CN114459338A - Underwater vehicle depth sensing signal self-adaptive control system and method - Google Patents
Underwater vehicle depth sensing signal self-adaptive control system and method Download PDFInfo
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Abstract
The invention discloses an adaptive control system and method for depth sensing signals of an underwater vehicle, which comprise a power supply conversion and filtering part (00), an analog switch (01), a first digital potentiometer (02), an instrument amplifier (03), a second digital potentiometer (04), an analog-to-digital conversion module (05), a filtering and shaping module (06), a voltage reference (07), an embedded processor (08), an analog output part (09), a digital interface (10) and the like. Specifically, a combined integrated design scheme is adopted, and an underwater vehicle depth sensing signal self-adaptive control system is designed on the basis of an instrument amplifier and an embedded processor. The system can realize the functions of hardware zero adjustment, self-adaptive calibration and the like of the depth sensing signal of the underwater vehicle, further improve the depth measurement precision of the underwater vehicle, and improve the stability and environmental adaptability of long-term measurement.
Description
Technical Field
The invention belongs to the field of underwater vehicle control, belongs to the field of underwater vehicle depth signal adaptive control and automatic calibration, and particularly relates to an underwater vehicle depth sensing signal adaptive control system and method.
Background
In order to meet the requirements of comprehensive control and real navigation safety, the conventional underwater vehicle needs to control the self navigation state in real time and measure the vertical distance between the current position and the water surface (referred to as navigation depth) and the vertical distance to the water bottom in real time. The information of the vertical distance between the current position of the vehicle and the water bottom is usually measured by adopting an acoustic ranging principle, such as single/double-frequency single-beam sonar, multi-beam sonar and the like. The current navigation depth information of the aircraft mostly utilizes a pressure sensing mode and obtains the actual navigation depth through water pressure conversion.
The pressure sensing device mainly utilizes a sensitive element to effectively convert the change of the external pressure into the change of an electric signal, thereby realizing the calculation of the current pressure value. Then, the current navigation depth of the aircraft can be obtained through hydraulic pressure conversion, and therefore the navigation depth can also be called as a depth sensor. Pressure/depth sensing can be classified into piezoresistive, piezoelectric, resonant, inductive, capacitive, and fiber types, according to the basic operating principle. In the actual navigation process of a certain type of underwater vehicle, the depth change is not rapid, but the whole underwater vehicle needs to work stably and reliably for a long time. The factors such as installation size, weight, long-term reliability, economy and the like are comprehensively considered, and a small-size depth sensor based on the piezoresistive strain principle is adopted on a certain underwater vehicle for measuring the navigation depth. The pressure sensor has a solid piezoresistive sensing chip as the sensing element, and a small amount of silicone oil is filled between the sensing chip and the corrugated diaphragm. The corrugated diaphragm transmits water pressure to the sensitive chip through silicon oil, and the pressure and the electric signal are converted by utilizing the piezoresistive effect. And the post stage outputs a linear voltage signal by utilizing a Wheatstone bridge so as to realize real-time measurement of the current navigation depth.
The method is limited by factors such as the internal installation size of the underwater vehicle, the current technical conditions and the like, and the current main technology and the defects are as follows: 1) the depth signal processing aspect has the defects that the measurement precision is not high, and a related signal processing part is involved with an underwater vehicle control system and does not meet the modularization requirement; 2) the debugging efficiency of batch production is low, and the requirement of good interchangeability of products is not met; 3) the reliability is not high after long-term use, and the depth measurement signal has larger drift amount; 4) the environmental adaptability is poor, the influence of environmental parameters such as the altitude is great, the field calibration of a user is difficult, and the like. Aiming at the problems, the method for regulating and processing the depth sensing signal of the underwater vehicle is improved under the constraint conditions of the internal structure, the installation size and the like of the underwater vehicle under raw water.
The main problems associated with depth sensing signal processing are as follows:
a) the production process has low efficiency and difficult automatic batch production. The single depth sensor is required to carry out targeted debugging on the post-processing circuit, and the resistance values corresponding to gain and zero setting cannot be automatically operated in a flow manner, so that the efficiency of the production debugging process is low, and the risk of manual operation is high;
b) in actual use, the fault conditions are more, and the user satisfaction is poorer. In the long-term use process of the underwater vehicle, the underwater vehicle is greatly influenced by factors such as temperature, altitude and air pressure, so that parameters such as zero position, linearity and the like of a depth sensing signal drift, and even the realization of main functions and performance indexes of the vehicle is influenced;
c) the standardization and modularization degree is low, and the conventional field debugging and calibration are difficult. The depth sensor is arranged outside the aircraft, and the relevant processing part is installed inside the aircraft and is cascaded with the internal control group components. Under the condition that the aircraft is not disassembled on site, the depth signal of the aircraft cannot be corrected.
Aiming at the problems, if the depth sensor and the post-processing part can be automatically integrated, the automatic zero setting and calibration can be realized by simple operation under the condition of not disassembling the aircraft, the production efficiency can be greatly improved, the actual use requirement can be met, and the maintenance difficulty of a user in the long-term use process can be reduced.
Disclosure of Invention
Aiming at the problems of low precision, poor stability, poor interchangeability, larger influence of environmental parameters and the like of a depth sensing signal processing part of a certain underwater vehicle, the invention aims to solve the existing defects and shortcomings, and aims to increase a matched self-adaptive control system at the rear end of a depth sensor by combining the actual condition of the current product (the underwater vehicle). After the system is successfully developed, the problems can be solved, the product modularization level can be improved, and the long-term working reliability and adaptability are improved.
