MPU9250传感器的姿态检测与数据融合-刘春阳-(1)

36420158JournalofHenanUniversityofScienceandTechnologyNaturalScienceVol．36No．4Aug．201514230041321714B4600282012QN00251982－．2014－12－011672－6871201504－0014－04MPU9250471003MPU9250MSP430F149。、3、、。。100、。TP216A0、、、。1、MEMS、2－3。4。5。、、、6－7。9MPU9250、、MSP430。。。1MSP430F149MPU9250、。。PWM。1。MPU925098。MPU92503、3、316IIC400kHz/s。±2000°/s。4MPU92501±16gg。±4800μT。22．13、ρX、YαZ。7θk=ωk－ωbias_kdt+θk－11θkθk－1ωkωbias_kdt。39ρ=arctanAxA2y+A2槡()z=arctanAyA2x+A2槡()zγ=arctanA2x+A2槡yA()z2Ax、Ay、AzX、Y、Z3γZρ。3X、Y。α=arctanHyHx3HxHyXY。10。H'y=Mycos+Mxsinsinρ－MzsincosρH'x=Mxcosρ+Mzsinρ{4Mx、My、Mz3ρ。H'x、H'y3。2．211。。12。·51·13xk=Axk－1+BUk+wkyk=Hxk+vk{5xkykAk－1kUkBHwkvk。QＲ513X^kk－1=AX^k－1+BUk6Pkk－1=APk－1AT+Q7Kk=Pkk－1HTHPkk－1HT+Ｒ－18X^k=X^kk－1+Kkyk－HX^kk－19Pk=I－KKHPkk－110X^kXkX^kk－1k－1kAk－1kBHykkKkyk－HX^kk－1PkPkk－1II=1。1。X^kk－1=θkωbias_[]k=1－Ts[]01X^k－1+Ts[]0ωk－1+ωk211Tsωkωk－1kk－1。ＲQＲQ。A=1－0．01[]01B=0．01[]0H=[]10X^0=[]00P0=10[]01Q=0．2000．[]1Ｒ=2。3。2。0°35°、。2a0°±0．9°±0．5°·61·20154MPU9250。2b35°。。233。。3。。4MPU9250MSP430、、。、、、、、。1．J．2013396723－729．2．MEMSJ．2007202298－301．3．MEMSJ．2011452－55．4．AＲMMEMSAHＲSJ．201251－4．5．J．20111971562－1564．6FosterCCElkaimGHSantaCUC．ExtensionofaTwo-StepCalibrationMethodologytoIncludeNonorthogonalSensorAxesJ．IEEETransactionsonAerospaceandEledtronicSystems20084431070－1078．22·71·81000～8000r/min。。61。。2。。3。。4。1．J．201435519－23．2．J．201536113－18．3．J．20041064－65．4．J．2004109－11．5．J．NSK．2007346－50．6NorihideSTomoyaS．ImprovementofGreaseLeakagePreventionforBallBearingsDuetoGeometricalChangeofＲibbonCagesJ．NTNTechnicalＲeview20107898－105．7．M．2009．8．J．2008747－51．9DavidLＲＲichardGA．Ｒub-GrooveWidthandDepthEffectsonFlowPredictionsforStraight-ThoughLabyrinthSealJ．JournalofTribology2004126781－781．10．M．2004．11．FLUENTJ．201341929－32．12．J．2014367櫒櫒櫒櫒櫒櫒櫒櫒櫒櫒櫒櫒櫒櫒櫒櫒櫒櫒櫒櫒櫒櫒櫒櫒櫒櫒櫒櫒櫒櫒櫒櫒櫒櫒櫒櫒櫒櫒櫒櫒櫒櫒櫒櫒26－31．177．J．2010285674－678．8MPU9250EB/OL．2015－01－23．http//．invensense．com/mems/gyro/mpu9250．html．9KimberlyT．TiltSensingUsingLinearAccelerometersJ．FreescaleSemiconductorApplicationNote200761－7．10．J．20072061335－1337．11．J．2010235696－700．12．KalmanM．201017－18．13．J．201436406－409．·22·2015No．4CONTENTSANDABSTＲACTS·Ⅲ·austeniteduringheatpreservationprocessincreasestherearemorewidmanstattenandtroostitephasetransformationinthecoolingtimeandlesscontentofferrite．KeywordsannealingtemperaturemicrostructurerecoveryandrecrystallizationCLCnumberTG156．