CN111583765A - Software and hardware interactive comprehensive experiment box and method based on CDIO measurement and control circuit - Google Patents
Software and hardware interactive comprehensive experiment box and method based on CDIO measurement and control circuit Download PDFInfo
- Publication number
- CN111583765A CN111583765A CN202010465521.XA CN202010465521A CN111583765A CN 111583765 A CN111583765 A CN 111583765A CN 202010465521 A CN202010465521 A CN 202010465521A CN 111583765 A CN111583765 A CN 111583765A
- Authority
- CN
- China
- Prior art keywords
- circuit
- signal
- experiment
- module
- simulator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
- G09B23/06—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics
- G09B23/18—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics for electricity or magnetism
- G09B23/187—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics for electricity or magnetism for measuring instruments
Landscapes
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Mathematical Analysis (AREA)
- Mathematical Optimization (AREA)
- Algebra (AREA)
- Pure & Applied Mathematics (AREA)
- Educational Administration (AREA)
- Computational Mathematics (AREA)
- Business, Economics & Management (AREA)
- Educational Technology (AREA)
- Theoretical Computer Science (AREA)
- Gyroscopes (AREA)
Abstract
A software and hardware interactive comprehensive experiment box and method based on a CDIO measurement and control circuit. The experimental device comprises a power supply module, a dynamically tuned gyroscope simulator, a circuit module experimental box, simulator interfaces in the experimental box, two paths of X-axis circuits and two paths of Y-axis circuits with completely identical structures, and a signal operation experimental module for realizing matrix operation, wherein a liquid crystal display module is integrated in the experimental box, and circuit schematic diagrams and experimental steps can be visually displayed, so that convenience is brought to student experiments. The invention designs the hardware comprehensive experiment of the measurement and control circuit based on the rebalance loop of the dynamically tuned gyroscope, thereby not only leading an experimenter to be familiar with and master the design of various circuit modules and guiding the experimenter to learn the design method of the closed-loop measurement control circuit, but also leading the experimenter to understand the difference between the software simulation result and the hardware test phenomenon. The tester can master the functions of the measurement and control circuit in the closed-loop measurement and control system when using a set of experimental box, and can also take into account the interactive experiments of software simulation and hardware test.
Description
Technical Field
The invention relates to a teaching experiment experimental box. In particular to a CDIO measurement and control circuit software and hardware interactive comprehensive experiment box and a method.
Background
In the current information society, particularly when the age of the internet of things comes, any technological progress can not be measured and controlled, and a measurement and control system plays an important role in satellite transmission in the aerospace industry and food safety monitoring in life. The measurement and control circuit, the sensor and the actuating mechanism jointly form a measurement and control system, the course of the measurement and control circuit is listed as a core course by instrument information related specialties of colleges and universities in China, and the measurement and control circuit experiment is taken as a necessary link for course learning and practical application and is listed as a necessary course to be taken by related specialties.
In the past measurement and control circuit experiment box, one or more specific sensors or actuators are mostly adopted to carry out signal processing experiments, the principle, materials and process of the sensors are relied on, most of the sensors have fixed signal processing modes, the circuit design capability of experimenters cannot be exercised, the measurement or output of open-loop signals is limited usually, and the learned control theory knowledge is difficult to apply to the experiments. Furthermore, some experimental boxes integrate a digital processing chip and integrated processing software too much, so that the experimenter can hardly understand the signal processing method in depth and can not apply the learned circuit knowledge. At present, when an experimenter uses an experimental box to carry out a specific experiment, experimental equipment such as a signal generator, an oscilloscope and the like is required to be matched for use, the experiment operation is relatively complex, and software simulation and hardware test are relatively independent. Therefore, with the help of the prior test box of the measurement and control circuit, an experimenter can only learn the use method of a specific circuit module, the whole measurement and control system is seriously and inadequately recognized, and the software simulation result and the hardware test result cannot be intuitively linked.
The existing experimental box can not let experimenters know the effect of a measurement and control circuit in a measurement and control system in experiments, is not enough to train the ability of experimenters to design various circuit modules, is more difficult to apply the learned measurement and control knowledge, particularly the closed-loop control theory, and can not visually compare the phenomenon of software simulation results with the phenomenon of hardware testing. Therefore, the development of an experimental box which can meet the design and application requirements of a measurement and control circuit of an experimenter has very important value.
Disclosure of Invention
The invention aims to solve the defects of incomplete circuit modules, lack of control knowledge application, poor correlation between software simulation and hardware test and the like in the conventional experimental box, and provides a software and hardware interactive comprehensive experimental box based on a CDIO measurement and control circuit and an experimental method.
The technical scheme adopted by the invention is as follows:
a software and hardware interactive comprehensive experiment box based on a CDIO measurement and control circuit comprises a power module (101), a dynamically tuned gyroscope simulator (102), a circuit module experiment box (103), a simulator interface (104) arranged in the circuit module experiment box (103), and two paths of X-axis circuits and Y-axis circuits with the same structure, and a signal operation experimental module (108) which is respectively connected with the X-axis circuit and the Y-axis circuit and realizes matrix operation, the power supply module (101) provides power for the dynamically tuned gyroscope simulator (102) and the circuit module experimental box (103), the dynamically tuned gyroscope simulator (102) is connected with an X-axis circuit and a Y-axis circuit in a circuit module experimental box (103) through a simulator interface (104) to form a closed loop, and a signal generator, an oscilloscope, a PC interface (112) and a liquid crystal display (113) are integrated in the experimental box.
The X-axis circuit and the Y-axis circuit are composed of an input branch and an output branch, the two input branches are connected with the two output branches through a signal operation experiment module (108), the input branch is composed of a signal amplification experiment module (105), a filter circuit experiment module (106) and a signal demodulation experiment module (107) which are sequentially connected in series, the output branch is composed of a correction circuit experiment module (109) and an actuator driving experiment module (110) which are connected in series, wherein the signal input end of the signal amplification experiment module (105) is connected with a simulator interface (104), the signal output end of the X-axis circuit and the signal output end of the Y-axis circuit, namely the signal output end of the actuator driving experiment module (110), are respectively connected with the simulator interface (104), and the signal output end of the signal demodulation experiment module (107) is correspondingly connected with the X-axis signal input end of the signal operation experiment module (108) for realizing matrix operation And the signal output end of the actuator driving experiment module (110) is correspondingly connected with the signal input end of the simulator interface (104).