Specifically, the invention is realized by the following steps: an adaptive control system for depth sensing signals of an underwater vehicle comprises: the analog switch is connected with the pressure sensor/element, the analog switch is communicated with the pressure sensor/element and the instrument amplifier, the instrument amplifier is connected with the filtering and shaping module, the filtering and shaping module is connected with the analog output module and the analog-to-digital conversion module, the analog-to-digital conversion module is connected with the embedded processor, and the embedded processor is connected with the digital interface and the closed-loop connection analog switch; the first digital potentiometer and the second digital potentiometer are both connected with the embedded processor and are connected to the instrument amplifier, the power supply conversion and filtering module is connected to the pressure sensor/element, and the reference voltage is connected to the instrument amplifier; the instrument amplifier is used for basic low-noise amplification of the depth sensing analog signal; the embedded processor is used for controlling the first digital potentiometer, the second digital potentiometer and the analog switch to carry out automatic control on the zero point and gain amplification amount of the instrument amplifier, can control the zero setting end and the gain end of the instrument amplifier, and calculates the current control amount according to the signal acquired by the real-time analog-to-digital conversion module to form closed-loop automatic control; the analog switch can adjust the zero point of the instrument amplifier; the second digital potentiometer is responsible for zero setting of bias voltage hardware of the differential signal output by the pressure sensor/element; the first digital potentiometer is responsible for controlling the amplification amount of the output signal of the corresponding pressure sensor/element; the reference voltage can be respectively provided for the instrument amplifier and the analog-digital conversion module for reference, and the depth signal conditioning software can be calibrated by using reference voltage data.
Furthermore, the filtering and shaping module can acquire the reference voltage and the temperature drift parameters of the instrument amplifier to carry out actual measurement, and the acquired measurement data is used as fine calibration data in actual work and is directly compensated and corrected according to the temperature environment parameters.
Furthermore, the analog-to-digital conversion module can utilize the sampled voltage reference to output a voltage value and calculate a compensation correction parameter by combining the current time temperature information; the correction parameters are applied to the zero setting and gain control of the instrument amplifier of the depth sensor for outputting analog signals so as to improve the control and measurement precision.
Furthermore, the embedded processor can bring the correction parameters into a data processing algorithm to correct the current digital output data in real time, so that the accuracy of the analog output is the same as that of the digital potentiometer.
In another aspect of the invention, an adaptive control method for depth sensing signals of an underwater vehicle comprises the following steps: step S1, carrying out initial setting on the digital potentiometer, the communication module and the memory, and carrying out parameter judgment; step S2, performing digital-to-analog conversion and digital signal filtering processing according to the set parameters, and performing voltage reference correction according to the temperature parameters in real time; the synthesis filtering process involves analog signal filtering (e.g., a low pass filter) and digital filtering (e.g., an FIR filter), corresponding to the analog and digital outputs of the depth sensor, respectively; the analog signal filtering is mainly controlled by a low-pass filter; digital filtering involves automatic correction of environmental parameters in addition to conventional digital filters; calculating a compensation correction parameter by using the sampled voltage reference output voltage value and combining the current time temperature information; step S3, outputting the processed analog signals and digital signals in real time, receiving communication interruption, and performing corresponding control according to the communication instruction; and step S4, according to the digital transmission appointment command, the on-site regulation and control can be automatically completed through an internal bus or an external connection mode of the underwater vehicle.
Further, step S2 further includes: the instrument amplifier amplifies the basic low noise of the depth sensing analog signal; the embedded processor controls the first digital potentiometer, the second digital potentiometer and the analog switch to carry out automatic control on the zero point and gain amplification amount of the instrument amplifier, can control the zero setting end and the gain end of the instrument amplifier, and calculates the current control amount according to the signal acquired by the real-time analog-to-digital conversion module to form closed-loop automatic control; the analog switch can adjust the zero point of the instrument amplifier; the second digital potentiometer is responsible for zero setting of bias voltage hardware of the differential signal output by the pressure sensor/element; the first digital potentiometer is responsible for controlling the amplification amount of the output signal of the corresponding pressure sensor/element; the reference voltage can be respectively provided for the instrument amplifier and the analog-digital conversion module for reference, and the depth signal conditioning software can be calibrated by using reference voltage data.
Further, step S2 further includes: the temperature drift parameters of main elements such as reference voltage, an instrument amplifier and the like are actually measured, and the obtained measurement data are used as fine calibration data in actual work and are directly compensated and corrected according to temperature environment parameters.
Furthermore, the parameters obtained by calculating and correcting the temperature environment parameters are applied to zero setting and gain control of an instrument amplifier of the depth sensor for outputting analog signals, and meanwhile, the correction parameters are brought into a data processing algorithm to correct the current digital output data in real time, so that the accuracy of analog output and digital output is ensured to be the same.
The working principle and the beneficial effects of the invention are introduced as follows: the system embedded processor (08) collects the output signal of the instrument amplifier (03) and the current temperature and other environmental information in real time, feeds back the information to the regulation algorithm, and performs fine correction and calibration by using the temperature curve fitting function of the voltage reference (07). The system measurement accuracy can be further improved, and the actual use requirements under different environments can be met. The amplification amount and the initial zero position of the operational amplifier of the instrumentation amplifier (03) are respectively controlled by a first digital potentiometer (02) and a second digital potentiometer (04), particularly the second digital potentiometer (04) belongs to a hardware zero setting design, the problem of unstable output signals caused by hardware difference of the instrumentation amplifier (03) can be reduced to the maximum extent, and the output precision is ensured; the instrumentation amplifier (03) is composed of a plurality of low-noise instrumentation operational amplifiers, and has high precision and non-fixed total amplification value. The depth sensor and the depth sensor are integrally designed, so that individual differences of the depth sensors can be compensated, the regulated and controlled output is in an accurate linear range, the interchangeability is good, and the product modular design requirement is met; aiming at the problems of low precision, poor stability, poor interchangeability, larger influence of environmental parameters and the like of a depth sensing signal processing part of a certain type of underwater vehicle, the invention aims to increase a matched self-adaptive control system at the rear end of a depth sensor by combining the actual condition of the current product (the underwater vehicle). After the system is successfully developed, the problems can be solved, the product modularization level can be improved, and the long-term working reliability and adaptability are improved.
