WO2013056427A1 - Check device, system and method for dynamic properties of speed or acceleration sensor - Google Patents

Check device, system and method for dynamic properties of speed or acceleration sensor Download PDF

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Publication number
WO2013056427A1
WO2013056427A1 PCT/CN2011/080944 CN2011080944W WO2013056427A1 WO 2013056427 A1 WO2013056427 A1 WO 2013056427A1 CN 2011080944 W CN2011080944 W CN 2011080944W WO 2013056427 A1 WO2013056427 A1 WO 2013056427A1
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Prior art keywords
signal
speed
acceleration
frequency domain
displacement
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PCT/CN2011/080944
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French (fr)
Chinese (zh)
Inventor
黄毅
黄露
王佳茜
杨文�
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中联重科股份有限公司
湖南中联重科专用车有限责任公司
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Application filed by 中联重科股份有限公司, 湖南中联重科专用车有限责任公司 filed Critical 中联重科股份有限公司
Priority to PCT/CN2011/080944 priority Critical patent/WO2013056427A1/en
Publication of WO2013056427A1 publication Critical patent/WO2013056427A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups

Definitions

  • the present invention relates to a calibration apparatus, system and method for the dynamics of a speed or acceleration sensor. Background technique
  • Speed or acceleration sensors have been widely used in the prior art, where an acceleration sensor can typically measure two acceleration values, the first being static acceleration and the second being dynamic acceleration.
  • Such an acceleration sensor realizes functions such as a pedometer, air recognition, and the like by being applied in various devices.
  • the speed or acceleration sensor is inevitably affected by factors such as the external environment and the use time, resulting in a decrease in sensitivity. Therefore, the speed or acceleration sensor needs to be calibrated.
  • some calibration devices have been developed, such devices are complicated in structure and inherently poor in standard, which seriously affects the calibration accuracy. Therefore, there is a need for a device that is simple in construction and capable of accurately and reliably verifying a speed or acceleration sensor. Summary of the invention
  • the present invention provides a method for verifying the dynamic characteristics of a speed or acceleration sensor, the method comprising: simultaneously performing signal acquisition on a synchronous motion displacement sensor and a speed or acceleration sensor to obtain a displacement signal and a first speed signal Or a first acceleration signal; filtering the displacement signal, and the first velocity signal or the first acceleration signal; converting the filtered displacement signal to obtain a comparison signal, and based on the comparison signal and the filtering process A speed signal or a first acceleration signal is analyzed and compared to obtain a speed or acceleration The result of the dynamic analysis of the sensor.
  • the present invention also provides a calibration device for the dynamic characteristics of a speed or an acceleration sensor, the device comprising: a signal acquisition module for simultaneously acquiring a signal of a synchronous motion displacement sensor and a speed or acceleration sensor to obtain a displacement a signal, and a first speed signal or a first acceleration signal; a signal conditioning module for filtering the displacement signal, and the first speed signal or the first acceleration signal; and a calibration analysis module for filtering the displacement
  • the signal is converted to obtain a comparison signal, and the comparison and comparison are performed based on the comparison signal and the filtered first speed signal or the first acceleration signal to obtain a dynamic characteristic analysis result of the velocity or acceleration sensor.
  • the present invention also provides a calibration system for the dynamic characteristics of a speed or acceleration sensor, the system comprising: a displacement sensor; a speed or acceleration sensor; a motion device, a displacement sensor and a speed or acceleration sensor disposed adjacent to the motion device
  • the motion device is used for synchronous movement of the displacement sensor and the speed or acceleration sensor; and the above-described verification device for the dynamic characteristics of the speed or acceleration sensor.
  • the above technical solution is used to collect the signals of the displacement sensor and the speed or acceleration sensor, and use the conversion relationship between the displacement and the speed or the acceleration to compare and analyze the displacement signal and the speed or acceleration signal, thereby verifying the dynamic characteristics of the speed or acceleration sensor, and ensuring The practicality and reliability of the verification.
  • FIG. 2 is a block diagram of a verification apparatus for dynamic characteristics of a speed or acceleration sensor according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram showing a connection between a calibration device for an acceleration sensor dynamic characteristic and a displacement sensor and an acceleration sensor according to an embodiment of the present invention
  • Figure 4 is a schematic view of the sensor mounting box shown in Figure 3;
  • Figure 5 is a graph of amplitude-frequency characteristics of an acceleration sensor in a low frequency band
  • Figure 6 is a graph of the phase-frequency characteristics of an acceleration sensor in a low frequency band. detailed description
  • FIG. 1 is a flow chart of a method of verifying the dynamics of a speed or acceleration sensor in accordance with an embodiment of the present invention.
  • the method for verifying the dynamic characteristics of the acceleration sensor includes:
  • step S106
  • converting the filtered displacement signal to obtain the comparison signal includes: deriving the displacement signal once, and obtaining the comparison The signal is a second speed signal; and comparing and comparing the comparison signal and the filtered first speed signal comprises: performing frequency domain analysis on the filtered first speed signal to obtain a frequency domain characteristic curve of the first speed signal; Performing frequency domain analysis on the second speed signal to obtain a frequency domain characteristic curve of the second speed signal; comparing a frequency domain characteristic curve of the first speed signal with a frequency domain characteristic curve of the second speed signal, and performing curve correlation Evaluation.
  • converting the filtered displacement signal to obtain the comparison signal comprises: performing secondary derivation on the displacement signal, and the obtained comparison signal is the second acceleration signal
  • the analyzing and comparing the first acceleration signal based on the comparison signal and the filtering process comprises: performing frequency domain analysis on the filtered first acceleration signal to obtain a frequency domain characteristic curve of the first acceleration signal; and performing the second acceleration signal on the second acceleration signal
  • a frequency domain characteristic curve of the second acceleration signal is obtained; a frequency domain characteristic curve of the first acceleration signal is compared with a frequency domain characteristic curve of the second acceleration signal, and curve correlation evaluation is performed.
  • the frequency domain characteristic curve includes an amplitude frequency characteristic curve and a phase frequency characteristic curve.
  • performing curve correlation evaluation includes: comparing the second acceleration signal with the first acceleration signal to obtain a curve correlation evaluation factor, and if the curve correlation evaluation factor is greater than 0.9, indicating the frequency domain of the second acceleration signal The characteristic curve is consistent with the frequency domain characteristic curve of the first acceleration.
  • both the displacement sensor and the acceleration sensor are synchronized to perform a single pendulum motion, and the frequency of the single pendulum motion is adjustable.
  • FIG. 2 is a block diagram of a verification apparatus for the dynamic characteristics of a speed or acceleration sensor in accordance with an embodiment of the present invention.
  • the verification device for the dynamic characteristics of the speed or acceleration sensor comprises: a signal acquisition module 10, configured to simultaneously perform signal acquisition on the synchronous motion displacement sensor and the speed or acceleration sensor to obtain a displacement signal, and a first speed. a signal or a first acceleration signal; a signal conditioning module 20, configured to filter the displacement signal, and the first speed signal or the first acceleration signal; The calibration analysis module 30 is configured to convert the filtered displacement signal to obtain a comparison signal, and perform analysis and comparison based on the comparison signal and the filtered first speed signal or the first acceleration signal to obtain a velocity or an acceleration. The results of the dynamic analysis of the sensor.
