CN115712003A - Method and device for improving measurement precision of digital closed-loop accelerometer - Google Patents
Method and device for improving measurement precision of digital closed-loop accelerometer Download PDFInfo
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Abstract
The embodiment of the invention discloses a method and a device for improving the measurement precision of a digital closed-loop accelerometer. The method analyzes the influence of loop parameters such as sampling point number, a proportionality coefficient and an integral coefficient on the measurement precision of the closed-loop system by using a implicit function solving mode, determines the influence of quantization errors of a target converter under different bit numbers on the measurement precision of the closed-loop system by using a fixed low-order mode, and adjusts the loop parameters and the bit number of the target converter by combining an influence analysis result corresponding to the loop parameters and an influence analysis result corresponding to the target converter so as to ensure the performance of an accelerometer header to the maximum extent. According to the invention, the technical problems that the influence of the loop parameters of the existing digital closed-loop accelerometer on the measurement precision of the closed-loop system is not clear, and the high-precision development of the whole accelerometer system is restricted are solved, and the technical effects of improving the performance of the digital closed-loop accelerometer and meeting the precision requirement of the digital closed-loop accelerometer are achieved.
Description
Technical Field
The invention relates to the technical field of accelerometer measurement, in particular to a method and a device for improving the measurement precision of a digital closed-loop accelerometer.
Background
The quartz flexible accelerometer (short for accelerometer) is a new generation force feedback pendulum accelerometer developed on the basis of a liquid floating pendulum accelerometer and a metal flexible accelerometer, has the characteristics of simple structure, good long-term stability, high sensitivity, low power consumption and easiness in miniaturization, and is widely applied to the field of inertial navigation of various aircrafts, land-military ground vehicles, tactical missiles, submarines, ships and the like.
The output of the traditional analog quartz flexible accelerometer is analog current or voltage information, and the conversion between analog and digital is realized by an open-loop analog-to-digital conversion device (I/F, V/F, A/D circuit). However, in the conversion process, due to the influence of factors such as linearity of circuit components and temperature drift, the overall accuracy of the system is easily reduced, and the accuracy of the accelerometer gauge head is lost.
As an important component of the inertial technology, the high precision of an accelerometer system is an important trend of the development of the accelerometer system, the measurement precision of the accelerometer system is improved, the precision of the whole navigation and guidance system can be improved, the performance of the whole inertial navigation system is improved, a reference is provided for the actual precision which can be achieved by the current digital closed-loop quartz flexible accelerometer, and meanwhile, a theoretical basis is provided for the further optimization of the performance index of the quartz flexible accelerometer. However, the influence of the gain of each part of a loop of the existing all-digital closed-loop flexible accelerometer is unclear, and the high-precision development of the whole accelerometer system is restricted.
An effective solution to the above problems has not been proposed.
Disclosure of Invention
The embodiment of the invention provides a method and a device for improving the measurement precision of a digital closed-loop accelerometer, which at least solve the technical problems that the influence of loop parameters of the existing digital closed-loop accelerometer on the measurement precision of a closed-loop system is unclear, and the high-precision development of the whole accelerometer system is restricted.
According to an aspect of the embodiments of the present invention, there is provided a method for improving measurement accuracy of a digital closed-loop accelerometer, including: establishing a closed loop system error model of the digital closed loop accelerometer, and determining an influence relation between loop parameters and measurement precision of the closed loop system; determining the influence of the loop parameters on the measurement precision of the closed-loop system based on a hidden function solving mode to obtain an influence analysis result corresponding to the loop parameters; determining the influence of quantization errors of a target converter under different digits on the measurement precision of the closed loop system based on a fixed low-order mode to obtain an influence analysis result corresponding to the target converter; and adjusting the number of bits of the loop parameters and the target converter according to the influence analysis result corresponding to the loop parameters and the influence analysis result corresponding to the target converter.
Optionally, the method for establishing a closed-loop system error model of the digital closed-loop accelerometer includes: performing mathematical modeling on a gauge head assembly, a detection circuit and a control link of the digital closed-loop accelerometer to obtain a digital closed-loop accelerometer system model; and constructing the error model of the closed-loop system according to the system signal flow direction and the digital closed-loop accelerometer system model.
Optionally, the determining the influence relationship between the loop parameter and the measurement accuracy of the closed-loop system includes: and determining that the number of the sampling points influences the signal-to-noise ratio of a closed-loop system, the proportionality coefficient influences the bandwidth of the closed-loop system, and the integral coefficient influences the steady-state error of the closed-loop system, wherein the signal-to-noise ratio of the closed-loop system, the bandwidth of the closed-loop system and the steady-state error of the closed-loop system are indexes representing the measurement accuracy of the closed-loop system.
Optionally, when the loop parameter is the number of the sampling points, determining an influence of the loop parameter on the measurement precision of the closed-loop system based on an implicit function solving manner to obtain an influence analysis result corresponding to the loop parameter, including: obtaining a relation curve between the sampling point number and the bandwidth of a closed-loop system by adopting a implicit function solving mode, wherein the sampling point number is adopted to adjust the signal-to-noise ratio of the closed-loop system, the sampling point number is increased, the bandwidth of the closed-loop system is increased, the measurement precision of the closed-loop system is improved, but the measurement precision of the closed-loop system is reduced after the sampling point number is increased to a preset threshold value; according to the different closed-loop system step response curves of the sampling points and the influence of the sampling points on the closed-loop system measurement precision, obtaining the influence analysis result corresponding to the sampling points, wherein the influence of the sampling points on the closed-loop system measurement precision is non-monotonous and the optimal sampling points.
