CN111711448B - Rubidium atomic clock taming system and method - Google Patents

Rubidium atomic clock taming system and method Download PDF

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CN111711448B
CN111711448B CN202010788251.6A CN202010788251A CN111711448B CN 111711448 B CN111711448 B CN 111711448B CN 202010788251 A CN202010788251 A CN 202010788251A CN 111711448 B CN111711448 B CN 111711448B
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err
atomic clock
rubidium atomic
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CN111711448A (en
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肖冬
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Fifth Research Institute Of Telecommunications Technology Co ltd
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    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03L—AUTOMATIC CONTROL, STARTING, SYNCHRONISATION OR STABILISATION OF GENERATORS OF ELECTRONIC OSCILLATIONS OR PULSES
    • H03L7/00—Automatic control of frequency or phase; Synchronisation
    • H03L7/26—Automatic control of frequency or phase; Synchronisation using energy levels of molecules, atoms, or subatomic particles as a frequency reference
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Stabilization Of Oscillater, Synchronisation, Frequency Synthesizers (AREA)

Abstract

The invention discloses an atomic clock taming system and a method, wherein the system comprises: the device comprises a phase discriminator, a filter, a PID controller, an atomic clock and a frequency divider; the method comprises the following steps: converting the frequency signal into a phase discrimination value by a phase discriminator, and filtering the phase discrimination value by a filter; the PID controller controls the atomic clock according to the phase discrimination value; and obtaining a learning process by adopting a supervised Hebb learning algorithm. The invention adopts the combination of learning algorithm and PID control, and improves the control precision and stability.

