Accelerometer control adjustment method and device, electronic equipment and medium

Abstract

The invention relates to a control and adjustment method and device of an accelerometer, electronic equipment and a medium, and belongs to the technical field of accelerometers, and the method comprises the steps: obtaining a first parameter value representing the acceleration of the accelerometer through a detection device of the accelerometer; inputting the first parameter value into a preset rapid tracking differentiator to obtain a tracking value of the acceleration and a differential value of the acceleration; inputting the actual given value of the accelerometer and the first parameter value into a preset state observer to obtain a first estimated value, a second estimated value and a third estimated value of the accelerometer; determining a first error value between the tracking value and the first estimated value, determining a second error value between the differential value and the second estimated value, and determining a comparison value of the third estimated value and a control gain of the accelerometer; and inputting the first error value, the second error value and the comparison value into a preset feedback control rate model to obtain a feedback control rate of the accelerometer, so that the accelerometer is modulated based on the feedback control rate.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the technical field of accelerometers, and more specifically, to a method, device, electronic device and medium for controlling and adjusting an accelerometer. Background Art

[0002] An accelerometer is a device for measuring the acceleration of an object, and is widely used in fields such as aviation, aerospace, and automobile manufacturing. Currently, the output of existing accelerometers is mainly analog current. When constructing an inertial navigation system, it needs to go through an AD conversion circuit or an IF conversion circuit, which may cause loss of accuracy. Summary of the Invention

[0003] An object of the embodiments of the present disclosure is to provide a new technical solution for controlling and adjusting an accelerometer.

[0004] According to a first aspect of the present disclosure, there is provided a method for controlling and adjusting an accelerometer, the method comprising:

[0005] Obtaining, by a detection device of the accelerometer, a first parameter value characterizing the acceleration of the accelerometer;

[0006] Inputting the first parameter value into a preset fast tracking differentiator to obtain a tracking value of the acceleration and a differential value of the acceleration;

[0007] Inputting an actual given value of the accelerometer and the first parameter value into a preset state observer to obtain a first estimated value, a second estimated value, and a third estimated value of the accelerometer;

[0008] Determining a first error value between the tracking value and the first estimated value, determining a second error value between the differential value and the second estimated value, and determining a comparison value between the third estimated value and a control gain of the accelerometer;

[0009] Inputting the first error value, the second error value, and the comparison value into a preset feedback control rate model to obtain a feedback control rate of the accelerometer, so that the accelerometer is modulated based on the feedback control rate.

[0010] Optionally, the accelerometer is a quartz flexible accelerometer;

[0011] The obtaining, by a detection device of the accelerometer, a first parameter value characterizing the acceleration of the accelerometer includes:

[0012] Determining, by a detection device of the accelerometer, a differential capacitance signal of the accelerometer;

[0013] Input the differential capacitance signal into a preset conversion model to obtain a first parameter value representing the acceleration of the accelerometer.

[0014] Optionally, the conversion model includes a first conversion model and a second conversion model; the step of inputting the differential capacitance signal into a preset conversion model to obtain a first parameter value representing the acceleration of the accelerometer includes:

[0015] Determine the working state of the accelerometer based on the differential capacitance signal;

[0016] When the working state of the accelerometer is the charging state, input the differential capacitance signal into the first conversion model to obtain a first parameter value representing the acceleration of the accelerometer;

[0017] When the working state of the accelerometer is the discharging state, input the differential capacitance signal into the second conversion model to obtain a first parameter value representing the acceleration of the accelerometer.

[0018] Optionally, the expression of the first conversion model includes:

[0019]

[0020] The expression of the second conversion model includes:

[0021]

[0022] where U is the final voltage during the capacitance charging of the accelerometer, V 0 is the initial velocity of the accelerometer, e, R, and C are all set values, and E 0 is the initial voltage during the capacitance discharging of the accelerometer.

