CN-121980139-A - Time-lag-free angular displacement error compensation system based on real-time self calibration

CN121980139ACN 121980139 ACN121980139 ACN 121980139ACN-121980139-A

Abstract

The invention discloses a time-lag-free angular displacement error compensation system based on real-time self calibration, which relates to the technical field of displacement error compensation and comprises a sensing module, a core processing module and a compensation output module; the invention recognizes dynamic error parameters on line through a real-time iterative estimation algorithm, utilizes FPGA hardware to perform instant feedforward compensation, effectively eliminates inherent calculation delay of traditional software compensation, ensures real-time performance of feedback signals, and secondly, an intelligent arbitration unit can automatically adjust reliability when a single sensor has short-time abnormality or performance degradation by dynamically evaluating signal quality of multiple sensors and generating fusion weights, so that stable and reliable output is maintained, robustness and fault tolerance of the system are remarkably improved, and in addition, a miniature excitation device can trigger in-situ self-calibration when the system is idle, update a sensor dynamic model, thereby inhibiting long-term drift and guaranteeing stability of precision in a full life cycle.

Inventors

WU YUE
TIAN SHEN
LU BIN
WANG JINTANG

Assignees

无锡学院
无锡凌感科技有限公司

Dates

Publication Date: 20260505
Application Date: 20260126

Claims (8)

1. A time-lag-free angular displacement error compensation system based on real-time self-calibration, comprising: The sensing module is used for acquiring original angular movement data of the target, and comprises first measurement data acquired by the first sensing sub-module and second measurement data acquired by the second sensing sub-module; The core processing module is electrically connected with the sensing module and comprises an error identification unit and an intelligent arbitration unit, and is used for receiving and processing the original angular motion data; The error identification unit is used for identifying and outputting dynamic error parameters on line through a real-time iterative estimation algorithm based on the first measurement data and the second measurement data; the intelligent arbitration unit is in communication connection with the error identification unit, evaluates the signal quality of the first measurement data and the second measurement data in real time, and generates dynamic fusion weights according to the evaluation result; And the compensation output module is electrically connected with the core processing module, performs real-time feedforward compensation on the first measurement data according to the dynamic error parameter, performs data fusion on the first measurement data and the second measurement data subjected to the real-time feedforward compensation according to the dynamic fusion weight, and generates and outputs a time-lag-free high-precision angular displacement signal.
2. The time-lapse-free angular displacement error compensation system based on real-time self calibration of claim 1, wherein the first sensor sub-module is an angular velocity sensor, and the angular velocity sensor adopts a gyroscope.
3. The time-lapse-free angular displacement error compensation system based on real-time self-calibration of claim 1, wherein the second sensor sub-module is an angular position sensor, and the angular position sensor adopts an optoelectronic encoder or a rotary transformer.
4. The time-lag-free angular displacement error compensation system based on real-time self calibration of claim 1, wherein the error identification unit is used for constructing a state space model taking angular displacement and error parameters of the first sensing sub-module as state quantities, and running a Kalman filter by taking measured data of the second sensing sub-module as observed quantity, and performing real-time recursive estimation on the state quantities so as to identify dynamic error parameters changing with time on line.
5. The skew-free angular displacement error compensation system of claim 1 wherein said intelligent arbitration unit comprises a signal quality assessment subunit and a weight decision subunit, said signal quality assessment subunit calculating quality metrics of said first and second measurement data in parallel, said weight decision subunit being coupled to said signal quality assessment subunit, said quality metrics being comprehensively scored based on preset rules, and dynamically assigning a fusion weight to said first and second measurement data based on the result of said comprehensive scoring.
6. The time-lag-free angular displacement error compensation system based on real-time self calibration according to claim 1, wherein the compensation output module comprises a high-frequency feedforward compensation submodule and a data fusion submodule, the high-frequency feedforward compensation submodule receives a dynamic error parameter estimated value from the error identification unit at the current moment in each data processing period and performs instant subtraction or multiplication compensation on the synchronously acquired first measurement data to generate an intermediate compensation signal, the data fusion submodule is connected with the high-frequency feedforward compensation submodule, receives the intermediate compensation signal and the second measurement data, and performs weighted fusion on the intermediate compensation signal and the second measurement data according to dynamic fusion weights issued by the intelligent arbitration unit to generate a final time-lag-free high-precision angular displacement signal.
7. The system for compensating zero time lag angular displacement error based on real-time self calibration of claim 6, wherein said high frequency feedforward compensation sub-module is implemented by field programmable gate array hardware, a lookup table for storing a mapping relation between error parameters and working conditions is integrated in the high frequency feedforward compensation sub-module, said field programmable gate array hardware queries said lookup table according to system working condition information acquired in real time to obtain an auxiliary compensation amount, and combines the auxiliary compensation amount with a compensation amount based on said dynamic error parameters to perform composite feedforward compensation on said first measurement data.
8. The system for compensating angular displacement error without time lag based on real-time self calibration of claim 1, wherein the core processing module further comprises a micro excitation control unit for generating a control signal when the system is judged to be in an idle or calibration mode, the system further comprises a micro excitation device acting on a mounting base or a sensor body of the sensor module, micro mechanical vibration of known amplitude and frequency is generated according to the control signal, and the error identification unit analyzes response data of the sensor module under the micro mechanical vibration to update internal model parameters for dynamic characteristics of the sensor.