The signal input end of the signal amplification experiment module (105), the connection points between the signal amplification experiment module (105), the filter circuit experiment module (106), the signal demodulation experiment module (107), the signal operation experiment module (108), the correction circuit experiment module (109) and the actuator driving experiment module (110) are arranged, and the signal output end of the actuator driving experiment module (110) is provided with a wiring terminal (111) for connecting and replacing the corresponding circuit module.
The dynamically tuned gyroscope simulator (102) comprises a first function simulator (3002), a second function simulator (3008), a third function simulator (3104) and a fourth function simulator (3107), wherein the signal input ends M of the first function simulator (3002) and the third function simulator (3104)XThrough the output end M of the X axis in the simulator interface (104) on the circuit module experimental box (103)XA signal output end of an actuator driving experiment module (110) in the X-axis circuit is connected, and a signal input end M of the second function simulator (3008) and the fourth function simulator (3107) are connectedYThrough the Y-axis output end M of the simulator interface (104) on the circuit module experimental box (103)YThe signal output terminal (111) of an actuator driving experiment module (110) in the Y-axis circuit is connected, the signal outputs of the first function simulator (3002) and the second function simulator (3008) are respectively connected with the signal input end of a first adder (3009), and the signal output end of the first adder (3009) passes through a first modulation module (3010) and passes through the X-axis input end U of a simulator interface (104) on the circuit module experiment box (103)OXThe signal input end of a signal amplification experiment module (105) in the X-axis circuit is connected, the signal output ends of the third function simulator (3104) and the fourth function simulator (3107) are respectively connected with the signal input end of a second adder (3108), and the signal output end of the second adder (3108) passes through a second modulation module (3019) and passes through the Y-axis input end U of a simulator interface (104) on the circuit module experiment box (103)OYAnd the signal input end of a signal amplification experiment module (105) in the Y-axis circuit is connected.
The first function simulator (3002) is composed of a first combination circuit (3001) and a first inverter (3003) which are sequentially connected in series, and the second function simulator (3002) is composed of a second function moduleThe simulator (3008) is composed of a second combination circuit (3004), a first Dribo integrator (3005), a first proportioner (3006) and a second inverter (3007) which are sequentially connected in series, the third function simulator (3104) is composed of a third combination circuit (3101), a second Dribo integrator (3102) and a second proportioner (3103) which are sequentially connected in series, the fourth function simulator (3107) is composed of a fourth combination circuit (3105) and a third inverter (3106) which are sequentially connected in series, wherein, the signal input end of the first combination circuit (3001) in the first function simulator (3002) and the signal input end of the third combination circuit (3101) in the third function simulator (3104) pass through an X-axis output end M experiment output end in an simulator interface (104) on the circuit module box (103)XThe signal output end of an actuator driving experiment module (110) in the X-axis circuit is connected, and the signal input ends of a second combination circuit (3004) in the second function simulator (3008) and a fourth combination circuit (3105) in the fourth function simulator (3107) pass through a Y-axis output end M in a simulator interface (104) on the circuit module experiment box (103)YAnd the signal output end of the actuator driving experiment module (110) in the Y-axis circuit is connected, the signal output ends of the first inverter (3003) and the second inverter (3007) are respectively connected with the signal input end of the first adder (3009), and the signal output ends of the second scaler (3103) and the third inverter (3106) are respectively connected with the signal input end of the second adder (3108).
The first combined circuit (3001), the second combined circuit (3004), the third combined circuit (3101) and the fourth combined circuit (3105) have the same structure and comprise: a third adder (30042), a fourth inverter (30041), a third delta-glass integrator (30043), a fourth delta-glass integrator (30044) and a fifth inverter (30045) which are sequentially connected in series to form a loop, wherein one input end of two input ends of the third adder (30042) is connected with an X-axis output end M in an simulator interface (104) on the circuit module experiment box (103)XOr Y-axis output end MYThe output U of the fourth Dribo integrator 30044 is connected to the signal output terminal of the actuator driving experiment module (110) in the X-axis circuit or the signal output terminal of the actuator driving experiment module (110) in the Y-axis circuitOForm a first combined circuit (3001) or a second combined circuit (3)004) Or the output of the third combined circuit (3101) or the fourth combined circuit (3105) and is correspondingly connected with the first inverter (3003) or the first delta-glass integrator (3005) or the second delta-glass integrator (3102) or the third inverter (3106).
The invention also provides an experiment method based on the CDIO measurement and control circuit software and hardware interactive comprehensive experiment box, which comprises the following steps of: the experiment of the signal amplification circuit, the experiment of the signal filter circuit, the experiment of the signal demodulation circuit, the experiment of the signal operation circuit, the experiment of correction circuit and executor drive, and the closed loop debugging experiment that carries out on the basis of the experiment of the signal amplification circuit, the experiment of the signal filter circuit, the experiment of the signal demodulation circuit, the experiment of the signal operation circuit, the experiment of correction circuit and executor drive experiment, and integrated signal generator, oscilloscope, PC interface and LCD screen display, the experimenter can more deeply understand the difference of software simulation result and hardware test phenomenon, show experiment schematic diagram and experimental procedure through the LCD screen, facilitate for student's experiment.
The invention has the advantages and beneficial effects that:
the CDIO measurement and control circuit software and hardware interactive integrated experimental box and the experimental method provided by the invention designs a measurement and control circuit hardware integrated experiment based on a dynamically tuned gyroscope rebalance loop, integrates the design and debugging of seven circuit modules such as signal modulation, amplification, filtering, demodulation, decoupling, control, power amplification and the like, can jointly debug after independent experiments of each module are carried out, each module is realized by two or more circuits, the integrated experiment of the gyroscope rebalance loop is completed, an experimenter can randomly switch different circuits of the same module in the debugging process, the related schematic diagram and the experimental steps of the experiment are displayed in real time through a liquid crystal display, convenience is provided for student experiments, experimental equipment such as a signal generator, an oscilloscope and the like is separated, the signal generator and the oscilloscope function module interface integrated by the experimental box are adopted, and the signal generator and the oscilloscope are controlled by connecting a PC, and observing the hardware test signal through an upper computer interface, and comparing the hardware test signal with the simulation signal of the corresponding module. The design method not only can lead an experimenter to be familiar with and master the design of various circuit modules and guide the experimenter to learn the design method of the closed-loop measurement control circuit, but also can lead the experimenter to deeply understand the difference between the software simulation result and the hardware test phenomenon. The tester can master the functions of the measurement and control circuit in the closed-loop measurement and control system when using a set of experimental box, and can also take into account the interactive experiments of software simulation and hardware test. In addition, the invention also provides a design implementation method of the dynamically tuned gyroscope simulator, which can completely replace a mechanical gauge head of the gyroscope and effectively overcome the problems of overhigh manufacturing cost and non-intuitive experimental phenomenon when the dynamically tuned gyroscope is applied to experimenters.
