CN111830594B - 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
- Publication number
- CN111830594B CN111830594B CN202010577188.1A CN202010577188A CN111830594B CN 111830594 B CN111830594 B CN 111830594B CN 202010577188 A CN202010577188 A CN 202010577188A CN 111830594 B CN111830594 B CN 111830594B
- Authority
- CN
- China
- Prior art keywords
- accelerometer
- compensation
- receiving
- electromagnetic
- moment
- 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.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V13/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices covered by groups G01V1/00 – G01V11/00
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- General Physics & Mathematics (AREA)
- Geophysics (AREA)
- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
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 torque waveform generator for generating electromagnetism Shi Jubo according to requirements; the moment exerting data synthesis module is used for receiving the supplementary signals of the electromagnetism Shi Jubo and the nonlinear supplementary network of the electromagnetic moment exerting waveform generator and processing the electromagnetism Shi Jubo and the compensation signals; 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 testing device for a servo system of an electromagnetic force-applying 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 torque waveform generator which generates electromagnetism Shi Jubo according to the requirement;
the moment exerting data synthesis module is used for receiving the supplementary signals of the electromagnetism Shi Jubo and the nonlinear supplementary network of the electromagnetic moment exerting waveform generator and processing the electromagnetism Shi Jubo and the compensation signals;
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 the 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 torque waveform generator for generating electromagnetism Shi Jubo according to requirements;
the moment exerting data synthesis module is used for receiving the supplementary signals of the electromagnetism Shi Jubo and the nonlinear supplementary network of the electromagnetic moment exerting waveform generator and processing the electromagnetism Shi Jubo and the compensation signals;
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 electromagnetism Shi Jubo and the compensation signal.
Further, at least the following is included:
and the oscilloscope is used for receiving the control and 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 an electromagnetic moment applying waveform generator into a 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 pendulous reed of the accelerometer to generate sinusoidal motion;
s3, obtaining gravity acceleration output information after the output of the analog-to-digital converter passes through a 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-applying 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 through 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 fig. 2, an electromagnetic force-applying type test device for a servo system of an accelerometer 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 torque waveform generator for generating electromagnetism Shi Jubo according to requirements; preferably, the method comprises the following steps: the electromagnetic moment-exerting waveform generator generates acceleration sine waves with different frequencies, wherein the amplitude of the acceleration sine waves is +/-0.1 g, and the frequency of the sweep frequency is 0.1Hz to 100 Hz.
The moment exerting data synthesis module is used for receiving the supplementary signals of the electromagnetism Shi Jubo and the nonlinear supplementary network of the electromagnetic moment exerting waveform generator and processing the electromagnetism Shi Jubo and the compensation signals; the moment application data synthesis module is an original technology of the invention and is also an electromagnetic Shi Ju technology software data processing module of the invention, according to different Shi Ju 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 through 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 torque waveform generator which generates electromagnetism Shi Jubo according to the requirement;
a moment application data synthesis module which receives the supplementary signals of the electromagnetism Shi Jubo and the nonlinear supplementary network of the electromagnetism moment application waveform generator and processes the electromagnetism Shi Jubo and the compensating signals;
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 electromagnetism Shi Jubo 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 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 electromagnetic 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 1M Bytes/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 (5)
1. An electromagnetic force application type accelerometer servo system testing device is disclosed, wherein an accelerometer comprises an accelerometer torquer and a differential capacitor; the test 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 torque waveform generator for generating electromagnetism Shi Jubo according to requirements;
the moment exerting data synthesis module is used for receiving the compensation signals of the electromagnetism Shi Jubo and the nonlinear supplementary network of the electromagnetic moment exerting waveform generator and processing the electromagnetism Shi Jubo and the compensation signals;
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 of a servo system testing device of an electromagnetic force-adding type accelerometer is characterized in that the servo system testing device of the electromagnetic force-adding type accelerometer is the servo system testing device of the electromagnetic force-adding type accelerometer of claim 1; the compensation system comprises at least:
the capacitance detection amplifier receives the output signal of the differential capacitor and amplifies the output 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 signal of the analog-to-digital converter and processing the digital signal;
the data processing module performs data interaction with the accelerometer test system through the CAN box; 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 electromagnetism Shi Jubo and the compensation signal.
3. The compensation system of claim 2, further comprising: and the oscilloscope is used for receiving the output signal of the control correction network.
4. The compensation system of claim 2, wherein the compensation system comprises: the electromagnetic moment-applying waveform generator generates acceleration sine waves with amplitude of +/-0.1 g and different frequencies between 0.1Hz and 100Hz in frequency sweeping.
