continuous adaptive adjustment on the gyro drift in a stable state of a servo system.
In order to achieve the purpose, the technical scheme of the invention is as follows: a self-adaptive regulation method of gyro drift amount, this method carries on the self-adaptive regulation of gyro drift amount in the working process of the servo system, this method is carried out in CPU, the clock cycle of CPU is t; and in the working process of the servo system, executing the steps 1 to 4.
Step 1, constructing the following variables, including: position sensor feedback value opfeed. Timing variable i, gyro sample accumulation sum, drift amount PY, gyro sample number cnt and position sensor feedback value angle at the beginning of timing.
Step 2, continuously acquiring a gyro sampling value opfed. Speed in the servo system; setting a gyro regulation period as T; and judging the state of the servo system in the current gyro regulation period.
And if the servo system state is a search master command and the speed is 0, timing variable i counts time aiming at the clock period of the CPU, and a position sensor feedback value angle when the timing is started is obtained.
If the servo system state is a search master and the speed is not 0 or the servo system state is a non-search master, resetting the following variables, including: i. sum, cnt, angle, and opdata.
And 3, judging the size of the i.
When i < T/T: and accumulating and assigning the gyro sampling value opfed. Speed to sum, and adding 1 to the gyro sampling number cnt once.
When i = T/T, calculating the gyro average value average, the drift amount PY, and the gyro adjustment value opdata.
The gyro mean is average = sum/cnt.
The drift amount was PY = average- (opfeed. True ang-angle)/T.
The gyro adjustment value opdata.
And 4, subtracting the gyro adjusting value opdata. Tp output in the step 3 from the gyro sampling value opfeed. Speed obtained by the servo system and outputting the gyro sampling value opfeed. Speed.
And (5) resetting the variables i, sum, cnt and angle, entering a next gyro regulation period, and returning to the step 2.
Has the advantages that:
the invention provides a self-adaptive adjusting method of gyro drift amount, when a servo system is in a stable state, in a set gyro adjusting period T, the gyro drift amount is calculated by combining a feedback value of a position sensor, self-adaptive correction is carried out on the gyro adjusting value according to the gyro drift amount, and the gyro adjusting value after the self-adaptive correction is used for carrying out real-time adjustment on a gyro sampling value, so that the drift amount of the output gyro sampling value is almost zero, thereby greatly reducing the gyro drift in the servo stabilizing system with low gyro precision; the flexibility is high, and the period T is adjusted according to different servo stability system performances, so that the effect is better.
Drawings
Fig. 1 is a flow chart of a self-adaptive adjusting method for a gyro drift amount provided by the present invention.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The invention provides a self-adaptive adjusting method of a gyro drift amount, which is used for self-adaptive adjustment of the gyro drift amount in the working process of a servo system and is executed in a CPU (central processing unit), wherein the clock period of the CPU is t; and (4) executing the steps 1 to 4 in the working process of the servo system. The clock cycle of the CPU in the embodiment of the invention is 1ms.
Step 1, constructing the following variables including structure variables and static variables.
Wherein the structure variables include: position sensor feedback value opfeed.
The static variables include: timing variable i, gyro sample sum, drift amount PY, gyro sample number cnt, and position sensor feedback value angle at the start of timing.
Step 2, continuously acquiring a gyro sampling value opfed. Speed in the servo system; and setting the gyro regulation period as T. In the embodiment of the present invention, the gyro adjustment period T is set to be between 1s and 10s, and specifically may be set to be 1s.
And judging the state of the servo system in the current gyro regulation period.
And if the servo system state is a search master command and the speed is 0, timing variable i counts time aiming at the clock period of the CPU, and a position sensor feedback value angle when the timing is started is obtained.
If the servo system state is a search master and the speed is not 0 or the servo system state is a non-search master, resetting the following variables, including: i. sum, cnt, angle, and opdata.
And 3, judging the size of the i.
And when i is less than T/T, accumulating and assigning the gyro sampling value opfed. Speed to sum, and adding 1 to the gyro sampling number cnt once.
When i = T/T, calculating a gyro average value, a drift amount PY and a gyro adjustment value opData.tp as follows:
the gyro mean is average = sum/cnt.
The drift amount was PY = average- (open.
The gyro adjustment value opdata.
And 4, subtracting the gyro adjusting value opdata. Tp output in the step 3 from the gyro sampling value opfeed. Speed obtained by the servo system and outputting the gyro sampling value opfeed. Speed.
And (4) zero clearing the variables i, sum, cnt and angle, entering a lower gyro regulation period, and returning to the step 2.
And the self-adaptive adjusting method is also ended after the servo system finishes working.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (1)
1. A self-adaptive regulation method of gyro drift quantity is characterized in that the self-adaptive regulation of gyro drift quantity is carried out in the working process of a servo system, the method is executed in a CPU, and the clock period of the CPU is t; in the working process of the servo system, executing the steps 1-4;
step 1, constructing the following variables, including:
position sensor feedback value opfeed.trueAng, gyro sampling value opfeed.speed and gyro regulation value opData.tp;
timing variable i, gyro sampling accumulation sum, drift amount PY, gyro sampling number cnt and position sensor feedback value angle when timing starts;
step 2, continuously acquiring a gyro sampling value opfed. Speed in the servo system; setting a gyro regulation period as T; judging the state of a servo system in the current gyro regulation period;
if the servo system state is a search master and the speed is 0, timing variable i counts time aiming at the clock period of the CPU, and a position sensor feedback value angle when timing starts is obtained;
if the servo system state is a search master and the speed is not 0 or the servo system state is a non-search master, resetting the following variables, including: i. sum, cnt, angle, and opdata.tp;
step 3, judging the size of the i;
when i is less than T/T, accumulating and assigning the gyro sampling value opfed. Speed to sum, and adding 1 to the gyro sampling number cnt once;
when i = T/T, calculating a gyro average value, a drift amount PY and a gyro adjustment value opData.tp as follows:
mean gyro = sum/cnt
The drift amount is PY = average- (open. True Ang-angle)/T;
increasing a PY amount by the gyro adjusting value opData.tp and outputting;
step 4, subtracting the gyro adjusting value opdata. Tp output in the step 3 from the gyro sampling value opfeed. Speed obtained by the servo system and outputting;
and (5) resetting the variables i, sum, cnt and angle, entering a next gyro regulation period, and returning to the step 2.
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102607542A (en) * | 2012-03-28 | 2012-07-25 | 昆明物理研究所 | Method and device for self-adaptive compensation of micromechanical gyroscope |
| CN108333938A (en) * | 2018-02-06 | 2018-07-27 | 贵州电网有限责任公司 | A kind of compound gyrocontrol control method of more closed loops |
| CN110209186A (en) * | 2019-07-04 | 2019-09-06 | 广州市上赛电子科技有限公司 | Gyrocontrol control system with drift compensation |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102607542A (en) * | 2012-03-28 | 2012-07-25 | 昆明物理研究所 | Method and device for self-adaptive compensation of micromechanical gyroscope |
| CN108333938A (en) * | 2018-02-06 | 2018-07-27 | 贵州电网有限责任公司 | A kind of compound gyrocontrol control method of more closed loops |
| CN110209186A (en) * | 2019-07-04 | 2019-09-06 | 广州市上赛电子科技有限公司 | Gyrocontrol control system with drift compensation |
Non-Patent Citations (1)
| Title |
|---|
| 陀螺随机漂移自适应控制方法研究;徐建龙 等;《2001中国控制与决策学术年会论文集》;20011231;第1031-1036页 * |
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