Drawings
FIG. 1 is a block diagram of the whole circuit of the CDIO measurement and control circuit software and hardware interactive comprehensive experiment box of the present invention;
FIG. 2 is a block diagram of a dynamically tuned gyroscope simulator in accordance with the present invention;
FIG. 3 is a block diagram of the circuit configuration for X-axis and Y-axis signal processing in the dynamically tuned gyroscope simulator of the present invention;
FIG. 4 is a block diagram showing the circuit configuration of the combinational circuit in the X-axis and Y-axis signal processing circuits of the dynamically tuned gyroscope simulator of the present invention;
FIG. 5 is a schematic circuit diagram of a signal amplification test module of the circuit module test box of the invention;
FIG. 6 is a schematic circuit diagram of a filter circuit test module of the circuit module test box of the invention;
FIG. 7 is a schematic circuit diagram of a signal demodulation experiment module of the circuit module experiment box of the invention;
FIG. 8 is a schematic circuit diagram of a signal operation experimental module for implementing matrix operation in the circuit module experimental box of the invention;
FIG. 9 is a schematic circuit diagram of a calibration circuit experiment module of the circuit module experiment box of the invention;
FIG. 10 is a schematic circuit diagram of an actuator driving experiment module of the experiment box of the circuit module of the invention.
In the drawings
101: the power supply module 102: dynamically tuned gyroscope simulator
103: circuit module experimental box 104: simulator interface
105: signal amplification experiment module 106: filter circuit experiment module
107: the signal demodulation experiment module 108: signal operation experimental module for realizing matrix operation
109: the calibration circuit experiment module 110: actuator driving experiment module
111: the connection terminal 112: signal generator, oscilloscope and PC interface module
113: liquid crystal screen display
201: dynamically tuned gyroscope simulator housing 202: external interface of gyroscope simulator
203: x-axis signal processing output board of gyroscope simulator
204: y-axis signal processing output board of gyroscope simulator
205: output board for converting angle induction into voltage signal
Gyroscope simulator X-axis signal processing 302: gyroscope simulator Y-axis signal processing
3002: first function simulator 3008: second function simulator
3104: the third function simulator 3107: fourth function simulator
3009: the first adder 3010: first modulation module
3108: the second adder 3109: second modulation module
3001: first combination circuit 3003: a first inverter
3004: second combined circuit 3005: first glass integrator
3006: first comparator 3007: second inverter
3101: third combination circuit 3102: second glass integrator
3103: the second scaler 3105: fourth combination circuit
3106: third inverter 30041: fourth inverter
30042: third adder 30043: third glass integrator
30044: fourth glass integrator 30045: and a fifth inverter.
Detailed Description
The following describes the CDIO measurement and control circuit software and hardware interactive comprehensive experiment box and the experiment method in detail with reference to the accompanying drawings.
The invention discloses a CDIO measurement and control circuit software and hardware interactive comprehensive experiment box and a CDIO measurement and control circuit software and hardware interactive comprehensive experiment method, and aims to overcome the defects of incomplete circuit modules, lack of control knowledge application, software simulation and hardware test relevance and the like of the conventional experiment box. A gyroscope rebalance loop is an important link connected between two sensing and executing parts, namely a dynamically tuned gyroscope annunciator and a torquer, and is a key component of a measurement and control system of a gyroscope working in a locking mode. After the signal generator, the oscilloscope, the PC interface module and the liquid crystal display are integrated for display, an experimenter can more deeply understand the difference between a software simulation result and a hardware test phenomenon, a circuit schematic diagram and an experimental step are displayed in real time, and convenience is brought to the experimenter for carrying out experiments.
Example 1: software and hardware interactive comprehensive experiment box based on CDIO measurement and control circuit
As shown in fig. 1, the CDIO measurement and control circuit software and hardware interactive comprehensive experiment box of the present invention includes a power module 101, a dynamically tuned gyroscope simulator 102, a circuit module experiment box 103 for respectively simulating a signal amplifying circuit, a filter circuit, a signal demodulation circuit, a signal operation circuit, a correction circuit and an actuator driving circuit, wherein a simulator interface (104), two X-axis circuits and two Y-axis circuits with completely the same structure, and a signal operation experiment module (108) respectively connected with the X-axis circuits and the Y-axis circuits for implementing matrix operation are disposed in the circuit module experiment box (103), the power module 101 provides power for the dynamically tuned gyroscope simulator 102 and the circuit module experiment box 103, and the dynamically tuned gyroscope simulator 102 is connected with the circuit module experiment box 103 through the simulator interface 104 to form a closed loop.
The X-axis circuit and the Y-axis circuit are composed of an input branch and an output branch, the two input branches are connected with the two output branches through a signal operation experiment module (108), the input branch is composed of a signal amplification experiment module (105), a filter circuit experiment module (106) and a signal demodulation experiment module (107) which are sequentially connected in series, the output branch is composed of a correction circuit experiment module (109) and an actuator driving experiment module (110) which are connected in series, wherein the signal input end of the signal amplification experiment module (105) in the input branch is connected with a simulator interface (104), the signal output end of the X-axis circuit and the signal output end of the Y-axis circuit, namely the output end of the actuator driving experiment module (110), are respectively connected with the simulator interface (104), and the signal output end of the signal demodulation experiment module (107) is correspondingly connected with the X-axis signal of the signal operation experiment module (108) for realizing matrix operation The signal input end and the Y-axis signal input end of the correction circuit experiment module (109) are correspondingly connected with the X-axis signal output end and the Y-axis signal output end of the signal operation experiment module (108) for realizing matrix operation, and the signal output end of the actuator driving experiment module (110) is correspondingly connected with the X-axis signal input end and the Y-axis signal input end of the simulator interface (104). The signal input end of the signal amplification experiment module (105), the connection points between the signal amplification experiment module (105), the filter circuit experiment module (106), the signal demodulation experiment module (107), the signal operation experiment module (108), the correction circuit experiment module (109) and the actuator driving experiment module (110) are arranged, and the signal output end of the actuator driving experiment module (110) is provided with a wiring terminal (111) for connecting and replacing the corresponding circuit module.