  • the calibration analysis module 30 when the displacement signal and the first speed signal are collected, the calibration analysis module 30 includes: a first conversion unit, configured to perform a derivation of the displacement signal, and the obtained comparison signal is the second
  • the first analysis and comparison unit is configured to perform frequency domain analysis on the filtered first speed signal to obtain a frequency domain characteristic curve of the first speed signal, and perform frequency domain analysis on the second speed signal to obtain a second speed.
  • the frequency domain characteristic curve of the signal compares the frequency domain characteristic curve of the first speed signal with the frequency domain characteristic curve of the second speed signal, and performs curve correlation evaluation.
  • the calibration analysis module includes: a second conversion unit, configured to perform secondary derivation of the displacement signal when the acquired displacement signal and the first acceleration signal are collected,
  • the obtained comparison signal is a second acceleration signal;
  • the second analysis and comparison unit is configured to perform frequency domain analysis on the filtered first acceleration signal to obtain a frequency domain characteristic curve of the first acceleration signal, and perform a second acceleration signal on the second acceleration signal.
  • the frequency domain analysis the frequency domain characteristic curve of the second acceleration signal is obtained, and the frequency domain characteristic curve of the first acceleration signal is compared with the frequency domain characteristic curve of the second acceleration signal, and the curve correlation evaluation is performed.
  • the invention also provides a calibration system for the dynamic characteristics of a speed or acceleration sensor, the system comprising: a displacement sensor; a speed or acceleration sensor; a motion device, a displacement sensor and a speed or acceleration sensor disposed adjacent to the motion device, the motion device A calibration device for synchronizing the displacement sensor with the velocity or acceleration sensor; and the dynamics of the velocity or acceleration sensor of the above embodiment.
  • the motion device is a single pendulum device.
  • the pendulum device includes a swinging rope and a mounting plate or mounting box attached to one end of the swinging rope, and the displacement sensor and the speed or acceleration sensor are disposed adjacent to one side of the mounting plate or the mounting box.
  • the displacement sensor and the speed or acceleration sensor are arranged on the same level of the mounting plate or mounting box.
  • speed or acceleration sensing The input end of the signal acquisition unit in the dynamic characteristic verification device is connected to the signal output end of the displacement sensor and the acceleration sensor through a data line.
  • FIG. 3 is a schematic diagram showing the connection of a calibration device for the dynamic characteristics of an acceleration sensor to a displacement sensor and an acceleration sensor according to an embodiment of the present invention.
  • the calibration device for the dynamic characteristics of the acceleration sensor is connected to the displacement sensor and the acceleration sensor in the form of a single pendulum. That is, the signal acquisition module 10 in the calibration device simultaneously performs signal acquisition on the displacement sensor and the acceleration sensor during the single pendulum motion to obtain the displacement signal ⁇ and the acceleration signal during the single pendulum motion".
  • the signal conditioning module 20 pairs The collected signal is subjected to filtering processing, and the calibration analysis unit 30 performs calculation and analysis on the filtered signal.
  • w ⁇
  • the swinging rope 1 is connected to the mounting board 2, and the sensor mounting case 3 is fixed to the mounting board 2.
  • the sensor mounting box 3 is provided with an acceleration sensor 4 and a displacement sensor 5, and the acceleration sensor 4 and the displacement sensor 5 are arranged on the same horizontal plane, and are connected to the input end of the signal acquisition module 10 of the verification device through the data line for signal Pass (as shown in Figure 4).
  • the value A is checked.
  • an acceleration signal and a displacement signal in a natural frequency can be measured, and the collected signal is subjected to frequency domain analysis by the calibration analysis unit 30.
  • the amplitude-frequency and phase-frequency curves are obtained, and the amplitude-frequency curve and the phase-frequency curve in the same frequency band are taken for curve correlation evaluation.
  • the present invention uses the displacement signal of the displacement sensor as a reference. Theoretically, the phase of the obtained displacement signal and the phase of the acceleration signal should be different by 180 degrees, and the acceleration signal amplitude of the acceleration sensor is The displacement signal amplitude of the displacement sensor differs by - w 2 times.
  • the calibration analysis unit 30 shown in FIG. 3 mainly analyzes and processes the collected signals, converts the displacement signals, and performs frequency domain analysis on the converted displacement signals and acceleration signals respectively to obtain the amplitude-frequency characteristics as shown in FIG. 5.
  • the graph and the phase-frequency characteristic graph shown in Fig. 6 are used to verify the dynamic characteristics of the accelerometer.
  • the solid line is the acceleration signal (converted) amplitude-frequency characteristic curve 19
  • the broken line is the acceleration signal (measured) "amplitude-frequency characteristic curve 20, where ⁇ and corcos represent the frequency in rad/s; A ( ⁇ ) indicates the amplitude, the unit can be (m/s 2 ).
  • the solid line is the acceleration signal (converted) phase frequency characteristic curve 22, and the broken line is the acceleration signal (measured) "phase frequency characteristic curve 21, where ⁇ and ⁇ - ⁇ 6 represent the frequency, and the unit can be rad/s; ⁇ ( ⁇ ) represents the phase, and the unit can be (.).
  • the curve correlation evaluation was performed through the amplitude-phase graphs of FIGS. 5 and 6 to obtain the curve-related evaluation factors, and the dynamic characteristics were verified.
  • the displacement signal of the collected displacement sensor is converted to obtain an acceleration signal, and the obtained acceleration signal (displacement conversion) is subjected to frequency domain analysis to obtain an acceleration signal (displacement conversion) frequency domain characteristic curves 19 and 21.
  • the frequency domain analysis is performed on the acquired acceleration signal to obtain the acceleration signal (measured) frequency domain characteristic curves 20 and 22.
  • the converted acceleration signal (displacement conversion) frequency domain characteristic curves 19 and 21 are respectively associated with the signal acquisition module. Acceleration sensing
  • the acceleration signal collected by the device (measured) is compared with the frequency domain characteristic curves 20 and 22, and the curve correlation is evaluated, and the dynamic characteristics of the acceleration sensor are verified according to the evaluation result.
  • the curve correlation evaluation is to compare the acceleration signal ' ⁇ obtained by the displacement signal with the acceleration signal obtained by collecting the signal from the acceleration sensor, and obtain the curve correlation evaluation factor. If the curve correlation evaluation factor is greater than or equal to 0.9, it indicates The two curves have good consistency, so that the dynamic characteristics of the acceleration sensor can be verified by the displacement sensor. Among them, the phase and amplitude verification process of the signal can be realized by the program, and the curve correlation evaluation factor can be obtained by using the existing The curve correlation evaluation method in technology is implemented.
  • the verification of the dynamic characteristics of the acceleration sensor is achieved.
  • the difference is 90 degrees, and the amplitude difference is "double.”
  • the present invention performs time domain analysis of the displacement signal and the velocity or acceleration signal through the calibration analysis module by collecting the signals of the displacement sensor and the velocity or acceleration sensor and using the conversion relationship between the displacement and the velocity or the acceleration. And frequency domain analysis, the characteristic parameters are obtained, and compared and analyzed to verify the dynamic characteristics of the velocity or acceleration sensor, which ensures the practicability and reliability of the calibration.