Drawings
FIG. 1 is a graph of raw measurement versus ratio for a depth sensor (sensor);
FIG. 2 is a graph of the effect of altitude on depth measurements;
FIG. 3 is a graph of system reference voltage source element output versus temperature and depth measurement variation;
FIG. 4 is a schematic diagram of a system component architecture;
FIG. 5 is a graph of a system output simulation;
FIG. 6 is a physical layout three-dimensional view of the system core circuitry;
FIG. 7 is a system basic software flow diagram;
FIG. 8 is a diagram of a system fine calibration error simulation;
FIG. 9 is a schematic illustration of an experimental test protocol;
FIG. 10 is a graph of system test results;
FIG. 11 is a comparison graph of actual flight depth measurements for an underwater vehicle of a type;
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
In the overall design of an underwater vehicle, pressure sensing measurement information is directly used for safe depth control of the vehicle and is also one of input parameters of a navigation overall control algorithm, and the measurement function and performance of the pressure sensing measurement information directly influence the overall function and performance index realization of the vehicle. In addition, the underwater vehicle belongs to a mass delivery product, and the interchangeability of components during production and manufacturing, the convenience of production and debugging and the field feasibility of subsequent maintenance and repair processes need to be fully considered. Therefore, the design is required to be specific, so that the pressure sensing information related to the component parts has good consistency, and the interchangeability and the convenient field maintenance are ensured. Meanwhile, the problems of convenient on-site correction and test under different use environment parameters (such as temperature, altitude and the like) need to be fully considered, so as to improve the on-site calibration efficiency. When navigation depth measurement is carried out on a conventional underwater vehicle based on a depth sensor mode, corresponding post processing such as zeroing, amplifying, collecting, transmitting and the like is needed. The method is characterized in that the method is combined with the practical application, the mass production and the manufacture, and the aspects of subsequent maintenance, repair and the like, and the post-treatment design process mainly requires the following steps:
a) the device has a high-precision signal conditioning function. Such as low-noise instrument-level operational amplification, high-precision analog-digital conversion module acquisition and transmission and the like;
b) convenient and efficient production, assembly and debugging means. In the mass sound field manufacturing link, the functions and the performance calibration of related components of the depth sensor can be conveniently realized;
c) has good environmental adaptability and long-term working reliability. The design should meet the use consistency in different temperature, different altitude and other environments. Such as zero drift of depth sensor caused by temperature and altitude, or linearity deviation;
d) the depth sensing related group of components has good consistency. The system can directly exchange the same products and has convenient and implementable performance in field maintenance;
e) the method has good expandability. Related interfaces and data processing capacity are reserved for upgrading of subsequent products (underwater vehicles), and requirements such as analog output and digital output are compatible to a certain extent.
Since the underwater vehicle is usually required to be used in different areas, the pressure sensitive elements for depth measurement are affected by different environmental parameters (such as temperature, altitude, and the like), and long-term stability for many years is difficult to guarantee. Meanwhile, considering the operability of mass production, debugging, field maintenance and repair, deep research needs to be focused on the deep sensing signal processing method to better solve the problems.
The treatment scheme is as follows: 1) analog signals are amplified and conditioned on the basis of an instrument operational amplifier, so that the accuracy of environment changes such as altitude and the like cannot be guaranteed; 2) a digital potentiometer is adopted for gain amplification conditioning, but hardware zero setting is not provided, and the gain adjustment precision is limited; 3) the closed-loop automatic calibration is carried out by adopting special detection equipment, which is different from actual production and actual use scenes of users; 4) the method adopts a pure software mode to calibrate the information of the digital depth sensor, cannot realize rapid batch production due to the influence of individual difference of the depth sensor, and does not have good interchangeability and environmental adaptability.
The depth sensing signal regulation and control mainly aims at extracting a sensor sensitive element change signal, carrying out adaptive amplification, filtering, digital-to-analog conversion and other processing on a relatively weak analog signal, and calculating according to a certain functional relation to obtain navigation depth information of the underwater vehicle. In the conventional processing mode, an instrument amplifier is mainly used, and after corresponding analog signal processing, the analog signal is subjected to analog-to-digital conversion and digital signal processing and then output to a corresponding post-control part for use. The typical processing mode is that an adjustable potentiometer and the like are respectively adopted at the zero setting end and the gain end of the instrument amplifier for manual initial calibration, and accurate gain and zero position are determined according to the output of the sensor. Since the depth sensor is affected by the external environment, the drawbacks of the conventional processing methods are gradually revealed in the long-term use process. In the process of mass development, production, delivery and use of certain type of underwater vehicles and subsequent guarantee and maintenance, under the common condition, the depth sensing signal regulation and control has the modes of pure hardware, pure software, combination of hardware and software and the like. The pure hardware mode has a simple structure, and linear calibration of the depth sensing signal can be realized if an instrument operational amplifier is additionally provided with an external adjustable potentiometer. The method is simple and has continuous adjustable range, but usually needs manual adjustment according to the field condition, has larger alignment error and is easily influenced by environmental factors; the structure of the hard and soft combination mode is slightly complex, and the typical method is to replace the pure hardware adjustable resistor by digital-to-analog conversion or a digital potentiometer and control the gain and zero position of the instrument operational amplifier by a program. The method has high speed and is not easily influenced by the external environment, but the gain adjustment precision is usually discrete, and the minimum resolution is limited by digital-to-analog conversion or the order of a digital potentiometer; the pure software mode has higher precision, and mainly forms a data table/database by taking a large amount of data measured in advance as a comparison basis, and then carries out comparison in a query mode in actual work. The method does not need to increase hardware, has higher precision, but needs to carry out a large amount of data testing statistics in advance to form a data table/library, and has poorer environmental adaptability. The current automatic calibration method of the depth sensor mainly adopts a synchronous control technology to synchronously acquire standard input and output voltages, establishes a voltage-depth calibration lookup table through a computer, and downloads the lookup table into a depth measurement singlechip in real time to finish the automatic calibration of a depth sensing signal. The method can establish a more accurate depth measurement calibration table under the current environmental condition, but when the environmental factors are changed greatly, the calibration cannot realize accurate calibration.
