CN106990263A - The method of testing and device of accelerometer resolution ratio - Google Patents
The method of testing and device of accelerometer resolution ratio Download PDFInfo
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- CN106990263A CN106990263A CN201710295273.7A CN201710295273A CN106990263A CN 106990263 A CN106990263 A CN 106990263A CN 201710295273 A CN201710295273 A CN 201710295273A CN 106990263 A CN106990263 A CN 106990263A
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- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
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Abstract
The present invention relates to the method for testing of accelerometer resolution ratio and device, being arranged on from centrifuge on the rotary table top of main centrifuge in double centrifuges, accelerometer is arranged on from the rotary table top of centrifuge, the sensitive axes of accelerometer have a sensitive axes angle, main centrifuge rotate when the centrifugal acceleration produced from centrifuge on accelerometer it is important, accelerometer exports corresponding data in the presence of the component, according to the physical geometry relation of accelerometer and double centrifuges, change sensitive axes angle by rotating from centrifuge, the difference of the different output datas of accelerometer can be obtained, change main centrifuge in the target centrifugal acceleration produced from centrifuge, the difference of the different output datas of accelerometer is obtained under different sensitive axes angles, it is whether up to standard according to the resolution ratio of the ratio in judgement accelerometer of the idea output of the secondary difference and accelerometer of front and rear difference twice under aimed acceleration increment size.
Description
Technical field
Technical field, more particularly to a kind of method of testing of accelerometer resolution ratio are tested the present invention relates to accelerometer
And device.
Background technology
Accelerometer is widely used in terms of vibration detection, action recognition, state recording and safe automobile air bag.
Development in accelerometer, production and in use, it is required for calibrating the performance of accelerometer.
Property indices of the accelerometer within ± 1g, are tested using gravitational field 1g tumbling tests, but are surveyed
Amount scope is confined within ± 1g.Because acceleration of gravity can accurately know its size and Orientation, therefore point of accelerometer
Resolution is tested using gravitational field 1g tumbling tests.
However, exceeding 1g accelerometer for range, the test calibration of its resolution ratio is also needed to using miscellaneous equipment
It can complete, such as precision centrifuge.If being more than the test of the static performance index such as the 1g resolution ratio of accelerometer to range
Demarcation, it is necessary to gravitational field 1g tumbling tests equipment and the two or more equipment of precision centrifuge can be completed, the hardware of test into
This is higher.
The content of the invention
Based on this, it is necessary to be more than the test calibration of 1g accelerometer associated static performance indications for traditional range
There is provided a kind of method of testing of accelerometer resolution ratio and device for the problem of required hardware cost is higher.
A kind of method of testing of accelerometer resolution ratio, comprises the following steps：
On the rotary table top from centrifuge that accelerometer is horizontally arranged to double centrifuges, wherein, set from centrifuge
On the rotary table top of the main centrifuge of double centrifuges, main centrifuge and the rotary table top from centrifuge are horizontally disposed with；
The aimed acceleration increment size of accelerometer is chosen according to the resolution ratio calibration value of accelerometer, is accelerated according to target
Spend increment size choose main centrifuge the target centrifugal acceleration and target centrifugal acceleration increment size produced from centrifuge,
The target susceptibility shaft angle angle value of accelerometer and the target susceptibility shaft angle degree increment size of accelerometer；Wherein, sensitive axes angle is
The sensitive axes of accelerometer and the angle angle with reference to straight line, with reference to straight line perpendicular to main centrifuge pivot with from centrifugation
The line of the pivot of machine；
Rotating from the rotary table top of centrifuge makes the sensitive axes angle value of accelerometer reach target susceptibility shaft angle angle value, root
Main centrifuge is operated according to target centrifugal acceleration, the first output valve of accelerometer is recorded；
Rotary table top from centrifuge, the second output of record accelerometer are rotated according to target susceptibility shaft angle degree increment size
Value；
Calculate the first output difference between the second output valve and the first output valve；
Rotating from the rotary table top of centrifuge makes the sensitive axes angle value of accelerometer reach target susceptibility shaft angle angle value, root
According to target centrifugal acceleration and target centrifugal acceleration increment size and value operating main centrifuge, the 3rd of record accelerometer the
Output valve；
Rotary table top from centrifuge, the 4th output of record accelerometer are rotated according to target susceptibility shaft angle degree increment size
Value；
Calculate the second output difference between the 3rd output valve and the 4th output valve, and the second output difference and first defeated
The secondary difference gone out between difference；Obtain the idea output under the conditions of aimed acceleration increment size input acceleration meter, if
The ratio of secondary difference and idea output is more than preset value, then judges that the resolution test of accelerometer passes through.
According to the method for testing of above-mentioned accelerometer resolution ratio, main centrifuge is arranged on from centrifuge in double centrifuges
On rotary table top, accelerometer is arranged on from the rotary table top of centrifuge, and the sensitive axes of accelerometer have a sensitive axes angle,
Main centrifuge rotate when the centrifugal acceleration produced from centrifuge on accelerometer it is important, accelerometer is in the component
In the presence of export corresponding data, produced according to the aimed acceleration increment size of accelerometer and main centrifuge from centrifuge
The target susceptibility axle angle step of raw target centrifugal acceleration, the target susceptibility shaft angle angle value of accelerometer and accelerometer
Physical geometry relation between value, changes sensitive axes angle by rotating from centrifuge, can obtain the difference of accelerometer
The difference of output data, changes main centrifuge in the target centrifugal acceleration produced from centrifuge, in different sensitive shaft angles
The difference of the different output datas of accelerometer is obtained under degree, according to the secondary difference and accelerometer of front and rear difference twice in mesh
The ratio of idea output under mark acceleration increment size is it may determine that whether the resolution ratio of accelerometer is up to standard.In this programme
In, accelerometer can just be tested using double centrifuges, without gravitational field 1g tumbling test equipment etc., other are valuable
Test equipment, reduces the hardware cost of test, and measurement range is not limited within ± 1g, it is possible to achieve to low g value or
The test of accelerometer with high g values resolution ratio.
