Linearization of Non-Linear Pressure Sensor for Autonomous Underwater Vehicle ELG 4135 Electronics...
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Transcript of Linearization of Non-Linear Pressure Sensor for Autonomous Underwater Vehicle ELG 4135 Electronics...
Linearization of Non-Linear Pressure Linearization of Non-Linear Pressure Sensor for Autonomous Underwater Sensor for Autonomous Underwater
VehicleVehicle
ELG 4135ELG 4135Electronics III Electronics III
Dr. Riadh HabashDr. Riadh HabashNov. 28, 2006Nov. 28, 2006
Presented By: Dominic Besner, Martin Kmita, Mélanie
Potvin
System OverviewSystem Overview
Pressure Sensor
Compass
D.V.L.
Sonar
SBCActuators(Motors)
Focus of ProjectFocus of Project
Pressure SensorPressure Sensor
Pressure Range: 0 – 25 PSIPressure Range: 0 – 25 PSI
Input: 4.75 – 5.25 V DCInput: 4.75 – 5.25 V DC
Output: 0.5 – 4.5 V DCOutput: 0.5 – 4.5 V DC
ObjectiveObjective
Expected Linear Expected Linear Behavior:Behavior:
P= PP= Poo+ + ρρgDgD
Actual Non-Linear Actual Non-Linear Behavior :Behavior :
V = 0.0768 DV = 0.0768 D22+0.01255 D +0.62 +0.01255 D +0.62
Possible SolutionsPossible Solutions
Table Look-UpTable Look-Up– Pros : Speed of the data analysisPros : Speed of the data analysis– Cons : Not accurateCons : Not accurate
Frequency Domain LinearizationFrequency Domain Linearization– Pros : Only need few inexpensive componentsPros : Only need few inexpensive components– Cons : Filters are not idealCons : Filters are not ideal
Mathematical ModelsMathematical Models– Pros : AccuracyPros : Accuracy– Cons : Need Mathematical LibraryCons : Need Mathematical Library
Pressure Sensor DiagramPressure Sensor Diagram
Chosen ImplementationChosen Implementation
Chosen EquationChosen Equation
Sensor Equation: Sensor Equation:
V = V = ααDD22++ββD+CD+C00
αα = 0.0768, = 0.0768,
ββ = = 0.01255, 0.01255,
CC0 0 = = 0.620.62
Desired Equation:Desired Equation:
V’ = V’ = γγDD
Chosen EquationChosen Equation
Linearization Equation:Linearization Equation:
V = AV’V = AV’22 + BV’ + C + BV’ + C00
V’ = 1/A ( (V-CV’ = 1/A ( (V-C00)/V’ - B))/V’ - B)
A = A = αα / / γγ22
B = B = ββ / / γγ
γγ = 0.2046 , A = 1.8355, B = 0.0614 = 0.2046 , A = 1.8355, B = 0.0614
ImplementationImplementation
CircuitCircuit
Offset CompensatorOffset Compensator
Divider Divider
Adder Adder
Implemented CircuitImplemented Circuit
Simulation ResultsSimulation Results
ResultsResults
ConclusionConclusion
Modeled the non-linear Modeled the non-linear characteristics of a pressure sensor characteristics of a pressure sensor using a second order equation using a second order equation
Designed a mathematical model to Designed a mathematical model to linearize the output voltagelinearize the output voltage
Implemented a linearization circuit Implemented a linearization circuit using simple and inexpensive using simple and inexpensive components based on the components based on the mathematical modelmathematical model
ReferencesReferences
Christopher D. Williams, “AUV Systems at the NRC-IOT: An Update”, IEEE Christopher D. Williams, “AUV Systems at the NRC-IOT: An Update”, IEEE Underwater Technology, 2004. UT '04. 2004 International Symposium on, Underwater Technology, 2004. UT '04. 2004 International Symposium on, 2004. 2004.
Nabil I. Khachab, Mohammed Ismail. “Linearization Techniques for nth-Nabil I. Khachab, Mohammed Ismail. “Linearization Techniques for nth-Order Sensor Models in MOS VLSI Technology”. IEEE Transaction on Order Sensor Models in MOS VLSI Technology”. IEEE Transaction on Circuits and Systems, Vol. 38, No. 12, Decembre 1991.Circuits and Systems, Vol. 38, No. 12, Decembre 1991.
J.M. Dias Pereiral, O. Postolache, P. Silva Girao, “Adaptive Self-Calibration J.M. Dias Pereiral, O. Postolache, P. Silva Girao, “Adaptive Self-Calibration Algorithm for Smart Sensors Linearization”. IMTC 2005 Instrumentation Algorithm for Smart Sensors Linearization”. IMTC 2005 Instrumentation and Measurement Technology Conference, Ottawa, Canada, May 17 to 19, and Measurement Technology Conference, Ottawa, Canada, May 17 to 19, 2005. 2005.
D. Besner, J. Cheong, E. Ho, M. Kmita, S. Nguyen, “Development of an D. Besner, J. Cheong, E. Ho, M. Kmita, S. Nguyen, “Development of an Autonomous Underwater Vehicle with Custom Passive Sonar”.Autonomous Underwater Vehicle with Custom Passive Sonar”. University of University of Ottawa, December 2005. Ottawa, December 2005.
Benson Harris, “University Physics”. John Wiley & Son Inc., revised edition, Benson Harris, “University Physics”. John Wiley & Son Inc., revised edition, Quebec, Canada, 1996, Chapter 14, p: 284-292.Quebec, Canada, 1996, Chapter 14, p: 284-292.
References (con’t)References (con’t)
MSI sensor. “MSP 600 Datasheet”. May 25th 2004, Revision C.MSI sensor. “MSP 600 Datasheet”. May 25th 2004, Revision C.
TSI Incorporated. “Thermal Anemometry System” TSI Incorporated. “Thermal Anemometry System” http://www.tsi.com/TechNotes/technotes.aspx?Pid=197&lid=544&file=ta-http://www.tsi.com/TechNotes/technotes.aspx?Pid=197&lid=544&file=ta-lukuptbl. Visited on November 5th, 2006.lukuptbl. Visited on November 5th, 2006.
Grayson King, Toru Fukushima. “RTD Interfacing and Linearization Using Grayson King, Toru Fukushima. “RTD Interfacing and Linearization Using ADuC8xx MicroConverter”. Application Note for Analog Devices, Rev. 0, 2004. ADuC8xx MicroConverter”. Application Note for Analog Devices, Rev. 0, 2004.
Kwok-Keung M. Cheng, Chi-Shuen Leung. “A Novel Generalized Low-Kwok-Keung M. Cheng, Chi-Shuen Leung. “A Novel Generalized Low-Frequency Signal-Injection Method for Multistage Amplifier Linearization”. Frequency Signal-Injection Method for Multistage Amplifier Linearization”. IEEE Transaction on Microwave Theory and Techniques, Vol 51, No.2, IEEE Transaction on Microwave Theory and Techniques, Vol 51, No.2, February 2003.February 2003.
Thank You !Thank You !
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