CN111830594A - Electromagnetic force application type accelerometer servo system testing device, compensation system and method - Google Patents
Electromagnetic force application type accelerometer servo system testing device, compensation system and method Download PDFInfo
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Abstract
The invention discloses a testing device, a compensating system and a method for an electromagnetic force-adding type accelerometer servo system, which belong to the technical field of electronic measurement and comprise a direct-current power supply and an accelerometer servo board; the accelerometer servo board includes: an electromagnetic moment waveform generator for generating an electromagnetic moment wave according to the requirement; the moment-applying data synthesis module is used for receiving the electromagnetic moment-applying wave of the electromagnetic moment-applying waveform generator and the complementary signal of the nonlinear complementary network and processing the electromagnetic moment-applying wave and the complementary signal; the PWM generator is used for receiving the output signal of the moment exerting data synthesis module and generating a required pulse signal; receiving a pulse signal of the PWM generator, and generating a precision width-adjusting constant current source which needs to drive a constant current source according to the pulse signal; and an accelerometer torquer of the accelerometer is connected with the precision width-adjusting constant current source. The invention adopts an electromagnetic force application method to simulate the dynamic performance measurement and nonlinear compensation of an accelerometer servo system of mechanical motion.
Description
Technical Field
The invention belongs to the technical field of electronic measurement, and particularly relates to a testing device, a compensating system and a method for an electromagnetic force application type accelerometer servo system.
Background
The gravimeter is a precise device for measuring gravity, and not only puts high requirements on the static precision and the static stability of the accelerometer, but also puts high requirements on the adaptation of random vibration and slow periodic heave motion. In general, dynamic performance measurement is performed on a vibration table and a heave table or a swing table, and gravity output jump compensation is performed according to measurement results, which is expensive.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the utility model provides a test device, a compensation system and a method for a servo system of an electromagnetic force-applying type accelerometer, which adopts an electromagnetic force-applying method to simulate the dynamic performance measurement and nonlinear compensation of the servo system of the accelerometer in mechanical motion.
The technical scheme adopted by the invention for solving the technical problems in the prior art is as follows:
the invention provides a test device for a servo system of an electromagnetic force-adding type accelerometer, wherein the accelerometer comprises an accelerometer torquer and a differential capacitor; the device at least comprises a direct current power supply and an accelerometer servo board; wherein: the accelerometer servo board comprises:
an electromagnetic moment waveform generator for generating an electromagnetic moment wave according to the requirement;
the moment-applying data synthesis module is used for receiving the electromagnetic moment-applying wave of the electromagnetic moment-applying waveform generator and the complementary signal of the nonlinear complementary network and processing the electromagnetic moment-applying wave and the complementary signal;
the PWM generator is used for receiving the output signal of the moment exerting data synthesis module and generating a required pulse signal;
receiving a pulse signal of the PWM generator, and generating a precision width-adjusting constant current source which needs to drive a constant current source according to the pulse signal;
and an accelerometer torquer of the accelerometer is connected with the precision width-adjusting constant current source.
A second object of the present invention is to provide a compensation system for a servo system of an electromagnetic force-loaded accelerometer, wherein: the test device of the electromagnetic force-adding type accelerometer servo system comprises an accelerometer torquer and a differential capacitor; the device at least comprises a direct current power supply and an accelerometer servo board; wherein: the accelerometer servo board comprises:
an electromagnetic moment waveform generator for generating an electromagnetic moment wave according to the requirement;
the moment-applying data synthesis module is used for receiving the electromagnetic moment-applying wave of the electromagnetic moment-applying waveform generator and the complementary signal of the nonlinear complementary network and processing the electromagnetic moment-applying wave and the complementary signal;
the PWM generator is used for receiving the output signal of the moment exerting data synthesis module and generating a required pulse signal;
receiving a pulse signal of the PWM generator, and generating a precision width-adjusting constant current source which needs to drive a constant current source according to the pulse signal;
an accelerometer torquer of the accelerometer is connected with the precision width-adjusting constant current source;
the compensation system comprises at least:
the capacitance detection amplifier receives the differential capacitance output signal and amplifies the signal;
the control correction network is used for receiving the output signal of the capacitance detection amplifier and correcting the signal;
the analog-to-digital converter is used for receiving the output signal of the control correction network and carrying out analog-to-digital conversion on the signal;
the data processing module is used for receiving the digital signals of the analog-to-digital converter and processing the digital signals;
the moment exerting data synthesis module receives the output signal of the data processing module and processes the output signal of the data processing module, the electromagnetic moment exerting wave and the compensation signal.