A kind of test device of accelerometer resolution ratio, including double centrifuges and fixture；
Double centrifuges include main centrifuge and from centrifuge, and the rotation of the main centrifuge of double centrifuges is arranged on from centrifuge
On table top, main centrifuge and the rotary table top from centrifuge are horizontally disposed with；Fixture is arranged on from the rotary table top of centrifuge,
For being horizontally mounted accelerometer；
The aimed acceleration increment size of accelerometer is chosen according to the resolution ratio calibration value of accelerometer, is accelerated according to target
Spend increment size choose main centrifuge the target centrifugal acceleration and target centrifugal acceleration increment size produced from centrifuge,
The target susceptibility shaft angle angle value of accelerometer and the target susceptibility shaft angle degree increment size of accelerometer；Wherein, sensitive axes angle is
The sensitive axes of accelerometer and the angle angle with reference to straight line, with reference to straight line perpendicular to main centrifuge pivot with from centrifugation
The line of the pivot of machine；
On the rotary table top from centrifuge that accelerometer is horizontally arranged to double centrifuges, the rotation from centrifuge is rotated
Table top makes the sensitive axes angle value of accelerometer reach target susceptibility shaft angle angle value, according to target centrifugal acceleration operate it is main from
Scheming, records the first output valve of accelerometer；
Rotary table top from centrifuge, the second output of record accelerometer are rotated according to target susceptibility shaft angle degree increment size
Value；
Calculate the first output difference between the second output valve and the first output valve；
Rotating from the rotary table top of centrifuge makes the sensitive axes angle value of accelerometer reach target susceptibility shaft angle angle value, root
According to target centrifugal acceleration and target centrifugal acceleration increment size and value operating main centrifuge, the 3rd of record accelerometer the
Output valve；
Rotary table top from centrifuge, the 4th output of record accelerometer are rotated according to target susceptibility shaft angle degree increment size
Value；
Calculate the second output difference between the 3rd output valve and the 4th output valve, and the second output difference and first defeated
The secondary difference gone out between difference；Obtain the idea output under the conditions of aimed acceleration increment size input acceleration meter, if
The ratio of secondary difference and idea output is more than preset value, then judges that the resolution test of accelerometer passes through.
According to the test device of above-mentioned accelerometer resolution ratio, it includes double centrifuges and fixture；In double centrifuges from
Centrifuge is arranged on the rotary table top of main centrifuge, and accelerometer is arranged on from the rotary table top of centrifuge by fixture,
The sensitive axes of accelerometer have a sensitive axes angle, and main centrifuge is adding when rotating in the centrifugal acceleration produced from centrifuge
Important on speedometer, accelerometer exports corresponding data in the presence of the component, is accelerated according to the target of accelerometer
Spend the target susceptibility shaft angle degree of increment size and main centrifuge in the target centrifugal acceleration, accelerometer produced from centrifuge
Physical geometry relation between value and the target susceptibility shaft angle degree increment size of accelerometer, is changed quick by rotating from centrifuge
Feel shaft angle degree, can obtain the difference of the different output datas of accelerometer, change main centrifuge and produced from centrifuge
Target centrifugal acceleration, obtains the difference of the different output datas of accelerometer, according to front and rear under different sensitive axes angles
Twice idea output of the secondary difference and accelerometer of difference under aimed acceleration increment size ratio it may determine that
Whether the resolution ratio of accelerometer is up to standard.In this programme, accelerometer can just be tested using double centrifuges, without
Other valuable test equipments such as gravitational field 1g tumbling test equipment, reduce the hardware cost of test, and measurement range is not
It is confined within ± 1g, it is possible to achieve the test to low g value or accelerometer with high g values resolution ratio.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the method for testing of the accelerometer resolution ratio of one of embodiment；
Fig. 2 is the structural representation of the test device of the accelerometer resolution ratio of one of embodiment；
The structure principle chart of double centrifuges in test devices of the Fig. 3 for the accelerometer resolution ratio of one of embodiment；
Fig. 4 is the sensitive axes angle schematic diagram of accelerometer from centrifuge of one of embodiment.
Embodiment
For the objects, technical solutions and advantages of the present invention are more clearly understood, below in conjunction with drawings and Examples, to this
Invention is described in further detail.It should be appreciated that embodiment described herein is only to explain the present invention,
Do not limit protection scope of the present invention.
It is shown in Figure 1, it is the schematic flow sheet of the method for testing of the accelerometer resolution ratio of the present invention.The present embodiment
The method of testing of accelerometer resolution ratio, comprises the following steps：
Step S101：On the rotary table top from centrifuge that accelerometer is horizontally arranged to double centrifuges, wherein, from from
Scheming is arranged on the rotary table top of the main centrifuge of double centrifuges, and main centrifuge and the equal level of rotary table top from centrifuge are set
Put；
Step S102：The aimed acceleration increment size of accelerometer, root are chosen according to the resolution ratio calibration value of accelerometer
Main centrifuge is chosen according to aimed acceleration increment size in target centrifugal acceleration and the target centrifugation produced from centrifuge to add
The target susceptibility shaft angle degree increment size of speed increment value, the target susceptibility shaft angle angle value of accelerometer and accelerometer；Wherein, it is quick
Sensitive axes of the shaft angle degree for accelerometer and the angle angle with reference to straight line are felt, with reference to straight line in the rotation of main centrifuge
The line of the heart and the pivot from centrifuge；
In this step, the target centrifugal acceleration and target susceptibility axle chosen are met in double centrifuges and accelerometer
There is a centrifugal acceleration under conditions of angle value, on accelerometer, the target susceptibility shaft angle angle value increase target of accelerometer is quick
Feel after shaft angle degree increment size, there is a centrifugal acceleration, the difference of latter centrifugal acceleration and previous centrifugal acceleration on accelerometer
It is worth for aimed acceleration increment size；
Step S103：Rotating from the rotary table top of centrifuge makes the sensitive axes angle value of accelerometer reach target susceptibility axle
Angle value, main centrifuge is operated according to target centrifugal acceleration, records the first output valve of accelerometer；
Step S104：Rotary table top from centrifuge is rotated according to target susceptibility shaft angle degree increment size, accelerometer is recorded
The second output valve；
In this step, it is in step S103 to be rotated according to target susceptibility shaft angle degree increment size from the rotary table top of centrifuge
On the basis of carry out, that is, to rotate from the rotary table top of centrifuge make the sensitive axes angle value of accelerometer reach target susceptibility axle
Angle value and target susceptibility shaft angle degree increment size and value；
Step S105：Calculate the first output difference between the second output valve and the first output valve；
Step S106：Rotating from the rotary table top of centrifuge makes the sensitive axes angle value of accelerometer reach target susceptibility axle
Angle value, according to target centrifugal acceleration and target centrifugal acceleration increment size and value operating main centrifuge, record accelerates
Spend the 3rd output valve of meter；
Step S107：Rotary table top from centrifuge is rotated according to target susceptibility shaft angle degree increment size, accelerometer is recorded
The 4th output valve；
In this step, it is in step S106 to be rotated according to target susceptibility shaft angle degree increment size from the rotary table top of centrifuge
On the basis of carry out, that is, to rotate from the rotary table top of centrifuge make the sensitive axes angle value of accelerometer reach target susceptibility axle
Angle value and target susceptibility shaft angle degree increment size and value；
Step S108：Calculate the second output difference between the 3rd output valve and the 4th output valve, and the second output difference
Secondary difference between value and the first output difference；Obtain the ideal under the conditions of aimed acceleration increment size input acceleration meter
Output valve, if the ratio of secondary difference and idea output is more than preset value, judges that the resolution test of accelerometer passes through.