Optionally, when the loop parameter is the scaling factor, determining an influence of the loop parameter on the measurement accuracy of the closed-loop system based on an implicit function solution manner to obtain an influence analysis result corresponding to the loop parameter, where the influence analysis result includes: obtaining a relation curve of the proportionality coefficient and the closed-loop system bandwidth by adopting an implicit function solving mode, wherein the closed-loop system bandwidth is adjusted by adopting the proportionality coefficient; and obtaining an influence analysis result corresponding to the proportionality coefficient according to the closed-loop system step response curves of different proportionality coefficients and the influence of the proportionality coefficients on the closed-loop system measurement precision, wherein the influence analysis result is that the influence of the sampling point number on the closed-loop system measurement precision is monotonous and the optimal proportionality coefficient is obtained.
Optionally, when the loop parameter is the integral coefficient, determining an influence of the loop parameter on the measurement accuracy of the closed-loop system based on an implicit function solution manner to obtain an influence analysis result corresponding to the loop parameter, where the influence analysis result includes: obtaining a relation curve of the integral coefficient and the bandwidth of the closed-loop system by adopting a hidden function solving mode, wherein compared with the number of sampling points and a proportional coefficient, the influence of the integral coefficient on the bandwidth of the closed-loop system is minimum; and obtaining an influence analysis result corresponding to the integral coefficient according to the closed-loop system step response curves of different integral coefficients and the influence of the integral coefficient on the closed-loop system measurement precision, wherein the influence analysis result is that the influence of the integral coefficient on the closed-loop system measurement precision is non-monotonous and the integral coefficient is optimal.
Optionally, the target converter includes an a/D converter and a D/a converter, and the determining, based on a fixed low-order mode, an influence of quantization errors of the target converter under different numbers of bits on the measurement precision of the closed-loop system to obtain an influence analysis result corresponding to the target converter includes: and adjusting the bit number of the target converter by utilizing the fixed low-bit mode, analyzing the influence of quantization errors of the target converter under different bit numbers on the measurement precision of the closed-loop system, and obtaining the influence analysis result corresponding to the target converter, wherein the bit number of the A/D converter and the D/A converter is reduced, the corresponding quantization error is increased, and the measurement precision of the closed-loop system is lower.
According to another aspect of the embodiments of the present invention, there is also provided an apparatus for improving the measurement accuracy of a digital closed-loop accelerometer, including: the first processing module is used for establishing a closed-loop system error model of the digital closed-loop accelerometer and determining an influence relation between loop parameters and measurement precision of the closed-loop system; the second processing module is used for determining the influence of the loop parameters on the measurement precision of the closed-loop system based on an implicit function solving mode to obtain an influence analysis result corresponding to the loop parameters; the third processing module is used for determining the influence of quantization errors of the target converter under different digits on the measurement precision of the closed-loop system based on a fixed low-order mode to obtain an influence analysis result corresponding to the target converter; and the fourth processing module is used for adjusting the loop parameters and the digits of the target converter according to the influence analysis result corresponding to the loop parameters and the influence analysis result corresponding to the target converter.
According to another aspect of the embodiments of the present invention, there is also provided an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to perform the method of any of the above to improve the measurement accuracy of the digital closed-loop accelerometer.
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium, which includes a stored program, where the program when executed controls an apparatus where the computer-readable storage medium is located to execute any one of the above methods for improving measurement accuracy of a digital closed-loop accelerometer.
In the embodiment of the invention, a closed loop system error model of a digital closed loop accelerometer is established to determine the influence relation between loop parameters and the measurement precision of the closed loop system; determining the influence of the loop parameters on the measurement precision of the closed-loop system based on a hidden function solving mode to obtain an influence analysis result corresponding to the loop parameters; determining the influence of quantization errors of the target converter under different digits on the measurement precision of the closed-loop system based on a fixed low-order mode to obtain an influence analysis result corresponding to the target converter; and adjusting the loop parameters and the digits of the target converter according to the influence analysis result corresponding to the loop parameters and the influence analysis result corresponding to the target converter. That is to say, in the embodiment of the present invention, an implicit function solution manner is used to analyze the influence of the loop parameters such as the number of sampling points, the proportionality coefficient and the integral coefficient on the measurement precision of the closed-loop system, and then a fixed low-order based manner is used to determine the influence of the quantization error of the target converter under different numbers on the measurement precision of the closed-loop system, so as to adjust the loop parameters and the number of bits of the target converter by combining the influence analysis result corresponding to the loop parameters and the influence analysis result corresponding to the target converter, thereby ensuring the performance of the accelerometer header to the maximum extent, further solving the technical problem that the influence of the loop parameters of the existing digital closed-loop accelerometer on the measurement precision of the closed-loop system is ambiguous, which restricts the high-precision development of the entire accelerometer system, and achieving the technical effects of improving the performance of the digital closed-loop accelerometer and satisfying the precision requirements of the digital closed-loop accelerometer.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention and do not constitute a limitation of the invention. In the drawings:
FIG. 1 is a flowchart of a method for improving measurement accuracy of a digital closed-loop accelerometer according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a digital closed-loop accelerometer system model provided by an embodiment of the invention;
FIG. 3 is a schematic diagram of a closed-loop system error model provided by an embodiment of the present invention;
fig. 4 is a schematic diagram of a relationship curve between the number km of sampling points and the bandwidth of a closed-loop system according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a step response curve of a closed-loop system with different sampling points according to an embodiment of the present invention;
FIG. 6 is a diagram illustrating a relationship curve between a scaling factor kp and a bandwidth of a closed-loop system according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a step response curve of a closed loop system with different scaling factors according to an embodiment of the present invention;
FIG. 8 is a diagram illustrating a relationship between an integral coefficient ki and a bandwidth of a closed-loop system according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of a step response curve of a closed-loop system with different integration coefficients according to an embodiment of the present invention;
fig. 10 is a schematic diagram of an apparatus for improving measurement accuracy of a digital closed-loop accelerometer according to an embodiment of the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.
It should be noted that the terms "first", "second", and the like in the description and claims of the present invention and the accompanying drawings are used for distinguishing different objects, and are not used for limiting a specific order.
