Error and fault-tolerant processing of parallel type six-axis accelerometer

YOU Jing-jing; LI Cheng-gang; WU Hong-tao; SHEN Jing-jin

doi:10.3788/OPE.20152309.2522

您当前的位置：

首页 >

文章列表页 >

Error and fault-tolerant processing of parallel type six-axis accelerometer

更新时间：2020-08-12

- Error and fault-tolerant processing of parallel type six-axis accelerometer
- Optics and Precision Engineering Vol. 23, Issue 9, Pages: 2522-2532(2015)
- 作者机构：
  
  1. 南京航空航天大学机电学院,江苏南京,210016
  2. 南京林业大学机械电子工程学院,江苏南京,210037
  3. 南京邮电大学自动化学院,江苏南京,210046
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20152309.2522
  CLC： TP212.12;TH825
- Received：05 March 2015，
  
  Revised：10 April 2015，
  
  Published：25 September 2015
- 稿件说明：
移动端阅览
尤晶晶, 李成刚, 吴洪涛等. 并联式六维加速度传感器的误差及容错处理[J]. 光学精密工程, 2015,23(9): 2522-2532

YOU Jing-jing, LI Cheng-gang, WU Hong-tao etc. Error and fault-tolerant processing of parallel type six-axis accelerometer[J]. Editorial Office of Optics and Precision Engineering, 2015,23(9): 2522-2532
尤晶晶, 李成刚, 吴洪涛等. 并联式六维加速度传感器的误差及容错处理[J]. 光学精密工程, 2015,23(9): 2522-2532 DOI： 10.3788/OPE.20152309.2522.

YOU Jing-jing, LI Cheng-gang, WU Hong-tao etc. Error and fault-tolerant processing of parallel type six-axis accelerometer[J]. Editorial Office of Optics and Precision Engineering, 2015,23(9): 2522-2532 DOI： 10.3788/OPE.20152309.2522.

摘要

基于解耦算法研究了并联式六维加速度传感器的误差特性和容错策略。通过引入“辅助角速度”的概念

并借助于四元数将旋转参量扩展至四维空间

得到了两个形式简单的递推公式

实现了六维加速度的完全解耦。通过剖析解耦机理

找到了影响解耦精度的3类误差源

并分析了它们的产生原因。通过构建辅助角速度误差与源误差、输出误差之间的映射关系

推导出了3组基本误差方程的解析表达式

据此揭示了各误差因素的影响规律。仿真试验与数学推导的结果吻合得较好

验证了误差方程及规律的有效性。从尺度约束的角度挖掘出弹性体拓扑构型中隐藏的变形协调条件

推导出了3个力协调方程

由此给出了一种可解决93个组合故障问题的容错处理方案。样机试验结果显示

局部支链出现故障后重构系统的综合解耦误差不超过8.5%

基本满足测量要求

验证了容错处理方案的可行性

同时也表明并联式六维加速度传感器具备一定的鲁棒性。

Abstract

On the basis of decoupling algorithm

the error characteristics and fault-tolerance strategy of a parallel type six-axis accelerometer were researched. By introducing an aided angular velocity and using quaternion to describe rotation parameters in a four-dimensional space

two explicit recursive formulas with simple forms were obtained

and six-axis accelerations were entirely decoupled. By analyzing the decoupling mechanism

three kinds of error sources affecting the decoupling precision were obtained

and the reasons that cause the error were analyzed. By establishing the mapping relations between the error of aided angular velocity

source errors and output errors

the analytical expressions of the basic error equations were derived

and then the influence rules of error components were revealed. The verification experiment shows that the mathematical results are well consistent with the simulation ones in ADAMS

and the relative error between them is acceptable. Three force coordination equations were derived by establishing the hidden deformation compatibility conditions of elastomeric topological configuration

and then a fault-tolerant processing scheme was proposed to solve 93 combined failures. Experimental results indicate that the maximum relative error is 8.5% after using the new algorithm to decouple the six-axis acceleration of the systems with partial failures

which meets the accuracy requirements. Above results verify that the influence rules of errors and the scheme of fault-tolerant processing are both correct and feasible

and also demonstrate that the parallel type six-axis accelerometer has some level of robustness.

关键词

Keywords

references

CHOI H R, RYU M H, YANG Y S, et al.. Evaluation of algorithm for the fall and fall direction detection during bike riding [J]. International Journal of Control and Automation, 2013, 6(6):209-218.

PLANINC R, KAMPEL M. Introducing the use of depth data for fall detection [J]. Personal and Ubiquitous Computing, 2013, 17(6):1063-1072.

LI T H S, CHEN C C, SU Y T. Optical image stabilizing system using fuzzy sliding-mode controller for digital cameras [J]. IEEE Transactions on Consumer Electronics, 2012, 58(2):237-245.

战德军,戴东凯,张忠华,等. 单轴旋转INS/GPS组合导航中重力垂线偏差引起的姿态误差分析[J]. 中国惯性技术学报,2014,22(3):301-305. ZHAN D J, DAI D K, ZHANG ZH H, et al.. Analysis of gravity vertical deflection-induced attitude error in single-axis rotation INS/GPS integrated navigation system [J]. Journal of Chinese Inertial Technology, 2014, 22(3):301-305. (in Chinese)

PETER S, HUBERT G. State estimation on flexible robots using accelerometers and angular rate sensors [J]. Mechatronics, 2012, 22(8):1043-1049.