In the present embodiment, being arranged on from centrifuge on the rotary table top of main centrifuge in double centrifuges, accelerometer
Be arranged on from the rotary table top of centrifuge, the sensitive axes of accelerometer have a sensitive axes angle, when main centrifuge rotates from
The centrifugal acceleration produced on centrifuge is important on accelerometer, and accelerometer is exported accordingly in the presence of the component
Data, according to the aimed acceleration increment size of accelerometer and main centrifuge in the target centrifugal acceleration produced from centrifuge
Physical geometry between the target susceptibility shaft angle degree increment size of value, the target susceptibility shaft angle angle value of accelerometer and accelerometer is closed
System, changes sensitive axes angle by rotating from centrifuge, can obtain the difference of the different output datas of accelerometer, changes
Main centrifuge obtains accelerometer not in the target centrifugal acceleration produced from centrifuge under different sensitive axes angles
With the difference of output data, according to the reason of the secondary difference and accelerometer of front and rear difference twice under aimed acceleration increment size
The ratio of output valve is thought it may determine that whether the resolution ratio of accelerometer is up to standard., can using double centrifuges in this programme
To test accelerometer, without other valuable test equipments such as gravitational field 1g tumbling test equipment, test is reduced
Hardware cost, and measurement range is not limited within ± 1g, it is possible to achieve to low g value or accelerometer with high g values resolution ratio
Test.
In addition, considering main centrifuge in the solution of the present invention in the target centrifugal acceleration increment produced from centrifuge
Value, because the order of magnitude of target centrifugal acceleration increment size can reduce the order of magnitude of aimed acceleration increment size with very little,
So as to improve the precision of testing acceleration score resolution.
Optionally, the step of operating main centrifuge according to target centrifugal acceleration can be by adjusting the rotation of main centrifuge
The rotary speed of table with revolvable top is realized.When the rotary table top of main centrifuge is rotated with a fixed angular speed, produced from centrifuge
Certain centrifugal acceleration, the rotation of the angular speed and main centrifuge of the size of centrifugal acceleration and the rotary table top of main centrifuge
Following relationship is met between center and the distance dependent of the pivot from centrifuge, three：A=w2In r, formula, a is target
Centrifugal acceleration, w is the angular speed of the rotary table top of main centrifuge, rotations of the r for the pivot of main centrifuge and from centrifuge
Turn the distance at center.According to target centrifugal acceleration and the pivot of main centrifuge and the pivot from centrifuge away from
From the target angular velocity value for the rotary table top for calculating main centrifuge, the rotary table top of main centrifuge is rotated with target angular velocity
When, target centrifugal acceleration can be being produced from centrifuge.Increased according to target centrifugal acceleration and target centrifugal acceleration
Value and value operate main centrifuge can also be carried out according to said process.
In one of the embodiments, aimed acceleration increment size, target centrifugal acceleration increment size, target susceptibility shaft angle
Angle value and target susceptibility shaft angle degree increment size meet following relationship：
Δ g=Δs a [sin (θ+Δ θ)-sin θ]
In formula, Δ g represents aimed acceleration increment size, and Δ a represents target centrifugal acceleration increment size, and θ represents that target is quick
Feel shaft angle angle value, Δ θ represents target susceptibility shaft angle degree increment size.
In the present embodiment, can be with fast selecting according to above-mentioned formula it is determined that after aimed acceleration increment size
Target centrifugal acceleration increment size, target susceptibility shaft angle angle value and target susceptibility shaft angle degree increment size.
Optionally, the target centrifugal acceleration chosen according to formula should be in the acceleration range of main centrifuge, target
Sensitive axes angle value between 0 to 90 spend, target susceptibility shaft angle angle value and target susceptibility shaft angle degree increment size and value also arrived 0
Between 90 degree.
In one of the embodiments, main centrifuge is chosen according to aimed acceleration increment size producing from centrifuge
Target centrifugal acceleration and target centrifugal acceleration increment size, the target susceptibility shaft angle angle value of accelerometer and accelerometer
The step of target susceptibility shaft angle degree increment size, comprises the following steps：
Multigroup target data is determined according to aimed acceleration increment size, every group of target data includes target centrifugal acceleration
With target centrifugal acceleration increment size, target susceptibility shaft angle angle value and target susceptibility shaft angle degree increment size；
The step of secondary difference of the output difference of calculating second and the first output difference, comprises the following steps：
The second secondary difference for exporting difference and the first output difference is calculated under different groups of target datas, all two are obtained
The average value of secondary difference；
The ratio of secondary difference and idea output is more than the ratio that preset value is average value and aimed acceleration increment size
More than preset value.
In the present embodiment, choose main centrifuge the target centrifugal acceleration and target produced from centrifuge from
During the target susceptibility shaft angle degree increment size of heart acceleration increment size, the target susceptibility shaft angle angle value of accelerometer and accelerometer,
Can choose all includes above-mentioned four kinds of numerical value in multigroup target data, every group of target data, calculated under different groups of target datas
Secondary difference, and calculate the average value of all secondary differences, it is possible to reduce the test brought in itself by the hardware of test device
Error, improves the accuracy of measuring resolution.