2DocumentcodeAArticleID1672-6871201504-0009-05·Machineryandlnstruments·AttitudeDetectionandDataFusionBasedonSensorofMPU925014…………………………LIUChunyangXUJunlingCHENGHongtaoWANGDongfangXUEYujunMechatronicsEngineeringSchoolHenanUniversityofScience＆TechnologyLuoyang471003ChinaAbstractAnattitudedetectionsystemwasdesignedwithMPU9250andMSP430F149inthispaper．Theangularrateaccelerationandmagneticfluxdensityweremeasuredbythegyroscopetheaccelerometerandthemagnetometerwhichwereintegratedinthesensor．Thenthegestureanglewascalculatedwiththedataofthesensor．Thedatafusionwasalsodiscussed．TheKalmanfilteralgorithmwasoptimizedtoestimatethegestureangledecidedbythesensor．Themeasurementnoisewasrestrainedandtheaccuracywasimprovedwiththisalgorithm．Theattitudedetectioncanbedoneabout100timesinasecond．Thesystemissmallandquicktorespondandappliedtoself-balancingvehiclesystem．KeywordsattitudedetectionKalmanfiltergyroscopeaccelerometermagnetometerCLCnumberTP216DocumentcodeAArticleID1672-6871201504-0014-04NumericalAnalysisofＲadicalStraight-throughLabyrinthSealsofHubBearings18……………LEIXianqing1NIUShen1FANYuchun2GUOChangjian31．MechatronicsEngineeringSchoolHenanUniversityofScience＆TechnologyLuoyang471003China2．ComprehensiveDepartmentLimingＲesearchInstituteofChemicalLuoyang471001China3．Ｒ＆DCenterC＆UGroupShanghai201411ChinaAbstractTakingtheradicalstraight-throughlabyrinthsealsofhubbearingsforthestudytheeffectsofthe4parametersincludingthegapwidththedepthofthecavitythecavitywidthandthenumberofcavitiesonthesealstructurewerediscussed．Thecomputationalfluiddynamicsandorthogonalexperimentmethodwereappliedinthispaper．TheoptimalparametersofsealingstructureontheminimumleakageweredeterminedthroughsimulationcalculationbyFLUENTsoftware．Theeffectsofthefactorsontheamountofleakagewerediscussed．Theresultsshowthattheamountofleakageincreaseswithgapwidthincreasinganddecreaseswiththenumberofcavityincreasing．Itisdecreasedatthestartandthenincreasedwiththedepthorwidthofcavityincreasing．Inadditiontheleakageincreasesalmostlinearlywiththepressuredropincreasingbuttheeffectofthebearingspeedontheleakageissosmall．KeywordshubbearinglabyrinthsealsorthogonaltestleakageCLCnumberTH136DocumentcodeAArticleID1672-6871201504-0018-05OneKindSurplusTorqueStructureCompensationMethodofElectro-hydraulicLoadSimulator23………………………………………………………………………………………………………ZHAOShushangSUNShuruiLIGeqiangMechatronicsEngineeringSchoolHenanUniversityofScience＆TechnologyLuoyang471003ChinaAbstractElectro-hydraulicloadsimulatorisbelongtoatypicalpassiveelectro-hydraulicservosystem．Inordertopreventandeliminatethedisturbanceofthestrongsurplusforceinthesystemwithbreakingoftraditionalmethodofdisturbancecompensationbasedontheangleofdistancecompensatio