CN114459338B - Adaptive regulation and control system and method for depth sensing signals of underwater vehicle - Google Patents
Adaptive regulation and control system and method for depth sensing signals of underwater vehicle Download PDFInfo
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- CN114459338B CN114459338B CN202210003723.1A CN202210003723A CN114459338B CN 114459338 B CN114459338 B CN 114459338B CN 202210003723 A CN202210003723 A CN 202210003723A CN 114459338 B CN114459338 B CN 114459338B
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Abstract
The invention discloses an underwater vehicle depth sensing signal self-adaptive regulation and control system and method, which consists of a power supply conversion and filtering (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 shaping module (06), a voltage reference (07), an embedded processor (08), an analog output (09), a digital interface (10) and the like. The combined integrated design scheme is specifically adopted, and an underwater vehicle depth sensing signal self-adaptive regulation and control system is designed based on an instrument amplifier and an embedded processor. The system can realize the functions of hardware zeroing, self-adaptive calibration and the like of the depth sensing signal of the underwater vehicle, and further improve the depth measurement precision of the underwater vehicle, the stability of long-term measurement and the environmental adaptability.
Description
Technical Field
The invention belongs to the field of underwater vehicle control, belongs to the field of adaptive regulation and control and automatic calibration of depth signals of underwater vehicles, and particularly relates to an adaptive regulation and control system and method of depth sensing signals of the underwater vehicles.
Background
In order to meet the comprehensive control requirement and the actual navigation safety requirement, the conventional underwater vehicle needs to measure the vertical distance between the current position and the water surface (called as the navigation depth for short) and the vertical distance with the water bottom in real time besides controlling the navigation state in real time. The vertical distance information between the current position of the aircraft 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 is obtained by a pressure sensing mode through water pressure conversion.
The pressure sensing device mainly utilizes a sensitive element to effectively convert the change of external pressure into the change of an electric signal, thereby realizing the calculation of the current pressure value. The current voyage depth of the aircraft can be obtained through water pressure conversion, and therefore the voyage depth sensor can be also called as a depth sensor. Pressure/depth sensing can be classified into various types such as piezoresistive type, piezoelectric type, resonant type, inductive type, capacitive type, optical fiber type, etc. according to a basic operation principle. In the actual sailing process of an underwater vehicle, the depth change is not fast, but the whole underwater vehicle needs to work stably and reliably for a long time. The installation size, the weight, the long-term reliability, the economy and other factors are comprehensively considered, and the small-size depth sensor based on the piezoresistive strain principle is adopted on an underwater vehicle to carry out navigation depth measurement. The sensitive element of the pressure sensor is a solid piezoresistance sensitive chip, and a small amount of silicone oil is filled between the sensitive chip and the corrugated diaphragm. The corrugated membrane transmits the water pressure to the sensitive chip through the silicone oil, and the pressure and electric signal conversion is realized by utilizing the piezoresistive effect. The rear stage outputs a linear voltage signal by using a Wheatstone bridge so as to realize real-time measurement of the current navigation depth.
Limited by the internal installation size of the underwater vehicle, the current technical conditions and other factors, the main technology and the defects at present are as follows: 1) The measurement precision is not high in the aspect of depth signal processing, and the related signal processing part is connected with an underwater vehicle control system, so that the modularization requirement is not met; 2) The batch production debugging efficiency is low, and the good interchangeability requirement of products is not met; 3) The long-term use reliability is not high, and the depth measurement signal has larger drift amount; 4) Poor environmental adaptability, great influence by environmental parameters such as altitude, difficult on-site calibration of users, and the like. Aiming at the problems, the method for regulating and controlling the depth sensing signals of the underwater vehicle is to be improved under the constraint conditions of the internal structure, the installation size and the like of the underwater vehicle.
The main problems associated with depth sensing signal processing are as follows:
a) The production process has low efficiency and difficult batch automatic production. The single depth sensor is needed to carry out debugging on the post-processing circuit in a targeted manner, the resistance value corresponding to the gain and zero setting is determined, automatic flow operation cannot be carried out, 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 worse. In the long-term use process of the underwater vehicle, the underwater vehicle is greatly influenced by factors such as temperature, altitude, air pressure and the like, so that parameter drift such as zero position, linearity and the like of a depth sensing signal is caused, and even the main functions and performance index of the vehicle are 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 section is installed inside the aircraft and is cascaded with internal control group components. The depth signal cannot be corrected without dismantling the vehicle in the field.
To above-mentioned problem, if can carry out automatic integration design with depth sensor and post-processing part, under the circumstances that need not to disassemble the aircraft, simple operation can be automatic zero setting, calibration, will improve production efficiency by a wide margin, satisfy the in-service use demand, also can reduce the maintenance degree of difficulty in the long-term use of user.
Disclosure of Invention
In order to solve the defects and the shortcomings existing in the prior art, the invention aims at the problems of low precision, poor stability, poor interchangeability and the like of a depth sensing signal processing part of a certain type of underwater vehicle, is greatly influenced by environmental parameters, and aims to add a matched self-adaptive regulation and control system at the rear end of a depth sensor in combination with the actual situation of the current product (the underwater vehicle). After the system is developed successfully, the problems can be solved, the modularization level of the product can be improved, and the long-term working reliability and adaptability are improved.