[0023] Optionally, the fast tracking differentiator includes a third conversion model and a fourth conversion model;

[0024] The expression of the third conversion model includes:

[0025]

[0026] The expression of the fourth conversion model includes:

[0027]

[0028] where v is the actual given value of the accelerometer, v 1 is the tracking value of the actual given value, v 2 is the differential value of the actual given value, r is the velocity factor, h is the sampling step, and a is the parameter value of the control signal for controlling the operation of the accelerometer.

[0029] Optionally, the expression of the state observer includes:

[0030]

[0031] where, is an uncertain non - linear function, y represents the first parameter value, b is the input gain coefficient of the set first parameter value, z 1 is the first estimated value of the accelerometer, z 2 is the second estimated value of the accelerometer, z 3 is the third estimated value of the accelerometer, β 1 and β 2 and β 3 are the set state observer gains, h is the sampling step.

[0032] Optionally, the expression of the feedback control rate model includes:

[0033]

[0034] where, v 1 is the tracking value of the actual given value, v 2 is the differential value of the actual given value, z 1 is the first estimated value of the accelerometer, z 2 is the second estimated value of the accelerometer, z 3 is the third estimated value of the accelerometer, b is the input gain coefficient of the set first parameter value, k p and k d are both set values.

[0035] According to the second aspect of the present disclosure, there is also provided a control and adjustment device for an accelerometer, the device includes:

[0036] An acquisition module, configured to acquire, through a detection device of the accelerometer, a first parameter value characterizing the acceleration of the accelerometer.

[0037] A first obtaining module, configured to input the first parameter value into a preset fast tracking differentiator to obtain the tracking value of the acceleration and the differential value of the acceleration;

[0038] A second obtaining module, configured to input the actual given value of the accelerometer and the first parameter value into a preset state observer to obtain the first estimated value, the second estimated value, and the third estimated value of the accelerometer;

[0039] A determination module, configured to determine a first error value between the tracking value and the first estimated value, determine a second error value between the differential value and the second estimated value, and determine a comparison value between the third estimated value and the control gain of the accelerometer;

[0040] A third obtaining module, configured to input the first error value, the second error value, and the comparison value into a preset feedback control rate model to obtain a feedback control rate of the accelerometer, so that the accelerometer is modulated based on the feedback control rate.

[0041] According to a third aspect of the present disclosure, there is also provided an electronic device, including a memory and a processor, where the memory is used to store a computer program; the processor is used to execute the computer program to implement the method according to the first aspect of the present disclosure.

[0042] According to a fourth aspect of the present disclosure, there is also provided a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the method according to the first aspect of the present disclosure.

[0043] According to a fifth aspect of the present disclosure, there is also provided a computer program product, including a computer program, and the computer program, when executed by a processor, implements the method according to the first aspect of the present disclosure.

[0044] One beneficial effect of the embodiments of the present disclosure is that the control and adjustment method of the accelerometer provided by the present invention can obtain a first parameter value representing the acceleration of the accelerometer through the detection device of the accelerometer, and obtain the first error value, the second error value, and the comparison value through a fast tracking differentiator and a state observer, and then obtain a feedback control rate for controlling the pendulum piece of the accelerometer to return to the equilibrium position through a feedback control rate model, effectively improving the modulation accuracy of the accelerometer.

[0045] Through the following detailed description of the exemplary embodiments of the present disclosure with reference to the accompanying drawings, other features and advantages of the embodiments of the present disclosure will become clear. Description of the Drawings

[0046] The drawings incorporated in the specification and constituting a part of the specification illustrate the embodiments of the present disclosure, and together with the description are used to explain the principles of the embodiments of the present disclosure.

[0047] Figure 1 is a schematic flowchart of a control and adjustment method of an accelerometer according to an embodiment;

[0048] Figure 2 is a schematic structural diagram of a control terminal according to an embodiment;

[0049] Figure 3 is a schematic block diagram of a control and adjustment device of an accelerometer according to an embodiment;

[0050] Figure 4Schematic diagram of the hardware structure of an electronic device according to an embodiment. Detailed implementation manners

[0051] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: unless otherwise specifically stated, the relative arrangements of the parts and steps set forth in these embodiments, numerical expressions and values do not limit the scope of the present invention.