5. A compensation method of a compensation system of a servo system testing device of an electromagnetic force-loading type accelerometer according to claim 2, which is characterized by comprising the following steps:
s1, adding an output signal of an electromagnetic moment applying waveform generator into a 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 a PWM generator through data synthesis to enable an accelerometer pendulous reed to generate sinusoidal motion;
s3, obtaining gravity acceleration output information after the output of the analog-to-digital converter passes through a 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 in the system gravity information output is reduced.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010577188.1A CN111830594B (en) | 2020-06-23 | 2020-06-23 | Electromagnetic force application type accelerometer servo system testing device, compensation system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010577188.1A CN111830594B (en) | 2020-06-23 | 2020-06-23 | Electromagnetic force application type accelerometer servo system testing device, compensation system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111830594A CN111830594A (en) | 2020-10-27 |
| CN111830594B true CN111830594B (en) | 2022-10-28 |
Family
ID=72898862
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010577188.1A Active CN111830594B (en) | 2020-06-23 | 2020-06-23 | Electromagnetic force application type accelerometer servo system testing device, compensation system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111830594B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114509247B (en) * | 2021-12-30 | 2023-10-20 | 南京埃斯顿自动化股份有限公司 | Mechanical characteristic analysis method for vertical axis load |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6725173B2 (en) * | 2000-09-02 | 2004-04-20 | American Gnc Corporation | Digital signal processing method and system thereof for precision orientation measurements |
| CN101266260A (en) * | 2008-04-03 | 2008-09-17 | 中国航天时代电子公司第七七一研究所 | Rock quartz accelerometer servo-circuit |
| CN201749128U (en) * | 2010-08-18 | 2011-02-16 | 中国电子科技集团公司第四十三研究所 | Servo circuit of quartz flexible accelerometer |
| CN205139170U (en) * | 2015-11-06 | 2016-04-06 | 青岛航天半导体研究所有限公司 | Accelerometer servo circuit |
| CN105759075B (en) * | 2016-02-25 | 2017-09-19 | 中国科学院地质与地球物理研究所 | A kind of high-precision flexure accelerometers |
| CN209656731U (en) * | 2019-04-23 | 2019-11-19 | 青岛航天半导体研究所有限公司 | A kind of quartz flexible accelerometer numeral output servo circuit |
-
2020
- 2020-06-23 CN CN202010577188.1A patent/CN111830594B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN111830594A (en) | 2020-10-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1146765C (en) | Position controller | |
| CN111830594B (en) | Electromagnetic force application type accelerometer servo system testing device, compensation system and method | |
| CN106404160B (en) | Power transmission line monitoring device metering system and method under a kind of site environment | |
| KR20000056592A (en) | Fast electrochemical impedance spectroscopy measurement method and apparatus | |
| CN105092197A (en) | Multi-degree-of-freedom sine vibration control method and controller | |
| CN108039982B (en) | DSP platform control system bandwidth measuring method based on network port | |
| CN204330124U (en) | Vibration detection device | |
| CN104034962A (en) | Precise servo mechanism resonance frequency testing system and testing method | |
| CN103178779A (en) | Signal generator with amplitude compensation function and method thereof | |
| CN112684008A (en) | Intelligent laboratory measurement system for sound insulation quantity of building component | |
| US20240069063A1 (en) | On-site reciprocity calibration method for piezoelectric accelerometer | |
| CN110160629B (en) | Calibration method and device of optical fiber strain sensing system | |
| CN203038025U (en) | Optical phase-shifting interferometer vibration resistance experiment platform intelligent control system | |
| CN2514353Y (en) | Measurer for grounding resistance of grounded counterpoise | |
| CN106989880A (en) | Simulate ground seismic wave function lower member forces testing method and apparatus | |
| CN211523302U (en) | Pile group loading test device for simulating high-speed rail bridge operation load | |
| CN210666065U (en) | Calibration device of seismic intensity instrument | |
| CN114184192B (en) | Method for acquiring angular velocity measurement channel transfer function of inertial measurement device | |
| Herranen et al. | Acceleration data acquisition and processing system for structural health monitoring | |
| CN2906792Y (en) | Bifurcation and chaos experiment demonstrator | |
| CN106094915B (en) | Energy injection type virtual mass Resonant Column control system and control method | |
| CN109781140A (en) | The cooperation measuring device and method of low frequency inertial sensor calibration system | |
| CN111681506A (en) | Cantilever steel beam dynamic characteristic student test system and method | |
| CN112229502A (en) | System and method for measuring natural frequency of simply supported beam | |
| CN111982441A (en) | Calibration system of bridge modal analysis system |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |