KR20210066614A - Internal temperature control method according to the external temperature of the 10-axis functional package - Google Patents

Abstract

Disclosed is a method for controlling an internal temperature in accordance with an external temperature of a 10-axis functional package. The method for controlling an internal temperature, in accordance with the present invention, comprises the steps of: (a) performing initialization after power on; (b) measuring the external temperature and the internal temperature of the functional package; (c) reading a lookup table value in accordance with the external temperature read in step (b); (d) setting a target temperature; (e) comparing the measured external temperature with a set target temperature; (f) controlling the internal temperature in accordance with the external temperature; and (g) comparing the set target temperature and the internal temperature and when the temperatures are not the same, controlling a heater to adjust the difference between the target temperature and the internal temperature. Therefore, the internal temperature of the functional package can be kept constant regardless of a change in the external temperature.

Description

How to control the internal temperature according to the external temperature of the 10-axis functional package {INTERNAL TEMPERATURE CONTROL METHOD ACCORDING TO THE EXTERNAL TEMPERATURE OF THE 10-AXIS FUNCTIONAL PACKAGE}

The present invention relates to a temperature control method of a module, and more particularly, according to the external temperature of the 10-axis functional package, which automatically adjusts the internal temperature to a specific temperature by controlling the heater according to the external temperature of the 10-axis functional package. It relates to an internal temperature control method.

Recently, with the development of science and technology, various sensors or devices for measurement have been developed.

A gyro sensor, one of the measurement sensors or navigation devices, is a sensor that measures the change in the orientation of an object by using the property of always maintaining the initially set constant direction with high accuracy regardless of the rotation of the earth. It is used for navigation and posture control in various fields such as ships, guided weapons, and vehicles.

For example, the gyro sensor is mounted on a navigation device and used to detect a motion of a user and perform various responses corresponding thereto.

Such a gyro sensor measures angular velocity unlike an accelerometer that measures acceleration, and a chip-type gyro sensor to which MEMS is applied also has a function of measuring angular velocity. At this time, the operating temperature range of the gyro sensor is known as -40 ~ +85 ℃, but the value changes when the temperature changes. should be compensated or corrected.

Of course, methods for compensating or correcting the error of the gyro sensor have been proposed in Patent Registration Nos. 10-1263481 (Reference 1) and 10-1231209 (Reference 2). They employ a method of compensating or correcting an error in data detected by the gyro sensor when a temperature change occurs by using a temperature sensor together with the gyro sensor.

However, in the case of such a conventional error correction method, the data detected according to the environment in which the gyro sensor is used still has an error in the detection data according to the temperature change in the environment in which the gyro sensor is installed. However, consistent and accurate data measurements are still not possible.

In addition, integrated navigation is based on an algorithmic technique commonly known as Kalman filtering, a process that optimally blends data from inertial and external auxiliary sensors. For this technique to work robustly, the navigation error must always be kept within a certain limit, otherwise the linearity assumption on which the Kalman filter is based will become invalid, and the integrated navigation solution may become entirely inaccurate. It is desirable to avoid this situation by suppressing the navigation error growth during projectile flight.

When considering navigation Kalman filtering for applications involving rockets, missiles and other rotating platforms, initializing and maintaining the correct roll (bank) angle presents the greatest challenge. An analysis of the problems associated with the use of inertial guidance technology in these applications is provided by JS Bird in "Inertial Sensor Performance Requirements for a Long Range Artillery Rocket" (DTIC ADA279936), where the roll gyro scale factor accuracy The conclusion is that this is important and should be less than 5 parts per million (ppm).

Unfortunately, inexpensive low-grade MEMS gyroscopes have scale factor errors of several thousand ppm. Using a gyroscope with a scale factor accuracy of less than 5 ppm would not be practical from a cost standpoint. Accordingly, there is a need for a system that can achieve the desired accuracy using inexpensive sensors with very low scale factor accuracy.

Errors in gyroscope sensors are largely divided into bias errors and scale factor errors. Although these and other errors are measured and eliminated as part of the factory calibration process, there will always be residual errors present when the sensor is actually used. This occurs for a variety of reasons, such as temperature and humidity changes, and other physical stresses affecting the unit.

That is, most sensors requiring accuracy generate errors in sensor data according to temperature. In order to prevent data error, PID technology is used to maintain a constant temperature in the chip by manufacturing a functional package, so that the internal temperature in the chip is maintained constant by controlling PWM.

There is a problem in that a lot of power is used in the heater because the internal temperature is continuously maintained at a constant temperature without considering the external temperature.