As shown in fig. 2, the dynamically tuned gyroscope simulator 102 is composed of a dynamically tuned gyroscope simulator housing 201, a simulator external interface 202, a gyroscope simulator X-axis signal processing output board 203, a gyroscope simulator Y-axis signal processing output board 204, and an angle induction conversion to voltage signal output board 205.
As shown in fig. 3, the dynamically tuned gyroscope simulator 102 includes a first function simulator 3002, a second function simulator 3008, a third function simulator 3104 and a fourth function simulator 3107, wherein the signal input terminals M of the first function simulator 3002 and the third function simulator 3104XThrough the X-axis output end M in the simulator interface (104) on the circuit module experimental box 103XSignal output end M connected with actuator driving experiment module 110 in X-axis circuitXSignal input terminals M of the second function simulator 3008 and the fourth function simulator 3107YY-axis output M through simulator interface (104) on circuit module experimental box 103YThe signal output end M of the actuator driving experiment module 110 in the Y-axis circuit is connectedYThe signal outputs of the first function simulator 3002 and the second function simulator 3008 are respectively connected to the signal input terminal of the first adder 3009, and the signal output terminal of the first adder 3009 passes through the first modulation module 3010 and passes through the X-axis input terminal U of the simulator interface (104) on the circuit module experimental box 103OXA signal input terminal U connected with the signal amplification experimental module 105 in the X-axis circuitOXThe signal outputs of the third function simulator 3104 and the fourth function simulator 3107 are respectively connected to the signal input terminal of the second adder 3108, and the signal output terminal of the second adder 3108 passes through the Y-axis input terminal U of the simulator interface (104) on the circuit module experimental box 103 via the second modulation module 3019OYA signal input terminal U connected with the signal amplification experimental module 105 in the Y-axis circuitOY。
The first function simulator 3002 is composed of a first combination circuit 3001 and a first inverter 3003 which are sequentially connected in series, the second function simulator 3008 is composed of a second combination circuit 3004, a first delta-glass integrator 3005, a first scale 3006 and a second inverter 3007 which are sequentially connected in series, the third function simulator 3104 is composed of a third combination circuit 3101, a second delta-glass integrator 3102 and a second scale 3103 which are sequentially connected in series, and the fourth function simulator 3107 is composed of a fourth combination circuit 3101, a second delta-glass integrator 3102 and a second scale 3103 which are sequentially connected in seriesA combination circuit 3105 and a third inverter 3106, wherein the signal inputs of the first combination circuit (3001) of the first function simulator 3002 and the third combination circuit 3101 of the third function simulator (3104) are passed through the X-axis output terminal M of the simulator interface (104) of the circuit module experimental box 103XSignal output end M connected with actuator driving experiment module 110 in X-axis circuitXThe signal inputs of the second combination circuit 3004 and the fourth combination circuit 3105 pass through the Y-axis output M of the simulator interface (104) of the circuit module experimental box 103YThe signal output end M of the actuator driving experiment module 110 in the Y-axis circuit is connectedYThe signal outputs of the first inverter 3003 and the second inverter 3007 are connected to the signal input terminal of the first adder 3009, and the signal outputs of the second scaler 3103 and the third inverter 3106 are connected to the signal input terminal of the second adder 3108.
As shown in fig. 4, the first combined circuit 3001, the second combined circuit 3004, the third combined circuit 3101 and the fourth combined circuit 3105 have the same structure, and each of them includes: a third adder 30042, a fourth inverter 30041, a third delta-glass integrator 30043, a fourth delta-glass integrator 30044 and a fifth inverter 30045 which are sequentially connected in series to form a loop, wherein one input end of two input ends of the third adder 30042 passes through an X-axis output end M in an simulator interface (104) on the circuit module experimental box 103XOr Y-axis output end MYSignal output end M connected with actuator driving experiment module 110 in X-axis circuitXOr the signal output end M of the actuator driving experiment module 110 in the Y-axis circuitYOutput U of the fourth delta-glass integrator 30044OThe output of the first combination circuit 3001, the second combination circuit 3004, the third combination circuit 3101, or the fourth combination circuit 3105 is formed and is connected to the first inverter 3003, the first delta-glass integrator 3005, the second delta-glass integrator 3102, or the third inverter 3106, respectively.
As shown in fig. 4, UiThe output end of the third adder 30042 is connected to the fourth inverter 30041, the third and fourth delta- glass integrators 30043 and 30044 as one input end thereofNumber output UoWhere the signal is fed back to the other input terminal of the third adder 30042 through the fifth inverter 30045 to form negative feedback, thereby obtaining the s-domain transfer function
Wherein J represents the angular momentum of the dynamically tuned gyroscope, and H represents the moment of inertia of the dynamically tuned gyroscope; s is an independent variable.
The dynamically tuned gyroscope simulator 102 effectively simulates the input and output forms of the mechanically tuned gyroscope gauge head through the design of the combined circuit of the first function simulator 3002, the second function simulator 3008, the third function simulator 3104 and the fourth function simulator 3107 so as to replace the mechanically gauge head with higher cost. The method mainly realizes the functions of a mathematical model and signal modulation of the gyroscope. The phenomenon of cross-axis coupling exists inside the dynamically tuned gyroscope simulator 102, the realized specific transfer function g(s) (shown in fig. 3) is the following formula (1), and the difficulty of circuit design lies in the realization of a second-order/third-order undamped system.
Wherein J represents the angular momentum of the dynamically tuned gyroscope, and H represents the moment of inertia of the dynamically tuned gyroscope; H/J2s[s2+(H/J)2]The term represents the precession characteristic of the dynamically tuned gyroscope, namely the acting moment on one axis generates rotation around the other axis, and is the main transmission term of the dynamically tuned gyroscope; 1/J [ s ]2+(H/J)2]The term represents the rigid body characteristic of the dynamically tuned gyroscope, i.e. the moment of action on one axis produces rotation about the same axis, and is an undesirable coupling term for the dynamically tuned gyroscope.
The transfer function g(s) is implemented in a dynamically tuned gyroscope with the operations:
wherein M isx、MyInput for X-and Y-axis actuator drives, U, respectivelyxAnd UyIs the output of an X-axis and Y-axis annunciator, phix、ΦyThe X-axis and Y-axis ambient angular velocity inputs, respectively.
The circuit module experimental box 103 is connected with the dynamically tuned gyroscope simulator 102. The simulator interface 104 is connected with the dynamically tuned gyroscope simulator 102, and the simulator interface 104 is connected with the signal amplification experiment module 105, the filter circuit experiment module 106, the signal demodulation experiment module 107, the signal operation experiment module 108 for realizing matrix operation, the correction circuit experiment module 109 and the actuator driving experiment module 110 to form a closed loop.