Specifically, the invention is realized as follows: an underwater vehicle depth sensing signal adaptive regulation and control system, 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 shaping module, the filtering shaping module is connected to 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 analog switch in a closed loop manner; the first digital potentiometer and the second digital potentiometer are connected with the embedded processor and are connected with the instrument amplifier, the power supply conversion and filtering module is connected with the pressure sensor/element, and the reference voltage is connected with the instrument amplifier; the instrument amplifier is used for amplifying basic low noise 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 automatically control the zero point and the gain amplification of the instrument amplifier, can control the zero setting and the gain end of the instrument amplifier, and calculates the current control quantity according to the signals acquired by the real-time analog-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 the bias voltage hardware zeroing of the differential signal output by the pressure sensor/element; the first digital potentiometer is responsible for amplifying and controlling the output signals of the corresponding pressure sensor/element; the reference voltage can be respectively provided for the reference of the instrument amplifier and the analog-to-digital conversion module, and the depth signal conditioning software can be calibrated by utilizing the reference voltage data.
Furthermore, the filtering shaping module can acquire reference voltage and temperature drift parameters of the instrument amplifier for actual measurement, and the acquired measurement data are used as fine calibration data in actual work and are directly subjected to compensation and correction according to temperature environment parameters.
Furthermore, the analog-to-digital conversion module can output a voltage value by utilizing the sampled voltage reference and calculate a compensation correction parameter by combining the temperature information at the current moment; the correction parameters are applied to the instrument amplifier zeroing and gain control of the analog signal output by the depth sensor to improve the control and measurement accuracy.
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 analog output and digital potentiometer output is ensured to be the same.
In another aspect of the invention, an underwater vehicle depth sensing signal adaptive regulation method comprises the following steps: step S1, initially setting a digital potentiometer, a communication module and a memory, and judging parameters; 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 integrated 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 a controllable low-pass filter; digital filtering involves automatic correction of environmental parameters in addition to conventional digital filters; calculating compensation correction parameters by utilizing the sampled voltage reference output voltage value and combining the temperature information at the current moment; step S3, outputting the processed analog signals and digital signals in real time, receiving communication interruption, and performing corresponding control according to a communication instruction; and S4, according to the digital transmission convention 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 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 automatically control the zero point and the gain amplification of the instrument amplifier, can control the zero setting and the gain end of the instrument amplifier, calculates the current control quantity according to the signals acquired by the real-time analog-digital conversion module, and forms closed-loop automatic control; the analog switch can adjust the zero point of the instrument amplifier; the second digital potentiometer is responsible for the bias voltage hardware zeroing of the differential signal output by the pressure sensor/element; the first digital potentiometer is responsible for amplifying and controlling the output signals of the corresponding pressure sensor/element; the reference voltage can be respectively provided for the reference of the instrument amplifier and the analog-to-digital conversion module, and the depth signal conditioning software can be calibrated by utilizing the 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, the obtained measurement data are used as fine calibration data in actual work, and compensation correction is directly carried out according to the temperature environment parameters.
Furthermore, the parameters obtained by calculating and correcting the temperature environment parameters are applied to the zeroing and gain control of an instrument amplifier for outputting analog signals by the depth sensor, and meanwhile, the corrected parameters are brought into a data processing algorithm to correct the current digital output data in real time, so that the analog output and the digital output precision are ensured to be the same.
The working principle and beneficial effects of the invention are introduced: the system embedded processor (08) collects the output signals of the instrument amplifier (03) and the environmental information such as the current temperature in real time, feeds back and brings the environmental information into 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 of the instrument amplifier (03) and the initial zero position of the operational amplifier are respectively controlled by the first digital potentiometer (02) and the second digital potentiometer (04), particularly the second digital potentiometer (04) belongs to a hardware zeroing design, so that the problem of unstable output signals caused by hardware difference of the instrument amplifier (03) can be maximally reduced, and the output precision is ensured; the instrument amplifier (03) is composed of a plurality of low-noise instrument operational amplifiers, and has high precision and overall amplification amount which is not fixed. The integrated design with the depth sensor can make up individual differences of different depth sensors, ensure that the regulated output is in an accurate linear range, have good interchangeability and meet the modular design requirement of products; aiming at the problems of low precision, poor stability, poor interchangeability, great influence by environmental parameters and the like of a depth sensing signal processing part of an underwater vehicle, the invention aims to add a matched self-adaptive regulation and 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 developed successfully, the problems can be solved, the modularization level of the product can be improved, and the long-term working reliability and adaptability are improved.