Further, at least the following is included:
and the oscilloscope is used for receiving the control correction network output signal.
Further, at least the following is included:
and the data processing module performs data interaction with the accelerometer test system through the CAN box.
Further, the electromagnetic moment-applying waveform generator generates acceleration sine waves with amplitude of +/-0.1 g and sweep frequency of 0.1Hz to 100Hz and different frequencies.
The third purpose of the invention is to provide a method for a compensation system of an electromagnetic force-adding type accelerometer servo system, which comprises the following steps:
s1, adding an output signal of the electromagnetic moment applying waveform generator into the moment applying data synthesis module; according to the requirement of the dynamic frequency of a gravimeter system, the electromagnetic moment-applying waveform generator generates an acceleration sine waveform meeting the requirement;
s2, controlling the pulse width of the PWM waveform generator through data synthesis to enable the accelerometer pendulous reed to generate sinusoidal motion;
s3, obtaining gravity acceleration output information after the output of the analog-to-digital converter passes through the data processing module; the gravity acceleration output information is connected with a test computer through a CAN box, and the test computer outputs acceleration information in a graphic mode; the test computer is provided with an accelerometer test system;
s4, according to the actual working environment of the gravimeter system, the electromagnetic moment waveform generator generates an acceleration waveform with a period of 0.1S-10S and an amplitude of +/-0.1 g; measuring nonlinear rectification errors between gravity information output under different frequencies and gravity information output in a static state on a test computer;
and S5, obtaining correction data of nonlinear compensation through data modeling and simulation according to the measured nonlinear rectification error, synthesizing the correction data with A/D sampling data through a nonlinear compensation network, and driving PWM pulse width, so that the nonlinear rectification error is reduced by the system gravity information output.
The invention has the advantages and positive effects that:
the invention overcomes the limitation of experiments, can timely observe the output of the gravity information of the accelerometer under different vibration frequencies of 0.1 Hz-100 Hz by matching with bottom layer control software and an accelerometer test system when the accelerometer works in a closed loop under the static environment of a laboratory, can obtain parameters such as closed loop bandwidth, step response and the like of a servo line of the accelerometer, and effectively compensates the nonlinearity of the closed loop system through a compensation link according to the nonlinear result output by the gravity information.
Description of the drawings:
FIG. 1 is a block circuit diagram of a preferred embodiment of the present invention;
FIG. 2 is a block diagram of the circuit between the acceleration servo board and the non-linear compensation network in the preferred embodiment of the present invention.
Detailed Description
For further understanding of the contents, features and effects of the present invention, the embodiments are illustrated in the following detailed description with reference to the accompanying drawings:
referring to fig. 1 and 2, an electromagnetic force-loading type accelerometer servo system testing apparatus includes an accelerometer torquer and a differential capacitor; the device comprises a direct current power supply and an accelerometer servo board; wherein: the accelerometer servo board comprises:
an electromagnetic moment waveform generator for generating an electromagnetic moment wave according to the requirement; preferably, the method comprises the following steps: the electromagnetic moment-applying waveform generator generates acceleration sine waves with different frequencies, wherein the amplitude is +/-0.1 g, and the frequency sweeping frequency is 0.1Hz to 100 Hz.
The moment-applying data synthesis module is used for receiving the electromagnetic moment-applying wave of the electromagnetic moment-applying waveform generator and the complementary signal of the nonlinear complementary network and processing the electromagnetic moment-applying wave and the complementary signal; the moment application data synthesis module is an original technology of the invention and is also an electromagnetic moment application technology software data processing module of the invention, according to different moment application requirements, the software module generates acceleration digital signals with different frequencies and different amplitudes, the acceleration digital signals and the gravity data output sampled by the A/D converter are digitally synthesized, the pulse width of the PWM generator is changed, and the current flowing through the accelerometer torquer is controlled by a precise constant current source, so that the accelerometer pendulous reed generates required dynamic motion.