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  • General Physics & Mathematics (AREA)
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Abstract

A check device, system and method for dynamic properties of a speed or acceleration sensor. The method includes: simultaneously performing signal collection on a displacement sensor (5) and a speed or acceleration sensor (4) moving synchronously to obtain a displacement signal, a first speed signal or a first acceleration signal; filtering the displacement signal, the first speed signal or the first acceleration signal; converting the filtered displacement signal to obtain a comparison signal and performing analysis and comparison based on the comparison signal and the filtered first speed signal or first acceleration signal so as to obtain a dynamic property analysis result of the speed or acceleration sensor. Therefore, the practicability and reliability of the check of the speed or acceleration sensor are ensured.

Description

速度或加速度传感器动态特性的校验装置、 系统及方法 技术领域  Calibration device, system and method for dynamic characteristics of speed or acceleration sensor
本发明涉及一种速度或加速度传感器动态特性的校验装置、 系统及方 法。 背景技术  The present invention relates to a calibration apparatus, system and method for the dynamics of a speed or acceleration sensor. Background technique
速度或加速度传感器在现有技术中已经被广泛应用， 其中加速度传感 器通常可以测量两种加速度值， 第一种是静态加速度， 第二种是动态加速 度。 这样的加速度传感器通过在各种设备中应用， 从而实现了诸如计步器、 空中识别等功能。 在使用过程中， 速度或加速度传感器难免受到外界环境、 使用时间等因素的影响而导致灵敏度度降低， 因而需要对速度或加速度传 感器进行校准。 然而， 在现有技术中， 虽然开发出了一些校验设备， 但是 这类设备结构复杂， 本身的标准性也较差， 严重影响了校准精度。 因此， 目前需要一种结构简单、 能够准确可靠地校验速度或加速度传感器的装置。 发明内容  Speed or acceleration sensors have been widely used in the prior art, where an acceleration sensor can typically measure two acceleration values, the first being static acceleration and the second being dynamic acceleration. Such an acceleration sensor realizes functions such as a pedometer, air recognition, and the like by being applied in various devices. During use, the speed or acceleration sensor is inevitably affected by factors such as the external environment and the use time, resulting in a decrease in sensitivity. Therefore, the speed or acceleration sensor needs to be calibrated. However, in the prior art, although some calibration devices have been developed, such devices are complicated in structure and inherently poor in standard, which seriously affects the calibration accuracy. Therefore, there is a need for a device that is simple in construction and capable of accurately and reliably verifying a speed or acceleration sensor. Summary of the invention
本发明的目的是提供一种速度或加速度传感器动态特性的校验装置、 系统及方法， 该方法可以确保速度或加速度传感器校验的实用性和可靠性。  SUMMARY OF THE INVENTION It is an object of the present invention to provide a calibration apparatus, system and method for the dynamics of a speed or acceleration sensor that ensures the utility and reliability of speed or acceleration sensor verification.
为了实现上述目的， 本发明提供一种速度或加速度传感器动态特性的 校验方法， 该方法包括： 同时对同步运动的位移传感器和速度或加速度传 感器进行信号采集， 获得位移信号、 和第一速度信号或第一加速度信号； 对位移信号、 和第一速度信号或第一加速度信号进行滤波处理； 对滤波处 理后的位移信号进行转换以得到比对信号， 并基于比对信号和滤波处理后 的第一速度信号或第一加速度信号进行分析比较， 以得到速度或加速度传 感器的动态特性分析结果。 In order to achieve the above object, the present invention provides a method for verifying the dynamic characteristics of a speed or acceleration sensor, the method comprising: simultaneously performing signal acquisition on a synchronous motion displacement sensor and a speed or acceleration sensor to obtain a displacement signal and a first speed signal Or a first acceleration signal; filtering the displacement signal, and the first velocity signal or the first acceleration signal; converting the filtered displacement signal to obtain a comparison signal, and based on the comparison signal and the filtering process A speed signal or a first acceleration signal is analyzed and compared to obtain a speed or acceleration The result of the dynamic analysis of the sensor.
为了实现上述目的， 本发明还提供一种速度或加速度传感器动态特性 的校验装置， 该装置包括： 信号采集模块， 用于同时对同步运动的位移传 感器和速度或加速度传感器进行信号采集， 获得位移信号、 和第一速度信 号或第一加速度信号； 信号调理模块， 用于对位移信号、 和第一速度信号 或第一加速度信号进行滤波处理； 以及校准分析模块， 用于对滤波处理后 的位移信号进行转换以得到比对信号， 并基于比对信号和滤波处理后的第 一速度信号或第一加速度信号进行分析比较， 以得到速度或加速度传感器 的动态特性分析结果。  In order to achieve the above object, the present invention also provides a calibration device for the dynamic characteristics of a speed or an acceleration sensor, the device comprising: a signal acquisition module for simultaneously acquiring a signal of a synchronous motion displacement sensor and a speed or acceleration sensor to obtain a displacement a signal, and a first speed signal or a first acceleration signal; a signal conditioning module for filtering the displacement signal, and the first speed signal or the first acceleration signal; and a calibration analysis module for filtering the displacement The signal is converted to obtain a comparison signal, and the comparison and comparison are performed based on the comparison signal and the filtered first speed signal or the first acceleration signal to obtain a dynamic characteristic analysis result of the velocity or acceleration sensor.
为了实现上述目的， 本发明还提供一种速度或加速度传感器动态特性 的校验系统， 该系统包括： 位移传感器； 速度或加速度传感器； 运动装置， 位移传感器和速度或加速度传感器相邻布置在运动装置上， 运动装置用于 使位移传感器和速度或加速度传感器同步运动； 以及上述的速度或加速度 传感器动态特性的校验装置。  In order to achieve the above object, the present invention also provides a calibration system for the dynamic characteristics of a speed or acceleration sensor, the system comprising: a displacement sensor; a speed or acceleration sensor; a motion device, a displacement sensor and a speed or acceleration sensor disposed adjacent to the motion device The motion device is used for synchronous movement of the displacement sensor and the speed or acceleration sensor; and the above-described verification device for the dynamic characteristics of the speed or acceleration sensor.
通过上述技术方案采集位移传感器和速度或加速度传感器的信号， 利 用位移与速度或加速度之间的换算关系， 对位移信号和速度或加速度信号 进行比较分析， 从而验证速度或加速度传感器的动态特性， 保证了校验的 实用性和可靠性。  The above technical solution is used to collect the signals of the displacement sensor and the speed or acceleration sensor, and use the conversion relationship between the displacement and the speed or the acceleration to compare and analyze the displacement signal and the speed or acceleration signal, thereby verifying the dynamic characteristics of the speed or acceleration sensor, and ensuring The practicality and reliability of the verification.