Any sensor device has certain errors, which can be roughly divided into linear errors and nonlinear errors. With the continuous development and application of the technology and the process, the nonlinear error of the pressure sensing device can be controlled within a certain range, but the individual performance difference of the linear error is large. The temperature compensation processing is carried out in the pressure sensor, and the indexes such as initial zero point, sensitivity, linearity and the like are controlled within a certain range by methods such as initial calibration and the like. Therefore, aiming at the practical application condition of a certain type of underwater vehicle, the initial zero position and the linearity of the depth sensor are mainly conditioned and controlled, and the current practical requirement can be met. The main indexes of a certain type of underwater vehicle for selecting a depth sensor sensitive element are as follows:
a) measurement range: 0-3 MPa;
b) overload: 150 percent;
c) accuracy grade: 0.5% FS (non-linear, repetitive, hysteresis);
d) zero position: 1 mV-4 mV, and the zero point stability is 0.3%;
e) full bit: greater than 60 mV;
f) supply voltage: +6 +/-0.2V;
g) temperature range: minus 30 ℃ to plus 60 ℃.
The pressure sensitive element of the depth sensor has strong environmental sensitivity and is influenced by conditions such as temperature, humidity, altitude and the like in different environments. For example, the temperature and humidity affect the linearity, and the altitude affects the output zero position. Typically, the zero output of the depth sensor is in an interval range, such as 1mV to 4mV, and a certain stability interval exists. Similarly, the full-scale output is also a range value in a larger interval, and the linear coefficient between the zero position and the full-scale range also belongs to the variation. Therefore, it is difficult to ensure the stability and reliability of the whole depth sensing processing data by using a fixed gain conditioning mode.
Through the independent measurement of a large number of depth sensors, certain discreteness exists among the individual outputs of a certain type of depth sensor. Although the linearity of a single sensor meets the technical index requirements, the output of different individuals has certain discreteness. The raw test curve of the depth sensor (sensor) is shown in fig. 1. As shown in fig. 1, the zero range of the depth sensor is 1mV to 4mV, and assuming a magnification of 250 (assuming no error in the amplification conditioning), the zero range after the amplification adjustment becomes 250mV to 1000mV, which is obviously unacceptable in practical measurement use. It can be seen that the signal processing cannot be simply performed to obtain good consistency, which is significantly influenced by individual differences of the depth sensors. The main reason why the manual potentiometer adjustment is adopted for independent matching and debugging is also adopted at present, and the problems that modularization cannot be realized in the subsequent production process, the field cannot be exchanged and maintained conveniently, and even the zero drift and the like influenced by environment parameters such as different regional altitudes cannot be solved are also brought.
As can be seen from fig. 1, the overall linearity of the depth sensors of a certain type of underwater vehicle in the same batch can be basically guaranteed by a compensation technology and an improved process, but the output zero position and full position are both within a certain range and are not in a fixed interval. The output voltages differed by approximately 20.4mV as seen in FIG. 1 for # 1 and # 4 at the 3MPa input point. If calculated in a simplified manner, 1MPa corresponds to 100m water depth and 90mV voltage corresponds to a range, then the 20.4mV output offset converted depth difference is about 68 m. It can be seen that such depth deviation far exceeds the accuracy requirement required for general underwater vehicle control. In addition, the total deviation is larger due to the change of the sensitive element of the depth sensor caused by the change of external conditions such as temperature, altitude, air pressure and the like. The plot of altitude versus barometric pressure plotted against published test data is shown in fig. 2, indicating that barometric pressure at different altitudes varies significantly. With sea level as a reference, the maximum case of altitude factor can cause the depth measurement error to be 4m or more. Therefore, the method is also one of the reasons that a certain type of underwater vehicle is used in different regions, and due to different altitudes, the depth sensor is changed by a measurement reference, so that the measurement data deviation is large, and even the basic function implementation of the underwater vehicle is influenced.
In addition, the electronic components are greatly influenced by temperature parameters, and the output range of the depth sensor (sensitive element) is assumed to be 1 mV-60 mV, which linearly corresponds to the depth of 0 m-300 m (3 MPa). Meanwhile, assuming that the temperature compensation inside the depth sensor is error-free (mainly the resistance in the Wheatstone bridge changes along with the temperature), and the relevant electronic parts of the subsequent processing, such as the instrument amplifier (03) and the analog-to-digital conversion module (05), are error-free, the influence of the temperature on the reference voltage (07) is considered independently, and the depth measurement error curve caused by the change of the output reference is shown in FIG. 3. As shown in fig. 3, the overall accuracy of the system voltage reference source element is high, and the variation with temperature is small, but even if the small variation introduces depth sensing measurement deviation, the depth sensing measurement deviation is still large. If the entire system is considered to be a combination of components that may be affected by temperature, the underwater vehicle overall depth measurement bias will be unacceptable. Therefore, the temperature parameter is also one of the reasons for influencing the depth measurement accuracy of the underwater vehicle.
The conventional processing mode of the related internal depth signal processing part of the conventional underwater vehicle is to initially correct zero and full positions, adjust the gain and zero offset of a post-processing circuit according to actual conditions, store measured data in an interval in a back-end control processor, and perform correction processing according to information obtained by the pre-test measurement during real-time calculation. While meeting the accuracy of use to some extent, long term stability must be based on periodic calibration and basic interchangeability, i.e., the components of the two aircraft cannot be interchanged, or even the externally mounted depth sensor cannot be directly replaced for use.