The PWM generator is used for receiving the output signal of the moment exerting data synthesis module and generating a required pulse signal;
receiving a pulse signal of the PWM generator, and generating a precision width-adjusting constant current source which needs to drive a constant current source according to the pulse signal;
and an accelerometer torquer of the accelerometer is connected with the precision width-adjusting constant current source.
On the basis of the above preferred embodiment, a compensation system of an electromagnetic force-loaded accelerometer servo system, wherein: the test device of the electromagnetic force-adding type accelerometer servo system comprises an accelerometer torquer and a differential capacitor; the device at least comprises a direct current power supply and an accelerometer servo board; wherein: the accelerometer servo board comprises:
an electromagnetic moment waveform generator for generating an electromagnetic moment wave according to the requirement;
the moment-applying data synthesis module is used for receiving the electromagnetic moment-applying wave of the electromagnetic moment-applying waveform generator and the complementary signal of the nonlinear complementary network and processing the electromagnetic moment-applying wave and the complementary signal;
the PWM generator is used for receiving the output signal of the moment exerting data synthesis module and generating a required pulse signal;
receiving a pulse signal of the PWM generator, and generating a precision width-adjusting constant current source which needs to drive a constant current source according to the pulse signal;
an accelerometer torquer of the accelerometer is connected with the precision width-adjusting constant current source;
the compensation system comprises:
the capacitance detection amplifier receives the differential capacitance output signal and amplifies the signal;
the control correction network is used for receiving the output signal of the capacitance detection amplifier and correcting the signal;
the analog-to-digital converter is used for receiving the output signal of the control correction network and carrying out analog-to-digital conversion on the signal;
the data processing module is used for receiving the digital signals of the analog-to-digital converter and processing the digital signals;
the moment exerting data synthesis module receives the output signal of the data processing module and processes the output signal of the data processing module, the electromagnetic moment exerting wave and the compensation signal.
Preferably, the method further comprises the following steps:
and the oscilloscope is used for receiving the control correction network output signal.
Further comprising:
and the data processing module performs data interaction with the accelerometer test system through the CAN box.
The third purpose of the invention is to provide a method for a compensation system of an electromagnetic force-adding type accelerometer servo system, which comprises the following steps:
firstly, a servo system is not added with a nonlinear compensation network link, only an electromagnetic moment applying waveform generator link is added, the electromagnetic moment applying waveform generator generates acceleration sine waveforms with different frequencies and different amplitudes according to the requirement of the dynamic frequency of a gravimeter system, the pulse width of a PWM waveform generator is controlled through data synthesis, so that an accelerometer pendulous reed generates sine motion, and as shown in figure 2, the gravity acceleration output information can be settled through the output of an A/D converter through a data processing module. This information is connected through the USBCAN and with a test computer that outputs acceleration information graphically using accelerometer test software.
According to the actual working environment of the gravimeter system, the electromagnetic moment-applying waveform generator generates an acceleration waveform with a period of 0.1 s-10 s and an amplitude of +/-0.1 g. Because the accelerometer and the servo circuit have nonlinear errors, nonlinear rectification errors between gravity information output under different frequencies and gravity information output in a static state can be conveniently measured on a test computer.
According to the measured nonlinear rectification error, as shown in fig. 2, correction data of nonlinear compensation can be obtained through data modeling and simulation, the correction data is synthesized with A/D sampling data through a nonlinear compensation network, PWM pulse width is driven, and therefore the nonlinear rectification error is effectively reduced through system gravity information output.
Without applying electromagnetic force
→ 0.1Hz → 0.125Hz → 0.16Hz → 0.25Hz → 0.5Hz → 1Hz → 10Hz → 20Hz → 30Hz → 40Hz → 50Hz → 60Hz → 70Hz → 80Hz → 90Hz → 100Hz → no applied magnetic force → 0.1Hz → …
The hardware requirements of the preferred embodiment described above are: the system comprises a direct current power supply, an accelerometer servo circuit board, an accelerometer, a CAN receiving box and a PC. The connection is made as in figure 1.
An 'electromagnetic moment-applying waveform generator' link is added in a control program to generate acceleration sine wave software with different frequencies of +/-0.1 g of amplitude and 0.1Hz to 100Hz of frequency sweep, and electromagnetic moment is applied to an accelerometer torquer through a precise width-adjusting constant current source on an accelerometer servo circuit board, so that the accelerometer pendulous reed can move under different frequencies.
