六维加速度传感器的两类解耦算法及其对比研究

中国机械工程 ›› 2013, Vol. 24 ›› Issue (21): 2938-2943.

六维加速度传感器的两类解耦算法及其对比研究

尤晶晶1,2;李成刚1;吴洪涛1;夏玉辉1

1.南京航空航天大学，南京，210016
2.南京林业大学，南京，210037

出版日期:2013-11-10 发布日期:2013-11-15
基金资助:
国家自然科学基金资助项目（51175263）；江苏省普通高校研究生科研创新计划资助项目（CXLX11-0176）；南京航空航天大学基本科研业务费专项科研项目（NS2011011）
National Natural Science Foundation of China（No. 51175263）

Study and Comparison of Two Decoupling Algorithms for Six-axis Accelerometer

You Jingjing1,2;Li Chenggang1;Wu Hongtao1;Xia Yuhui1

1.Nanjing University of Aeronautics and Astronautics,Nanjing,210016
2.Nanjing Forestry University,Nanjing,210037

Online:2013-11-10 Published:2013-11-15
Supported by:
National Natural Science Foundation of China（No. 51175263）

摘要/Abstract

摘要：

针对目前六维加速度传感器在研制过程中遇到的瓶颈，分别在位形空间内运用牛顿-欧拉方程以及在相空间内运用哈密顿正则方程推导出两类关于加速度6个分量的完全解耦算法。与传统算法相比，这两类算法均具有不依赖外部设备、不限制载体运动规律的优点。通过定性和定量对比两类算法数值求解精度、效率和稳定性，揭示了解耦机理，同时得到了六维加速度传感器解耦算法的五点选取原则。将实物样机安装在标准激振器上进行了实验测试，实验结果与理论分析相一致。

关键词: 解耦算法, 六维加速度传感器, 精度, 效率, 数值稳定性

Abstract:

According to the facts that the development of a six-axis accelerometer was limited by technical bottleneck, Newton-Euler equation in configuration-space and Hamilton canonical equation in phase-space were used to derive the complete decoupling algorithms of the six-axis acceleration respectively. The advantages of the two algorithms were independent on external devices and unrestricted by the motion law of carriers compared with traditional algorithms. Decoupling mechanism was revealed by contrasting the accuracy, efficiency and numerical stability of the two algorithms qualitatively and quantitatively. Meanwhile, five selection principles of decoupling algorithms were obtained. Physical prototype was installed on a standard vibration exciter, and the experimental results consistent to the theoretical analysis.

Key words: decoupling algorithm, six-axis accelerometer, accuracy, efficiency, numerical stability

中图分类号:

TH825

尤晶晶1,2;李成刚1;吴洪涛1;夏玉辉1. 六维加速度传感器的两类解耦算法及其对比研究[J]. 中国机械工程, 2013, 24(21): 2938-2943.

You Jingjing1,2;Li Chenggang1;Wu Hongtao1;Xia Yuhui1. Study and Comparison of Two Decoupling Algorithms for Six-axis Accelerometer[J]. China Mechanical Engineering, 2013, 24(21): 2938-2943.

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