本发明的其他特征和优点将在随后的具体实施方式部分予以详细说 明。 附图说明  Other features and advantages of the invention will be described in detail in the detailed description which follows. DRAWINGS
附图是用来提供对本发明的进一步理解， 并且构成说明书的一部分， 与下面的具体实施方式一起用于解释本发明， 但并不构成对本发明的限制。 在附图中：  The drawings are intended to provide a further understanding of the invention, and are in the In the drawing:
图 1 是根据本发明实施例的速度或加速度传感器动态特性的校验方法 的流程图； 1 is a method for verifying dynamic characteristics of a speed or acceleration sensor according to an embodiment of the present invention Flow chart
图 2是根据本发明实施例的速度或加速度传感器动态特性的校验装置 的方框图；  2 is a block diagram of a verification apparatus for dynamic characteristics of a speed or acceleration sensor according to an embodiment of the present invention;
图 3 为根据本发明实施例的加速度传感器动态特性的校验装置与位移 传感器和加速度传感器连接的示意图；  3 is a schematic diagram showing a connection between a calibration device for an acceleration sensor dynamic characteristic and a displacement sensor and an acceleration sensor according to an embodiment of the present invention;
图 4为图 3中所示的传感器安装盒的示意图；  Figure 4 is a schematic view of the sensor mounting box shown in Figure 3;
图 5为加速度传感器在一低频段内幅频特性的曲线图；  Figure 5 is a graph of amplitude-frequency characteristics of an acceleration sensor in a low frequency band;
图 6为加速度传感器在一低频段内相频特性的曲线图。 具体实施方式  Figure 6 is a graph of the phase-frequency characteristics of an acceleration sensor in a low frequency band. detailed description
以下结合附图对本发明的具体实施方式进行详细说明。应当理解的是， 此处所描述的具体实施方式仅用于说明和解释本发明， 并不用于限制本发 明。  The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are intended to be illustrative and not restrictive.
图 1 是根据本发明实施例的速度或加速度传感器动态特性的校验方法 的流程图。  1 is a flow chart of a method of verifying the dynamics of a speed or acceleration sensor in accordance with an embodiment of the present invention.
如图 1所示， 该加速度传感器动态特性的校验方法包括：  As shown in FIG. 1, the method for verifying the dynamic characteristics of the acceleration sensor includes:
S102 , 同时对同步运动的位移传感器和速度或加速度传感器进行信号 采集， 获得位移信号、 和第一速度信号或第一加速度信号；  S102, simultaneously performing signal acquisition on the synchronous motion displacement sensor and the speed or acceleration sensor to obtain a displacement signal, and a first speed signal or a first acceleration signal;
S104, 对位移信号、 和第一速度信号或第一加速度信号进行滤波处理; 以及  S104, performing filtering processing on the displacement signal, and the first speed signal or the first acceleration signal;
S106 , 对滤波处理后的位移信号进行转换以得到比对信号， 并基于比 对信号和滤波处理后的第一速度信号或第一加速度信号进行分析比较， 以 得到速度或加速度传感器的动态特性分析结果。  S106. Convert the filtered displacement signal to obtain a comparison signal, and perform analysis and comparison based on the comparison signal and the filtered first speed signal or the first acceleration signal to obtain a dynamic characteristic analysis of the speed or acceleration sensor. result.
其中， 在步骤 S 106中：  Wherein, in step S106:
当采集到的是位移信号和第一速度信号时， 对滤波处理后的位移信号 进行转换以得到比对信号包括： 对位移信号进行一次求导， 所得到的比对 信号为第二速度信号； 基于比对信号和滤波处理后的第一速度信号进行分 析比较包括： 对滤波处理后的第一速度信号进行频域分析， 得到第一速度 信号的频域特性曲线； 对第二速度信号进行频域分析， 得到第二速度信号 的频域特性曲线； 将第一速度信号的频域特性曲线与第二速度信号的频域 特性曲线进行曲线对比， 并执行曲线相关性评价。 When the displacement signal and the first speed signal are collected, converting the filtered displacement signal to obtain the comparison signal includes: deriving the displacement signal once, and obtaining the comparison The signal is a second speed signal; and comparing and comparing the comparison signal and the filtered first speed signal comprises: performing frequency domain analysis on the filtered first speed signal to obtain a frequency domain characteristic curve of the first speed signal; Performing frequency domain analysis on the second speed signal to obtain a frequency domain characteristic curve of the second speed signal; comparing a frequency domain characteristic curve of the first speed signal with a frequency domain characteristic curve of the second speed signal, and performing curve correlation Evaluation.
当采集到的是位移信号和第一加速度信号时， 对滤波处理后的位移信 号进行转换以得到比对信号包括： 对位移信号进行二次求导， 所得到的比 对信号为第二加速度信号； 基于比对信号和滤波处理后的第一加速度信号 进行分析比较包括： 对滤波处理后的第一加速度信号进行频域分析， 得到 第一加速度信号的频域特性曲线； 对第二加速度信号进行频域分析， 得到 第二加速度信号的频域特性曲线； 将第一加速度信号的频域特性曲线与第 二加速度信号的频域特性曲线进行曲线对比， 并执行曲线相关性评价。  When the displacement signal and the first acceleration signal are collected, converting the filtered displacement signal to obtain the comparison signal comprises: performing secondary derivation on the displacement signal, and the obtained comparison signal is the second acceleration signal The analyzing and comparing the first acceleration signal based on the comparison signal and the filtering process comprises: performing frequency domain analysis on the filtered first acceleration signal to obtain a frequency domain characteristic curve of the first acceleration signal; and performing the second acceleration signal on the second acceleration signal In the frequency domain analysis, a frequency domain characteristic curve of the second acceleration signal is obtained; a frequency domain characteristic curve of the first acceleration signal is compared with a frequency domain characteristic curve of the second acceleration signal, and curve correlation evaluation is performed.
在本实施例中， 频域特性曲线包括幅频特性曲线和相频特性曲线。 在步骤 S106中， 执行曲线相关性评价包括： 将第二加速度信号和第一 加速度信号进行比较， 得到曲线相关性评价因子， 如果曲线相关性评价因 子大于 0.9， 则表示第二加速度信号的频域特性曲线与第一加速度的频域特 性曲线一致。  In this embodiment, the frequency domain characteristic curve includes an amplitude frequency characteristic curve and a phase frequency characteristic curve. In step S106, performing curve correlation evaluation includes: comparing the second acceleration signal with the first acceleration signal to obtain a curve correlation evaluation factor, and if the curve correlation evaluation factor is greater than 0.9, indicating the frequency domain of the second acceleration signal The characteristic curve is consistent with the frequency domain characteristic curve of the first acceleration.
在本实施例中， 位移传感器和加速度传感器二者同步进行单摆运动， 并且单摆运动的频率为可调节的。  In the present embodiment, both the displacement sensor and the acceleration sensor are synchronized to perform a single pendulum motion, and the frequency of the single pendulum motion is adjustable.
图 2是根据本发明实施例的速度或加速度传感器动态特性的校验装置 的方框图。  2 is a block diagram of a verification apparatus for the dynamic characteristics of a speed or acceleration sensor in accordance with an embodiment of the present invention.
如图 2所示， 该速度或加速度传感器动态特性的校验装置包括： 信号采集模块 10， 用于同时对同步运动的位移传感器和速度或加速度 传感器进行信号采集， 获得位移信号、 和第一速度信号或第一加速度信号; 信号调理模块 20， 用于对位移信号、 和第一速度信号或第一加速度信 号进行滤波处理； 以及 校准分析模块 30， 用于对滤波处理后的位移信号进行转换以得到比对 信号， 并基于比对信号和滤波处理后的第一速度信号或第一加速度信号进 行分析比较， 以得到速度或加速度传感器的动态特性分析结果。 As shown in FIG. 2, the verification device for the dynamic characteristics of the speed or acceleration sensor comprises: a signal acquisition module 10, configured to simultaneously perform signal acquisition on the synchronous motion displacement sensor and the speed or acceleration sensor to obtain a displacement signal, and a first speed. a signal or a first acceleration signal; a signal conditioning module 20, configured to filter the displacement signal, and the first speed signal or the first acceleration signal; The calibration analysis module 30 is configured to convert the filtered displacement signal to obtain a comparison signal, and perform analysis and comparison based on the comparison signal and the filtered first speed signal or the first acceleration signal to obtain a velocity or an acceleration. The results of the dynamic analysis of the sensor.