Optionally, when calculating the average value of all secondary differences, directly all secondary differences can be added and, then divided by
Target set of data number, obtains average value；Average computation can also be weighted, such as by the maximum in all secondary differences and most
Small value is rejected, then seeks the average value of remaining secondary difference, can so be rejected the output difference for being clearly present measurement error, be entered one
Step improves the accuracy of measuring resolution.
In one of the embodiments, target centrifugal acceleration identical each group target data is according to target susceptibility shaft angle
After the order arrangement of angle value from small to large, target susceptibility shaft angle angle value and target susceptibility shaft angle degree in previous group target data increase
Value sum is equal to the target susceptibility shaft angle angle value in later group target data；
Or, target susceptibility shaft angle angle value identical each group target data according to target centrifugal acceleration from small to large
After order is arranged, after target centrifugal acceleration and target centrifugal acceleration increment size sum in previous group target data are equal to
Target centrifugal acceleration in one group of target data.
In the present embodiment, each group target data of selection is in certain rule, identical for target centrifugal acceleration
Each group target data, according to target susceptibility shaft angle angle value from small to large order arrangement after, the mesh in previous group target data
Sensitive axes angle value and target susceptibility shaft angle degree increment size sum are marked equal to the target susceptibility shaft angle degree in later group target data
Value, when being tested according to these target set of data, there is common test data, in previous group mesh between different target data group
The second output valve obtained under mark data is identical with the first output valve obtained under later group target data；For target susceptibility
Shaft angle angle value identical each group target data, after the order arrangement of target centrifugal acceleration from small to large, previous group mesh
Mark the mesh that target centrifugal acceleration and target centrifugal acceleration increment size sum in data are equal in later group target data
Centrifugal acceleration is marked, when being tested according to these target set of data, there is common test number between different target data group
According to the 3rd output valve obtained under previous group target data and the first output valve phase obtained under later group target data
Together；It only need to once be tested for these identical test datas, enormously simplify testing process.
During actual test, can first selection target centrifugal acceleration identical each group target data surveyed
Examination, carries out, then changes target centrifugal acceleration to be tested according to the incremental order of target susceptibility shaft angle angle value during test；
Can first selection target sensitive axes angle value identical each group target data tested, according to target centrifugal acceleration during test
It is worth incremental order to carry out, then changes target susceptibility shaft angle angle value and is tested.
In one of the embodiments, main centrifuge is chosen according to aimed acceleration increment size producing from centrifuge
Target centrifugal acceleration and target centrifugal acceleration increment size, the target susceptibility shaft angle angle value of accelerometer and accelerometer
The step of target susceptibility shaft angle degree increment size, comprises the following steps：
Sensitive axes angle step is determined according to from the Angle Position resolution ratio of centrifuge.
In the present embodiment, need to change sensitive axes angle in resolution test, knots modification is target susceptibility shaft angle
Increment size is spent, from the Angle Position limited resolution of centrifuge, sensitive axes angle is determined according to from the Angle Position resolution ratio of centrifuge
Increment, can meet the condition of equipment test, and the sensitive axes angle thereby determined that is smaller, when testing same resolution ratio,
Less target susceptibility shaft angle degree increment size is chosen, the target susceptibility shaft angle angle value of selection is also smaller, can avoid target susceptibility
Excessive the brought accelerometer of shaft angle angle value is from the uncertainty and unstability on centrifuge.
In one of the embodiments, obtain and export the ideal under the conditions of aimed acceleration increment size input acceleration meter
The step of value, comprises the following steps：
Obtained according to Δ U=K* Δs g in idea output, formula, Δ U represents idea output, and K represents the mark of accelerometer
Factor is spent, Δ g represents aimed acceleration increment size.
In the present embodiment, the constant multiplier of aimed acceleration increment size and accelerometer all has determined, according to
Above-mentioned formula can be easy to follow-up by quick obtaining by the idea output under the conditions of in terms of aimed acceleration increment size input acceleration
Multilevel iudge.
In one of the embodiments, the line of the mass centre of accelerometer and pivot from centrifuge perpendicular to
From the rotary table top of centrifuge.
In the present embodiment, the line of the weight center of accelerometer and pivot from centrifuge is perpendicular to from centrifugation
The rotary table top of machine, during the rotation of such main centrifuge to from the centrifugal acceleration of centrifuge in itself and accelerometer thereon from
Heart acceleration is identical, and the actual centrifugal acceleration that can reduce on accelerometer is producing mesh with main centrifuge from centrifuge
The error of the theoretical acceleration value of centrifugal acceleration brief acceleration meter is marked, the degree of accuracy of resolution test is further improved.
In one of the embodiments, rotation reaches the sensitive axes angle value of accelerometer from the rotary table top of centrifuge
Comprise the following steps before the step of target susceptibility shaft angle angle value：
By the sensitive axes angle value zero setting of accelerometer.
In the present embodiment, before testing begins, by the sensitive axes angle value zero setting of accelerometer, it is easy in test
The sensitive axes angle value of accelerometer is directly accurately controlled according to target susceptibility shaft angle angle value.
Optionally, by rotating from the sensitive axes angle value zero setting of the rotary table top of centrifuge to accelerometer.
In one of the embodiments, it is two or more from centrifuge, is respectively symmetrically mounted on main centrifuge from centrifuge
On rotary table top.
In the present embodiment, it is multiple to be symmetrically mounted on from centrifuge on the rotary table top of main centrifuge, can be in main centrifugation
The whole double centrifuges of balance, at utmost avoid main centrifuge in the target produced from centrifuge during the rotary table top rotation of machine
The fluctuation of centrifugal acceleration, further improves the degree of accuracy of resolution test.
Optionally, in test, accelerometer is arranged on one from centrifuge, the heavy burden identical in quality with accelerometer
Thing be fixed on symmetric position from centrifuge, so can further balance be whole in the rotary table top rotation of main centrifuge
Double centrifuges.
According to the method for testing of above-mentioned accelerometer resolution ratio, the present invention also provides a kind of test of accelerometer resolution ratio
Device, just the embodiment of the test device of the accelerometer resolution ratio of the present invention is described in detail below.