Drawings
FIG. 1 is a graph of raw measurement alignment of a depth sensor (sensing element);
FIG. 2 is a graph of altitude versus depth measurement effect;
FIG. 3 is a graph of system reference voltage source element output versus temperature and depth measurement bias;
FIG. 4 is a schematic diagram of the system components;
FIG. 5 is a system output simulation graph;
FIG. 6 is a three-dimensional diagram of a system core circuit physical design;
FIG. 7 is a system basic software flow diagram;
FIG. 8 is a simulation diagram of a system fine calibration error;
FIG. 9 is a schematic diagram of a test protocol;
FIG. 10 is a diagram of system test results;
FIG. 11 is a graph comparing actual navigational depth measurements for an underwater vehicle;
Detailed Description
The objects, technical solutions and advantages of the present invention will become more apparent by the following detailed description of the present invention with reference to the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
In the general design of an underwater vehicle, pressure sensing measurement information is directly used for controlling the safety depth of the vehicle, and is one of input parameters of a general navigation control algorithm, and the measurement function and performance of the pressure sensing measurement information directly influence the general function and performance index of the vehicle. In addition, the underwater vehicle belongs to a product for mass delivery, and the interchangeability of components during production and manufacture, the convenience of production and debugging and the field feasibility of subsequent maintenance and repair processes are also required to be fully considered. Therefore, the pressure sensing information of the pressure sensing device is required to be designed in a targeted manner, so that the pressure sensing information of the pressure sensing device is related to the assembly parts and has good consistency, and interchangeability and site convenience and maintainability are ensured. Meanwhile, the problems of convenient field correction and test under different using environment parameters (such as temperature, altitude and the like) are fully considered, so that the field calibration efficiency is improved. On a conventional underwater vehicle, when the navigation depth measurement is performed based on a depth sensor mode, corresponding post-processing such as zeroing, amplifying, collecting, transmitting and the like is required. In combination with practical application and mass production and manufacture, the following aspects of maintenance and repair are comprehensively considered, and the post-processing design process mainly requires the following steps:
a) Has high-precision signal conditioning function. Such as low-noise instrument level operational amplification, high-precision analog-to-digital conversion module acquisition and transmission, and the like;
b) And a convenient and efficient production, assembly and debugging means. In a mass sound field manufacturing link, the function and performance calibration of the related components of the depth sensor can be conveniently realized;
c) Has good environmental adaptability and long-term working reliability. The design meets the use consistency under the environments of different temperatures, different altitudes and the like. Such as temperature, altitude induced depth sensor zero drift, or linearity bias, etc.;
d) The depth sensing related set of components has good consistency. The method can be directly exchanged between the same products, and has convenient and practical performance during field maintenance;
e) The method has good expandability. Related interfaces and data processing capacity are reserved for upgrading subsequent products (underwater vehicles), and the requirements of analog output, digital output and the like are met to a certain extent.
Since underwater vehicles are often required to be used in different areas, the pressure sensitive elements of depth measurement are affected by different environmental parameters (such as temperature, altitude, etc.), and it is difficult to ensure long-term stability for many years. Meanwhile, considering the operability of mass production, debugging, field maintenance and repair, the deep-sensing signal processing method needs to be intensively studied so as to better solve the problems.
The treatment scheme is as follows: 1) The analog signal is amplified and conditioned on the basis of an instrument operational amplifier, so that the accuracy of the changed environment such as the altitude cannot be ensured; 2) The digital potentiometer is adopted to carry out gain amplification conditioning, but the digital potentiometer does not have hardware zeroing, 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 the actual production and actual use situations of users; 4) The method adopts a pure software mode to calibrate the digitized depth sensor information, and cannot be rapidly produced in batch due to the influence of individual differences of the depth sensors, and has no good interchangeability and environmental adaptability.
The main purpose of the depth sensing signal regulation is to extract sensor sensing element change signals, perform adaptive amplification, filtering, digital-to-analog conversion and other processes on the relatively weak analog signals, and calculate and obtain underwater vehicle navigation depth information according to a certain functional relation. The traditional processing mode mainly comprises an instrument amplifier, corresponding analog signal processing, analog-to-digital conversion and digital signal processing, and outputting to a corresponding post control part. The typical processing mode is that an adjustable potentiometer and the like are respectively adopted at the zeroing end and the gain end of the instrument amplifier for manual initial calibration, and the accurate gain and zero position are determined according to the output of the sensor. The defects of the conventional processing method are gradually revealed in the long-term use process because the depth sensor is influenced by the external environment. In the mass production, delivery and use of certain underwater vehicles and the subsequent maintenance process, the depth sensing signal is regulated and controlled in a pure hardware, a pure software, a hard-soft combination mode and the like under the normal condition. The pure hardware mode has simple structure, and can realize the linear calibration of the depth sensing signal if an operational amplifier of the instrument is additionally connected with an externally-connected adjustable potentiometer. The method is simple and has continuous adjustable range, but manual adjustment is usually required according to the field condition, the alignment error is large, and the method is easily influenced by environmental factors; the hard-soft combination mode has a slightly complex structure, and the typical method is to replace an adjustable resistor of pure hardware by using a digital-analog conversion or digital potentiometer, and the gain and zero position of an operational amplifier of the instrument are controlled by a program. The method is fast, is not easily influenced by external environment, but the gain adjustment precision is generally discrete, and the minimum resolution is limited by digital-to-analog conversion or digital potentiometer; the software-only mode has higher precision, and mainly uses a large amount of data measured in advance as a comparison basis to form a data table/library, and then performs comparison in an inquiring mode in actual work. The method does not need to increase hardware, has higher precision, but needs to carry out a large number of data test statistics in advance to form a data table/library, and has poor adaptability to the environment. The current automatic calibration method of the depth sensor mainly adopts a synchronous control technology, synchronously collects standard input and output voltages, establishes a voltage-depth calibration lookup table through a computer, and downloads the voltage-depth calibration lookup table into a depth measurement singlechip in real time to finish 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 change greatly, the calibration cannot realize accurate calibration.