Description

Rubidium atomic clock taming system and method
Technical Field
The invention relates to the technical field of atomic clocks, in particular to a rubidium atomic clock taming system and a rubidium atomic clock taming method.
Background
The time-keeping function of the equipment is realized by adopting a satellite navigation system or an externally input clock signal to discipline an atomic clock. At present, various rubidium atomic clock manufacturers exist in China, the parameters of atomic clocks of different models are different, and corresponding control algorithms are also different. In the process of project research and development, different types of atomic clocks are often selected according to different research and development precision requirements; in the production process, atomic clocks of different models are often purchased for replacement use due to supply reasons, and each type of rubidium atomic clock adopts a set of control algorithm of atomic clock parameters according to atomic clock data provided by equipment manufacturers. When different models of rubidium atomic clocks are used, different control algorithms need to be reloaded.
The prior art has the following defects:
1) The method can only be applied to the debugged atomic clock;
2) The model of the rubidium atomic clock is changed, and the taming algorithm needs to be adapted again;
3) The rubidium atomic clock is seriously aged after being used for a long time, and the algorithm needs to be adapted and tamed again.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide a rubidium atomic clock taming system, including: the device comprises a phase discriminator, a filter, a PID controller, an atomic clock and a frequency divider; the phase discriminator is used for inputting and converting external frequency signals; the phase discriminator is connected with the PID controller through the filter; the PID controller is connected with the input end of the frequency divider through the atomic clock; the frequency divider is connected with the input end of the phase discriminator.
The rubidium atomic clock taming method comprises the following steps:
s1, converting a frequency signal into a phase discrimination value by a phase discriminator, and filtering the phase discrimination value by a filter;
s2, the PID controller controls the rubidium atomic clock according to the phase discrimination value:
s21, if K is an input variable, the error value is err (K), the input value is in (K), the output value is out (K), then err (K) = in (K) -out (K), and K is set p To scale the learning speed, K i For integral learning of speed, K d For the differential learning speed, Δ U (k) is the kth periodic PID adjustment value, then:
ΔU(k)＝K p (err(k)-err(k-1))+K i err(k)+K d (err(k)-2err(k-1))+err(k-2))；
s22, setting:
X 1 (k)＝err(k)；
X 2 (k)＝err(k)-err(k-1)；
X 3 (k)＝err(k)-2err(k-1)+err(k-2)；
let the weighting coefficient be w i (k) Then, the expression of the PID algorithm is:
Figure BDA0002622817300000021
wherein:
Figure BDA0002622817300000022
and S3, if the phase identification value of the rubidium atomic clock is Z (k) = err (k), and the sum of PID (proportion integration differentiation) regulation values of k periods of the rubidium atomic clock is recorded as U (k), then U (k) = U (k-1) + delta U (k), eta (k) i For learning speed, a learning process is obtained by adopting a supervised Hebb learning algorithm:
Δw i (k)＝η i Z(k)U(k)X i (k)；
then:
w i (k)＝w(k-1)+Δw i (k)；
s4, setting w p Is a proportional weighting coefficient, w i Is an integral weighting coefficient, w d In order to differentiate the weighting coefficients,
the PID parameters are:
w p ＝w p +K p *Z k *U(k)*X 2 (k)；
w i ＝w i +K i *Z k *U(k)*X 1 (k)；
w d ＝w d +K d *Z k *U(k)*X 3 (k)；
s5 obtaining K in S21 p 、K i 、K d 。
The invention has the beneficial effects that:
1) The combination of learning algorithm and PID control is adopted, so that the control precision and stability are improved;
2) The portability is higher, the method is convenient to apply to more systems, and the dependence degree of software on hardware is reduced;
3) The automation degree of the domestication rubidium clock is enhanced, the universality is improved, the labor cost is reduced, and the development speed is improved.
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FIG. 1 is a system schematic of the present invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
as shown in fig. 1, the rubidium atomic clock taming system of the invention comprises: the device comprises a phase discriminator, a filter, a PID controller, an atomic clock and a frequency divider; the phase discriminator is used for inputting and converting external frequency signals; the phase discriminator is connected with the PID controller through the filter; the PID controller is connected with the input end of the frequency divider through the atomic clock; the frequency divider is connected with the input end of the phase discriminator.
The rubidium atomic clock taming method comprises the following steps:
s1, converting a frequency signal into a phase discrimination value by a phase discriminator, and filtering the phase discrimination value by a filter;
s2, the PID controller controls the rubidium atomic clock according to the phase discrimination value:
s21, if K is an input variable, an error value is err (K), an input value is in (K), an output value is out (K), then err (K) = in (K) -out (K), and K is set p To scale the learning speed, K i For integral learning of speed, K d For the differential learning speed, Δ U (k) is the kth period PID adjustment value, then:
ΔU(k)＝K p (err(k)-err(k-1))+K i err(k)+K d (err(k)-2err(k-1))+err(k-2))；
s22, setting:
X 1 (k)＝err(k)；
X 2 (k)＝err(k)-err(k-1)；
X 3 (k)＝err(k)-2err(k-1)+err(k-2)；
let the weighting coefficient be w i (k) Then, the expression of the PID algorithm is:
Figure BDA0002622817300000041
wherein:
Figure BDA0002622817300000042
and S3, if the phase identification value of the rubidium atomic clock is Z (k) = err (k), and the sum of PID (proportion integration differentiation) regulation values of k periods of the rubidium atomic clock is recorded as U (k), then U (k) = U (k-1) + delta U (k), eta (k) i For learning speed, a learning process is obtained by adopting a supervised Hebb learning algorithm:
Δw i (k)＝η i Z(k)U(k)X i (k)；
then:
w i (k)＝w(k-1)+Δw i (k)；
s4, setting w p Is a proportional weighting coefficient, w i Is an integral weighting coefficient, w d In order to differentiate the weighting coefficients,
the PID parameters are:
w p ＝w p +K p *Z k *U(k)*X 2 (k)；
w i ＝w i +K i *Z k *U(k)*X 1 (k)；
w d ＝w d +K d *Z k *U(k)*X 3 (k)；
s5 obtaining K in S21 p 、K i 、K d And S2, forming closed-loop automatic control:
Figure BDA0002622817300000043
Figure BDA0002622817300000044
Figure BDA0002622817300000051
u (k) is the sum of the PID control results, PID control is once after one period, and U (k) is the sum of the results calculated in each period, namely the absolute center value of the rubidium atomic clock.
According to the method, the rubidium atomic clock learning and taming algorithm is combined, the rubidium atomic clock learning and taming algorithm can serve the rubidium atomic clock to control the whole period, and after the atomic clock is aged and aggravated in the later period, the algorithm can control the rubidium atomic clock more accurately, so that the control stability is guaranteed; the algorithm capable of rapidly identifying the control key parameters of the rubidium atomic clock can reduce the coupling degree of the rubidium atomic clock and a software algorithm, the control algorithm ensures that the rubidium clock can be plugged and pulled, and the stability of the rubidium clock can be rapidly improved and is not affected when a plurality of rubidium clocks are controlled.
The combination of learning algorithm and PID control is adopted, so that the control precision and stability are improved; the portability is higher, the method is convenient to apply to more systems, and the dependence degree of software on hardware is reduced; the automation degree of the domestication rubidium clock is enhanced, the universality is improved, the labor cost is reduced, and the development speed is improved.
The technical solution of the present invention is not limited to the limitations of the above specific embodiments, and all technical modifications made according to the technical solution of the present invention fall within the protection scope of the present invention.