It is shown in Figure 2, it is the structural representation of the test device of the accelerometer resolution ratio of the present invention.In the embodiment
Accelerometer resolution ratio test device, including double centrifuges 200 and fixture 300；
Double centrifuges 200 include main centrifuge 210 and from centrifuge 220, and main centrifuge 210 is arranged on from centrifuge 220
Rotary table top on, main centrifuge 210 and rotary table top from centrifuge 220 are horizontally disposed with；Fixture is arranged on from centrifuge
On 220 rotary table top, for being horizontally mounted accelerometer；
The aimed acceleration increment size of accelerometer is chosen according to the resolution ratio calibration value of accelerometer, is accelerated according to target
Spend increment size selection main centrifuge 210 quick in the target centrifugal acceleration, the target of accelerometer produced from centrifuge 220
Feel the target susceptibility shaft angle degree increment size of shaft angle angle value and accelerometer；Wherein, sensitive axes angle is the sensitive axes of accelerometer
Angle angle with referring to straight line, with reference to straight line perpendicular to the pivot of main centrifuge 210 and from the rotation of centrifuge 220
The line of the heart；
Accelerometer is horizontally arranged at from the rotary table top of centrifuge 220, the rotary table top from centrifuge 220 is rotated
The sensitive axes angle value of accelerometer is reached target susceptibility shaft angle angle value, main centrifuge is operated according to target centrifugal acceleration
210, record the first output valve of accelerometer；
Rotary table top from centrifuge 220, the second of record accelerometer are rotated according to target susceptibility shaft angle degree increment size
Output valve；
Rotating from the rotary table top of centrifuge 220 makes the sensitive axes angle value of accelerometer reach target susceptibility shaft angle degree
Value, according to target centrifugal acceleration and target centrifugal acceleration increment size and value operating main centrifuge, record accelerometer
The 3rd output valve；
Rotary table top from centrifuge, the 4th output of record accelerometer are rotated according to target susceptibility shaft angle degree increment size
Value；
Calculate the second output difference between the 3rd output valve and the 4th output valve, and the second output difference and first defeated
The secondary difference gone out between difference；Obtain the idea output under the conditions of aimed acceleration increment size input acceleration meter, if
The ratio of secondary difference and idea output is more than preset value, then judges that the resolution test of accelerometer passes through.
According to the test device of above-mentioned accelerometer resolution ratio, it includes double centrifuges 200 and fixture 300, double centrifuges
In be arranged on from centrifuge 220 on the rotary table top of main centrifuge 210, accelerometer is arranged on from centrifugation by fixture 300
On the rotary table top of machine, the sensitive axes of accelerometer have a sensitive axes angle, from centrifuge 220 when main centrifuge 210 rotates
The centrifugal acceleration of upper generation is important on accelerometer, and accelerometer exports corresponding data in the presence of the component,
According to the aimed acceleration increment size of accelerometer and main centrifuge 210 in the target CENTRIFUGAL ACCELERATING produced from centrifuge 220
Physical geometry between angle value, the target susceptibility shaft angle angle value of accelerometer, the target susceptibility shaft angle degree increment size of accelerometer
Relation, changes sensitive axes angle by rotating from centrifuge 220, can obtain the difference of the different output datas of accelerometer
Value, changes main centrifuge in the target centrifugal acceleration produced from centrifuge, is accelerated under different sensitive axes angles
The difference of the different output datas of meter is spent, according to the secondary difference and accelerometer of front and rear difference twice in aimed acceleration increment
The ratio of idea output under value is it may determine that whether the resolution ratio of accelerometer is up to standard.In this programme, using it is double from
Scheming can be just tested accelerometer, without other valuable test equipments such as gravitational field 1g tumbling test equipment, drop
The hardware cost of low test, and measurement range is not limited within ± 1g, it is possible to achieve to low g value or high-g level acceleration
The test for resolution of scoring.
In one of the embodiments, aimed acceleration increment size, target centrifugal acceleration increment size, target susceptibility shaft angle
Angle value and target susceptibility shaft angle degree increment size meet following relationship：
Δ g=Δs a [sin (θ+Δ θ)-sin θ]
In formula, Δ g represents aimed acceleration increment size, and Δ a represents target centrifugal acceleration increment size, and θ represents that target is quick
Feel shaft angle angle value, Δ θ represents target susceptibility shaft angle degree increment size.
In one of the embodiments, when the test device using accelerometer resolution ratio is tested, according to target
Acceleration increment size determines multigroup target data, and every group of target data includes target centrifugal acceleration and target centrifugal acceleration
Increment size, target susceptibility shaft angle angle value and target susceptibility shaft angle degree increment size；Second is calculated under different groups of target datas to export
The secondary difference of difference and the first output difference, obtains the average value of all secondary differences；If average value and idea output
Ratio is more than preset value, then judges that the resolution test of accelerometer passes through.
In one of the embodiments, target centrifugal acceleration identical each group target data is according to target susceptibility shaft angle
After the order arrangement of angle value from small to large, target susceptibility shaft angle angle value and target susceptibility shaft angle degree in previous group target data increase
Value sum is equal to the target susceptibility shaft angle angle value in later group target data；
Or, target susceptibility shaft angle angle value identical each group target data according to target centrifugal acceleration from small to large
After order is arranged, after target centrifugal acceleration and target centrifugal acceleration increment size sum in previous group target data are equal to
Target centrifugal acceleration in one group of target data.
In one of the embodiments, when the test device using accelerometer resolution ratio is tested, according to from from
The Angle Position resolution ratio of scheming 220 determines sensitive axes angle step.
In one of the embodiments, obtained according to Δ U=K* Δs g in idea output, formula, Δ U represents preferable output
Value, K represents the constant multiplier of accelerometer, and Δ g represents aimed acceleration increment size.
In one of the embodiments, the mass centre of accelerometer and the line of the pivot from centrifuge 220 hang down
Directly in the rotary table top from centrifuge 220.
In one of the embodiments, the sensitive axes angle of accelerometer is made from the rotary table top of centrifuge 220 in rotation
Before reaching target susceptibility shaft angle angle value, by the sensitive axes angle value zero setting of accelerometer.
In one of the embodiments, be two or more from centrifuge 220, respectively from centrifuge 220 be symmetrically mounted on it is main from
On the rotary table top of scheming 210.
The method of testing one of the test device of the accelerometer resolution ratio of the present invention and the accelerometer resolution ratio of the present invention
One correspondence, the technical characteristic illustrated in the embodiment of the method for testing of above-mentioned accelerometer resolution ratio and its advantage are applicable
In the embodiment of the test device of accelerometer resolution ratio.