According to an aspect of embodiments of the present invention, there is provided a method for improving the measurement accuracy of a digital closed-loop accelerometer, it is noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
Fig. 1 is a flowchart of a method for improving measurement accuracy of a digital closed-loop accelerometer according to an embodiment of the present invention, as shown in fig. 1, the method includes the following steps:
step S102, establishing a closed loop system error model of the digital closed loop accelerometer, and determining an influence relation between loop parameters and measurement accuracy of the closed loop system;
the digital closed loop accelerometer includes but is not limited to a digital closed loop quartz flexible accelerometer. The digital closed-loop quartz flexible accelerometer can reduce the precision loss of the analog accelerometer in the conversion process with a navigation computer, directly provides digital quantity in direct proportion to acceleration information for the navigation computer, avoids the problem of meter head fatigue caused by a pulse feedback mode due to the adoption of an analog current feedback mode, and has the advantages of strong anti-interference capability, high reliability, strong controllability and the like.
S104, determining the influence of the loop parameters on the measurement precision of the closed-loop system based on a hidden function solving mode to obtain an influence analysis result corresponding to the loop parameters;
step S106, determining the influence of quantization errors of the target converter under different digits on the measurement precision of the closed loop system based on a fixed low-order mode to obtain the influence analysis result corresponding to the target converter;
and step S108, adjusting the loop parameters and the digits of the target converter according to the influence analysis result corresponding to the loop parameters and the influence analysis result corresponding to the target converter.
According to the influence analysis result corresponding to the loop parameter and the influence analysis result corresponding to the target converter, the specific influence of the loop variable gain on the measurement precision (including static and dynamic) of the closed-loop system can be obtained; it was determined that the a/D converter and the D/a converter are not bottlenecks that limit the improvement of the measurement accuracy of the closed loop system, wherein the influence of the a/D converter is minimal, the output fluctuation caused by the D/a converter is constant, but the change of the bit number of the D/a converter will cause the scale factor to change; the influence mechanism analysis of the loop parameters (including sampling point number, proportionality coefficient and integral coefficient) of the closed-loop system on the measurement accuracy of the closed-loop system obtains that the improvement of the measurement accuracy of the closed-loop system in the digital closed-loop accelerometer system is mainly focused on the adjustment of the proportionality coefficient, and in addition, the measurement accuracy of the closed-loop system can be further improved by combining the bit number of a target converter, particularly the bit number of a D/A converter.
In the embodiment of the invention, a closed loop system error model of a digital closed loop accelerometer is established to determine the influence relation between loop parameters and the measurement precision of the closed loop system; determining the influence of the loop parameters on the measurement precision of the closed-loop system based on an implicit function solving mode to obtain an influence analysis result corresponding to the loop parameters; determining the influence of quantization errors of the target converter under different digits on the measurement precision of the closed-loop system based on a fixed low-order mode to obtain an influence analysis result corresponding to the target converter; and adjusting the loop parameters and the digits of the target converter according to the influence analysis result corresponding to the loop parameters and the influence analysis result corresponding to the target converter. That is to say, in the embodiment of the present invention, an implicit function solution manner is used to analyze the influence of the loop parameters such as the number of sampling points, the proportionality coefficient and the integral coefficient on the measurement precision of the closed-loop system, and then a fixed low-order based manner is used to determine the influence of the quantization error of the target converter under different numbers on the measurement precision of the closed-loop system, so as to adjust the loop parameters and the number of bits of the target converter by combining the influence analysis result corresponding to the loop parameters and the influence analysis result corresponding to the target converter, thereby ensuring the performance of the accelerometer header to the maximum extent, further solving the technical problem that the influence of the loop parameters of the existing digital closed-loop accelerometer on the measurement precision of the closed-loop system is ambiguous, which restricts the high-precision development of the entire accelerometer system, and achieving the technical effects of improving the performance of the digital closed-loop accelerometer and satisfying the precision requirements of the digital closed-loop accelerometer.
It should be noted that the application scenarios of the above method include, but are not limited to, inertial sensor measurement, inertial navigation system signal processing, and the like.
In an alternative embodiment, the method for establishing the closed-loop system error model of the digital closed-loop accelerometer comprises the following steps: performing mathematical modeling on a gauge head assembly, a detection circuit and a control link of the digital closed-loop accelerometer to obtain a digital closed-loop accelerometer system model; and constructing a closed-loop system error model according to the system signal flow direction and the digital closed-loop accelerometer system model.
In an optional implementation manner, the determining the influence relationship between the loop parameter and the measurement accuracy of the closed-loop system includes: and determining that the number of the sampling points influences the signal-to-noise ratio of the closed-loop system, the proportional coefficient influences the bandwidth of the closed-loop system, and the integral coefficient influences the steady-state error of the closed-loop system, wherein the signal-to-noise ratio of the closed-loop system, the bandwidth of the closed-loop system and the steady-state error of the closed-loop system are indexes representing the measurement precision of the closed-loop system.
The bandwidth of the closed loop system is dynamic; according to the influence relation between the loop parameters and the measurement accuracy of the closed-loop system, the obtained noise effective value is in direct proportion to the root mean square of the bandwidth of the closed-loop system, and the adjustment of the loop parameters of the system can cause the change of the bandwidth of the closed-loop system. And according to the principle that random noise passes through a linear system, calculating the response of the closed-loop system to each error source to obtain the influence of each link error on the measurement precision of the closed-loop system.
