Parameter identification and perturbation algorithm of parallel type six-axis accelerometer
YOU Jingjing1,2,FU Zhouzhou3, LI Chenggang2,4,WU Hongtao2,4,WANG Jin1
1. College of Mechanical and Electronical Engineering, Nanjing Forestry University , Nanjing 210037,China;
2. Jiangsu Key Laboratory of Precision and Micro-Manufacturing Technology, Nanjing 210016,China;
3. College of Automobile and Traffic Engineering, Nanjing Forestry University , Nanjing 210037,China;
4. College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016,China
Abstract：The parameter identification of the six-axis accelerometer is a difficult problem due to its higher input and output volumes and strongly coupled dynamic equations.According to this, starting with decoupling equations, a method of parameter identification was proposed, which can adapt to uncertain disturbances.By inverse transforming the coordinates of input items and combining with compatibility equations, the mapping relations between input and output items were established, and then the 13 parameter items were obtained.By defining and calculating the influence coefficient matrix, sensitive properties between input items and parameter items were derived.By separating parameters and selecting special motion models, 3 identification equations were derived, and then an identification algorithm was established.Based on the theories of operator norm, qualitative behavior of identification equations was analyzed.Research results indicate that the identification errors depend on the condition number of input matrix.Hereby, the general formula of optimal input was derived.The verification experiments show that the mathematical results are well consistent with the experimental data, and when the random disturbances are less than 1%, the maximum identification error is less than 0.88%; Further more, based on the identification value of real physical prototype, the composite error within a minute is 8.42% in the laboratory.
尤晶晶1,2，符周舟3，李成刚2,4，吴洪涛2,4，王进1. 并联式六维加速度传感器的解耦参数辨识及其扰动分析[J]. 振动与冲击, 2019, 38(1): 134-141.
YOU Jingjing1,2,FU Zhouzhou3, LI Chenggang2,4,WU Hongtao2,4,WANG Jin1. Parameter identification and perturbation algorithm of parallel type six-axis accelerometer. JOURNAL OF VIBRATION AND SHOCK, 2019, 38(1): 134-141.
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