In a specific embodiment, as shown in figure 3, the mechanical stage body of double centrifuges by speed stabilizing platform 1 (main centrifuge),
Servo-actuated platform 2 (from centrifuge) composition.The rotary table top of speed stabilizing platform 1 is parallel to the ground, and speed stabilizing platform gyroaxis 3 is perpendicular to ground, surely
Servo-actuated platform 2 on the fast rotary table top of platform 1 can for two or more than, servo-actuated platform 2 is symmetrically mounted on the rotary table top of speed stabilizing platform 1
On.
Accelerometer is arranged on the rotary table top of servo-actuated platform 2, and accelerometer sensitive axle is parallel to horizontal plane.Speed stabilizing platform 1
At the uniform velocity rotated with certain angular speed, the accelerometer on servo-actuated platform 2 produces certain centrifugal acceleration, centrifugal acceleration
Size by speed stabilizing platform 1 angular speed and the radius of clean-up (between the pivot of speed stabilizing platform 1 and the pivot of servo-actuated platform 2 away from
From) determine, the direction of the barycenter of accelerometer is pointed in the direction of centrifugal acceleration for the pivot of speed stabilizing platform 1.
Accelerometer is arranged on above servo-actuated platform 2 by fixture, the centrifugal acceleration direction 5 of radial direction, accelerometer it is quick
Feel direction of principal axis 6 as shown in Figure 4.Accelerometer sensitive axle and angle 4 between the straight line of radial direction centrifugal acceleration are θ (θ
≠ 0), when speed stabilizing platform 1 rotates, the size of the centrifugal acceleration of the servo-actuated platform center of order is a, then centrifugal acceleration is in acceleration
Component on the sensitive direction of principal axis of meter is：
a00=a sin θs (1)
The rotation of the servo-actuated rotary table top of platform 2 can change angle 4, when angle 4 increases by an increment Delta θ, then accelerometer
Centrifugal acceleration component on sensitive direction of principal axis is：
a01=a [sin (θ+Δ θ)] (2)
In order to obtain multiple increment sizes, repeating above step can obtain：
a0n=a [sin (θ+n Δ θ)] (3)
Wherein, n is the integer more than or equal to 0, and formula (3) is considered as more general including formula (1) and (2)
The expression formula of property.
On the basis of formula (1), if changing the rotating speed of speed stabilizing platform 1, the centrifugal acceleration meeting of the center of platform 2 is servo-actuated
An increment Delta a is produced, now component of the centrifugal acceleration on accelerometer sensitive direction of principal axis is：
a10=(a+ Δ a) sin θs (4)
The step of performing similarly to formula (2) and (3), can obtain：
a1n=(a+ Δ a) sin (θ+n Δ θ) (5)
When angle immobilizes, and only change the rotating speed for becoming speed stabilizing platform, can equally obtain：
amn=(wherein, m is the integer more than or equal to 0 to a+m Δ a) sin (θ+n Δ θ) (6).
It can be obtained by formula (6)：
amn-a(m-1)n=Δ a [sin (θ+n Δ θ)] (7)
am(n-1)-a(m-1)(n-1)=Δ a sin [θ+(n-1) Δ θ] (8)
Make gn=(7)-(8), then can obtain：
Δgn=Δ a { sin (θ+n Δ θ)-sin [θ+(n-1) Δ θ] } (9)
,, then can be by changing m's or n if necessary to multiple acceleration increments according to test request in actual test
Value, obtains multiple acceleration increments.
The test of accelerometer resolution ratio, be in order to verify non-zero g acceleration input when, given acceleration input
Under conditions of increment, the exporting change of accelerometer whether more than defined variable quantity, (e.g., with using mark by the change of reality output
50%) ratio of preferable variable quantity required by fixed constant multiplier be more than.
Therefore, the test purpose for accelerometer resolution ratio and requirement, can be by designing suitable angle theta and increment
Δ θ, to produce the acceleration increment Delta a for meeting accelerometer resolution test requirement, so that the resolution ratio of testing acceleration meter
Whether certain to be measured level is reached.
Such as in order to judge accelerometer whether have 1 × 10-6G resolution ratio, then need to produce acceleration increment Delta a=1
×10-6G is applied on accelerometer, by formula (9), and takes n=1, can be obtained：
Δ a [sin (θ+Δ θ)-sin θ]=1 × 10-6g (10)
Wherein, Δ a can be realized by changing the rotating speed of speed stabilizing platform, it is assumed that the servo-actuated platform centre of gyration is away from the revolution of speed stabilizing platform
Heart 400mm, and the range of accelerometer to be measured is assumed for 10g, in order to detect the resolution ratio for judging accelerometer, in the acceleration
The half of full scale is counted, that is, required Δ g is produced near 5gn, it is assumed that it is 0.01g to take Δ a, then the centrifugation corresponding to 5g adds
Speed is exported, and the rotating speed of speed stabilizing platform can produce 0.01g centrifugal acceleration when changing into 634.7819 °/s for 634.14807 °/s
Variable quantity, now, incremental speed are 0.63383 °/s.According to the difference of speed stabilizing platform rotating speed, when Δ a is constant, incremental speed is different.
Δ a specific value, can be determined according to the precision and its corresponding resolution ratio of speed stabilizing platform rotating speed.Such as in the above example, Δ a
It can also select as 0.1g or 0.001g.
When Δ a values are 0.01g, the value of [sin (θ+Δ θ)-sin θ] part need to be 1 × 10 in formula (10)-4, this
When, corresponding to different angle step Δ θ, need to choose corresponding angle theta could realize 1 × 10-4Output valve, such as take Δ θ=
24 ", then angle theta is about 31.2191 °；Take Δ θ=50 ", then angle theta is about 65.6313 °.Δ θ and θ selection and determination, can
Considered according to the condition such as ease of the Angle Position resolution ratio of specific servo-actuated platform 2 or test process with determination.
Method according to more than, when Δ a values are 0.1g, [sin (θ+Δ θ)-sin θ]=1 × 10-5, can calculate and obtain
Angle theta is about 85.0909 °；If taking Δ θ=10 ", it is about 78.1909 ° that can calculate and obtain angle theta；Take Δ θ=5 ", then may be used
It is about 65.8412 ° that calculating, which obtains angle theta,.