The basic circuits (all prior art) in the circuit module experimental box 103 are shown in fig. 5-10.
The signal amplification experiment module 105 is used for measuring and amplifying a weak voltage signal output by an inductance sensor inside the dynamically tuned gyroscope simulator 102, so as to improve the signal-to-noise ratio and facilitate impedance matching. The circuit module experiment box 103 is provided with an instrument amplifying circuit, an amplifying circuit with an inverse series structure and an amplifying circuit with an in-phase series structure, and can be used for an experimenter to test as shown in fig. 5.
After the signal of the dynamically tuned gyroscope simulator 102 is pre-amplified by the filter circuit experiment module 106 through the signal amplification experiment module 105, the interference from the environment and the device itself needs to be further filtered. It is necessary to perform frequency-selective amplification on the input amplitude-modulated signal by using a band-pass filter circuit. The circuit module experiment box 103 is provided with an infinite gain feedback type band-pass filter circuit, an infinite gain feedback type low-pass filter circuit, a voltage-controlled voltage type band-pass filter circuit and a voltage-controlled voltage type low-pass filter circuit, and can be tested by experimenters as shown in figure 6.
The signal demodulation experiment module 107 and the dynamic tuning gyroscope simulator 102 output deflection signals are amplitude modulation signals modulated on excitation signals, and after preamplification and band-pass filtering, a detection circuit is needed to restore the amplitude modulation signals to voltage signals linearly related to the deflection of the gyroscope rotor relative to the gyroscope shell. To better understand the characteristics of the different demodulation circuits, the circuit module experimental box 103 prepares two demodulation circuits (e.g., multiplier demodulation circuit, switch demodulation circuit, fig. 7) for experimenters to perform comparison experiments.
The signal operation experiment module 108 for realizing matrix operation realizes decoupling operation of the dynamically tuned gyroscope simulator 102, and the circuit module experiment box 103 prepares a signal operation experiment circuit for realizing matrix operation, such as that shown in fig. 8, for experimenters to carry out comparison experiments. The signal operation experiment module 108 for implementing matrix operation specifically implements matrix operation d(s) as shown in formula (3):
and G(s) and D(s) are multiplied by the equation (4) so as to obtain a diagonal matrix and realize decoupling operation.
The calibration circuit experiment module 109: the rebalance loop of the dynamically tuned gyroscope simulator 102 is a closed loop that achieves self-locking of the dynamically tuned gyroscope simulator 102, and is a typical servo system. Through correction, the system should meet certain index requirements. The basic requirements for a rebalance loop can be summarized as:
1) the closed loop is stable and has a certain amplitude and phase angle stability margin.
2) Meet the specified dynamic and static indexes. The static index refers to the steady state deviation of the system under the input signals of the angle constant value, the speed and the angular acceleration; good dynamic index refers to the ability of the system to track angular rate changes in time, with sufficient bandwidth.
3) Can provide enough torque current to balance the maximum input angular speed, and the rotor deflection angle does not exceed the specified range when the maximum angular acceleration is borne.
The circuit module experiment box 103 is equipped with two calibration experiment circuits, as shown in FIG. 9, for experimenters to test.
The actuator drives the experimental module 110, and generally, the signal power processed by each previous link is very small, which is not enough to drive the torque coil to output sufficient torque, so that the signal needs to be power-amplified, and the driving capability of the rebalance loop is improved. The power amplification circuit consists of a linear power amplification device, outputs torque current and drives a dynamic tuning gyroscope simulator 102 torquer to apply torque to a gyroscope rotor. And the torque current output by the rebalance loop is converted into voltage by using the torque current sampling resistor, and the external angular velocity is measured after filtering and amplifying. The circuit module experiment box 103 is provided with two actuator driving experiment circuits, as shown in FIG. 10, for experimenters to test.
Example 2 Experimental method
The invention discloses an experiment method based on a CDIO measurement and control circuit software and hardware interactive comprehensive experiment box, which comprises the following steps of: the test system comprises a signal amplification circuit experiment, a signal filtering circuit experiment, a signal demodulation circuit experiment, a signal operation circuit experiment, a correction circuit experiment and an actuator driving experiment, and a closed loop debugging experiment which is carried out on the basis of the signal amplification circuit experiment, the signal filtering circuit experiment, the signal demodulation circuit experiment, the signal operation circuit experiment, the correction circuit experiment and the actuator driving experiment. Wherein
The signal amplification circuit experiment comprises the following steps:
1) according to the amplitude and the frequency of an input signal and the designed amplification factor, an experimenter designs and builds a single-stage amplification circuit;
2) respectively recording the anti-phase series connection structure and the in-phase series connection structure of the built single-stage amplification circuit and the circuit module experimental box 103 for the signal amplification experimental module 105, and the response of the instrument amplification circuit to common-mode input signals of 1Hz, 10HZ, 100Hz, 1KHz, 10KHz and 100KHz, and respectively obtaining the anti-phase series connection structure and the in-phase series connection structure of the built single-stage amplification circuit and the common-mode rejection ratio of the instrument amplification circuit;
3) the method comprises the steps of adjusting the amplification factors of a single-stage amplification circuit, an anti-phase series junction structure, an in-phase series junction structure and an instrument amplification circuit to be 20 times, then gradually increasing the frequency of a differential mode input signal to respectively obtain the frequency when the amplification factors of the single-stage amplification circuit and the instrument amplification circuit cannot reach the set 20 times, and obtain the relationship between the bandwidth and the gain of the single-stage amplification circuit, the anti-phase series junction structure, the in-phase series junction structure and the instrument amplification circuit;
4) the input of the built single-stage amplifying circuit is connected to the loop through the wiring terminal 111, and the noise level of the output signal of the built single-stage amplifying circuit in the loop is observed instead of the signal amplification experimental module 105 in the circuit module experimental box 103.
Second) the signal filtering circuit experiment includes the following steps:
1) according to the setting of the center frequency and the quality factor to be realized by the band-pass filtering, an experimenter selects the circuit structure of the band-pass filter, such as an infinite gain multi-path feedback type filter, a voltage-controlled voltage source type filter and the like, and calculates the resistance and the capacitance value in the corresponding circuit structure;
2) obtaining a frequency domain response curve of the designed circuit, actual central frequency and quality factor by using circuit simulation software (such as multisim, pspice and the like for circuit simulation), and further adjusting the structure and parameters of the circuit if the design requirements are not met;
3) and (3) building a corresponding actual circuit according to the simulation result, testing a circuit frequency domain response curve, comparing the circuit frequency domain response curve with the curve obtained by simulation, replacing the signal filtering experiment module 106 in the circuit module experiment box 103 if the circuit frequency domain response curve is uniformly connected to the loop through the wiring terminal 111, and observing the band-pass filtering effect of the built signal filtering circuit.