Any sensor device has some error, and can be broadly classified into linear error and nonlinear error. With the continuous development and application of technology and 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 larger. And (3) temperature compensation processing is carried out in the pressure sensor, and indexes such as initial zero point, sensitivity, linearity and the like of the pressure sensor are controlled in a certain range by methods such as initial calibration and the like. Therefore, aiming at the actual application situation of a certain type of underwater vehicle, the initial zero position and the linearity of the depth sensor are mainly subjected to conditioning control, so that the current actual requirements can be met. The main indexes of the sensing element of the depth sensor of the underwater vehicle are as follows:
a) Measurement range: 0-3 MPa;
b) Overload: 150%;
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 position: greater than 60mV;
f) Supply voltage: +6±0.2v;
g) Temperature range: -30 to +60℃.
The pressure sensitive element of the depth sensor has stronger environmental sensitivity and is influenced by conditions such as temperature, humidity, altitude and the like in different environments. Such as temperature and humidity affecting its linearity, altitude affecting its output zero position, etc. Typically the null output of the depth sensor is a range of intervals, such as 1mV to 4mV, with a range of stability. Similarly, the full-scale output is a range value of 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 entire depth sensing processing data by using a fixed gain conditioning mode.
By measuring a plurality of depth sensors independently, certain discreteness exists between individual outputs of certain type of depth sensors. Although the linearity of a single sensor meets the technical index requirement, the output among different individuals has certain discreteness. The original 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 that the amplification factor is 250 (assuming that the amplification conditioning has no error), the zero range after the amplification adjustment becomes 250mV to 1000mV, and it is obvious that the error is unacceptable in practical measurement use. Therefore, the method is obviously affected by individual differences of the depth sensors, and good consistency cannot be obtained by simple signal processing. The method is also a main reason that manual adjustment of the potentiometer is adopted to carry out independent matching and debugging at present, and meanwhile the problems that modularization cannot be achieved in the subsequent production process, convenient maintenance cannot be exchanged on site, zero drift influenced by environmental parameters such as different regional altitudes cannot be solved.
As can be seen from fig. 1, the overall linearity of a certain type of underwater vehicle depth sensor in the same batch can be basically ensured by a compensation technology and an improvement technology, but the zero position and the full position of the output are both in a certain range and are not in a fixed interval. As in FIG. 1, 1# and 4# differ in output voltage by about 20.4mV at the 3MPa input point. If calculated in a simplified manner, 1MPa corresponds to a water depth of 100m and a corresponding range of 90mV voltage, the 20.4mV output deviation translates to a depth difference of about 68m. It follows that such depth deviations far exceed the accuracy requirements required for control of a typical underwater vehicle. In addition, the overall deviation is larger due to the change of the sensing element of the depth sensor caused by the change of external conditions such as temperature, altitude, air pressure and the like. The corresponding air pressure curves of the altitudes are drawn according to the public test data and are shown in fig. 2, which shows that the air pressure changes of different altitudes are large. The maximum altitude factor can lead to depth measurement errors of 4m and above based on sea level. Therefore, the device is also used in different regions of an underwater vehicle, and the depth sensor is changed by the measurement reference due to different altitudes, so that the measurement data is greatly deviated, and even the basic function of the underwater vehicle is affected.
In addition, the electronic components are greatly affected by temperature parameters, and the output range of the depth sensor (sensing element) is assumed to be 1 mV-60 mV, and the linear response is 0 m-300 m (3 MPa) depth. 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 related electronic parts such as the instrumentation amplifier (03) and the analog-to-digital conversion module (05) are error-free in subsequent processing, the reference voltage (07) is considered to be influenced by the temperature independently, and the depth measurement error curve is shown in fig. 3 due to the output reference change. As shown in fig. 3, the overall accuracy of the system voltage reference source element is higher, the variation with temperature is smaller, but even if the smaller variation is introduced into the depth sensing measurement deviation is still larger. If the components of the entire system, which may be affected by temperature, are taken into account in combination, the overall depth measurement bias of the underwater vehicle will be unacceptable. Therefore, the temperature parameter is also one of the reasons that affects the accuracy of the underwater vehicle depth measurement.
And the conventional processing mode is to initially correct zero and full bits, adjust the gain and zero offset of a post-processing circuit according to actual conditions, store intra-interval measurement data in a rear-end control processor, and correct the intra-interval measurement data according to the pre-test measurement information during real-time calculation. Although the use precision can be met to a certain extent, the long-term stability is based on periodic correction, and the basic interchangeability cannot be achieved, namely the interchange of the assembly parts of two aircrafts cannot be achieved, and even the external depth sensor cannot be directly replaced.