For different acceleration increment Delta a it can be seen from above result of calculation, can there are multipair angle theta and increment Delta θ
Combination can meet requirement, be characterized in that, when the timing of acceleration increment Delta a mono-, angle theta is bigger, then corresponding increment Delta θ
It is bigger, that is to say, that to choose larger angle theta, the requirement of the Angle Position resolution ratio to being servo-actuated platform 2 can be reduced.
Based on above method, for the resolution test of high-precision accelerometer, pass through Δ a and [sin (θ+Δ θ)-sin
θ] combination, the acceleration increment needed for high-precision accelerometer resolution test can be produced.Centrifugation is produced such as on 5g to add
Speed increment, according to current technology level, can reach Δ a=0.001g, and the servo-actuated Angle Position resolution ratio of platform 2 can then reach
To 0.0001 °, then when to take θ be 55.0432 °, the increment of servo-actuated 0.0001 ° of platform can produce 1 × 10-6Variable quantity, thus, Δ
A [sin (θ+Δ θ)-sin θ] can produce 1 × 10-9G acceleration increment, meets the test of wide range, high-precision accelerometer
It is required that.
Specific method step based on double measurement of centrifuge high-precision accelerometer resolution ratio is as follows：
1. upper electricity, back to zero are carried out to servo-actuated platform 2, servo-actuated platform is positioned at zero-bit；
2. by installs fixture, on the rotary table top that accelerometer is fixed to servo-actuated platform 2, the matter of accelerometer is made as far as possible
The line of amount center and the servo-actuated pivot of platform 2 perpendicular to servo-actuated platform 2 table top, while make the direction of accelerometer sensitive axle with
The direction of centrifugal acceleration when speed stabilizing platform 1 rotates is vertical；
3. the electrical connection needed for accelerometer test is completed；
4. according to the resolution ratio and its test request of accelerometer to be measured, acceleration increment Delta g is determinednMagnitude；
5. according to the performance indications of accelerometer and its requirement, the initial centrifugation acceleration of speed stabilizing platform output is determined, also
It is a in formula (3) on the right of equal sign.And keep a constant, and servo-actuated platform 2 is rotated according to corresponding angle step Δ θ, it is incremental altogether to survey
Examination more than 3 times, while recording the output U of corresponding accelerometer0n；
Similarly, for any angle theta, keep angle theta constant, turning for speed stabilizing platform is changed according to centrifugal acceleration increment Delta a
Speed, is incrementally tested more than 3 times altogether, such as shown in formula (6), while recording the output U of corresponding accelerometermn；
6. according to formula (7) and (8), and Δ U is madep=(Umn-U(m-1)n)-(Um(n-1)-U(m-1)(n-1))；Solve accelerometer
Correspond to Δ g in the ideal casenInput when, its preferable output increment Δ U=K* Δs gn(K for accelerometer scale because
Number)；
Multigroup Δ U is obtained after incremental testpWhen, its average value can be taken；
7. judge whether Δ Up/ Δs U >=50% meets, if it is satisfied, then the resolution ratio of accelerometer reaches requirement.
Based on the present invention, by Δ a and { sin (θ+n Δ θ)-sin [θ+(n-1) Δ θ] } two-part synthesis with produce from
Heart acceleration increment, for the Δ g of any determinationn, can all obtain and multigroup disclosure satisfy that Δ gnIt is required that (Δ a, θ, Δ θ) value, root
According to the condition of product or test equipment, (a, θ, the Δ θ) value for being best suitable for operation is chosen, with higher flexibility, and
And, it is only necessary to it can be achieved with using double centrifuges and fixture, without gravitational field 1g tumbling test equipment, reduce the hardware of test
Cost.
Meanwhile, pass through Δ a and { sin (θ+n Δ θ)-sin [θ+(n-1) Δ θ] } two-part synthesis, produced acceleration
Degree increment disclosure satisfy that high-precision accelerometer resolution test requirement, realize test to high-precision accelerometer resolution ratio with
Demarcation.Under identical resolution test requirement, the requirement to the precision of speed stabilizing platform 1 and the positioning precision of servo-actuated platform 2 is substantially reduced.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope of this specification record is all considered to be.
Embodiment described above only expresses the several embodiments of the present invention, and it describes more specific and detailed, but simultaneously
Can not therefore it be construed as limiting the scope of the patent.It should be pointed out that coming for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of method of testing of accelerometer resolution ratio, it is characterised in that comprise the following steps：
On the rotary table top from centrifuge that accelerometer is horizontally arranged to double centrifuges, wherein, it is described to be set from centrifuge
On the rotary table top of the main centrifuge of described pair of centrifuge, the main centrifuge and the equal water of the rotary table top from centrifuge
It is flat to set；
The aimed acceleration increment size of the accelerometer is chosen according to the resolution ratio calibration value of the accelerometer, according to described
Aimed acceleration increment size chooses the main centrifuge in the target centrifugal acceleration produced from centrifuge and target
The target susceptibility shaft angle degree of centrifugal acceleration increment size, the target susceptibility shaft angle angle value of the accelerometer and the accelerometer
Increment size；Wherein, sensitive axes of the sensitive axes angle for the accelerometer and the angle angle with reference to straight line, the reference
Straight line is perpendicular to the pivot of the main centrifuge and the line of the pivot from centrifuge；
The sensitive axes angle value of the accelerometer is set to reach the target susceptibility axle from the rotary table top of centrifuge described in rotation
Angle value, operates the main centrifuge according to the target centrifugal acceleration, records the first output valve of the accelerometer；
From the rotary table top of centrifuge according to rotating the target susceptibility shaft angle degree increment size, the accelerometer is recorded
Second output valve；
Calculate the first output difference between second output valve and first output valve；
The sensitive axes angle value of the accelerometer is set to reach the target susceptibility axle from the rotary table top of centrifuge described in rotation
Angle value, according to the target centrifugal acceleration and the target centrifugal acceleration increment size and value operate the main centrifugation
Machine, records the 3rd output valve of the accelerometer；
From the rotary table top of centrifuge according to rotating the target susceptibility shaft angle degree increment size, the accelerometer is recorded
4th output valve；
Calculate the second output difference between the 3rd output valve and the 4th output valve, and the second output difference
Secondary difference between the first output difference；Obtain and the aimed acceleration increment size is inputted into the accelerometer bar
Idea output under part, if the ratio of the secondary difference and the idea output is more than preset value, judges described add
The resolution test of speedometer passes through.