Claims (2)

1. A rubidium atomic clock taming method is applied to a rubidium atomic clock taming system, and the rubidium atomic clock taming system comprises: the device comprises a phase discriminator, a filter, a PID controller, an atomic clock and a frequency divider; the phase discriminator is used for inputting and converting external frequency signals; the phase discriminator is connected with the PID controller through the filter; the PID controller is connected with the input end of the frequency divider through the original clock; the frequency divider is connected with the input end of the phase discriminator; the method is characterized by comprising the following steps:
s1, converting a frequency signal into a phase discrimination value by a phase discriminator, and filtering the phase discrimination value by a filter;
s2, the PID controller controls the rubidium atomic clock according to the phase discrimination value:
s21, if K is an input variable, an error value is err (K), an input value is in (K), an output value is out (K), then err (K) = in (K) -out (K), and K is set p To scale the learning speed, K i For integral learning of speed, K d For the differential learning speed, Δ U (k) is the kth period PID adjustment value, then:
ΔU(k)＝K p (err(k)-err(k-1))+K i err(k)+K d (err(k)-2err(k-1))+err(k-2))；
s22, setting:
X 1 (k)＝err(k)；
X 2 (k)＝err(k)-err(k-1)；
X 3 (k)＝err(k)-2err(k-1)+err(k-2)；
let the weighting coefficient be w i (k) Then, the expression of the PID algorithm is:
Figure FDA0004072341440000011
wherein:
Figure FDA0004072341440000012
and S3, if the phase identification value of the rubidium atomic clock is Z (k) = err (k), and the sum of PID (proportion integration differentiation) regulation values of k periods of the rubidium atomic clock is recorded as U (k), then U (k) = U (k-1) + delta U (k), eta (k) i For learning speed, a learning process is obtained by adopting a supervised Hebb learning algorithm:
Δw i (k)＝η i Z(k)U(k)X i (k)；
then:
w i (k)＝w(k-1)+Δw i (k)；
s4, setting w p Is a proportional weighting coefficient, w i Is an integral weighting coefficient, w d In order to differentiate the weighting coefficients,
the PID parameters are:
w p ＝w p +K p *Z k *U(k)*X 2 (k)；
w i ＝w i +K i *Z k *U(k)*X 1 (k)；
w d ＝w d +K d *Z k *U(k)*X 3 (k)；
s5 obtaining K in S21 p 、K i 、K d 。
2. The rubidium atomic clock taming method as defined in claim 1, wherein K in S21 is obtained in S5 p 、K i 、K d The specific process comprises the following steps:
Figure FDA0004072341440000021
Figure FDA0004072341440000022
Figure FDA0004072341440000023
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US4476445A (en) * 1982-05-18 1984-10-09 Eg&G, Inc. Methods and apparatus for rapid and accurate frequency syntonization of an atomic clock
RU2605408C2 (en) * 2012-06-15 2016-12-20 Пикосан Ой Substrate web coating by atomic layers deposition
US20140028405A1 (en) * 2012-07-27 2014-01-30 Qualcomm Incorporated Low power microfabricated atomic clock
US10311341B1 (en) * 2015-08-27 2019-06-04 Hrl Laboratories, Llc System and method for online deep learning in an ultra-low power consumption state
CN105790714A (en) * 2016-04-06 2016-07-20 广州邦正电力科技有限公司 Crystal oscillator taming method and crystal oscillator taming system based on SOPC technology
JP2018093271A (en) * 2016-11-30 2018-06-14 株式会社リコー Atomic oscillator and method for controlling atomic oscillator
CN107505829A (en) * 2017-08-28 2017-12-22 北京工业大学 A kind of caesium fountain clock clock based on genetic algorithm optimization wavelet neural network and hydrogen clock frequency difference predictor method
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