Example 1 of the present invention: an underwater vehicle depth sensing signal self-adaptive regulation and control system can realize the self-adaptive regulation and control of the underwater vehicle depth sensing signal. The method is characterized in that: the integrated installation scheme of an integrated combination is adopted, an embedded processor, an instrument operational amplifier, a digital potentiometer and a high-precision reference voltage source are taken as cores, the output signal of the depth sensor is accurately regulated and controlled in a fixed linear range, and the integrated combination type integrated installation system has good self-adaptability and reliability. The system is composed of a power supply conversion part (00), a 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 shaping module (06), a voltage reference part (07), an embedded processor (08), an analog output part (09), a digital interface (10) and the like. The instrument amplifier (03) is composed of a plurality of low-noise instrument operational amplifiers, and has high precision and overall amplification amount which is not fixed. The integrated design of the integrated sensor and the depth sensor can make up individual differences of different depth sensors, ensure that the regulated output is in an accurate linear range, have good interchangeability and meet the modular design requirement of products. The amplification amount of the instrument amplifier (03) and the initial zero position of the operational amplifier are controlled by the first digital potentiometer (02) and the second digital potentiometer (04) respectively, particularly the second digital potentiometer (04) belongs to a hardware zeroing design, the problem of unstable output signals caused by hardware differences of the instrument amplifier (03) can be reduced to the greatest extent, and the output precision is ensured. The system embedded processor (08) collects the output signals of the instrument amplifier (03) and the environmental information such as the current temperature in real time, feeds back and brings the environmental information into 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.
1. Overall system scheme
The system mainly comprises the following steps:
a) First, the fixing is performed. Integrating a system with a depth sensor/element via a cable
The device is connected and fixedly arranged in the underwater vehicle;
b) Second, a basic initial calibration. After the external input of analog zero position and full position, the system
Solving and determining initial values of digital potentiometers corresponding to zero bits and full bits to complete the base
This initial calibration;
c) Then, fine initial calibration. The system continuously collects the output signals of the depth sensor,
and the current temperature and other environmental parameters, and carrying the feedback of the parameter values into calculation in real time
Real-time correction is carried out by the method, the current correction parameter matrix is determined, and the refinement is finished
Starting calibration;
d) Finally, recording and outputting. Real-time recording of relevant parameters inside a system
After losing the memory, the output is continuous. Meanwhile, the system can be used for inquiring corresponding states, returning working parameters, automatically calibrating related functions and the like at any time according to the instructions.
According to the actual application environment requirement, the internal structure of an underwater vehicle and the existing processing method, a scheme design is carried out by adopting 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 signals, and the embedded processor is used for controlling 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 zeroing and digital gain control, functions of automatic test correction of individual linearity of a depth sensor, automatic correction according to factory original linearity according to the fact that sensor output at the current altitude is zero, various digital interface outputs, parameter records and the like are added. Therefore, the improvement scheme is equivalent to a software-hardware-purely-software mode in the traditional conventional method. The improved structure of the patent design is shown in fig. 4.
As shown in fig. 4, the improvement scheme mainly uses an original pressure sensor as an input source according to the existing structure of an underwater vehicle, and utilizes the zeroing and gain ends of an embedded processing control instrument amplifier to calculate the current control quantity according to the signals acquired by a real-time analog-to-digital conversion module so as to form closed-loop automatic control. The analog switch is used for independently adjusting the zero point of the instrument amplifier, the digital potentiometer (zeroing) is used for zeroing the bias voltage hardware of the differential signal output by the pressure sensor/element, and the digital potentiometer (gain) is used for controlling the amplification of the signal output by the corresponding pressure sensor/element. In addition, the reference voltage is respectively provided for the reference of the instrument amplifier and the analog-to-digital conversion module, and the depth signal conditioning software can be calibrated by utilizing the reference voltage data. In fig. 4, 00 is the power supply and power filtering processing part of the system, and provides stable and clean power for the system. 01 is a programmable diverter switch, default to the pressure sensor/element, programmable to system ground, calibration switch for system circuit op-amp (similar to short circuit self-calibration). 02 and 04 are both digital potentiometers, wherein 02 (digital potentiometer I) is used for the amplification control of the instrumentation amplifier (03), 04 (digital potentiometer II) is used for the reference zeroing of the instrumentation amplifier (03), and the analog switch (01) is disconnected from the pressure sensor/element and is in a grounded state. And 06 is an output signal filtering and shaping processing module of the instrument amplifier. Reference numeral 07 denotes a reference voltage module of the instrumentation amplifier, which ensures amplification accuracy. 05 is analog-digital conversion (similar to AD acquisition) of the system, the output signal of the instrument amplifier is digitized to 08 an embedded processor after being filtered and shaped, and 01, 02 and 04 are feedback controlled after 08 is processed according to the data transmitted by 05. 09 is the analog signal output port after system conditioning, and the output voltage range can be fixed. And 10 is a system digital output port, and directly outputs a pressure value.
The application adopts an improved hard and soft processing mode to carry out system design, and adds hardware zeroing calibration of an operational amplifier of an instrument and a temperature curve calibration processing method of hard and soft on the basis of a conventional hard and soft processing mode. The instrument amplifier is used for basic low-noise amplification of the depth sensing analog signals, and the embedded processor is used for controlling the digital potentiometers and the analog switches to carry out automatic control of hardware zeroing and software gain amplification of the instrument amplifier. On the basis of signal hardware zeroing and digital gain control, the functions of automatic test correction of individual linearity software of the depth sensor, various digital interface outputs, parameter records and the like are added. The main characteristic is that the individual difference of the depth sensor/element is not restricted, the correction curves can be automatically adjusted, the output is ensured to be stable in a fixed linear interval, and the digital output and internal recording function are provided. The characteristics can meet the requirements of good interchangeability among sensors/elements with different depths and self-calibration for different environments (such as altitude, temperature and the like). And has high efficiency of mass production.