在本实施例中， 在采集到的是位移信号和第一速度信号时， 校准分析 模块 30包括： 第一转换单元， 用于对位移信号进行一次求导， 所得到的比 对信号为第二速度信号； 第一分析比较单元， 用于对滤波处理后的第一速 度信号进行频域分析， 得到第一速度信号的频域特性曲线， 对第二速度信 号进行频域分析， 得到第二速度信号的频域特性曲线， 将第一速度信号的 频域特性曲线与第二速度信号的频域特性曲线进行曲线对比， 并执行曲线 相关性评价。  In this embodiment, when the displacement signal and the first speed signal are collected, the calibration analysis module 30 includes: a first conversion unit, configured to perform a derivation of the displacement signal, and the obtained comparison signal is the second The first analysis and comparison unit is configured to perform frequency domain analysis on the filtered first speed signal to obtain a frequency domain characteristic curve of the first speed signal, and perform frequency domain analysis on the second speed signal to obtain a second speed. The frequency domain characteristic curve of the signal compares the frequency domain characteristic curve of the first speed signal with the frequency domain characteristic curve of the second speed signal, and performs curve correlation evaluation.
在采集到的是位移信号和第一加速度信号时， 校准分析模块包括： 第 二转换单元， 用于在采集到的是位移信号和第一加速度信号时， 对位移信 号进行二次求导， 所得到的比对信号为第二加速度信号； 第二分析比较单 元， 用于对滤波处理后的第一加速度信号进行频域分析， 得到第一加速度 信号的频域特性曲线， 对第二加速度信号进行频域分析， 得到第二加速度 信号的频域特性曲线， 将第一加速度信号的频域特性曲线与第二加速度信 号的频域特性曲线进行曲线对比， 并执行曲线相关性评价。  When the displacement signal and the first acceleration signal are collected, the calibration analysis module includes: a second conversion unit, configured to perform secondary derivation of the displacement signal when the acquired displacement signal and the first acceleration signal are collected, The obtained comparison signal is a second acceleration signal; the second analysis and comparison unit is configured to perform frequency domain analysis on the filtered first acceleration signal to obtain a frequency domain characteristic curve of the first acceleration signal, and perform a second acceleration signal on the second acceleration signal. In the frequency domain analysis, the frequency domain characteristic curve of the second acceleration signal is obtained, and the frequency domain characteristic curve of the first acceleration signal is compared with the frequency domain characteristic curve of the second acceleration signal, and the curve correlation evaluation is performed.
本发明还提供了一种速度或加速度传感器动态特性的校验系统， 该系 统包括： 位移传感器； 速度或加速度传感器； 运动装置， 位移传感器和速 度或加速度传感器相邻布置在运动装置上， 运动装置用于使位移传感器和 速度或加速度传感器同步运动； 以及上述实施例中的速度或加速度传感器 动态特性的校验装置。  The invention also provides a calibration system for the dynamic characteristics of a speed or acceleration sensor, the system comprising: a displacement sensor; a speed or acceleration sensor; a motion device, a displacement sensor and a speed or acceleration sensor disposed adjacent to the motion device, the motion device A calibration device for synchronizing the displacement sensor with the velocity or acceleration sensor; and the dynamics of the velocity or acceleration sensor of the above embodiment.
在本实施例中， 运动装置为单摆装置。 该单摆装置包括摆绳以及连接 在摆绳一端的安装板或安装盒， 位移传感器和速度或加速度传感器相邻布 置在安装板上或安装盒的一个面上。 优选地， 位移传感器和速度或加速度 传感器布置在安装板或安装盒的同一水平面上。 其中， 速度或加速度传感 器动态特性校验装置中的信号采集单元的输入端通过数据线与位移传感器 和加速度传感器的信号输出端相连。 In this embodiment, the motion device is a single pendulum device. The pendulum device includes a swinging rope and a mounting plate or mounting box attached to one end of the swinging rope, and the displacement sensor and the speed or acceleration sensor are disposed adjacent to one side of the mounting plate or the mounting box. Preferably, the displacement sensor and the speed or acceleration sensor are arranged on the same level of the mounting plate or mounting box. Where, speed or acceleration sensing The input end of the signal acquisition unit in the dynamic characteristic verification device is connected to the signal output end of the displacement sensor and the acceleration sensor through a data line.
图 3 为根据本发明实施例的加速度传感器动态特性的校验装置与位移 传感器和加速度传感器连接的示意图。  3 is a schematic diagram showing the connection of a calibration device for the dynamic characteristics of an acceleration sensor to a displacement sensor and an acceleration sensor according to an embodiment of the present invention.
如图 3所示， 该加速度传感器动态特性的校验装置与单摆形式的位移 传感器和加速度传感器连接。 也就是， 该校验装置中的信号采集模块 10对 单摆运动过程中的位移传感器和加速度传感器同时进行信号采集， 得到单 摆运动过程中的位移信号 ^和加速度信号"。 信号调理模块 20对采集的信 号进行滤波处理， 校准分析单元 30对滤波处理后的信号进行计算分析。 在本实施例中， 单摆的摆绳长度可调， 根据 w = ^， 当 变大， 对应 的固有频率《变小， 调节一次 长度， 测得一次数据进行对比分析， 从而可 以在一段低频范围内通过多组数据验证其动态特性， 使得校验更精准。 但 是， 本领域技术人员可以理解， 本发明的位移传感器和加速度传感器进行 单摆运动仅仅是示例性的， 并非用于限定本发明。  As shown in Fig. 3, the calibration device for the dynamic characteristics of the acceleration sensor is connected to the displacement sensor and the acceleration sensor in the form of a single pendulum. That is, the signal acquisition module 10 in the calibration device simultaneously performs signal acquisition on the displacement sensor and the acceleration sensor during the single pendulum motion to obtain the displacement signal ^ and the acceleration signal during the single pendulum motion". The signal conditioning module 20 pairs The collected signal is subjected to filtering processing, and the calibration analysis unit 30 performs calculation and analysis on the filtered signal. In this embodiment, the swing length of the single pendulum is adjustable, according to w = ^, when it becomes larger, the corresponding natural frequency is When it is smaller, the length is adjusted, and the data is measured once for comparative analysis, so that the dynamic characteristics can be verified by a plurality of sets of data in a low frequency range, so that the verification is more accurate. However, those skilled in the art can understand the displacement of the present invention. The single pendulum motion of the sensor and the accelerometer is merely exemplary and is not intended to limit the invention.