Example 1 of the invention: an adaptive control system for depth sensing signals of an underwater vehicle can realize the adaptive control of the depth sensing signals of the underwater vehicle. The method is characterized in that: the integrated combined installation scheme is adopted, an embedded processor, an instrument operational amplifier, a digital potentiometer and a high-precision reference voltage source are used as cores, the output signal of the depth sensor is accurately regulated and controlled in a fixed linear range, and the integrated combined depth sensor has good self-adaptability and reliability. The system comprises a power supply conversion and filtering part (00), an analog switch (01), a first digital potentiometer (02), an instrument amplifier (03), a second digital potentiometer (04), an analog-to-digital conversion module (05), a filtering and shaping module (06), a voltage reference (07), an embedded processor (08), an analog output part (09), a digital interface (10) and the like. The instrumentation amplifier (03) is composed of a plurality of low-noise instrumentation operational amplifiers, and has high precision and non-fixed total amplification value. With the integrated design of degree of depth sensor, can compensate different degree of depth sensor individual difference, guarantee that the output all is in accurate linear range after the regulation and control, possess good interchangeability, satisfy product modularization design requirement. The amplification amount and the initial zero position of the operational amplifier of the instrumentation amplifier (03) are respectively controlled by a first digital potentiometer (02) and a second digital potentiometer (04), particularly the second digital potentiometer (04) belongs to a hardware zero setting design, the problem of unstable output signals caused by hardware difference of the instrumentation amplifier (03) can be reduced to the maximum extent, and the output precision is ensured. The system embedded processor (08) collects the output signal of the instrument amplifier (03) and the current temperature and other environmental information in real time, feeds back the information to the regulation algorithm, and performs fine correction and calibration by using the temperature curve fitting function of the voltage reference (07). The system measurement accuracy can be further improved, and the actual use requirements under different environments can be met.
First, system overall scheme
The system mainly comprises the following steps:
a) first, the mounting is fixed. Integrating the system with a depth sensor/element via a cable
The underwater vehicle is connected in a chemical mode and fixedly installed in the underwater vehicle;
b) second, the initial calibration is basic. After the external input simulates zero position and full position, the system
Resolving and determining initial values of digital potentiometers corresponding to zero and full positions to complete the basis
The initial calibration;
c) then, the initial calibration is refined. The system continuously collects the output signals of the depth sensor,
and current temperature and other environmental parameters, and feeding back and calculating the parameter values in real time
The method carries out real-time correction, determines a current correction parameter matrix and finishes the refinement
Starting calibration;
d) and finally, recording and outputting. Recording relevant parameters inside the system in real time is not easy
And after losing the memory, continuously outputting. Meanwhile, the corresponding state inquiry, work parameter feedback, related automatic calibration and other functions can be formed at any time according to the instruction.
According to the requirements of practical application environment, the internal structure of a certain type of underwater vehicle and the existing processing method, a scheme design is carried out in a hard and soft processing mode, and a depth sensing signal processing scheme based on an embedded processor is provided. The instrument amplifier is used for basic low-noise amplification of the depth sensing analog signal, and the embedded processor controls the digital potentiometers and the analog switches to automatically control the zero point and gain amplification of the instrument amplifier. On the basis of signal hardware zero setting and digital gain control, functions of automatic test correction of individual linearity of a depth sensor, automatic correction according to original factory linearity with the output of the sensor at the current altitude as a zero point, various digital interface outputs, parameter recording and the like are added. Therefore, the improved scheme is equivalent to a software and hardware plus pure software mode in the traditional conventional method. The improved structure of the invention is shown in figure 4.
As shown in fig. 4, the improved scheme mainly uses an original pressure sensor as an input source according to the existing structure of a certain type of underwater vehicle, utilizes a zeroing and gain end of an embedded processing control instrument amplifier, and calculates the current control quantity according to signals acquired by a real-time analog-to-digital conversion module to form closed-loop automatic control. The analog switch is used for independently adjusting the zero point of the instrument amplifier, the digital potentiometer (zero setting) is used for carrying out hardware zero setting on the bias voltage of the differential signal output by the pressure sensor/element, and the digital potentiometer (gain) is used for controlling the amplification amount of the signal output by the corresponding pressure sensor/element. In addition, the reference voltage is respectively provided for the instrument amplifier and the analog-to-digital conversion module, and the depth signal conditioning software can be calibrated by using reference voltage data. In fig. 4, 00 is a system power supply and power supply filtering processing part, which provides a stable and clean power supply for the system. And 01, a program control change-over switch, which is connected to the pressure sensor/element by default, can be connected to the system ground by program control, and is used for calibrating a switch for the operational amplifier of the system circuit (similar to short-circuit self-calibration). 02 and 04 are digital potentiometers, wherein 02 (digital potentiometer I) is used for amplification amount control of the instrumentation amplifier (03), 04 (digital potentiometer II) is used for reference zero setting of the instrumentation amplifier (03), and the analog switch (01) is disconnected with the pressure sensor/element and is in a grounding state. 06 is an output signal filtering and shaping processing module of the instrumentation amplifier. Numeral 07 denotes a reference voltage module of the instrumentation amplifier, which ensures the amplification precision. And 05, performing analog-to-digital conversion (similar to AD acquisition) on the system, filtering and shaping the output signal of the instrumentation amplifier, and digitizing the output signal to a 08 embedded processor, wherein the 08 performs feedback control 01, 02 and 04 after processing according to data transmitted by 05. 09, the analog signal output port is regulated by the system, and the output voltage range can be fixed. And 10 is a system digital output port which directly outputs a pressure value.