Thirdly), the signal demodulation circuit experiment comprises the following steps:
1) determining the amplitude and frequency of an input signal, and building a multiplier demodulation circuit by an experimenter;
2) adjusting the phase of a phase shifter in the built multiplier demodulation circuit until the output of the phase shifter is completely consistent with the phase of an output signal of a signal filtering module 106 in a circuit module experimental box 103, then connecting the phase shifter to a loop through a wiring terminal 111, replacing a signal demodulation experimental module 107 in the circuit module experimental box 103, and observing the amplitude and noise level of the output signal of the built multiplier demodulation circuit;
3) experimenters set up the switch demodulation circuit, observe whether the amplitude of the output signal of the switch demodulation circuit is consistent under the condition that the reference input signal in the switch demodulation circuit set up in each period and the output signal of the signal filtering module 106 are in the same phase and in the opposite phase, if so, the switch demodulation circuit is stored, otherwise, the switch demodulation circuit is corrected.
Fourthly), the signal operation circuit experiment comprises the following steps:
1) an experimenter determines resistance and capacitance parameters in a circuit for realizing matrix operation according to set matrix parameters;
2) performing matrix operation simulation in circuit simulation software, verifying a circuit operation result by using a square wave signal, observing the simulation result, adjusting parameters until a triangular wave signal is obtained from a shaft, and coaxially obtaining the square wave signal in a proportional relation with an input square wave signal;
3) and (3) building a signal operation circuit, carrying out experimental verification by using square waves, observing an experimental result, connecting the signal operation circuit to the loop through a wiring terminal 111 if the experimental result is consistent with a simulation result, replacing a signal operation experimental module 107 in a circuit module experimental box 103, and observing the decoupling effect of the built signal operation circuit in the loop.
Fifthly), the correction circuit experiment comprises the following steps:
1) determining a predicted correction target parameter, an expected cut-off frequency and a phase angle margin based on the dynamically tuned gyroscope rebalance loop;
2) an experimenter utilizes mathematical simulation software (such as Labview, matlab and the like to carry out control system design simulation) to simulate to obtain correction circuit parameters and the amplitude-frequency characteristics of an open-close loop of a loop, and calculates to obtain specific capacitance and resistance values in the correction circuit;
3) an experimenter builds a correction circuit, the correction circuit is connected to a loop through a wiring terminal 111 to replace a correction circuit experiment module 108 in a circuit module experiment box 103, step response test of the loop is carried out, and actual bandwidth of the loop is obtained according to a test curve.
Sixthly), the actuator driving circuit experiment comprises the following steps:
1) an experimenter tests the driving capability of a common operational amplifier circuit such as op07 to obtain the maximum output current of the common operational amplifier circuit;
2) selecting a power amplification chip suitable for coil driving, building an amplification circuit by using the selected power amplification chip, testing the maximum current output by the amplification circuit, if the maximum current is greater than 2A, accessing a simulation torque coil, checking whether the 2A driving can be provided, if so, connecting to a loop through a wiring terminal 111, replacing an actuator on the circuit module experimental box 103 to drive the experimental module 109, otherwise, reselecting the power amplification chip.
Seventhly), the closed loop debugging experiment comprises the following steps:
1) changing the angular velocity input by the dynamically tuned gyroscope simulator 102, and observing the change of the modulated signal output by the dynamically tuned gyroscope simulator 102;
2) observing the output of the built signal amplifying circuit and the built signal filtering circuit in sequence;
3) adjusting a phase shift circuit in the built signal demodulation circuit, and observing the output of the signal demodulation circuit;
4) observing and recording the output of the built signal operation circuit when dynamically tuning the angular speed of the x axis or the y axis input by the gyroscope simulator 102;
5) the built correction circuit and the actuator driving circuit are also connected into the loop to form a closed loop, whether the output amplitude values of the x axis and the y axis of the dynamically tuned gyroscope simulator 102 are less than 200mv or not is observed when no angular velocity disturbance exists, and if yes, the loop is successfully closed; otherwise, the closing cannot be realized, namely the output of the power supply is a saturated power supply direct current level or an oscillation signal, the closing cannot be realized, and the parameters of the correction circuit need to be further adjusted according to the simulation result of the correction circuit experiment.
Claims (8)
1. The utility model provides a based on interactive comprehensive experimental box of CDIO measurement and control circuit software and hardware, includes power module (101) and circuit module experimental box (103), its characterized in that still includes simulator interface (104), two way identical X axle circuits and Y axle circuits of structure that set up in dynamically tuned gyroscope simulator (102) and circuit module experimental box (103), and the signal operation experimental module (108) of realizing matrix operation who is connected with X axle circuit and Y axle circuit respectively, power module (101) for dynamically tuned gyroscope simulator (102) and circuit module experimental box (103) provide the power, dynamically tuned gyroscope simulator (102) constitutes closed loop through X axle circuit and Y axle circuit in simulator interface (104) connecting circuit module experimental box (103).
2. The CDIO measurement and control circuit-based software and hardware interactive comprehensive experiment box as claimed in claim 1, wherein the X-axis circuit and the Y-axis circuit are both composed of an input branch and an output branch, the two input branches are respectively connected with the two output branches through a signal operation experiment module (108), the input branch is composed of a signal amplification experiment module (105), a filter circuit experiment module (106) and a signal demodulation experiment module (107) which are sequentially connected in series, the output branch is composed of a correction circuit experiment module (109) and an actuator driving experiment module (110) which are connected in series, wherein a signal input end of the signal amplification experiment module (105) is connected with the simulator interface (104), a signal output end of the actuator driving experiment module (110) is respectively connected with the simulator interface (104), and a signal output end of the signal demodulation experiment module (107) is correspondingly connected with the signal operation practical implementation matrix operation The X axle signal input part and the Y axle signal input part of examining module (108), the X axle signal output part and the Y axle signal output part of realizing the signal operation experiment module (108) of matrix operation correspond and connect the signal input part of correction circuit experiment module (109), the signal output part of executor drive experiment module (110) corresponds X axle signal input part and the Y axle signal input part of connecting simulator interface (104).