[0052] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way a limitation on the present invention or its application or use.

[0053] Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and devices should be regarded as part of the specification.

[0054] In all the examples shown and discussed herein, any specific values should be construed as merely exemplary and not as a limitation. Thus, other examples of the exemplary embodiments may have different values.

[0055] It should be noted that: like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, further discussion thereof in subsequent drawings is not required.

[0056] <Method embodiment>

[0057] Figure 1 Schematic diagram of the flow of a control and adjustment method for an accelerometer according to an embodiment. The implementation subject is a control terminal, and the control terminal can be electrically connected to the accelerometer.

[0058] As Figure 1 shown, the control and adjustment method for the accelerometer in this embodiment may include the following steps S110 to step S150:

[0059] Step S110, obtain a first parameter value representing the acceleration of the accelerometer through the detection device of the accelerometer.

[0060] In some embodiments, the accelerometer is a quartz flexure accelerometer, and this step S110 may include the following steps S1101 and step S1102:

[0061] Step S1101, determine the differential capacitance signal of the accelerometer through the detection device of the accelerometer.

[0062] Step S1102, input the differential capacitance signal into a preset conversion model to obtain a first parameter value representing the acceleration of the accelerometer.

[0063] In some examples, asFigure 2 As shown, the control terminal may include a detection device, a feedback device, and a digital controller of an accelerometer. The detection device may detect the capacitance on both sides of the pendulum piece of the accelerometer, and convert the differential capacitance signal in the first parameter value of the accelerometer into a first parameter value representing the acceleration of the accelerometer through the ADC built in the detection device, so as to enable the detection device to convert the analog signal output by the accelerometer into a digital signal and output the digital signal to the digital controller.

[0064] In some embodiments, in order to further improve the accuracy of the first parameter value, the conversion model includes a first conversion model and a second conversion model, and step S1102 may include the following steps S210 to S230:

[0065] Step S210, determining the working state of the accelerometer through the differential capacitance signal;

[0066] In this embodiment, the working state of the accelerometer includes a charging state and a discharging state.

[0067] Step S220, when the working state of the accelerometer is the charging state, inputting the differential capacitance signal into the first conversion model to obtain a first parameter value representing the acceleration of the accelerometer;

[0068] Step S230, when the working state of the accelerometer is the discharging state, inputting the differential capacitance signal into the second conversion model to obtain a first parameter value representing the acceleration of the accelerometer.

[0069] In this embodiment, by dividing the accelerometer into a charging state and a discharging state to determine the first parameter value of the acceleration of the accelerometer, the accuracy of the first parameter value input into the digital controller can be effectively improved.

[0070] In some embodiments, the expression of the first conversion model includes:

[0071]

[0072] The expression of the second conversion model includes:

[0073]

[0074] where U is the final voltage when the capacitance of the accelerometer is charged, V 0 is the initial velocity of the accelerometer, e, R, and C are all set values, and E 0 is the initial voltage when the capacitance of the accelerometer is discharged.

[0075] Step S120, inputting the first parameter value into a preset fast tracking differentiator to obtain a tracking value of the acceleration and a differential value of the acceleration.

[0076] In some embodiments, in order to rapidly track the differentiator (TD) of a quartz flexure accelerometer to obtain the tracking value and the differential value of the acceleration, the rapid tracking differentiator may include a third conversion model and a fourth conversion model;

[0077] The expression of the third conversion model includes:

[0078]

[0079] The expression of the fourth conversion model includes:

[0080]