The method adopts an improved hard and soft processing mode to design the system, and adds a hardware zero setting calibration method of the instrument operational amplifier and a temperature curve calibration processing method of the hard software on the basis of a conventional hard and soft processing mode. Specifically, the basic low-noise amplification of a depth sensing analog signal is carried out by utilizing an instrument amplifier, and meanwhile, an embedded processor controls a plurality of digital potentiometers and analog switches to carry out the automatic control of the hardware zero setting and the software gain amplification of the instrument amplifier. On the basis of signal hardware zero setting and digital gain control, functions of automatic test correction of individual linearity software of the depth sensor, output of various digital interfaces, parameter recording and the like are added. The method is mainly characterized in that individual differences of depth sensors/elements are not limited, respective correction curves can be automatically adjusted, output is ensured to be stable in a fixed linear interval, and the method has digital output and internal recording functions. The characteristics can meet the requirements of good interchangeability between different depth sensors/elements and self-calibration in different environments (such as altitude, temperature and the like). And has high efficiency of batch production.
The main characteristics 1 are used for eliminating circuit individual differences of the system, such as circuit noise and instrument amplifier individual differences. The main characteristic 2 is used for eliminating the noise of the instrument amplifier and the amplification gain error under different temperature environments, and further improving the processing precision.
The depth sensor weak signal is subjected to linear amplification output by adopting a high-precision low-null-shift instrument amplifier, and the depth sensor weak signal is subjected to digital processing and closed-loop control by utilizing an embedded processor, so that hardware zero setting and linear amplification output can be performed on the depth sensor output signal within a certain range. The problems that an output linear region of the depth sensor is not fixed, and the zero position is greatly influenced by external environments such as air pressure and the like are mainly solved. Meanwhile, the difficulty of installation, adjustment and maintenance is reduced to a certain extent, the working efficiency is improved, and the interchangeability and reliability of products are improved. Because the problem of the precision of the output voltage signal is mainly designed in the design, simulation analysis is carried out aiming at the output precision. The basic scheme of combining the above instrumentation amplifier with a digital potentiometer is assumed to adopt a conventional 256-order 10k Ω digital potentiometer for gain control, and the simulation result of the output accuracy of the instrumentation amplifier is shown in fig. 5.
As shown in fig. 5, on the basis of the basic indexes of the existing depth sensor, the maximum deviation of the analog signal output after simulation processing is within 2.5mV, and the electromagnetic interference and the component deviation are comprehensively considered, so that the output can meet the technical index requirements of +/-5 mV. And the depth deviation of the calculated depth is about +/-0.375 m according to the theoretical calculation of +/-5 mV error of the regulation output, so that the measurement precision of the navigation depth can be improved, and the conventional use requirement of the underwater vehicle can be met.
Second, system hardware design
The improved depth sensing signal processing method of the underwater vehicle aims to improve the linear amplification output performance of a bridge input analog signal of a depth sensor, and has the functions of zero drift of the sensor, large-range hardware zero setting, parameter calibration of measurement range drift and linear error and the like. The embedded processor is used for closed-loop processing and control, analog input hardware zeroing and fine gain adjustment can be independently performed, debugging parameters can be stored in an internal nonvolatile memory, and the embedded processor has a function of error-proofing change. In addition, in consideration of subsequent upgrading and better compatibility, a digital output function is reserved, and functions such as convenient automatic zero correction and precision calibration are realized by using a digital interface. The physical design of the core circuit involved in the design is shown in fig. 6.
As shown in fig. 6, the metal shield covers corresponding to the white wire frame, thereby improving electromagnetic compatibility. The core processing part mainly comprises a low-power-consumption integrated processor, a low-noise instrument operational amplifier, a high-precision digital potentiometer, a voltage reference chip, an analog switch and the like. The whole size of the processing circuit board is about 30mm multiplied by 8mm, and the processing circuit board and a corresponding depth sensor are designed into an integrated matching structure, so that the processing circuit board can be fixedly installed by utilizing the existing space in a certain aircraft.
Example 2: an adaptive control method for depth sensing signals of an underwater vehicle is mainly realized through software design,
the software mainly refers to digital signal processing and closed-loop control software in a system embedded processor, and mainly has the functions of collecting analog input, operational amplifier output, reference voltage source output and temperature signals, calculating and estimating according to corresponding algorithms, and performing closed-loop control according to calculated or estimated values. In addition, the zero-adjusting and gain-adjusting process of the traditional manual adjustment rheostat is adjusted to be calibrated by a digital instruction mode. And a digital output interface of the depth sensor is added, so that a design basis is provided for subsequent extended application. The software control mainly comprises the following steps:
a) and (5) initializing. Besides the basic initialization of the integrated controller, the digital potentiometer, the communication module and the memory are required to be initially set;
b) and (6) data processing. Performing digital-to-analog conversion and digital signal filtering processing according to the set parameters, and performing voltage reference correction in real time according to the temperature parameters;
c) and (6) outputting the signals. And outputting the processed analog signals and digital signals in real time. Meanwhile, receiving communication interruption, and performing corresponding control, such as query reply, parameter modification and the like, according to a communication instruction;
d) and (6) automatic calibration. According to the digital transmission appointment command, field regulation and control can be automatically completed through an internal bus or an external connection mode of the underwater vehicle, and parameters such as zero position/full position range linearity and the like are calibrated.
The basic software flow is shown in figure 7.
As shown in fig. 7, after the program is initialized, the parameter determination is performed to mainly prevent a large measurement error caused by the calibration of the parameter. The working mode is mainly used for production debugging, field maintenance and other stages, such as internal recording parameter query, self-checking test, field calibration and the like. The comprehensive filtering process here involves conventional filtering methods such as analog signal filtering and digital filtering FIR digital filters, time window averaging, etc., corresponding to the analog and digital outputs of the depth sensor, respectively. The analog signal filtering is mainly controlled by a controllable low-pass filter, and the conventional control method can be realized. Digital filtering in addition to conventional digital filters, here mainly automatic correction of environmental parameters is involved.
The system reference voltage precision directly influences the temperature drift of elements such as an instrument amplifier, an analog-to-digital conversion module and the like. If compensation type correction within a certain range can be performed according to environmental information such as the temperature at the current moment, the measurement accuracy and reliability of the depth information can be further improved. The method specifically comprises the steps of actually measuring temperature drift parameters of main elements such as a reference voltage and an instrument amplifier, taking the obtained measurement data as fine calibration data in actual work, and directly performing compensation correction according to environmental parameters such as temperature. Taking the reference voltage device adopted in the present invention as an example, the pre-test measurement of the relationship between the temperature and the output variation is shown in fig. 8.