In an optional embodiment, when the loop parameter is the number of sampling points, determining the influence of the loop parameter on the measurement accuracy of the closed-loop system based on an implicit function solving mode to obtain an influence analysis result corresponding to the loop parameter, including: obtaining a relation curve of the number of sampling points and the bandwidth of the closed-loop system by adopting a hidden function solving mode, wherein the number of the sampling points is adopted to adjust the signal-to-noise ratio of the closed-loop system, the number of the sampling points is increased, the bandwidth of the closed-loop system is increased, the measurement precision of the closed-loop system is improved, but the measurement precision of the closed-loop system is reduced after the number of the sampling points is increased to a preset threshold value; according to the closed-loop system step response curves with different sampling points and the influence of the sampling points on the closed-loop system measurement precision, the influence analysis result corresponding to the sampling points is obtained, namely the influence of the sampling points on the closed-loop system measurement precision is non-monotonous and the optimal sampling points are obtained.
It should be noted that, by adopting the implicit function solving method, the peak edges and the background noise will be collected by obtaining an excessive number of sampling points, so that the demodulation accuracy of the closed-loop system is affected. In addition, a demodulation part of the digital closed-loop accelerometer adopts digital average filtering, and the signal-to-noise ratio of the closed-loop system is improved and the measurement precision of the closed-loop system is improved by increasing the number of sampling points; however, as the number of sampling points increases, the loop parameters increase, the bandwidth of the measurement system increases, and the noise passing through the frequency band correspondingly increases, so that the measurement accuracy of the closed-loop system decreases. According to the influence of the sampling point number on the measurement precision of the closed-loop system, the influence of the sampling point number of the obtained digital demodulation link on the measurement precision of the closed-loop system is not monotonous, so that the optimal sampling point number is 30, and the influence of the sampling point number on the measurement precision of the closed-loop system is comprehensively considered.
In an optional implementation manner, when the loop parameter is a scaling factor, determining an influence of the loop parameter on the measurement accuracy of the closed-loop system based on a manner of implicit function solution to obtain an influence analysis result corresponding to the loop parameter, includes: obtaining a relation curve of a proportionality coefficient and a closed loop system bandwidth by adopting an implicit function solving mode, wherein the closed loop system bandwidth is adjusted by adopting the proportionality coefficient; according to the closed-loop system step response curves with different proportionality coefficients and the influence of the proportionality coefficients on the closed-loop system measurement accuracy, the influence analysis result corresponding to the proportionality coefficients is obtained, namely the influence of the sampling point number on the closed-loop system measurement accuracy is monotonous and the optimal proportionality coefficients are obtained.
It should be noted that, by using the implicit function solving method, compared with the number of sampling points, the adjustment of the closed-loop system bandwidth is easier to realize by changing the proportionality coefficient; according to the influence of the proportionality coefficient on the measurement accuracy of the closed-loop system, the influence of the proportionality coefficient on the measurement accuracy of the closed-loop system is obtained to be monotonous, so that the optimal proportionality coefficient is 1/24, the bandwidth of the closed-loop system is improved by adjusting the proportionality coefficient, and the measurement accuracy of the closed-loop system is improved to the greatest extent.
In an optional implementation manner, when the loop parameter is an integral coefficient, determining an influence of the loop parameter on the measurement accuracy of the closed-loop system based on a latent function solving manner to obtain an influence analysis result corresponding to the loop parameter, includes: obtaining a relation curve of an integral coefficient and the bandwidth of the closed-loop system by adopting a hidden function solving mode, wherein compared with the number of sampling points and a proportional coefficient, the influence of the integral coefficient on the bandwidth of the closed-loop system is minimum; according to the closed-loop system step response curves with different integral coefficients and the influence of the integral coefficients on the closed-loop system measurement precision, the influence analysis result corresponding to the integral coefficients is obtained, namely the influence of the integral coefficients on the closed-loop system measurement precision is non-monotonous and the optimal integral coefficients are obtained.
It should be noted that, compared with the number of sampling points and the proportional coefficient, the integral coefficient has the least influence on the bandwidth of the closed-loop system by using the implicit function solving mode. According to the influence of the integral coefficient on the measurement precision of the closed-loop system, the influence of the obtained integral coefficient on the measurement precision of the closed-loop system is not monotonous, so that the optimal integral coefficient is 1/214, on one hand, as the integral coefficient is increased, the integral effect is enhanced, the capability of eliminating the static difference is enhanced, and the measurement precision of the closed-loop system is improved; on the other hand, the reduction of the measurement accuracy of the closed loop system caused by the increase of the integral coefficient is reasonably controlled.
In an optional embodiment, the above-mentioned target converter includes an a/D converter and a D/a converter, and the determining, based on the mode of fixing the low bits, the influence of quantization errors of the target converter under different bit numbers on the measurement accuracy of the closed loop system to obtain the influence analysis result corresponding to the target converter includes: and adjusting the digit of the target converter by using a fixed low-order mode, analyzing the influence of quantization errors of the target converter under different digits on the measurement precision of the closed-loop system, and obtaining the influence analysis result corresponding to the target converter, wherein the digit of the A/D converter and the digit of the D/A converter is reduced, the corresponding quantization error is increased, and the measurement precision of the closed-loop system is lower.
The target converter corresponds to a conversion coefficient. It should be noted that, the digital closed-loop accelerometer system according to the criterion that 1LSB is less than or equal to 1 adopts a converter with a small 12-bit differential nonlinear index, and the full range covers the dynamic range of the analog signal, thereby ensuring the integrity of the signal; and the D/A converter adopts a differential current output type device for system feedback and gauge outfit modulation. The method changes the bit numbers of the A/D converter and the D/A converter by fixing the low bit number, and analyzes the influence of the quantization errors of different bit number converters on the system precision. Under the premise of not changing loop parameters, obtaining the equivalence of quantization noise introduced by the A/D converters with different digits; and for the D/A converter which realizes the bit reduction processing at the fixed low bit, the bandwidth of the closed loop system is kept unchanged. For the fixed low-order A/D converter and D/A converter which realize the bit reduction, the influence of different bits on the actual measurement precision of the closed-loop system is analyzed, and the corresponding quantization error is increased along with the reduction of the bits of the A/D converter and the D/A converter, and the lower the measurement precision (zero offset stability) of the closed-loop system is.