在图 3中， 摆绳 1与安装板 2连接， 传感器安装盒 3固定在安装板 2 上。其中， 传感器安装盒 3中装有加速度传感器 4和位移传感器 5， 且加速 度传感器 4和位移传感器 5布置在同一水平面上， 通过数据线与校验装置 的信号采集模块 10的输入端连接以进行信号传递 （如图 4所示）。  In Fig. 3, the swinging rope 1 is connected to the mounting board 2, and the sensor mounting case 3 is fixed to the mounting board 2. The sensor mounting box 3 is provided with an acceleration sensor 4 and a displacement sensor 5, and the acceleration sensor 4 and the displacement sensor 5 are arranged on the same horizontal plane, and are connected to the input end of the signal acquisition module 10 of the verification device through the data line for signal Pass (as shown in Figure 4).
在本实施例中， 位移信号用 X表示， 用表达式表示为： = ASin(^ + ， 对其求一次导数得到该处的速度表达式： = A^in(^ + ， 对 X求二次导数 得到该处的加速度信号表达式： = -Α^ 8 ( + ^。 由加速度传感器采集到 的加速度信号用 "表示， 其与 ' ^相等关系， 由此可以得到 " = JC = -Aiy 2 sin(iy + ^。其中， 加速度"、频率 、位移信号幅值 Α、 时间 等 参数可以通过执行步骤 S106得到， 从而可以对加速度传感器的相位 和幅 值 A进行校验。 单摆的固有频率可以通过公式《 = ^求得， 通过调节摆绳 1的长度， 可以测得一段固有频率内的加速度信号和位移信号， 通过校准分析单元 30 对采集的信号进行频域分析， 得到幅频和相频曲线， 取同一频段内幅频曲 线和相频曲线进行曲线相关性评价。 In this embodiment, the displacement signal is represented by X, expressed as an expression: = A S in(^ + , and the first derivative is obtained to obtain the velocity expression of the place: = A^in(^ + , for X The second derivative obtains the expression of the acceleration signal at this point: = -Α^ 8 ( + ^. The acceleration signal collected by the acceleration sensor is represented by ", which is equivalent to '^, which can be obtained" = JC = - Aiy 2 s i n(iy + ^, wherein acceleration, frequency, displacement signal amplitude Α, time and other parameters can be obtained by performing step S106, so that the phase and amplitude of the acceleration sensor can be obtained The value A is checked. The natural frequency of the pendulum can be obtained by the formula " = ^. By adjusting the length of the pendulum 1 , an acceleration signal and a displacement signal in a natural frequency can be measured, and the collected signal is subjected to frequency domain analysis by the calibration analysis unit 30. The amplitude-frequency and phase-frequency curves are obtained, and the amplitude-frequency curve and the phase-frequency curve in the same frequency band are taken for curve correlation evaluation.
由于位移传感器的特性验证简单且准确性高， 本发明以位移传感器的 位移信号为基准， 理论上， 得到的位移信号的相位与加速度信号的相位应 该相差 180度， 加速度传感器的加速度信号幅值与位移传感器的位移信号 幅值相差 - w2倍。 Since the characteristic verification of the displacement sensor is simple and the accuracy is high, the present invention uses the displacement signal of the displacement sensor as a reference. Theoretically, the phase of the obtained displacement signal and the phase of the acceleration signal should be different by 180 degrees, and the acceleration signal amplitude of the acceleration sensor is The displacement signal amplitude of the displacement sensor differs by - w 2 times.
图 3所示的校准分析单元 30主要对采集的信号进行分析处理， 对位移 信号进行换算， 并对换算后的位移信号和加速度信号分别进行频域分析， 得到如图 5所示的幅频特性曲线图和如图 6所示的相频特性曲线图， 从而 验证加速度传感器动态特性。 在图 5中， 实线为加速度信号 （换算） 幅频 特性曲线 19， 虚线为加速度信号 （实测） "幅频特性曲线 20， 其中， ω和 corcos表示频率， 单位为 rad/s; A (ω) 表示幅值， 单位可以为 （m/s2)。 在 图 6中， 实线为加速度信号 （换算） 相频特性曲线 22， 虚线为加速度信 号（实测）"相频特性曲线 21，其中， ω和 ωι-ω6表示频率，单位可以为 rad/s; φ (ω)表示相位， 单位可以为 （。 )。 经由图 5和图 6的幅相曲线图进行曲线 相关性评价得其曲线相关评价因子， 校验动态特性。 The calibration analysis unit 30 shown in FIG. 3 mainly analyzes and processes the collected signals, converts the displacement signals, and performs frequency domain analysis on the converted displacement signals and acceleration signals respectively to obtain the amplitude-frequency characteristics as shown in FIG. 5. The graph and the phase-frequency characteristic graph shown in Fig. 6 are used to verify the dynamic characteristics of the accelerometer. In Fig. 5, the solid line is the acceleration signal (converted) amplitude-frequency characteristic curve 19, and the broken line is the acceleration signal (measured) "amplitude-frequency characteristic curve 20, where ω and corcos represent the frequency in rad/s; A (ω ) indicates the amplitude, the unit can be (m/s 2 ). In Figure 6, the solid line is the acceleration signal (converted) phase frequency characteristic curve 22, and the broken line is the acceleration signal (measured) "phase frequency characteristic curve 21, where ω and ωι -ω 6 represent the frequency, and the unit can be rad/s; φ (ω) represents the phase, and the unit can be (.). The curve correlation evaluation was performed through the amplitude-phase graphs of FIGS. 5 and 6 to obtain the curve-related evaluation factors, and the dynamic characteristics were verified.
具体地， 对采集到的位移传感器的位移信号进行换算得到加速度信号 对得到的加速度信号（位移换算） 进行频域分析，得到加速度信号（位 移换算） 频域特性曲线 19和 21。 对采集到的加速度信号 "进行频域分析， 得到加速度信号（实测）频域特性曲线 20和 22。将换算后得到的加速度信 号 （位移换算） 频域特性曲线 19和 21分别与信号采集模块从加速度传感 器采集到的加速度信号 （实测） 频域特性曲线 20和 22进行曲线对比， 并 进行曲线相关性评价， 根据评价结果来校验加速度传感器的动态特性。 其 中曲线相关性评价是对由位移信号换算得到的加速度信号' ^与对加速度传 感器进行信号采集得到的加速度信号"比较，得到曲线相关性评价因子，若 曲线相关性评价因子大于等于 0.9， 则表明两曲线有较好的一致性， 从而可 以实现通过位移传感器验证加速度传感器动态特性。 其中， 对信号的相位 和幅值验证过程可以通过程序来实现， 曲线相关性评价因子的获取可以通 过采用现有技术中的曲线相关性评价方法实现。 Specifically, the displacement signal of the collected displacement sensor is converted to obtain an acceleration signal, and the obtained acceleration signal (displacement conversion) is subjected to frequency domain analysis to obtain an acceleration signal (displacement conversion) frequency domain characteristic curves 19 and 21. The frequency domain analysis is performed on the acquired acceleration signal to obtain the acceleration signal (measured) frequency domain characteristic curves 20 and 22. The converted acceleration signal (displacement conversion) frequency domain characteristic curves 19 and 21 are respectively associated with the signal acquisition module. Acceleration sensing The acceleration signal collected by the device (measured) is compared with the frequency domain characteristic curves 20 and 22, and the curve correlation is evaluated, and the dynamic characteristics of the acceleration sensor are verified according to the evaluation result. The curve correlation evaluation is to compare the acceleration signal '^ obtained by the displacement signal with the acceleration signal obtained by collecting the signal from the acceleration sensor, and obtain the curve correlation evaluation factor. If the curve correlation evaluation factor is greater than or equal to 0.9, it indicates The two curves have good consistency, so that the dynamic characteristics of the acceleration sensor can be verified by the displacement sensor. Among them, the phase and amplitude verification process of the signal can be realized by the program, and the curve correlation evaluation factor can be obtained by using the existing The curve correlation evaluation method in technology is implemented.