The main characteristic 1 is used for eliminating individual differences of the circuit of the system, such as circuit noise and individual differences of an instrument amplifier. The main characteristic 2 is used for eliminating the noise and the amplification gain error of the instrument amplifier under different temperature environments, and further improving the processing precision.
The method specifically adopts a high-precision low-zero-drift instrumentation amplifier to carry out linear amplification output on the weak signal of the depth sensor, and adopts an embedded processor to carry out digital processing and closed-loop control, so that hardware zeroing and linear amplification output can be carried out on the output signal of the depth sensor within a certain range. The problems that the output linear region of the depth sensor is not fixed, zero position is greatly influenced by external environments such as air pressure and the like are mainly solved. Meanwhile, the difficulty of assembly and maintenance is reduced to a certain extent, the working efficiency is improved, and meanwhile, the interchangeability and reliability of products are improved. Because the design mainly designs the output voltage signal precision problem, the simulation analysis is carried out aiming at the output precision. Taking the combination of the instrument amplifier and the digital potentiometer as a basic scheme, the gain control is carried out by adopting a conventional 256-order 10k omega digital potentiometer, and the simulation result of the output precision of the instrument amplifier is shown in fig. 5.
As shown in FIG. 5, on the basis of the basic index of the existing depth sensor, the maximum deviation of the simulation signal output after simulation is within 2.5mV, and the output can meet the technical index requirement of +/-5 mV by comprehensively considering electromagnetic interference and component deviation. According to the theoretical calculation of the error of the regulating output plus or minus 5mV, the depth deviation of the calculated target is about plus or minus 0.375m, the measurement precision of the navigation depth can be improved, and the conventional use requirement of the underwater vehicle can be met.
2. System hardware design
The improved processing method of the depth sensing signal of the underwater vehicle aims to improve the linear amplification output performance of the bridge input analog signal of the depth sensor, and has the functions of large-range hardware zero setting of sensor zero drift, parameter calibration of measuring range drift and linear error and the like. The embedded processor is utilized to carry out closed-loop processing and control, analog input hardware zeroing and refined gain adjustment can be independently carried out, and the debugging parameters can be stored in an internal nonvolatile memory and have the function of preventing error change. In addition, the digital output function is reserved in consideration of subsequent upgrading and better compatibility, and the digital interface is utilized to realize the functions of convenient automatic zero point correction, precision calibration and the like. The physical design of the core circuit involved in the design is shown in fig. 6.
As shown in fig. 6, the corresponding white wire frame is a metal shielding case, so that electromagnetic compatibility is improved. 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 overall size of the processing circuit board is about 30mm multiplied by 8mm, and the processing circuit board and the corresponding depth sensor are integrally matched with each other to realize structural design, so that the processing circuit board can be fixedly installed by utilizing the existing space in a certain type of aircraft.
Example 2: an underwater vehicle depth sensing signal self-adaptive regulation and control method is mainly realized by software design,
the software mainly refers to digital signal processing and closed-loop control software in the embedded processor of the system, and mainly has the functions of collecting analog input, output of an operational amplifier, output of a reference voltage source and temperature signals, calculating and estimating according to corresponding algorithms, and performing closed-loop control according to calculated or estimated values. In addition, the zeroing and gain adjusting process of the traditional manual adjustment rheostat is adjusted to be calibrated by a digital instruction mode. The digital output interface of the depth sensor is increased, and a design basis is provided for subsequent expansion application. The software control mainly comprises the following steps:
a) Initializing. Besides basic initialization of the integrated controller, the digital potentiometer, the communication module and the memory are also required to be initially set;
b) And (5) data processing. 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;
c) And outputting a signal. And outputting the processed analog signals and digital signals in real time. Meanwhile, receiving communication interruption, and performing corresponding control, such as inquiry reply, parameter modification and the like, according to a communication instruction;
d) And (5) automatic calibration. According to the digital transmission convention command, the on-site regulation and control can be automatically completed through an internal bus or an external connection mode of the underwater vehicle, such as parameter calibration of zero position/full position measuring range linearity and the like.
The basic software flow is shown in fig. 7.
As shown in fig. 7, the parameter determination is performed after the program initialization, which mainly prevents the parameter from causing a large measurement error due to the fact that the parameter is not calibrated. The working mode is mainly used for production debugging, field maintenance, and the like, such as internal record parameter inquiry, self-checking test, field calibration, and the like. The comprehensive filtering process involves conventional filtering methods such as analog signal filtering, digital filtering FIR digital filters, time window averages, and the like, corresponding to the analog and digital outputs of the depth sensor, respectively. The analog signal filtering is mainly a controllable low-pass filter, and can be realized by a conventional control method. Digital filtering is here mainly related to automatic correction of environmental parameters in addition to conventional digital filters.
