Linearization of Non-Linear Pressure Sensor for Autonomous Underwater Vehicle ELG 4135 Electronics...

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Linearization of Non-Linear Linearization of Non-Linear Pressure Sensor for Autonomous Pressure Sensor for Autonomous Underwater Vehicle Underwater Vehicle ELG 4135 ELG 4135 Electronics III Electronics III Dr. Riadh Habash Dr. Riadh Habash Nov. 28, 2006 Nov. 28, 2006 Presented By: Dominic Besner, Martin Kmita, Mélanie Potvin

Transcript of Linearization of Non-Linear Pressure Sensor for Autonomous Underwater Vehicle ELG 4135 Electronics...

Page 1: Linearization of Non-Linear Pressure Sensor for Autonomous Underwater Vehicle ELG 4135 Electronics III Dr. Riadh Habash Nov. 28, 2006 Presented By: Dominic.

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

Page 2: Linearization of Non-Linear Pressure Sensor for Autonomous Underwater Vehicle ELG 4135 Electronics III Dr. Riadh Habash Nov. 28, 2006 Presented By: Dominic.

System OverviewSystem Overview

Pressure Sensor

Compass

D.V.L.

Sonar

SBCActuators(Motors)

Page 3: Linearization of Non-Linear Pressure Sensor for Autonomous Underwater Vehicle ELG 4135 Electronics III Dr. Riadh Habash Nov. 28, 2006 Presented By: Dominic.

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

Page 4: Linearization of Non-Linear Pressure Sensor for Autonomous Underwater Vehicle ELG 4135 Electronics III Dr. Riadh Habash Nov. 28, 2006 Presented By: Dominic.

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

Page 5: Linearization of Non-Linear Pressure Sensor for Autonomous Underwater Vehicle ELG 4135 Electronics III Dr. Riadh Habash Nov. 28, 2006 Presented By: Dominic.

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

Page 6: Linearization of Non-Linear Pressure Sensor for Autonomous Underwater Vehicle ELG 4135 Electronics III Dr. Riadh Habash Nov. 28, 2006 Presented By: Dominic.

Pressure Sensor DiagramPressure Sensor Diagram

Page 7: Linearization of Non-Linear Pressure Sensor for Autonomous Underwater Vehicle ELG 4135 Electronics III Dr. Riadh Habash Nov. 28, 2006 Presented By: Dominic.

Chosen ImplementationChosen Implementation

Page 8: Linearization of Non-Linear Pressure Sensor for Autonomous Underwater Vehicle ELG 4135 Electronics III Dr. Riadh Habash Nov. 28, 2006 Presented By: Dominic.

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

Page 9: Linearization of Non-Linear Pressure Sensor for Autonomous Underwater Vehicle ELG 4135 Electronics III Dr. Riadh Habash Nov. 28, 2006 Presented By: Dominic.

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

Page 10: Linearization of Non-Linear Pressure Sensor for Autonomous Underwater Vehicle ELG 4135 Electronics III Dr. Riadh Habash Nov. 28, 2006 Presented By: Dominic.

ImplementationImplementation

CircuitCircuit

Page 11: Linearization of Non-Linear Pressure Sensor for Autonomous Underwater Vehicle ELG 4135 Electronics III Dr. Riadh Habash Nov. 28, 2006 Presented By: Dominic.

Offset CompensatorOffset Compensator

Page 12: Linearization of Non-Linear Pressure Sensor for Autonomous Underwater Vehicle ELG 4135 Electronics III Dr. Riadh Habash Nov. 28, 2006 Presented By: Dominic.

Divider Divider

Page 13: Linearization of Non-Linear Pressure Sensor for Autonomous Underwater Vehicle ELG 4135 Electronics III Dr. Riadh Habash Nov. 28, 2006 Presented By: Dominic.

Adder Adder

Page 14: Linearization of Non-Linear Pressure Sensor for Autonomous Underwater Vehicle ELG 4135 Electronics III Dr. Riadh Habash Nov. 28, 2006 Presented By: Dominic.

Implemented CircuitImplemented Circuit

Page 15: Linearization of Non-Linear Pressure Sensor for Autonomous Underwater Vehicle ELG 4135 Electronics III Dr. Riadh Habash Nov. 28, 2006 Presented By: Dominic.

Simulation ResultsSimulation Results

Page 16: Linearization of Non-Linear Pressure Sensor for Autonomous Underwater Vehicle ELG 4135 Electronics III Dr. Riadh Habash Nov. 28, 2006 Presented By: Dominic.

ResultsResults

Page 17: Linearization of Non-Linear Pressure Sensor for Autonomous Underwater Vehicle ELG 4135 Electronics III Dr. Riadh Habash Nov. 28, 2006 Presented By: Dominic.

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

Page 18: Linearization of Non-Linear Pressure Sensor for Autonomous Underwater Vehicle ELG 4135 Electronics III Dr. Riadh Habash Nov. 28, 2006 Presented By: Dominic.

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.

Page 19: Linearization of Non-Linear Pressure Sensor for Autonomous Underwater Vehicle ELG 4135 Electronics III Dr. Riadh Habash Nov. 28, 2006 Presented By: Dominic.

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.

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Thank You !Thank You !

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