在本实施例中， 实现了加速度传感器的动态特性的校验。 而对于速度 传感器的动态特性的校验而言， 与加速度传感器的动态特性的校验不同的 是:对位移信号 ^求一次导数，从而得到该处的速度表达式 = Awsin^ + ^， 其相位理论上相差为 90度， 幅值相差《倍。 其中， 《表示频率， 单位可以 为 rad/s; A表示幅值， 单位可以为 （m/s); φ表示相位， 单位可以为 （。 ) 。 In the present embodiment, the verification of the dynamic characteristics of the acceleration sensor is achieved. For the verification of the dynamic characteristics of the speed sensor, unlike the verification of the dynamic characteristics of the acceleration sensor, a derivative is obtained for the displacement signal, thereby obtaining the velocity expression = Awsin^ + ^, its phase In theory, the difference is 90 degrees, and the amplitude difference is "double." Where, "represents the frequency, the unit can be rad/s; A represents the amplitude, the unit can be ( m / s); φ represents the phase, the unit can be (.).
从上述实施例可以看出， 本发明通过采集位移传感器和速度或加速度 传感器的信号， 利用位移与速度或加速度之间的换算关系， 通过校准分析 模块对位移信号和速度或加速度信号进行时域分析和频域分析， 得到其特 征参数， 并对其进行比较分析， 从而验证速度或加速度传感器的动态特性， 保证了校验的实用性和可靠性。  It can be seen from the above embodiment that the present invention performs time domain analysis of the displacement signal and the velocity or acceleration signal through the calibration analysis module by collecting the signals of the displacement sensor and the velocity or acceleration sensor and using the conversion relationship between the displacement and the velocity or the acceleration. And frequency domain analysis, the characteristic parameters are obtained, and compared and analyzed to verify the dynamic characteristics of the velocity or acceleration sensor, which ensures the practicability and reliability of the calibration.
以上结合附图详细描述了本发明的优选实施方式， 但是， 本发明并不 限于上述实施方式中的具体细节， 在本发明的技术构思范围内， 可以对本 发明的技术方案进行多种简单变型， 这些简单变型均属于本发明的保护范 围。  The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments, and various simple modifications of the technical solutions of the present invention may be made within the scope of the technical idea of the present invention. These simple variations are within the scope of the invention.
另外需要说明的是， 在上述具体实施方式中所描述的各个具体技术特 征， 在不矛盾的情况下， 可以通过任何合适的方式进行组合， 为了避免不 必要的重复， 本发明对各种可能的组合方式不再另行说明。 此外， 本发明的各种不同的实施方式之间也可以进行任意组合， 只要 其不违背本发明的思想， 其同样应当视为本发明所公开的内容。 It should be further noted that the specific technical features described in the above specific embodiments may be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present invention has various possibilities. The combination method will not be described separately. In addition, any combination of various embodiments of the invention may be made, as long as it does not deviate from the idea of the invention, and should also be regarded as the disclosure of the invention.

Claims

权利要求 Rights request
1、一种速度或加速度传感器动态特性的校验方法，其中， 该方法包括： 同时对同步运动的位移传感器和速度或加速度传感器进行信号采集， 获得位移信号、 和第一速度信号或第一加速度信号； A method for verifying the dynamic characteristics of a speed or an acceleration sensor, wherein the method comprises: simultaneously acquiring a signal of a synchronous motion displacement sensor and a speed or acceleration sensor to obtain a displacement signal, and a first speed signal or a first acceleration Signal
对所述位移信号、 和所述第一速度信号或第一加速度信号进行滤波处 理；  Filtering the displacement signal, and the first speed signal or the first acceleration signal;
对滤波处理后的所述位移信号进行转换以得到比对信号， 并基于所述 比对信号和滤波处理后的所述第一速度信号或第一加速度信号进行分析比 较， 以得到所述速度或加速度传感器的动态特性分析结果。  Converting the filtered processed displacement signal to obtain a comparison signal, and performing analysis and comparison based on the comparison signal and the filtered first speed signal or the first acceleration signal to obtain the speed or The analysis of the dynamic characteristics of the acceleration sensor.
2、 根据权利要求 1所述的方法， 其中， 采集到的是位移信号和第一速 度信号， 2. The method according to claim 1, wherein the displacement signal and the first speed signal are collected,
对滤波处理后的所述位移信号进行转换以得到比对信号包括： 对所述 位移信号进行一次求导， 所得到的比对信号为第二速度信号；  Converting the filtered signal to obtain a comparison signal comprises: deriving the displacement signal once, and the obtained comparison signal is a second speed signal;
基于所述比对信号和滤波处理后的所述第一速度信号进行分析比较包 括：  The analysis and comparison based on the comparison signal and the filtered first speed signal includes:
对滤波处理后的所述第一速度信号进行频域分析， 得到所述第一 速度信号的频域特性曲线；  Performing frequency domain analysis on the filtered first speed signal to obtain a frequency domain characteristic curve of the first speed signal;
对所述第二速度信号进行频域分析， 得到所述第二速度信号的频 域特性曲线；  Performing frequency domain analysis on the second speed signal to obtain a frequency domain characteristic curve of the second speed signal;
将所述第一速度信号的频域特性曲线与所述第二速度信号的频域 特性曲线进行曲线对比， 并执行曲线相关性评价。  A frequency domain characteristic curve of the first speed signal is compared with a frequency domain characteristic curve of the second speed signal, and a curve correlation evaluation is performed.
3、 根据权利要求 1所述的方法， 其中， 采集到的是位移信号和第一加 速度信号， 对滤波处理后的所述位移信号进行转换以得到比对信号包括： 对所述 位移信号进行二次求导， 所得到的比对信号为第二加速度信号； 3. The method according to claim 1, wherein the displacement signal and the first acceleration signal are collected, Converting the filtered processed displacement signal to obtain a comparison signal comprises: performing second derivative on the displacement signal, and the obtained comparison signal is a second acceleration signal;
基于所述比对信号和滤波处理后的所述第一加速度信号进行分析比较 包括：  Performing analysis and comparison based on the comparison signal and the filtered first acceleration signal includes:
对滤波处理后的所述第一加速度信号进行频域分析， 得到所述第 一加速度信号的频域特性曲线；  Performing frequency domain analysis on the filtered first acceleration signal to obtain a frequency domain characteristic curve of the first acceleration signal;
对所述第二加速度信号进行频域分析， 得到所述第二加速度信号 的频域特性曲线；  Performing frequency domain analysis on the second acceleration signal to obtain a frequency domain characteristic curve of the second acceleration signal;
将所述第一加速度信号的频域特性曲线与所述第二加速度信号的 频域特性曲线进行曲线对比， 并执行曲线相关性评价。  And comparing a frequency domain characteristic curve of the first acceleration signal with a frequency domain characteristic curve of the second acceleration signal, and performing curve correlation evaluation.
4、 根据权利要求 3所述的方法， 其中， 所述频域特性曲线包括幅频特 性曲线和相频特性曲线。 4. The method according to claim 3, wherein the frequency domain characteristic curve comprises a frequency frequency characteristic curve and a phase frequency characteristic curve.
5、根据权利要求 3所述的方法，其中，执行所述曲线相关性评价包括: 将所述第二加速度信号和所述第一加速度信号进行比较， 得到曲线相 关性评价因子， 如果所述曲线相关性评价因子大于 0.9， 则表示所述第二加 速度信号的频域特性曲线与所述第一加速度的频域特性曲线一致。 5. The method of claim 3, wherein performing the curve correlation evaluation comprises: comparing the second acceleration signal with the first acceleration signal to obtain a curve correlation evaluation factor, if the curve The correlation evaluation factor is greater than 0.9, indicating that the frequency domain characteristic curve of the second acceleration signal is consistent with the frequency domain characteristic curve of the first acceleration.
6、 根据权利要求 3-5中任一项权利要求所述的方法， 其中， 所述位移 传感器和所述加速度传感器二者同步进行单摆运动， 并且单摆运动的频率 为可调节的。 6. A method according to any one of claims 3-5, wherein both the displacement sensor and the acceleration sensor are synchronized in a single pendulum motion, and the frequency of the pendulum motion is adjustable.
7、 一种速度或加速度传感器动态特性的校验装置， 其中， 包括： 信号采集模块， 用于同时对同步运动的位移传感器和速度或加速度传 感器进行信号采集， 获得位移信号、 和第一速度信号或第一加速度信号； 信号调理模块， 用于对所述位移信号、 和所述第一速度信号或第一加 速度信号进行滤波处理； 以及 7. A calibration device for dynamic characteristics of a speed or an acceleration sensor, comprising: a signal acquisition module, configured to simultaneously perform signal acquisition on a synchronous motion displacement sensor and a speed or acceleration sensor to obtain a displacement signal, and a first speed signal Or a first acceleration signal; a signal conditioning module, configured to filter the displacement signal, and the first speed signal or the first acceleration signal;
校准分析模块， 用于对滤波处理后的所述位移信号进行转换以得到比 对信号， 并基于所述比对信号和滤波处理后的所述第一速度信号或第一加 速度信号进行分析比较， 以得到所述速度或加速度传感器的动态特性分析 结果。  a calibration analysis module, configured to convert the filtered processed displacement signal to obtain a comparison signal, and perform analysis and comparison based on the comparison signal and the filtered first speed signal or the first acceleration signal, The result of analyzing the dynamic characteristics of the speed or acceleration sensor is obtained.
8、 根据权利要求 7所述的装置， 其中， 所述校准分析模块包括： 第一转换单元， 用于在采集到的是位移信号和第一速度信号时， 对所 述位移信号进行一次求导， 所得到的比对信号为第二速度信号； The apparatus according to claim 7, wherein the calibration analysis module comprises: a first conversion unit, configured to perform a derivation of the displacement signal when the displacement signal and the first speed signal are collected , the obtained comparison signal is a second speed signal;
第一分析比较单元， 用于对滤波处理后的所述第一速度信号进行频域 分析， 得到所述第一速度信号的频域特性曲线， 对所述第二速度信号进行 频域分析， 得到所述第二速度信号的频域特性曲线， 将所述第一速度信号 的频域特性曲线与所述第二速度信号的频域特性曲线进行曲线对比， 并执 行曲线相关性评价。  a first analysis and comparison unit, configured to perform frequency domain analysis on the filtered first speed signal, obtain a frequency domain characteristic curve of the first speed signal, and perform frequency domain analysis on the second speed signal to obtain The frequency domain characteristic curve of the second speed signal compares a frequency domain characteristic curve of the first speed signal with a frequency domain characteristic curve of the second speed signal, and performs curve correlation evaluation.
9、 根据权利要求 7所述的装置， 其中， 所述校准分析模块包括： 第二转换单元， 用于在采集到的是位移信号和第一加速度信号时， 对 所述位移信号进行二次求导， 所得到的比对信号为第二加速度信号； The apparatus according to claim 7, wherein the calibration analysis module comprises: a second conversion unit, configured to perform second seeking on the displacement signal when the displacement signal and the first acceleration signal are collected Leading, the obtained comparison signal is a second acceleration signal;
第二分析比较单元， 用于对滤波处理后的所述第一加速度信号进行频 域分析， 得到所述第一加速度信号的频域特性曲线， 对所述第二加速度信 号进行频域分析， 得到所述第二加速度信号的频域特性曲线， 将所述第一 加速度信号的频域特性曲线与所述第二加速度信号的频域特性曲线进行曲 线对比， 并执行曲线相关性评价。  a second analysis and comparison unit, configured to perform frequency domain analysis on the filtered first acceleration signal, obtain a frequency domain characteristic curve of the first acceleration signal, and perform frequency domain analysis on the second acceleration signal to obtain The frequency domain characteristic curve of the second acceleration signal compares a frequency domain characteristic curve of the first acceleration signal with a frequency domain characteristic curve of the second acceleration signal, and performs curve correlation evaluation.
10、 一种速度或加速度传感器动态特性的校验系统， 其中， 该系统包 括： 10. A calibration system for dynamic characteristics of a speed or acceleration sensor, wherein the system package Includes:
位移传感器；  Motion detector;
速度或加速度传感器；  Speed or acceleration sensor;
运动装置， 所述位移传感器和所述速度或加速度传感器相邻布置在所 述运动装置上， 所述运动装置用于使位移传感器和速度或加速度传感器同 歩运动； 以及  a motion device, the displacement sensor and the speed or acceleration sensor being disposed adjacent to the motion device, the motion device for moving the displacement sensor and the speed or acceleration sensor simultaneously;
根据权利要求 7-9 中任一项权利要求所述的速度或加速度传感器动态 特性的校验装置。  A calibration device for the dynamic characteristics of a speed or acceleration sensor according to any of claims 7-9.
11、 根据权利要求 10所述的系统， 其中， 所述运动装置为单摆装置。 11. The system of claim 10, wherein the motion device is a single pendulum device.
12、 根据权利要求 11所述的系统， 其中， 所述单摆装置包括摆绳以及 连接在摆绳一端的安装板或安装盒， 所述位移传感器和所述速度或加速度 传感器相邻布置在所述安装板上或安装盒的同一水平面上。 12. The system according to claim 11, wherein the pendulum device comprises a swinging rope and a mounting plate or a mounting box connected to one end of the swinging rope, and the displacement sensor and the speed or acceleration sensor are disposed adjacent to each other The same level on the mounting plate or the mounting box.
13、 根据权利要求 12所述的系统， 其中， 所述速度或加速度传感器动 态特性校验装置中的信号采集单元的输入端通过数据线与所述位移传感器 和所述加速度传感器的信号输出端相连。 13. The system according to claim 12, wherein the input end of the signal acquisition unit in the speed or acceleration sensor dynamic characteristic verification device is connected to the signal output end of the displacement sensor and the acceleration sensor through a data line. .
PCT/CN2011/080944 2011-10-18 2011-10-18 Check device, system and method for dynamic properties of speed or acceleration sensor WO2013056427A1 (en)

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