As can be seen from fig. 8, the theoretical temperature and the output voltage variation of the voltage reference element in the system design are actually measured, and the actual variation situation is identical to the theoretical variation through the test data, so that the theoretical data of the voltage reference element can be used for real-time compensatory correction. The basic principle is that after the analog-digital conversion module, a sampled voltage reference output voltage value (the theoretical value is 1.0V) is utilized, and a correction quantity parameter is calculated by combining a temperature value obtained at the current moment, so that the measurement precision is further improved. Specifically, a table look-up method is adopted to obtain a voltage reference accurate value (for example, 0.9991V corresponding to 40 ℃), and the current A is compared with the current AAnd comparing the reference voltage value (for example, 0.9992V) of the D sample with the reference voltage accurate value obtained by looking up a table, obtaining the correction quantity (delta U is-0.0001V, namely 0.9991-0.9992) of the current AD sample under 1V, and compensating and correcting the acquired data of the analog signal AD of the depth sensor in a linear correction mode. Example (c): taking the reference voltage curve of the ADR130 chip as an example, the typical temperature curve is measured as shown in fig. 3, a detailed data table is established for the output voltage corresponding to the temperature, and the table look-up method is used for correction. For example, the current measured temperature is 40 ℃, and the reference voltage U is obtained by looking up the table0It should be 0.9991V (theoretical value is 1.0V). At this time, U should be adjusted00.9991V is used as the accurate value of the reference voltage, and the MCU processing algorithm is substituted to recalculate the resistance value of the digital potentiometer required by the operational amplifier, thereby accurately controlling the analog output of the operational amplifier. Meanwhile, the MCU is used for controlling the reference voltage U according to the current temperature0And voltage U acquired by AD1Comparing to obtain the error delta U (delta U ═ U) of the current AD sampling0-U1) Then MCU participates in the calculation of AD sampling data U of depth information1Are all subjected to linear correction (U)1＝U1+ΔU×U1) To improve the digital output accuracy. The parameters obtained by calculation and correction are applied to zero setting and gain control of an instrument amplifier of the depth sensor for outputting analog signals, so that the control and measurement accuracy is further improved. Meanwhile, the correction parameters are brought into a data processing algorithm to correct the current digital output data in real time, so that the accuracy of analog output and digital output is ensured to be the same. As can be seen from fig. 8, after the real-time feedback correction of the temperature parameter is added, the depth measurement accuracy is significantly improved, and the maximum depth measurement deviation caused by the depth change is about 0.1 m.
Third, system test
In order to verify the feasibility of the invention, a standard pressure source and real-time data acquisition and processing mode is adopted for testing, and the feasibility of the improved method is analyzed by utilizing test data statistics. The specific testing device can trace the source of a pressure sensor measurement calibration system of a defense measurement station in a certain country. In actual test, a plurality of different batches of depth sensors are added with a processing circuit system corresponding to the improved method, and the processed depth sensors are input into a standard pressure source and then input into a test calibration device to obtain measurement result data. The test method is shown in FIG. 9.
The test site temperature was 21 ℃, humidity was 40%, the test site altitude was 1891m, the number of sampled test samples was 10 (same as the samples in fig. 1), and the test result curve is shown in fig. 10. As shown in fig. 10, the upper half of the graph is the output signal amplitude value after the regulation and control of 10 original depth sensors with large difference, and 10 output measurement data curves are basically overlapped due to good consistency. The lower half is the deviation (compared to theoretical) from the 10 sample test depths. Therefore, the accuracy of the depth sensing measurement data after improved implementation is further improved, the processing output signals of the depth sensors with obvious individual difference are basically consistent, and the depth measurement accuracy can reach 0.15 m.
A certain small underwater vehicle is used as a carrier, and in the improved implementation of the depth sensing signal processing method, the depth sensor and the rear regulation and control system are integrally designed, so that the vehicle can be installed or dismantled without disassembling, and the field operation complexity is reduced. The method is extremely beneficial to improving the mass production efficiency, and simultaneously solves the problem of convenient and fast calibration of the zero position of the depth sensing signal in the use process of different areas. After the improvement, in the real navigation process of a certain small underwater vehicle, the same parameters are set for real navigation, and the comparison of the depth measurement results before and after the change is shown in fig. 11. As shown in fig. 11, the upper half of the graph is a real in-flight recorded depth data curve of a certain type of underwater vehicle under the condition of the same parameter setting. The lower half of the graph is the actual depth measurement deviation of the navigation depth of 100m before and after improvement, and the deviation comprises a subsequent analog-to-digital conversion module and processing recording errors. It can be seen that the improved depth inner measurement value is closer to the set value (known before test), and the depth measurement accuracy of about 2.2m can be improved in the vicinity of the depth of 100 m.
The invention is designed in a stable supporting project of national defense foundation scientific research institute, namely 'modularized target technology research' (the subject number is 110042019003), and is combined with a certain type of underwater vehicle to carry out real-time verification, and the implementation mode is self-implementation.
Because the depth sensor is influenced by materials, processes, environments and other factors in the batch production and manufacturing process, certain drift exists in the long-term use process, and the whole depth parameter measurement deviation is overlarge due to the phenomena of zero drift, linearity change and the like of the depth sensor. Therefore, in the mass production of certain types of underwater vehicles, the problems of long-term stability and reliability of internal depth sensor signal processing, field convenient calibration required in actual use and maintenance and the like must be fully considered.