The precision of the reference voltage of the system directly influences the temperature drift of the components such as an instrument amplifier, an analog-digital conversion module and the like. If compensation correction is performed within a certain range according to environmental information such as the current temperature, the measurement accuracy and reliability of the depth information can be further improved. The invention has the specific practice that the temperature drift parameters of main elements such as reference voltage, an instrument amplifier and the like are actually measured, the obtained measurement data are used as fine calibration data in actual work, and compensation correction is directly carried out according to environmental parameters such as temperature and the like. Taking the reference voltage element adopted by the patent of the invention as an example, the relation between the temperature and the output change is measured before test, and 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 as can be seen from the test data, so that the real-time compensatory correction can be performed by adopting the theoretical data of the voltage reference element. The basic principle is that after the analog-digital conversion module, the correction quantity parameter is calculated by utilizing the sampled voltage reference output voltage value (theoretical value is 1.0V) and combining the temperature value obtained at the current moment, so that the measurement accuracy is further improved. Specifically, a table lookup method is adopted to obtain a voltage reference accurate value (for example, 0.9991V corresponding to 40 ℃), the reference voltage value (for example, 0.9992V) of the current AD sample is compared with the reference voltage accurate value obtained by table lookup to obtain a correction quantity (delta U= -0.0001V, namely 0.9991-0.9992) of the current AD sample under 1V, and compensation correction is carried out on the analog signal AD acquisition data of the depth sensor in a linear correction mode. Examples: taking the reference voltage curve of the ADR130 chip as an example, a typical temperature curve measured by the reference voltage curve is shown in fig. 3, a detailed data table is established for the output voltage corresponding to the temperature, and the reference voltage curve is corrected by a table look-up method. For example, the current measured temperature is 40 ℃, and the reference voltage U is obtained by looking up a table 0 Should be 0.9991V (theoretical 1.0V). At this time, U should be 0 The value of 0.9991V is taken as the accurate value of the reference voltage, and is brought into the MCU processing algorithm to recalculate the resistance value of the digital potentiometer required by the operational amplifier, thereby accurately controlling the operational amplifier simulationAnd outputting. At the same time, MCU is used for controlling the reference voltage U at the current temperature 0 With the voltage U obtained by AD acquisition 1 The comparison is performed to obtain the error Δu of the current AD sample (Δu=u 0 -U 1 ) Then the MCU participates in calculating AD sampling data U of depth information 1 All undergo linear correction (U) 1 ＝U 1 +ΔU×U 1 ) To improve digital output accuracy. The parameters obtained by calculation and correction are applied to the zeroing and gain control of an instrument amplifier for outputting analog signals by the depth sensor, so that the control and measurement accuracy is further improved. 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 analog output and the digital output precision are ensured to be the same. As can be seen from fig. 8, the depth measurement accuracy is significantly improved after the real-time feedback correction of the temperature parameter is added, and the maximum depth measurement deviation due to the depth change is about 0.1m.
3. Systematic test
In order to verify the feasibility of the invention, the method adopts a standard pressure source and real-time data acquisition and processing mode to test, and the feasibility of the improved method is statistically analyzed by using the test data. The specific testing device can trace a certain national defense metering station pressure sensor metering calibration system. In actual test, a plurality of depth sensors of different batches are input into a standard pressure source by adding a processing circuit system corresponding to an improvement method, and are input into a test calibration device after being processed to obtain measurement result data. The test method is shown in fig. 9.
The temperature of the test site is 21 ℃, the humidity is 40%, the altitude of the test site is 1891m, the number of sampled test samples is 10 (the same as the sample in fig. 1), and the test result curve is shown in fig. 10. As shown in FIG. 10, the upper graph shows the amplitude values of the output signals of 10 depth sensors with larger original difference after regulation, and 10 output measurement data curves are basically coincident due to better consistency. The lower graph shows the deviation value (compared with the theoretical value) of the test depth of 10 samples. From the above, the accuracy of the depth sensing measurement data after the improvement is further improved, the processing output signals of the depth sensors with obvious individual differences are basically consistent, and the depth measurement accuracy can reach 0.15m.
In the improved implementation of the depth sensing signal processing method, a depth sensor and a rear regulation system are integrally designed, and the vehicle can be installed or removed without being disassembled, so that the field operation complexity is reduced. This is very favorable to mass production efficiency improvement, has solved the convenient calibration problem of the degree of depth sensing signal zero position in the different regional use simultaneously. After the improvement, in the actual navigation process of a small underwater vehicle, the same parameters are set for actual navigation, and the comparison of depth measurement results before and after the modification is shown in fig. 11. As shown in fig. 11, the upper graph is a real-navigation internal measurement recording depth data curve of an underwater vehicle under the same parameter setting condition. The lower graph shows the actual depth measurement deviation of the navigation depth of 100m before and after improvement, wherein the actual depth measurement deviation comprises the following analog-digital conversion module and the processing recording error. It can be seen that the improved in-depth measurement is closer to the set point (known before testing), and the depth measurement accuracy can be improved by about 2.2m near the depth of 100 m.
The invention has been designed in the national defense basic scientific research institute stability support project (subject number is 110042019003), and combines with the real-time and verification of some underwater vehicle, the implementation mode is self-implementation.
Because the depth sensor is influenced by factors such as materials, processes, environment and the like in the batch production and manufacturing process, certain drift exists in the long-term use process, such as zero drift, linearity change and the like of the depth sensor, and the overall depth parameter measurement deviation is overlarge. Therefore, in mass production of certain underwater vehicles, problems such as long-term stability and reliability of internal depth sensor signal processing, and field portable calibration required in actual use and maintenance must be fully considered.