3. The CDIO measurement and control circuit-based software and hardware interactive comprehensive experiment box as claimed in claim 2, characterized in that the signal input end of the signal amplification experiment module (105), and the connection points between the signal amplification experiment module (105), the filter circuit experiment module (106), the signal demodulation experiment module (107), the signal operation experiment module (108), the correction circuit experiment module (109) and the actuator driving experiment module (110) are provided with connection terminals (111) for connecting and replacing corresponding circuit modules, and the signal output end of the actuator driving experiment module (110) is provided with a connection terminal for connecting and replacing corresponding circuit modules.
4. The CDIO measurement and control circuit-based software and hardware interactive comprehensive experiment box as claimed in claim 1, wherein the dynamically tuned gyroscope simulator (102) comprises a first function simulator (3002), a second function simulator (3008), a third function simulator (3104) and a fourth function simulator (3107), wherein the signal input terminals M of the first function simulator (3002) and the third function simulator (3104)XThrough the output end M of the X axis in the simulator interface (104) on the circuit module experimental box (103)XA signal output end of an actuator driving experiment module (110) in the X-axis circuit is connected, and a signal input end M of the second function simulator (3008) and the fourth function simulator (3107) are connectedYThrough the Y-axis output end M of the simulator interface (104) on the circuit module experimental box (103)YThe signal output end of an actuator driving experiment module (110) in the Y-axis circuit is connected, the signal output ends of the first function simulator (3002) and the second function simulator (3008) are respectively connected with the signal input end of a first adder (3009), and the signal output end of the first adder (3009) passes through a first modulation module (3010) and passes through the X-axis input end U of a simulator interface (104) on the circuit module experiment box (103)OXThe signal input end of a signal amplification experiment module (105) in the X-axis circuit is connected, the signal output ends of the third function simulator (3104) and the fourth function simulator (3107) are respectively connected with the signal input end of a second adder (3108), and the signal output end of the second adder (3108) passes through a second modulation module (3019) and passes through the Y-axis input end U of a simulator interface (104) on the circuit module experiment box (103)OYAnd the signal input end of a signal amplification experiment module (105) in the Y-axis circuit is connected.
5. The CDIO measurement and control circuit-based software and hardware interactive comprehensive experiment box according to claim 4, wherein the first function simulator (3002) is composed of a first combination circuit (3001) and a first inverter (3003) which are sequentially connected in series, the second function simulator (3008) is composed of a second combination circuit (3004), a first Delphi integrator (3005), a first proportioner (3006) and a second inverter (3007) which are sequentially connected in series, the third function simulator (3104) is composed of a third combination circuit (3101), a second Delphi integrator (3102) and a second proportioner (3103) which are sequentially connected in series, the fourth function simulator (3107) is composed of a fourth combination circuit (3105) and a third inverter (3106) which are sequentially connected in series, wherein a signal input end of the third combination circuit (3101) of the first function simulator (3002) and a signal input end of the third combination circuit (3101) of the third function simulator (3104) pass through the signal input end of the third combination circuit (3101) of the first combination circuit (3001) of the first function simulator (3002) and the third function simulator (3104) which are sequentially connected in series X-axis output M in simulator interface (104) on block experiment box (103)XThe signal output end of an actuator driving experiment module (110) in the X-axis circuit is connected, and the signal input ends of a second combination circuit (3004) in the second function simulator (3008) and a fourth combination circuit (3105) in the fourth function simulator (3107) pass through a Y-axis output end M in a simulator interface (104) on the circuit module experiment box (103)YAnd the signal output end of the actuator driving experiment module (110) in the Y-axis circuit is connected, the signal output ends of the first inverter (3003) and the second inverter (3007) are respectively connected with the signal input end of the first adder (3009), and the signal output ends of the second scaler (3103) and the third inverter (3106) are respectively connected with the signal input end of the second adder (3108).
6. The CDIO measurement and control circuit-based hardware and software interactive comprehensive experiment box according to claim 5, wherein the first combination circuit (3001), the second combination circuit (3004), the third combination circuit (3101) and the fourth combination circuit (3105) have the same structure, and each of them comprises: a third adder (30042), a fourth inverter (30041), a third delta glass integrator (30043), a fourth delta glass integrator (30044) and a fifth inverter (30045) which are sequentially connected in series to form a loop, wherein the third adder (30042)) One of the two input ends is connected with the X-axis output end M in the simulator interface (104) on the circuit module experimental box (103)XOr Y-axis output end MYThe output U of the fourth Dribo integrator 30044 is connected to the signal output terminal of the actuator driving experiment module (110) in the X-axis circuit or the signal output terminal of the actuator driving experiment module (110) in the Y-axis circuitOThe output of the first combination circuit (3001), the second combination circuit (3004), the third combination circuit (3101), or the fourth combination circuit (3105) is formed and is correspondingly connected with the first inverter (3003), the first delta-glass integrator (3005), the second delta-glass integrator (3102), or the third inverter (3106).
7. An experimental method based on a CDIO measurement and control circuit software and hardware interactive comprehensive experimental box as claimed in claim 1, characterized by comprising respectively performing: the experiment of the signal amplification circuit, the experiment of the signal filter circuit, the experiment of the signal demodulation circuit, the experiment of the signal operation circuit, the experiment of the correction circuit and the experiment of the actuator drive, and the experiment of the closed loop debugging which is carried out on the basis of the experiment of the signal amplification circuit, the experiment of the signal filter circuit, the experiment of the signal demodulation circuit, the experiment of the signal operation circuit, the experiment of the correction circuit and the experiment of the actuator drive, and the signal generator, the oscilloscope, the PC interface module (112) and the liquid crystal display (113) are integrated, and an experimenter can more deeply understand the difference between the software simulation result and the hardware test phenomenon.