Alternative embodiments of the invention are described in further detail below.
The invention provides a method for improving the measurement precision of a digital closed-loop quartz flexible accelerometer system, which is based on the existing hardware, and the controllable loop parameters on software mainly comprise sampling points, a proportionality coefficient and an integral coefficient, wherein the three parameters influence the bandwidth and the static precision of the closed-loop system. In the loop parameters, the number of sampling points corresponds to a Field-Programmable Gate Array (FPGA) of a controller, namely, a digital demodulation link in the FPGA influences the signal-to-noise ratio of a system; the proportional coefficient and the integral coefficient correspond to a controller in a circuit model FPGA and respectively influence the response speed (namely the bandwidth of a closed-loop system) of the system and the steady-state error of the system; and the change of the loop parameters is realized by adjusting a corresponding control algorithm in the FPGA on software. The method for measuring the precision of the digital closed-loop quartz flexible accelerometer mainly comprises the following steps:
the method comprises the following steps: and establishing an error model of the closed-loop system, and theoretically analyzing the relation between the loop parameters and the measurement precision of the closed-loop system.
And performing mathematical modeling on the gauge head assembly, the detection circuit and the control link of the closed-loop system according to the system physical model. Fig. 2 is a schematic diagram of a digital closed-loop accelerometer system model according to an embodiment of the present invention, and as shown in fig. 2, the digital closed-loop accelerometer system model includes a header and a digital servo, wherein the digital servo includes, but is not limited to, a detection circuit and a control unit.
And establishing a closed-loop system error model according to the flow direction of the system signal. Fig. 3 is a schematic diagram of a closed-loop system error model provided in an embodiment of the present invention, as shown in fig. 3, the model is obtained by combining a digital closed-loop accelerometer system model with a system signal flow direction. The noise links mainly existing in the error model of the closed loop system comprise a header component link, a differential capacitance detection link, an A/D conversion link and a D/A conversion link.
In addition, based on the mode of implicit function solution, the influence of sampling point number (corresponding to a digital demodulation link), a proportionality coefficient, an integral coefficient (corresponding to a controller) and the like in a theoretical model on the performance of the accelerometer is obtained; furthermore, on the basis of the existing hardware, the corresponding control algorithm in the FPGA is adjusted through software, so that the adjustment of the bits (including gain and quantization) of the AD/DA converter is realized, the real-time simulation test of the gain influence rules of different modules is realized, and the direct influence of the gain under the real working state is obtained.
Step two: analyzing influence of sampling points
Fig. 4 is a schematic diagram of a relationship curve between the number km of sampling points and the bandwidth of the closed-loop system, which is provided in the embodiment of the present invention, and as shown in fig. 4, a relationship curve between the number km of sampling points and the bandwidth of the closed-loop system is obtained by using an implicit function solution method. Excessive increase of the number of sampling points will collect peak edges and background noise, thereby affecting the measurement accuracy of the closed-loop system. Fig. 5 is a schematic diagram of a closed-loop system step response curve with different sampling points, as shown in fig. 5, according to the closed-loop system step response curve with different sampling points and the influence of the sampling points on the measurement precision of the closed-loop system, as shown in table 1, the influence of the sampling points in the digital demodulation link on the measurement precision of the closed-loop system is not monotonous, a sampling point value with km =30 is adopted, and the influence of the sampling points on the system precision and the bandwidth is comprehensively considered.
TABLE 1 influence of sampling points on measurement accuracy of closed loop system
Step three: analysis of scaling factor effects
Fig. 6 is a schematic diagram of a relationship curve between a scaling factor kp and a closed-loop system bandwidth provided in an embodiment of the present invention, as shown in fig. 6, a relationship curve between kp and a closed-loop system bandwidth is obtained by using a implicit function solution method, and compared with km, it is easier to adjust the closed-loop system bandwidth by changing kp; fig. 7 is a schematic diagram of a closed-loop system step response curve under different proportionality coefficients according to an embodiment of the present invention, as shown in fig. 7, according to the closed-loop system step response curve under different proportionality coefficients and the influence of the proportionality coefficients on the closed-loop system measurement accuracy, as shown in table 2, the obtained influence of the proportionality coefficients on the closed-loop system measurement accuracy is monotonous, and by adjusting the proportionality coefficients, the closed-loop system bandwidth is improved, and the closed-loop system accuracy is improved to the greatest extent.
TABLE 2 influence of proportionality coefficient on closed loop system measurement accuracy
Step four: analyzing influence of integral coefficient
Fig. 8 is a schematic diagram of a relationship curve between an integral coefficient ki and a bandwidth of a closed-loop system according to an embodiment of the present invention, and as shown in fig. 8, the relationship curve between the integral coefficient ki and the bandwidth of the closed-loop system is obtained by using an implicit function solution method. Compared with km and kp, the integral coefficient ki has the minimum influence on the bandwidth of a closed-loop system. Fig. 9 is a schematic diagram of a closed loop system step response curve under different integral coefficients according to an embodiment of the present invention, as shown in fig. 9, according to a closed loop system step response curve under different integral coefficients and an influence of the integral coefficients on the measurement accuracy of the closed loop system, as shown in table 3, the influence of the obtained integral coefficients on the measurement accuracy of the closed loop system is not monotonic, so that an optimal integral coefficient of ki =1/214 is adopted, and on one hand, as the integral coefficients increase, the integral effect increases, the capability of eliminating the dead center increases, and the measurement accuracy of the closed loop system improves; on the other hand, the reduction of the measurement accuracy of the closed loop system caused by the increase of the integral coefficient is reasonably controlled.
TABLE 3 influence of integral coefficients on the measurement accuracy of closed loop systems
Step five: A/D converter, D/A converter influence analysis on accuracy
The bit numbers of the A/D converter and the D/A converter are changed by fixing the low bit number, and the influence of the quantization errors of different bit number converters on the measurement precision of the closed loop system is analyzed, as shown in tables 4 and 5. Under the premise of not changing loop parameters, obtaining the equivalence of quantization noise introduced by the A/D converters with different digits; and for the D/A converter which realizes the bit reduction processing at the fixed low bit, the bandwidth of the closed loop system is kept unchanged. For the a/D converter and the D/a converter which implement the bit reduction at the fixed low bit, the influence of different bits on the actual measurement precision of the closed loop system is shown in table 6, and it can be seen that as the number of bits of the a/D converter and the D/a converter decreases, the corresponding quantization error increases, and the output precision (zero offset stability) of the closed loop system decreases.
TABLE 4 fixed A/D converter low order
TABLE 5 fixed D/A converter low order
TABLE 6 actual measurement accuracy of closed loop system with A/D converter and D/A converter fixed at low level
Step six: comprehensive analysis of influence of loop variable gain on measurement precision
Obtaining a core parameter result from the first step to the fifth step to obtain the specific influence of the loop variable gain on the acceleration measurement precision (including static and dynamic); it was determined that the a/D and D/a converters are not the bottlenecks limiting the improvement of system accuracy, where the a/D converter has minimal impact, the D/a converter causes constant output fluctuations, but changes in the number of D/a converter bits will cause the scaling factor to change; by analyzing the influence mechanism of key parameters (including sampling point number, proportionality coefficient and integral coefficient) in the loop on the system precision and dynamic performance, the adjustment of the proportionality coefficient should be emphasized in the improvement of the dynamic characteristic and precision of the digital accelerometer system.
The method for improving the measurement accuracy of the digital closed-loop quartz flexible accelerometer system takes the digital closed-loop accelerometer as an object, and based on the existing hardware basis, the required bandwidth of the closed-loop system can be ensured and the steady-state accuracy of the accelerometer system can be improved by adjusting the controllable loop parameters on software. In the actual navigation calculation, the theoretical precision of the closed loop detection scheme is calculated according to the transfer rule of each error source in the closed loop system, the influence of loop parameters on the bandwidth and precision of the closed loop system is fully considered, and the performance of the quartz flexible accelerometer is improved.
In the specific implementation process, a full-digital closed-loop quartz flexible accelerometer can be adopted according to the precision requirement of the accelerometer, and the precision research is carried out on a detection circuit of the accelerometer. The digital closed-loop detection scheme of the quartz flexible pendulum accelerometer determines each error source in a closed-loop system according to the error generation mechanism, and researches the influence of each link model parameter on the system precision by performing precision analysis on each error link characteristic of the whole digital servo control loop to find out a key point for restricting the precision problem, namely the influence of the loop parameter measurement precision; the method mainly comprises the steps of analyzing the noise of a meter head assembly and the noise of a detection circuit to obtain parameters in a loop of a closed-loop detection system, wherein the parameters mainly comprise a C/V conversion coefficient, an A/D conversion coefficient, a sampling point number km, a proportional coefficient kp, an integral coefficient ki, a D/A conversion coefficient and the like, the sampling point number influences the signal-to-noise ratio of the system, the proportional coefficient influences the response speed of the system, namely the bandwidth of the closed-loop system, and the integral coefficient influences the steady-state error of the system. In the loop parameters, the number of sampling points corresponds to a digital demodulation link in a controller FPGA, a proportional coefficient and an integral coefficient correspond to a controller in a circuit model FPGA, the parameters are changed by adjusting a corresponding control algorithm in the FPGA on software, and finally the influence of the parameters of the whole closed-loop detection loop on the measurement theoretical precision is obtained.
The method for improving the measurement precision of the digital closed-loop quartz flexible accelerometer system has the advantages that: establishing a system error model, theoretically analyzing the relation between loop parameters and system precision, providing an analysis method based on implicit function solving, and deeply researching the influence of sampling points, proportionality coefficients and integral coefficients of key parameters in a loop on the system precision and the dynamic performance; a method based on fixed bit real-time switching is provided, AD and DA semi-physical simulation continuous tests with different bit numbers are realized, and the influence rule of the conversion bit number on the performance of the accelerometer is given.
According to another aspect of the embodiments of the present invention, there is also provided an apparatus for improving the measurement accuracy of a digital closed-loop accelerometer, fig. 10 is a schematic diagram of the apparatus for improving the measurement accuracy of a digital closed-loop accelerometer according to the embodiments of the present invention, as shown in fig. 10, the apparatus for improving the measurement accuracy of a digital closed-loop accelerometer includes: a first processing module 1002, a second processing module 1004, a third processing module 1006, and a fourth processing module 1008. The device for improving the measurement accuracy of the digital closed-loop accelerometer will be described in detail below.
The first processing module 1002 is configured to establish a closed-loop system error model of the digital closed-loop accelerometer, and determine an influence relationship between a loop parameter and a measurement accuracy of the closed-loop system; the second processing module 1004 is configured to determine an influence of the loop parameter on the measurement accuracy of the closed-loop system based on a latent function solving manner, and obtain an influence analysis result corresponding to the loop parameter; a third processing module 1006, configured to determine, based on a fixed low-order mode, an influence of quantization errors of the target converter under different numbers of bits on the measurement precision of the closed-loop system, so as to obtain an influence analysis result corresponding to the target converter; the fourth processing module 1008 is configured to adjust the loop parameter and the bit number of the target converter according to the influence analysis result corresponding to the loop parameter and the influence analysis result corresponding to the target converter.