Description

Time-lag-free angular displacement error compensation system based on real-time self calibration Technical Field The invention relates to the technical field of displacement error compensation, in particular to a time-lag-free angular displacement error compensation system based on real-time self calibration. Background The time-lag-free angular displacement error compensation technology is a precise signal processing technology oriented to a high dynamic scene, and the core aim is to realize the synchronism of error correction and signal output. The technology performs on-line identification and updating on model parameters by establishing a real-time dynamic model of sensor errors and utilizing an advanced estimation algorithm. In order to realize the characteristic of no time lag, the system generally adopts a strategy of combining feedforward compensation and high-frequency closed-loop feedback, wherein on one hand, the system carries out instantaneous predictive correction on an original measured value according to a model, and on the other hand, the system completes the optimal estimation of the state in an extremely short sampling period by means of multi-source data fusion means such as a Kalman filter and the like, so that the phase lag introduced by an algorithm is reduced to a level which can be ignored by a control system. Based on the discovery of the prior art, the traditional displacement error compensation technology mainly relies on a fixed parameter filtering algorithm to perform data fusion and compensation, is difficult to adapt to the working condition of dynamic change and sensor characteristic drift, when intermittent faults or signal anomalies occur in a sensor, the system lacks an intelligent arbitration mechanism, so that output jump or precision deterioration is easy to occur, meanwhile, a compensation path led by the traditional software algorithm usually introduces non-negligible processing time lag, is difficult to meet the real-time requirement of an ultra-high dynamic system, lacks an effective on-line in-situ calibration means, and long-term operation precision cannot be ensured. Therefore, the invention provides a time-lag-free angular displacement error compensation system based on real-time self calibration and an interpretation method thereof, which are used for solving the problems in the prior art. Disclosure of Invention Aiming at the problems, the invention aims to provide a time-lag-free angular displacement error compensation system based on real-time self-calibration, and solves the problems that the traditional displacement error compensation technology mainly relies on a fixed parameter filtering algorithm for data fusion and compensation, is difficult to adapt to the dynamically-changed working condition and sensor characteristic drift, is difficult to meet the real-time requirement of an ultra-high dynamic system, and lacks an effective online in-situ calibration means. In order to achieve the purpose of the invention, the invention is realized by the following technical scheme that the time-lag-free angular displacement error compensation system based on real-time self calibration comprises: the sensing module is used for acquiring original angular motion data of the target, wherein the original angular motion data comprises first measurement data acquired by the first sensing sub-module and second measurement data acquired by the second sensing sub-module; the core processing module is electrically connected with the sensing module and is used for receiving and processing the original angular motion data and comprises an error identification unit and an intelligent arbitration unit; The error identification unit is used for identifying and outputting dynamic error parameters on line through a real-time iterative estimation algorithm based on the first measurement data and the second measurement data; the intelligent arbitration unit is in communication connection with the error identification unit and is used for evaluating the signal quality of the first measurement data and the second measurement data in real time and generating dynamic fusion weights according to the evaluation result; The compensation output module is electrically connected with the core processing module and is used for carrying out real-time feedforward compensation on the first measurement data according to the dynamic error parameters, carrying out data fusion on the first measurement data and the second measurement data subjected to real-time feedforward compensation according to the dynamic fusion weights, and generating and outputting a time-lag-free high-precision angular displacement signal. The angular velocity sensor is characterized in that the first sensor sub-module is an angular velocity sensor with high dynamic response characteristics and is used for outputting high-frequency first measurement data, and the angular velocity sensor adopts a gyroscope. The further improvem