2. the method for testing of accelerometer resolution ratio according to claim 1, it is characterised in that the aimed acceleration increases
Value, the target centrifugal acceleration increment size, the target susceptibility shaft angle angle value and the target susceptibility shaft angle degree increment size
Meet following relationship：
Δ g=Δs a [sin (θ+Δ θ)-sin θ]
In formula, Δ g represents the aimed acceleration increment size, and Δ a represents the target centrifugal acceleration increment size, and θ represents institute
Target susceptibility shaft angle angle value is stated, Δ θ represents the target susceptibility shaft angle degree increment size.
3. the method for testing of accelerometer resolution ratio according to claim 1, it is characterised in that described according to the target
Acceleration increment size is chosen the main centrifuge and centrifuged in the target centrifugal acceleration produced from centrifuge and target
The target susceptibility axle angle step of acceleration increment size, the target susceptibility shaft angle angle value of the accelerometer and the accelerometer
The step of value, comprises the following steps：
Multigroup target data is determined according to the aimed acceleration increment size, every group of target data includes the target CENTRIFUGAL ACCELERATING
Angle value and target centrifugal acceleration increment size, the target susceptibility shaft angle angle value and the target susceptibility shaft angle degree increment size；
Calculate it is described second output difference and it is described first output difference secondary difference the step of comprise the following steps：
The secondary difference of the second output difference and the first output difference is calculated under different groups of target datas, institute is obtained
There is the average value of secondary difference；
It is the average value and the aimed acceleration that the ratio of the secondary difference and the idea output, which is more than preset value,
The ratio of increment size is more than preset value.
4. the method for testing of accelerometer resolution ratio according to claim 3, it is characterised in that the target CENTRIFUGAL ACCELERATING
After target data described in angle value identical each group is arranged according to the order of the target susceptibility shaft angle angle value from small to large, previous group
Target susceptibility shaft angle angle value and target susceptibility shaft angle degree increment size sum in target data are equal in later group target data
Target susceptibility shaft angle angle value；
Or, target data described in the target susceptibility shaft angle angle value identical each group according to the target centrifugal acceleration from
It is small to after big order arrangement, target centrifugal acceleration and target centrifugal acceleration increment size in previous group target data it
With equal to the target centrifugal acceleration in later group target data.
5. the method for testing of accelerometer resolution ratio according to claim 1, it is characterised in that described according to the target
Acceleration increment size is chosen the main centrifuge and centrifuged in the target centrifugal acceleration produced from centrifuge and target
The target susceptibility axle angle step of acceleration increment size, the target susceptibility shaft angle angle value of the accelerometer and the accelerometer
The step of value, comprises the following steps：
From the Angle Position resolution ratio of centrifuge the sensitive axes angle step is determined according to described.
6. the method for testing of accelerometer resolution ratio according to claim 1, it is characterised in that the acquisition is by the mesh
The step of marking the idea output under the conditions of acceleration increment size inputs the accelerometer comprises the following steps：
Obtained according to Δ U=K* Δs g in the idea output, formula, Δ U represents the idea output, and K represents the acceleration
The constant multiplier of meter is spent, Δ g represents the aimed acceleration increment size.
7. the method for testing of accelerometer resolution ratio as claimed in any of claims 1 to 6, it is characterised in that institute
The mass centre of accelerometer is stated with the line of the pivot from centrifuge perpendicular to the turntable from centrifuge
Face.
8. the method for testing of accelerometer resolution ratio as claimed in any of claims 1 to 6, it is characterised in that institute
State makes the sensitive axes angle value of the accelerometer reach the target susceptibility shaft angle described in rotation from the rotary table top of centrifuge
Comprise the following steps before the step of angle value：
By the sensitive axes angle value zero setting of the accelerometer.
9. the method for testing of accelerometer resolution ratio as claimed in any of claims 1 to 6, it is characterised in that institute
It is two or more to state from centrifuge, described to be symmetrically mounted on from centrifuge on the rotary table top of the main centrifuge.
10. a kind of test device of accelerometer resolution ratio, it is characterised in that including double centrifuges and fixture；
The described pair of centrifuge includes main centrifuge and from centrifuge, the main centrifugation that described pair of centrifuge is arranged on from centrifuge
On the rotary table top of machine, the main centrifuge and the rotary table top from centrifuge are horizontally disposed with；The fixture is arranged on
On the rotary table top from centrifuge, for being horizontally mounted accelerometer；
The aimed acceleration increment size of the accelerometer is chosen according to the resolution ratio calibration value of the accelerometer, according to described
Aimed acceleration increment size chooses the main centrifuge in the target centrifugal acceleration produced from centrifuge and target
The target susceptibility shaft angle degree of centrifugal acceleration increment size, the target susceptibility shaft angle angle value of the accelerometer and the accelerometer
Increment size；Wherein, sensitive axes of the sensitive axes angle for the accelerometer and the angle angle with reference to straight line, the reference
Straight line is perpendicular to the pivot of the main centrifuge and the line of the pivot from centrifuge；
On the rotary table top from centrifuge that accelerometer is horizontally arranged to double centrifuges, the rotation rotation from centrifuge
Table top makes the sensitive axes angle value of the accelerometer reach the target susceptibility shaft angle angle value, according to the target CENTRIFUGAL ACCELERATING
Angle value operates the main centrifuge, records the first output valve of the accelerometer；
From the rotary table top of centrifuge according to rotating the target susceptibility shaft angle degree increment size, the accelerometer is recorded
Second output valve；
Calculate the first output difference between second output valve and first output valve；
The sensitive axes angle value of the accelerometer is set to reach the target susceptibility axle from the rotary table top of centrifuge described in rotation
Angle value, according to the target centrifugal acceleration and the target centrifugal acceleration increment size and value operate the main centrifugation
Machine, records the 3rd output valve of the accelerometer；
From the rotary table top of centrifuge according to rotating the target susceptibility shaft angle degree increment size, the accelerometer is recorded
4th output valve；
Calculate the second output difference between the 3rd output valve and the 4th output valve, and the second output difference
Secondary difference between the first output difference；Obtain and the aimed acceleration increment size is inputted into the accelerometer bar
Idea output under part, if the ratio of the secondary difference and the idea output is more than preset value, judges described add
The resolution test of speedometer passes through.
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