KR Registered Patent No. 10-1263481 (2013.05.06)

The present invention for solving this problem is to provide a method for controlling the internal temperature according to the external temperature of the 10-axis functional package, which can automatically adjust the PID to a specific temperature by comparing the internal temperature of the 10-axis functional package according to the external temperature. do.

The method for controlling the internal temperature according to the external temperature of the 10-axis functional package using the heater of the present invention for solving this problem, (a) initializing after power on, (b) measuring the external temperature and internal temperature of the functional package Step, (c) reading the Loop Up Table value according to the external temperature read in step (b), (d) setting a target temperature, (e) comparing the measured external temperature with the set target temperature Step, (f) controlling the internal temperature according to the external temperature, and (g) adjusting the difference between the target temperature and the internal temperature by controlling the heater if they are not the same after comparing the set target temperature and the internal temperature This can be achieved by including

In addition, the control of the internal temperature is changed according to the internal temperature setting PID according to the external temperature to control the heater, and the internal temperature setting PID is controlled to be compensated for each external temperature in units of 10°C.

In addition, the internal temperature setting PID outputs data after compensating the internal temperature setting PID for 50 degrees when the external temperature is in the range of “40 to 49℃”, and when the external temperature is in the range of “30 to 39℃”, the internal temperature Outputs the data after compensating the setting PID for 40 degrees, and outputs the data after compensating the internal temperature setting PID for 30 degrees when the external temperature is “20~29℃”, and outputs the data after the external temperature is “10~19℃” In the range of ", the internal temperature setting PID is compensated for 20 degrees and then data is output.

And the internal temperature setting PID is configured to output data after compensating the internal temperature setting PID for 10 degrees when the external temperature is in the range of “0 to -29°C”.

Therefore, according to the internal temperature control method according to the external temperature of the 10-axis functional package of the present invention, the internal temperature of the package is compared according to the external temperature and the PID is automatically adjusted to a specific temperature, regardless of the change in the external temperature. It has the effect of maintaining the internal temperature of the

In addition, according to the internal temperature control method according to the external temperature of the 10-axis functional package of the present invention, the optimal IMU performance output can be expected by temperature correction of the PID algorithm, and the space efficiency can be increased because it can be configured in a small module type. there is an effect

1 is a basic configuration diagram for controlling the internal temperature according to the external temperature of the 10-axis functional package according to an embodiment of the present invention;
2 is a flowchart for explaining the internal temperature control method according to the external temperature of the 10-axis functional package of the present invention;
And
3 is a diagram illustrating an example of a LOOK UP TABLE for PID control.

The terms or words used in the present specification and claims are not to be construed as limited to their ordinary or dictionary meanings, and on the principle that the inventor can appropriately define the concept of the term in order to best describe his invention. It should be interpreted as meaning and concept consistent with the technical idea of the present invention.

Throughout the specification, when a part "includes" a certain component, it means that other components may be further included, rather than excluding other components, unless otherwise stated. In addition, terms such as “…unit”, “…group”, “module”, and “device” described in the specification mean a unit that processes at least one function or operation, which is implemented by a combination of hardware and/or software. can be

Throughout the specification, the term “and/or” should be understood to include all possible combinations from one or more related items. For example, the meaning of "the first item, the second item and/or the third item" means to be presented from the first, second, or third item as well as two or more of the first, second, or third items. A combination of all possible items.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

1 is a basic configuration diagram for controlling the internal temperature according to the external temperature of the 10-axis functional package according to an embodiment of the present invention, as shown, the internal temperature control device of the functional package of the present invention is an external temperature sensor 110 ) and the internal temperature sensor 131 for measuring the internal temperature of the functional package, the input unit 120 to which the sensing temperature of the external temperature sensor 110 and the sensing temperature of the internal temperature sensor 131 are input, and the input unit 120 A MV calculating unit 150 that calculates an MV for controlling the PID temperature according to the measured value acquisition unit 140 that receives the difference signal between the external temperature and the internal temperature and the acquired value output from the measured value acquisition unit 140, and and an output unit 170 that receives the manipulated variable calculated from the manipulated variable calculating unit 150 and outputs a PID signal for controlling the heater 132 .

In addition, a storage unit that receives and stores the acquired value output from the measured value acquisition unit 140 and the MV calculated from the MV calculator 150 and transmits the acquired value and calculated value to the measured value acquisition unit 140 ( 160) may be further included.

In the present invention, the internal temperature sensor 131 and the heater 132 are configured to be mounted inside the functional package 130 .

Accordingly, other components may be configured outside the functional package 130 .

Also, of course, all components except for the external temperature sensor 110 may be embedded in the functional package 130 .

In the present invention, a 10-axis sensor with a high-priced equipment performance level is provided by adding a temperature compensation function to a low-cost IMU (MEMS) sensor, and the purpose of the IMU configuration is a small module type. It is preferable to configure only the sensor or configure the internal temperature sensor and heater.