In the embodiment of the invention, the device adopts a closed loop system error model for establishing a digital closed loop accelerometer to determine the influence relation between loop parameters and the measurement precision of the closed loop system; determining the influence of the loop parameters on the measurement precision of the closed-loop system based on a hidden function solving mode to obtain an influence analysis result corresponding to the loop parameters; determining the influence of quantization errors of the target converter under different digits on the measurement precision of the closed-loop system based on a fixed low-order mode to obtain an influence analysis result corresponding to the target converter; and adjusting the loop parameters and the digits of the target converter according to the influence analysis result corresponding to the loop parameters and the influence analysis result corresponding to the target converter. That is to say, in the embodiment of the present invention, an implicit function solution manner is used to analyze the influence of the loop parameters such as the number of sampling points, the proportionality coefficient and the integral coefficient on the measurement precision of the closed-loop system, and then a fixed low-order based manner is used to determine the influence of the quantization error of the target converter under different numbers on the measurement precision of the closed-loop system, so as to adjust the loop parameters and the number of bits of the target converter by combining the influence analysis result corresponding to the loop parameters and the influence analysis result corresponding to the target converter, thereby ensuring the performance of the accelerometer header to the maximum extent, further solving the technical problem that the influence of the loop parameters of the existing digital closed-loop accelerometer on the measurement precision of the closed-loop system is ambiguous, which restricts the high-precision development of the entire accelerometer system, and achieving the technical effects of improving the performance of the digital closed-loop accelerometer and satisfying the precision requirements of the digital closed-loop accelerometer.
It should be noted here that the first processing module 1002, the second processing module 1004, the third processing module 1006 and the fourth processing module 1008 correspond to steps S102 to S108 in the method embodiment, and the modules are the same as the examples and application scenarios realized by the corresponding steps, but are not limited to the disclosure in the method embodiment.
In an optional implementation manner, the first processing module 1002 includes: the first modeling unit is used for carrying out mathematical modeling on a gauge head assembly, a detection circuit and a control link of the digital closed-loop accelerometer to obtain a digital closed-loop accelerometer system model; and the second modeling unit is used for constructing a closed-loop system error model according to the system signal flow direction and the digital closed-loop accelerometer system model.
In an optional implementation manner, the loop parameters at least include a sampling point number, a scaling coefficient, and an integral coefficient, and the first processing module 1002 includes: the determining unit is used for determining that the number of sampling points influences the signal-to-noise ratio of the closed-loop system, the proportionality coefficient influences the bandwidth of the closed-loop system, and the integral coefficient influences the steady-state error of the closed-loop system, wherein the signal-to-noise ratio of the closed-loop system, the bandwidth of the closed-loop system and the steady-state error of the closed-loop system are indexes representing the measurement accuracy of the closed-loop system.
In an optional implementation manner, when the loop parameter is the number of sampling points, the second processing module 1004 includes: the first processing unit is used for obtaining a relation curve of the number of sampling points and the bandwidth of the closed-loop system in an implicit function solving mode, wherein the number of the sampling points is used for adjusting the signal-to-noise ratio of the closed-loop system, the number of the sampling points is increased, the bandwidth of the closed-loop system is increased, the measurement precision of the closed-loop system is improved, and the measurement precision of the closed-loop system is reduced after the number of the sampling points is increased to a preset threshold value; and the second processing unit is used for obtaining an influence analysis result corresponding to the sampling point number according to the closed-loop system step response curve with different sampling point numbers and the influence of the sampling point number on the closed-loop system measurement precision, wherein the influence analysis result is that the influence of the sampling point number on the closed-loop system measurement precision is non-monotonous and the optimal sampling point number.
In an alternative embodiment, when the loop parameter is a scaling factor, the second processing module 1004 includes: the third processing unit is used for obtaining a relation curve of the proportionality coefficient and the closed-loop system bandwidth by adopting a hidden function solving mode, wherein the closed-loop system bandwidth is adjusted by adopting the proportionality coefficient; and the fourth processing unit is used for obtaining an influence analysis result corresponding to the proportionality coefficient, namely the influence of the sampling point number on the measurement precision of the closed-loop system is monotonous and the optimal proportionality coefficient according to the step response curves of the closed-loop systems with different proportionality coefficients and the influence of the proportionality coefficients on the measurement precision of the closed-loop systems.
In an alternative embodiment, when the loop parameter is an integral coefficient, the second processing module 1004 includes: the fifth processing unit is used for obtaining a relation curve of an integral coefficient and the bandwidth of the closed-loop system by adopting a hidden function solving mode, wherein compared with the number of sampling points and a proportional coefficient, the influence of the integral coefficient on the bandwidth of the closed-loop system is minimum; and the sixth processing unit is used for obtaining an influence analysis result corresponding to the integral coefficient, namely that the influence of the integral coefficient on the measurement precision of the closed-loop system is non-monotonous and the optimal integral coefficient, according to the step response curves of the closed-loop system with different integral coefficients and the influence of the integral coefficient on the measurement precision of the closed-loop system.
In an alternative embodiment, the target converter includes an a/D converter and a D/a converter, and the third processing module 1006 includes: and the seventh processing unit is used for adjusting the digit of the target converter by using a fixed low-order mode, analyzing the influence of quantization errors of the target converter under different digits on the measurement precision of the closed-loop system, and obtaining the influence analysis result corresponding to the target converter, wherein the digit of the A/D converter and the digit of the D/A converter is reduced, the corresponding quantization error is increased, and the measurement precision of the closed-loop system is lower.
According to another aspect of the embodiments of the present invention, there is also provided an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to perform the method of any of the above to improve the measurement accuracy of the digital closed-loop accelerometer.
According to another aspect of the embodiment of the present invention, there is further provided a computer-readable storage medium, which includes a stored program, where when the program is executed, the apparatus on which the computer-readable storage medium is located is controlled to perform any one of the above methods for improving measurement accuracy of a digital closed-loop accelerometer.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention.