TAN C W, PARK S. Design of accelerometer-based inertial navigation systems [J]. IEEE Transactions on Instrumentation and Measurement, 2005, 54(6):2520-2530.

WANG D H, YUAN G. A six degree of freedom acceleration sensing method based on six coplanar single axis accelerometers [J]. IEEE Transactions on Instrumentation and Measurement, 2011, 60(4):1433-1442.

CHAPSKY V, PORTMAN V T, SANDLER B Z. Single-mass 6-DOF isotropic accelerometer with segmented PSD sensors [J]. Sensors and Actuators, A:Physical, 2007, 135(2):558-569.

万镇. 六轴静电悬浮微加速度计的设计及系统级仿真[D]. 上海:上海交通大学,2012. WAN ZH.Design and system-level simulation of a micromachined electrostatically suspended accelerometer [D]. Shanghai:Shanghai Jiao Tong University, 2012.(in Chinese)

XIA Y H, LI C G, YOU J J, et al.. Influences analysis of configurations on the performance of parallel type six-axis accelerometers [J]. Transactions of Famena, 2013, 37(2):67-86.

尤晶晶,李成刚,吴洪涛. 并联式六维加速度传感器的哈密顿动力学研究[J]. 机械工程学报,2012,48(15):9-17. YOU J J, LI CH G, WU H T. Research on Hamiltonian dynamics of parallel type six-axis accelerometer [J]. Journal of Mechanical Engineering, 2012,48(15):9-17.(in Chinese)

于春战,刘晋浩,孙治博. 一种并联式六维加速度传感器参数优化研究[J]. 仪器仪表学报,2014,35(10):2216-2222. YU CH ZH, LIU J H, SUN ZH B. Parameters optimization of a six-axis accelerometer based on parallel mechanism [J]. Chinese Journal of Scientific Instrument, 2014,35(10):2216-2222.(in Chinese)

尤晶晶. 基于6-SPS并联机构的压电式六维加速度传感器的研究[D]. 南京:南京航空航天大学,2010. YOU J J.Research on a piezoelectric six-axis accelerometer based on 6-SPS parallel mechanism [D]. Nanjing:Nanjing University of Aeronautics and Astronautics,2010.(in Chinese)

严恭敏,周琪,翁浚,等. 捷联惯导系统内杆臂补偿方法及试验验证[J]. 宇航学报,2012,33(1):62-67. YAN G M, ZHOU Q, WENG J, et al.. Inner lever arm compensation and its test verification for SINS [J]. Journal of Astronautics, 2012, 33(1):62-67. (in Chinese)

尤晶晶,李成刚,吴洪涛. 并联式六维加速度传感器的参数辨识[J]. 光学精密工程,2013,21(10):155-166. YOU J J, LI CH G, WU H T. Parameter identification of parallel type six-axis accelerometer [J]. Opt. Precision Eng., 2013, 21(10):155-166. (in Chinese)

LIN P CH, LU J CH, TSAI CH H, et al.. Design and implementation of a nine-axis inertial measurement unit [J]. IEEE/ASME Transactions on Mechatronics, 2012,17(4):657-668.

陈颖,纪明,康臻,等. 光纤陀螺惯导系统航位推算误差补偿方法研究[J]. 应用光学,2014,35(4):563-567. CHEN Y, JI M, KANG ZH, et al.. Error compensation for dead reckoning in fiber optical gyroscope inertial navigation system [J]. Journal of Applied Optics, 2014, 35(4):563-567. (in Chinese)

崔留争,高思远,贾宏光,等. 神经网络辅助卡尔曼滤波在组合导航中的应用[J]. 光学精密工程,2014,22(5):1304-1311. CUI L ZH, GAO S Y, JIA H G, et al.. Application of neural network aided Kalman filtering to SINS/GPS [J]. Opt. Precision Eng., 2014, 22(5):1304-1311. (in Chinese)

张欣,白越,赵常均,等. 多旋翼姿态解算中的改进自适应扩展Kalman算法[J]. 光学精密工程,2014,22(12):3384-3390. ZHANG X, BAI Y, ZHAO CH J, et al.. Improved adaptive extended Kalman algorithm for attitude estimation of multi-rotor UAV [J]. Opt. Precision Eng., 2014, 22(12):3384-3390. (in Chinese)

Views

301

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Research process on operation performances of parallel type six-axis acceleration sensing mechanisms

Current deviation decoupling control based on sliding mode active disturbance rejection for PMLSM

Attitude determination for satellite using adaptive unscented Kalman filter

Sensitivity theoretical analysis and desensitization design method for reflective optical system based on optical path variation

A fast and robust method for fundamental matrix estimation

Related Author

ZHANG Xianzhu

SHI Haofei

YOU Jingjing

Ximei ZHAO

Cen WU

Mei-li ZHOU

Lin CHANG

Shao-ju WANG

Related Institution

College of Mechanical and Electronic Engineering， Nanjing Forestry University

School of Electrical Engineering， Shenyang University of Technology

Key Laboratory of Space-based Dynamic & Rapid Optical Imaging Technology， Chinese Academy of Sciences

University of Chinese Academy of Sciences

Changchun Institute of Optics， Fine Mechanics＆Physics， Chinese Academy of Sciences

AI问答

Address：No.3888 Dong Nanhu Road, Changchun, Jilin, China Postal code：130033
Tel：0431-86176855 Email：gxjmgc@ciomp.ac.cn
Technical support is provided by Beijing Founder electronics co., LTD 吉ICP备11002662号-17 京公网安备11010802024621
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