The embedded processor is used as a core, and the high-precision real-time calibration of software is combined, so that the laboratory calibration test and the actual matched installation test are completed, and the hardware zeroing and the software and hardware calibration of the depth sensing signal of the underwater vehicle are realized. Comprehensive measurement results prove that the method not only can improve the depth measurement precision of the underwater vehicle, but also can 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 the depth sensing signal regulation and control of various underwater platforms and underwater equipment, and has higher practical value for military and civil use 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 explanation of the principles of the present invention and are in no way limiting of the invention. Accordingly, any modification, equivalent replacement, improvement, etc. made without departing from the spirit and scope of the present invention should be included in the scope of the present invention. Furthermore, the appended claims are intended to cover all such changes and modifications that fall within the scope and boundary of the appended claims, or equivalents of such scope and boundary.
Claims (5)
1. An underwater vehicle depth sensing signal adaptive regulation and control system, 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 shaping module, the filtering shaping module is connected to 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 analog switch in a closed loop manner; the first digital potentiometer and the second digital potentiometer are connected with the embedded processor and are connected with the instrument amplifier, the power supply conversion and filtering module is connected with the pressure sensor/element, and the reference voltage is connected with the instrument amplifier;
The instrument amplifier is used for amplifying basic low noise 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 automatically control the zero point and the gain amplification of the instrument amplifier, can control the zero setting and the gain end of the instrument amplifier, and calculates the current control quantity according to the signals acquired by the real-time analog-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 the bias voltage hardware zeroing of the differential signal output by the pressure sensor/element;
the first digital potentiometer is responsible for amplifying and controlling the output signals of the corresponding pressure sensor/element;
the reference voltage can be respectively provided for the reference of the instrument amplifier and the analog-to-digital conversion module, and the depth signal conditioning software can be calibrated by utilizing the reference voltage data;
the filtering shaping module can acquire reference voltage and temperature drift parameters of the instrument amplifier for actual measurement, and the acquired measurement data are used as fine calibration data in actual work and are directly compensated and corrected according to temperature environment parameters;
the analog-to-digital conversion module can output a voltage value by utilizing the sampled voltage reference and calculate a compensation correction parameter by combining the temperature information at the current moment; the correction parameters are applied to the zeroing and gain control of an instrument amplifier for outputting analog signals by the depth sensor so as to improve the control and measurement precision;
The embedded processor can bring the correction parameters into a data processing algorithm, correct the digital output data by utilizing the currently measured reference data in real time, and eliminate or reduce the error brought in the AD acquisition digital processing process so as to ensure that the accuracy of analog output and digital output is kept stable for a long time.
2. A regulation method based on the underwater vehicle depth sensing signal adaptive regulation system as set forth in claim 1, characterized by comprising the steps of:
step S1, initially setting a digital potentiometer, a communication module and a memory, and judging parameters;
step S2, performing digital-to-analog conversion and digital signal filtering processing on one or more of the linearity of the depth sensor, a circuit temperature curve and the output of a digital signal according to set parameters, and performing voltage reference correction by using a table look-up method according to the temperature parameters and the circuit temperature curve in real time; the comprehensive filtering processing involves analog signal filtering and digital filtering, corresponding to the analog and digital outputs of the depth sensor, respectively; the analog signal filtering is mainly a controllable low-pass filter; digital filtering involves automatic correction of environmental parameters in addition to conventional digital filters; calculating compensation correction parameters by utilizing the sampled voltage reference output voltage value and combining the temperature information at the current moment;
Step S3, outputting the processed analog signals and digital signals in real time, receiving communication interruption, and performing corresponding control according to a communication instruction;
and S4, automatically completing field regulation and control through an internal bus or external connection mode of the underwater vehicle according to the digital transmission convention command.
3. The method of claim 2, wherein step S2 further comprises:
the instrument amplifier amplifies 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 automatically control the zero point and the gain amplification of the instrument amplifier, can control the zero setting and the gain end of the instrument amplifier, calculates the current control quantity according to the signals acquired by the real-time analog-digital conversion module, and forms closed-loop automatic control; the analog switch can adjust the zero point of the instrument amplifier; the second digital potentiometer is responsible for the bias voltage hardware zeroing of the differential signal output by the pressure sensor/element; the first digital potentiometer is responsible for amplifying and controlling the output signals of the corresponding pressure sensor/element; the reference voltage can be respectively provided for the reference of the instrument amplifier and the analog-to-digital conversion module, and the depth signal conditioning software can be calibrated by utilizing the reference voltage data.
4. The method of claim 3, wherein step S2 further comprises: and actually measuring the temperature drift parameters of the main elements of the reference voltage and the instrument amplifier, and directly compensating and correcting according to the temperature environment parameters by taking the obtained measurement data as fine calibration data in actual work.
5. The method according to claim 4, wherein the parameters obtained by calculating and correcting the temperature environment parameters are applied to the zeroing and gain control of an instrumentation amplifier for outputting analog signals by the depth sensor, and the corrected parameters are carried into a data processing algorithm to correct the current digital output data in real time, so as to ensure that the analog output is identical to the digital output precision.
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