The computer is loaded with an accelerometer test system, gravity information is tested through the test system, the communication between the computer and an accelerometer servo board adopts a CAN2.0 communication protocol and is connected through a USBCAN box, and the communication baud rate is 1 MBytes/s.
And when the power supply is switched on, the whole measuring device starts to work, the working indicator lamp on the circuit board is lightened, and the computer test software receives data and displays gravity information in a graph mode. The gravity information comprises a waveform without filtering and a waveform with filtering of different scales, and the dynamic waveform and the gravity information are clear at a glance. The software design automatically switches the frequency every half hour and is repeatedly executed. The measured frequency characteristic is fed back to the nonlinear compensation link to effectively compensate the dynamic nonlinear error.
The embodiments of the present invention have been described in detail, but the description is only for the preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.
Claims (6)
1. An electromagnetic force-adding type accelerometer servo system testing device is disclosed, wherein an accelerometer comprises an accelerometer torquer and a differential capacitor; the device is characterized by at least comprising a direct current power supply and an accelerometer servo board; wherein: the accelerometer servo board comprises:
an electromagnetic moment waveform generator for generating an electromagnetic moment wave according to the requirement;
the moment-applying data synthesis module is used for receiving the electromagnetic moment-applying wave of the electromagnetic moment-applying waveform generator and the complementary signal of the nonlinear complementary network and processing the electromagnetic moment-applying wave and the complementary signal;
the PWM generator is used for receiving the output signal of the moment exerting data synthesis module and generating a required pulse signal;
receiving a pulse signal of the PWM generator, and generating a precision width-adjusting constant current source which needs to drive a constant current source according to the pulse signal;
and an accelerometer torquer of the accelerometer is connected with the precision width-adjusting constant current source.
2. A compensation system based on the servo system of the electromagnetic force-loaded accelerometer of claim 1, comprising at least:
the capacitance detection amplifier receives the differential capacitance output signal and amplifies the signal;
the control correction network is used for receiving the output signal of the capacitance detection amplifier and correcting the signal;
the analog-to-digital converter is used for receiving the output signal of the control correction network and carrying out analog-to-digital conversion on the signal;
the data processing module is used for receiving the digital signals of the analog-to-digital converter and processing the digital signals;
the moment exerting data synthesis module receives the output signal of the data processing module and processes the output signal of the data processing module, the electromagnetic moment exerting wave and the compensation signal.
3. The compensation system of the servo system of an electromagnetic force-loaded accelerometer of claim 2, further comprising at least:
and the oscilloscope is used for receiving the control correction network output signal.
4. The compensation system of the servo system of an electromagnetic force-loaded accelerometer of claim 2, further comprising at least:
and the data processing module performs data interaction with the accelerometer test system through the CAN box.
5. The compensation system of the servo system of an electromagnetic force-loaded accelerometer of claim 2,
the electromagnetic moment-applying waveform generator generates acceleration sine waves with different frequencies, wherein the amplitude is +/-0.1 g, and the frequency sweeping frequency is 0.1Hz to 100 Hz.
6. A method for compensating a system based on the servo system of the electromagnetic force-loaded accelerometer of claim 2, comprising the steps of:
s1, adding an output signal of the electromagnetic moment applying waveform generator into the moment applying data synthesis module; according to the requirement of the dynamic frequency of a gravimeter system, the electromagnetic moment-applying waveform generator generates an acceleration sine waveform meeting the requirement;
s2, controlling the pulse width of the PWM waveform generator through data synthesis to enable the accelerometer pendulous reed to generate sinusoidal motion;
s3, obtaining gravity acceleration output information after the output of the analog-to-digital converter passes through the data processing module; the gravity acceleration output information is connected with a test computer through a CAN box, and the test computer outputs acceleration information in a graphic mode; the test computer is provided with an accelerometer test system;
s4, according to the actual working environment of the gravimeter system, the electromagnetic moment waveform generator generates an acceleration waveform with a period of 0.1S-10S and an amplitude of +/-0.1 g; measuring nonlinear rectification errors between gravity information output under different frequencies and gravity information output in a static state on a test computer;
and S5, obtaining correction data of nonlinear compensation through data modeling and simulation according to the measured nonlinear rectification error, synthesizing the correction data with A/D sampling data through a nonlinear compensation network, and driving PWM pulse width, so that the nonlinear rectification error is reduced by the system gravity information output.
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