8. The CDIO measurement and control circuit software and hardware interactive comprehensive experiment box-based experiment method according to claim 7, wherein the closed loop debugging experiment comprises the following steps:
1) changing the input angular velocity of the dynamically tuned gyroscope simulator (102), and observing the change of an output modulated signal of the dynamically tuned gyroscope simulator (102);
2) observing the output of the built signal amplifying circuit and the built signal filtering circuit in sequence;
3) adjusting a phase shift circuit in the built signal demodulation circuit, and observing the output of the signal demodulation circuit;
4) when the angular speed of an x axis or a y axis is input into a dynamically tuned gyroscope simulator (102), observing and recording the output of the built signal operation circuit;
5) the built correction circuit and the actuator driving circuit are also connected into the loop to form a closed loop, whether the output amplitude values of the x axis and the y axis of the dynamically tuned gyroscope simulator (102) are less than 200mv or not is observed when no angular velocity disturbance exists, and if yes, the loop is successfully closed; otherwise, the closing cannot be realized, namely the output of the power supply is a saturated power supply direct current level or an oscillation signal, the closing cannot be realized, and the parameters of the correction circuit need to be further adjusted according to the simulation result of the correction circuit experiment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010465521.XA CN111583765A (en) | 2020-05-28 | 2020-05-28 | Software and hardware interactive comprehensive experiment box and method based on CDIO measurement and control circuit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010465521.XA CN111583765A (en) | 2020-05-28 | 2020-05-28 | Software and hardware interactive comprehensive experiment box and method based on CDIO measurement and control circuit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111583765A true CN111583765A (en) | 2020-08-25 |
Family
ID=72127071
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010465521.XA Pending CN111583765A (en) | 2020-05-28 | 2020-05-28 | Software and hardware interactive comprehensive experiment box and method based on CDIO measurement and control circuit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111583765A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103868506A (en) * | 2012-12-11 | 2014-06-18 | 西安航天精密机电研究所 | Dynamically tuned gyroscope moving base start-stop servo locking circuit |
| CN105486296A (en) * | 2015-10-30 | 2016-04-13 | 北京自动化控制设备研究所 | Dynamically-tuned-gyro digital rebalance loop based on FPGA (Field-Programmable Gate Array) |
| CN105894923A (en) * | 2016-06-21 | 2016-08-24 | 天津大学 | Measurement and control circuit comprehensive experiment box and method for dynamically tuned gyroscope rebalance loop |
| CN206194222U (en) * | 2016-06-21 | 2017-05-24 | 天津大学 | Monitoring circuit comprehensive experiment case in dynamic tuned gyroscope appearance reequilibrate return circuit |
| CN110570734A (en) * | 2019-08-19 | 2019-12-13 | 天津大学 | Portable comprehensive experiment box and method for measurement and control circuit |
| CN110751888A (en) * | 2019-10-29 | 2020-02-04 | 徐州工程学院 | Hierarchical analog circuit experimental box |
| CN110827636A (en) * | 2019-11-27 | 2020-02-21 | 天津大学 | Measurement and control circuit teaching experiment system with simulation function and experiment method |
| CN210323082U (en) * | 2019-05-30 | 2020-04-14 | 东南大学 | Tunnel reluctance type accelerometer closed-loop control circuit based on feedback capacitance torquer |
-
2020
- 2020-05-28 CN CN202010465521.XA patent/CN111583765A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103868506A (en) * | 2012-12-11 | 2014-06-18 | 西安航天精密机电研究所 | Dynamically tuned gyroscope moving base start-stop servo locking circuit |
| CN105486296A (en) * | 2015-10-30 | 2016-04-13 | 北京自动化控制设备研究所 | Dynamically-tuned-gyro digital rebalance loop based on FPGA (Field-Programmable Gate Array) |
| CN105894923A (en) * | 2016-06-21 | 2016-08-24 | 天津大学 | Measurement and control circuit comprehensive experiment box and method for dynamically tuned gyroscope rebalance loop |
| CN206194222U (en) * | 2016-06-21 | 2017-05-24 | 天津大学 | Monitoring circuit comprehensive experiment case in dynamic tuned gyroscope appearance reequilibrate return circuit |
| CN210323082U (en) * | 2019-05-30 | 2020-04-14 | 东南大学 | Tunnel reluctance type accelerometer closed-loop control circuit based on feedback capacitance torquer |
| CN110570734A (en) * | 2019-08-19 | 2019-12-13 | 天津大学 | Portable comprehensive experiment box and method for measurement and control circuit |
| CN110751888A (en) * | 2019-10-29 | 2020-02-04 | 徐州工程学院 | Hierarchical analog circuit experimental box |
| CN110827636A (en) * | 2019-11-27 | 2020-02-21 | 天津大学 | Measurement and control circuit teaching experiment system with simulation function and experiment method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110570734A (en) | Portable comprehensive experiment box and method for measurement and control circuit | |
| Barber et al. | Control practices using simulink with arduino as low cost hardware | |
| CN105222765B (en) | The temperature-compensation method and system of MEMS gyro | |
| CN105353789B (en) | Continuous shaking signal time course reproduction control method | |
| CN105892293A (en) | Silicon micro-machined gyroscope digital driving closed loop control system | |
| CN105894923B (en) | The telemetry circuit comprehensive experiment box and method of dynamically tuned gyro, DTG rebalance loop | |
| CN111583765A (en) | Software and hardware interactive comprehensive experiment box and method based on CDIO measurement and control circuit | |
| CN106441367A (en) | Test method and device for feedback residual modulation phase of fiber-optic gyroscope | |
| CN206194222U (en) | Monitoring circuit comprehensive experiment case in dynamic tuned gyroscope appearance reequilibrate return circuit | |
| CN203259542U (en) | Flexible pendulous accelerometer digital control circuit | |
| Ptak | Application of software packages in research and didactics | |
| CN204788410U (en) | Novel top combination | |
| Cui et al. | Design and experiment of MEMS solid-state wave gyroscope quadrature error correction system | |
| CN103197100A (en) | Signal conditioning device used for inductively coupled plasma (ICP) acceleration sensor | |
| CN110827636A (en) | Measurement and control circuit teaching experiment system with simulation function and experiment method | |
| CN107731066A (en) | A kind of fundamental arithmetic circuit brassboard and its application method | |
| Li et al. | High-Precision Magnetic Field Control of Active Magnetic Compensation System Based on MFAC-RBFNN | |
| Sánchez-Chiva et al. | A test setup for the characterization of Lorentz-force MEMS magnetometers | |
| CN207752676U (en) | A kind of fundamental arithmetic circuit experimental plate | |
| CN102654754B (en) | Method for detecting vibration control dynamic range by using load simulator and load simulator | |
| CN104457791A (en) | Method for measuring fiber-optic gyroscope bandwidth under static condition | |
| CN203191404U (en) | Signal conditioning apparatus for ICP acceleration sensor | |
| CN109061230B (en) | Method and system for evaluating crosstalk characteristics of multi-axis detection circuit board | |
| Grachev et al. | Analysis of Ensuring Stability of Metrological Characteristics of Velocity Head Meter in Flight Conditions of Aircraft in Upper Atmosphere | |
| Ellis et al. | Microcomputer-controlled precision pneumatic pressure generator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20200825 |
|
| WD01 | Invention patent application deemed withdrawn after publication |