Hereinafter, the temperature control method of the present invention will be described using the above-described configuration.

Figure 2 is a flow chart for explaining the internal temperature control method according to the external temperature of the 10-axis functional package of the present invention, as shown, the internal temperature control method according to the external temperature of the 10-axis functional package using the heater built in the functional package is first The functional package 130 is initialized after the power is turned on (S110).

When initialization is performed in step S110, the external temperature and internal temperature of the functional package are measured (S120).

In step S120, the external temperature and the internal temperature are measured using the external temperature sensor 110 and the internal temperature sensor 131 in the functional package, respectively.

When the internal and external temperature is measured in step S120, the measured value is input to the input unit 120, and the LOOK UP TABLE stored in the storage unit 160 is read according to the external temperature of the package output from the input unit 120 (S130).

When the LOOK UP TABLE is read in step S130, a target temperature is set (S140).

When the target temperature is set in step S140, the measured external temperature and the target temperature are compared (S150).

As a result of the comparison determination in step S150, when the external temperature and the target temperature are within the set range, the status quo is maintained, the external temperature and the internal temperature are compared. and the internal temperature to adjust the difference.

That is, the adjustment of the internal temperature when the temperature difference occurs in step S150 is changed according to the internal temperature setting PID according to the external temperature to control the heater 132 (S160).

The internal temperature setting PID can be controlled to be compensated for each external temperature in units of 10° C. An example of a LOOK UP TABLE for PID control is shown in FIG. 3 .

Referring to the drawing, when the external temperature is in the range of "40~49℃", the data is output after compensating the internal temperature setting PID for 50 degrees, and in the range of "30~39℃", the internal temperature setting PID is output. Outputs the data after compensating for 40 degrees, and outputs the data after compensating the internal temperature setting PID for 30 degrees when the external temperature is in the range of "20~29℃", and the external temperature is in the range of "10~19℃" control to output data after compensating the internal temperature setting PID for 20 degrees.

In addition, the internal temperature setting PID outputs data after compensating the internal temperature setting PID for 10 degrees when the external temperature is in the range of “0 to -29℃”.

After comparing the target temperature and the internal temperature in step S170, if there is a difference, the heater 132 is controlled by adjusting the PID according to the corresponding measured value (S180), and if it is determined within the set value range, repeat from step S120 again.

Although the present invention has been described in detail with respect to the described embodiments, it is obvious to those skilled in the art that various changes and modifications are possible within the scope of the technical spirit of the present invention, and it is natural that such variations and modifications belong to the appended claims.

110: external temperature sensor 120: input unit
130: functional package 131: internal temperature sensor
132: heater 140: measurement value acquisition unit
150: manipulated variable calculation unit 160: storage unit
170: output unit

Claims (5)

In the method of controlling the internal temperature according to the external temperature of the 10-axis functional package using a heater,
(a) initializing after power on;
(b) measuring an external temperature and an internal temperature of the functional package;
(c) reading a Loopup Table value according to the external temperature read in step (b);
(d) setting a target temperature;
(e) comparing the measured external temperature with a set target temperature;
(f) controlling the internal temperature according to the external temperature;
(g) adjusting the difference between the target temperature and the internal temperature by controlling the heater when the set target temperature and the internal temperature are not the same after comparison;
A method of controlling the internal temperature according to the external temperature of the 10-axis functional package comprising a.
The method according to claim 1,
The control of the internal temperature is
Internal temperature control method according to the external temperature of a 10-axis functional package that controls the heater by changing the internal temperature setting PID according to the external temperature. 3. The method according to claim 2,
The internal temperature setting PID is
A method of controlling the internal temperature according to the external temperature of a 10-axis functional package that controls to be compensated for each external temperature in units of 10℃.
4. The method according to claim 3,
The internal temperature setting PID is
If the external temperature is in the range of "40~49℃", the data is output after compensating the internal temperature setting PID for 50 degrees,
When the external temperature is in the range of "30~39℃", the data is output after compensating the internal temperature setting PID for 40 degrees,
If the external temperature is in the range of "20~29℃", the data is output after compensating the internal temperature setting PID for 30 degrees,
When the external temperature is in the range of "10~19℃", the internal temperature control method according to the external temperature of the 10-axis functional package that outputs the data after compensating the internal temperature setting PID for 20 degrees.
4. The method according to claim 3,
The internal temperature setting PID is
A 10-axis functional package that outputs data after compensating the internal temperature setting PID for 10 degrees when the external temperature is in the range of "0~-29℃". The internal temperature control method according to the external temperature.

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