The invention takes an embedded processor as a core, combines software high-precision real-time calibration, completes laboratory calibration test and actual matched installation test, and realizes hardware zeroing and software and hardware calibration of depth sensing signals of certain underwater vehicle. The comprehensive measurement result proves that the method can not only improve the depth measurement precision of the underwater vehicle, but also realize hardware zero calibration and automatic full-range linearity calibration, and has good engineering practical value. In addition, the invention can be applied to the development and production of underwater vehicles, can also be used for regulating and controlling depth sensing signals of various underwater platforms and underwater equipment, and has higher civil and military practical value and good market application and popularization prospect.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.
Claims (8)
1. An adaptive control system for depth sensing signals of an underwater vehicle is characterized by comprising: the analog switch is connected with the pressure sensor/element, the analog switch is communicated with the pressure sensor/element and the instrument amplifier, the instrument amplifier is connected with the filtering and shaping module, the filtering and shaping module is connected with the analog output module and the analog-to-digital conversion module, the analog-to-digital conversion module is connected with the embedded processor, and the embedded processor is connected with the digital interface and the closed-loop connection analog switch; the first digital potentiometer and the second digital potentiometer are both connected with the embedded processor and are connected to the instrument amplifier, the power supply conversion and filtering module is connected to the pressure sensor/element, and the reference voltage is connected to the instrument amplifier;
the instrument amplifier is used for basic low-noise amplification of the depth sensing analog signal;
the embedded processor is used for controlling the first digital potentiometer, the second digital potentiometer and the analog switch to carry out automatic control on the zero point and gain amplification amount of the instrument amplifier, can control the zero setting end and the gain end of the instrument amplifier, and calculates the current control amount according to the signal acquired by the real-time analog-to-digital conversion module to form closed-loop automatic control;
the analog switch can adjust the zero point of the instrument amplifier;
the second digital potentiometer is responsible for zero setting of bias voltage hardware of the differential signal output by the pressure sensor/element;
the first digital potentiometer is responsible for controlling the amplification amount of the output signal of the corresponding pressure sensor/element;
the reference voltage can be respectively provided for the instrument amplifier and the analog-digital conversion module for reference, and the depth signal conditioning software can be calibrated by using reference voltage data.
2. The adaptive control system for the depth sensing signals of the underwater vehicle as claimed in claim 1, wherein the filtering and shaping module can obtain reference voltage and temperature drift parameters of the instrumentation amplifier for actual measurement, and the obtained measurement data is used as fine calibration data in actual work and is directly compensated and corrected according to temperature environment parameters.
3. The adaptive control system for the depth sensing signal of the underwater vehicle as claimed in claim 1, wherein the analog-to-digital conversion module can calculate the compensation correction parameter by using the sampled voltage reference output voltage value and combining the current time temperature information; the correction parameters are applied to the zero setting and gain control of the instrument amplifier of the depth sensor for outputting analog signals so as to improve the control and measurement precision.
4. The adaptive control system for depth sensing signals of underwater vehicles according to claim 1, characterized in that the embedded processor can bring correction parameters into a data processing algorithm, correct digital output data in real time by using currently measured reference data, and eliminate or reduce errors brought by digital processing such as AD acquisition, so as to ensure that the precision of analog output and digital output is kept stable for a long time.
5. An adaptive control method for depth sensing signals of an underwater vehicle is characterized by comprising the following steps:
step S1, carrying out initial setting on the digital potentiometer, the communication module and the memory, and carrying out parameter judgment;
step S2, according to the set parameters, the parameters include one or more of the linearity of the depth sensor, the circuit temperature curve and whether the digital signal is output, the digital-to-analog conversion and the digital signal filtering processing are carried out, and the voltage reference correction is carried out by using a table look-up method according to the temperature parameters and the circuit temperature curve in real time; the integrated filtering processing relates to analog signal filtering and digital filtering, and respectively corresponds to analog and digital outputs of the depth sensor; the analog signal filtering is mainly controlled by a low-pass filter; digital filtering involves automatic correction of environmental parameters in addition to conventional digital filters; calculating a compensation correction parameter by using the sampled voltage reference output voltage value and combining the current time temperature information;
step S3, outputting the processed analog signals and digital signals in real time, receiving communication interruption, and performing corresponding control according to the communication instruction;
and step S4, according to the digital transmission appointment command, the on-site regulation and control can be automatically completed through an internal bus or an external connection mode of the underwater vehicle.
6. The adaptive underwater vehicle depth sensing signal control method of claim 5, wherein step S2 further comprises:
the instrument amplifier amplifies the basic low noise of the depth sensing analog signal;
the embedded processor controls the first digital potentiometer, the second digital potentiometer and the analog switch to carry out automatic control on the zero point and the gain amplification amount of the instrument amplifier, can control the zero setting end and the gain end of the instrument amplifier, and calculates the current control amount according to the signal acquired by the real-time analog-to-digital conversion module to form closed-loop automatic control; the analog switch can adjust the zero point of the instrument amplifier; the second digital potentiometer is responsible for zero setting of bias voltage hardware of the differential signal output by the pressure sensor/element; the first digital potentiometer is responsible for controlling the amplification amount of the output signal of the corresponding pressure sensor/element; the reference voltage can be respectively provided for the instrument amplifier and the analog-to-digital conversion module for reference, and the depth signal conditioning software can be calibrated by using reference voltage data.
7. The adaptive underwater vehicle depth sensing signal control method of claim 6, wherein step S2 further comprises: the temperature drift parameters of main elements such as reference voltage, an instrument amplifier and the like are actually measured, and the obtained measurement data are used as fine calibration data in actual work and are directly compensated and corrected according to temperature environment parameters.
8. The adaptive control method for the depth sensing signal of the underwater vehicle as recited in claim 7, wherein the parameters obtained by calculating and modifying the temperature environment parameters are applied to the zeroing and gain control of an instrumentation amplifier of the depth sensor outputting the analog signal, and at the same time, the modified parameters are substituted into a data processing algorithm to modify the current digital output data in real time to ensure that the analog output and the digital output have the same precision.
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