Claims (10)
1. A method for improving the measurement accuracy of a digital closed-loop accelerometer is characterized by comprising the following steps:
establishing a closed loop system error model of the digital closed loop accelerometer, and determining an influence relation between loop parameters and measurement precision of the closed loop system;
determining the influence of the loop parameters on the measurement precision of the closed-loop system based on a hidden function solving mode to obtain an influence analysis result corresponding to the loop parameters;
determining the influence of quantization errors of a target converter under different digits on the measurement precision of the closed loop system based on a fixed low-order mode to obtain an influence analysis result corresponding to the target converter;
and adjusting the number of bits of the loop parameters and the target converter according to the influence analysis result corresponding to the loop parameters and the influence analysis result corresponding to the target converter.
2. The method of claim 1, wherein modeling closed-loop system error of the digital closed-loop accelerometer comprises:
performing mathematical modeling on a gauge outfit component, a detection circuit and a control link of the digital closed-loop accelerometer to obtain a digital closed-loop accelerometer system model;
and constructing the error model of the closed-loop system according to the system signal flow direction and the digital closed-loop accelerometer system model.
3. The method of claim 1, wherein the loop parameters at least comprise sampling point number, proportionality coefficient and integral coefficient, and determining the influence relationship between the loop parameters and the measurement accuracy of the closed-loop system comprises:
and determining that the number of the sampling points influences the signal-to-noise ratio of a closed-loop system, the proportionality coefficient influences the bandwidth of the closed-loop system, and the integral coefficient influences the steady-state error of the closed-loop system, wherein the signal-to-noise ratio of the closed-loop system, the bandwidth of the closed-loop system and the steady-state error of the closed-loop system are indexes representing the measurement accuracy of the closed-loop system.
4. The method according to claim 3, wherein when the loop parameter is the number of the sampling points, determining an influence of the loop parameter on the measurement accuracy of the closed-loop system based on a implicit function solution manner to obtain an influence analysis result corresponding to the loop parameter includes:
obtaining a relation curve of the sampling point number and the closed loop system bandwidth by adopting an implicit function solving mode, wherein the sampling point number is adopted to adjust the signal-to-noise ratio of the closed loop system, the sampling point number is increased, the closed loop system bandwidth is increased, the closed loop system measurement precision is improved, but the closed loop system measurement precision is reduced after the sampling point number is increased to a preset threshold value;
according to the different closed-loop system step response curves of the sampling points and the influence of the sampling points on the closed-loop system measurement precision, obtaining the influence analysis result corresponding to the sampling points, wherein the influence of the sampling points on the closed-loop system measurement precision is non-monotonous and the optimal sampling points.
5. The method according to claim 3, wherein when the loop parameter is the scaling factor, determining an influence of the loop parameter on the measurement accuracy of the closed-loop system based on an implicit function solution manner to obtain an influence analysis result corresponding to the loop parameter includes:
obtaining a relation curve of the proportionality coefficient and the closed-loop system bandwidth by adopting an implicit function solving mode, wherein the closed-loop system bandwidth is adjusted by adopting the proportionality coefficient;
and obtaining an influence analysis result corresponding to the proportionality coefficient according to the closed-loop system step response curves of different proportionality coefficients and the influence of the proportionality coefficients on the closed-loop system measurement precision, wherein the influence analysis result is that the influence of the sampling point number on the closed-loop system measurement precision is monotonous and the optimal proportionality coefficient is obtained.
6. The method according to claim 3, wherein when the loop parameter is the integral coefficient, determining an influence of the loop parameter on the measurement accuracy of the closed-loop system based on an implicit function solution manner to obtain an influence analysis result corresponding to the loop parameter, includes:
obtaining a relation curve of the integral coefficient and the bandwidth of the closed-loop system by adopting a hidden function solving mode, wherein compared with the number of sampling points and a proportional coefficient, the influence of the integral coefficient on the bandwidth of the closed-loop system is minimum;
and obtaining an influence analysis result corresponding to the integral coefficient according to the closed-loop system step response curves of different integral coefficients and the influence of the integral coefficient on the closed-loop system measurement precision, wherein the influence analysis result is that the influence of the integral coefficient on the closed-loop system measurement precision is non-monotonous and the integral coefficient is optimal.
7. The method according to any one of claims 1 to 6, wherein the target converter comprises an A/D converter and a D/A converter, and the influence of quantization errors of the target converter at different numbers of bits on the measurement accuracy of the closed-loop system is determined based on the fixed low bit mode, and the analysis result of the influence corresponding to the target converter is obtained, including:
and adjusting the bit number of the target converter by utilizing the fixed low-bit mode, analyzing the influence of quantization errors of the target converter under different bit numbers on the measurement precision of the closed-loop system, and obtaining the influence analysis result corresponding to the target converter, wherein the bit number of the A/D converter and the D/A converter is reduced, the corresponding quantization error is increased, and the measurement precision of the closed-loop system is lower.
8. An apparatus for improving measurement accuracy of a digital closed-loop accelerometer, comprising:
the first processing module is used for establishing a closed-loop system error model of the digital closed-loop accelerometer and determining an influence relation between loop parameters and measurement precision of the closed-loop system;
the second processing module is used for determining the influence of the loop parameters on the measurement precision of the closed-loop system based on a implicit function solving mode to obtain an influence analysis result corresponding to the loop parameters;
the third processing module is used for determining the influence of quantization errors of the target converter under different digits on the measurement precision of the closed-loop system based on a fixed low-order mode to obtain an influence analysis result corresponding to the target converter;
and the fourth processing module is used for adjusting the loop parameters and the digits of the target converter according to the influence analysis result corresponding to the loop parameters and the influence analysis result corresponding to the target converter.
9. An electronic device, comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to perform the method of any of claims 1 to 7 for improving the accuracy of a digital closed-loop accelerometer measurement.
10. A computer-readable storage medium, comprising a stored program, wherein when the program runs, the computer-readable storage medium controls an apparatus to execute the method for improving the measurement accuracy of the digital closed-loop accelerometer according to any one of claims 1 to 7.
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