[0081] Wherein, as Figure 2 shown, v is the actual given value of the accelerometer, v 1 is the tracking value of the actual given value, v 2 is the differential value of the actual given value, r is the velocity factor, h is the sampling step, and a is the parameter value of the control signal for controlling the operation of the accelerometer. The fhan function is the fastest control function, which is used to construct a smooth transition trajectory, avoid the mutation of the control signal, and improve the dynamic response characteristics. Among them, e is the error variable, which usually represents the error between the input signal x 1 and the actual given value v of the accelerometer, that is, e = x1 - v, x 2 is the differential term of the error variable, and d represents the change range of the error variable within each sampling step h. Among them, d 0 is a small range threshold. When |y| ≤ d 0 , the system adopts linear control, otherwise it adopts nonlinear control. Among them, y = e + hx 0 is used for error correction, which combines the error variable e and its change rate x 2 for adjustment. Among them, a 0 is used for nonlinear adjustment to ensure the smoothness of the control process. sgn(y) is the sign function, which represents the direction of y. a is an intermediate variable, which measures the change trend of the error.

[0082] Step S130, input the actual given value of the accelerometer and the first parameter value into a preset state observer to obtain the first estimated value, the second estimated value, and the third estimated value of the accelerometer.

[0083] In some embodiments, the expression of the state observer includes:

[0084] This state observer is a linear extended state observer (LESO) for a second-order nonlinear system:

[0085]

[0086] is an uncertain non - linear function. An extended state observer (LESO) is established for the system in this formula, and its form is:

[0087]

[0088] where, as Figure 2 shown, is an uncertain non - linear function, y represents the first parameter value, that is, the output variable, b is the input gain coefficient of the set first parameter value, which plays a compensating role in the feedback, that is, the control gain of the system, describing the influence intensity of the control input on the system. z 1 is the first estimated value of the accelerometer, z 2 is the second estimated value of the accelerometer, z 3 is the third estimated value of the accelerometer, β 1 、β 2 、β 3 are the set state observer gains, h is the sampling step. x is one of the state variables of the system, w represents the external disturbance, which can be environmental influence, load change, etc., t is the time, and u is the feedback control rate (control input) of the accelerometer, which is usually calculated by the controller and applied to the system.

[0089] Step S140, determine the first error value between the tracking value and the first estimated value, determine the second error value between the differential value and the second estimated value, and determine the comparison value between the third estimated value and the control gain of the accelerometer.

[0090] Step S150, input the first error value, the second error value and the comparison value into a preset feedback control rate model to obtain the feedback control rate of the accelerometer, so that the accelerometer is modulated based on the feedback control rate.

[0091] In some embodiments, the error feedback control rate (LSEF) is composed of a proportional - derivative control rate, and the expression of the feedback control rate model may include:

[0092]

[0093] where, v 1 is the tracking value of the actual given value, v 2 is the differential value of the actual given value, z 1 is the first estimated value of the accelerometer, z 2 is the second estimated value of the accelerometer, z 3 is the third estimated value of the accelerometer, b is the input gain coefficient of the set first parameter value, k p and k d are both set values.

[0094] In this embodiment, through linear active disturbance rejection control, it has good control performance and strong anti-interference ability. By detecting the capacitance on both sides of the accelerometer pendulum in real time and using a digital controller to obtain the feedback controller of the accelerometer, and then adjusting the operation of the accelerometer through a feedback device, that is, adopting linear active disturbance rejection control, it has strong anti-interference ability, and at the same time can avoid the contradiction between rapidity and overshoot, so as to achieve fast, accurate and high anti-interference ability control, thereby effectively shortening the response time.

[0095] In some examples, the feedback device can perform D / A conversion and V / I conversion on the feedback control rate to convert it into a modulation parameter that conforms to the accelerometer and modulate the operation of the accelerometer through this modulation parameter to achieve controlling the accelerometer pendulum to maintain the equilibrium position.

[0096] In this embodiment, the modulation parameter can be an analog current, that is, this analog current is fed back to the torque motor of the accelerometer, so that the torque motor can control the accelerometer pendulum to maintain the equilibrium position.

[0097] <Device Embodiment 1>

[0098] Figure 3 is a principle block diagram of a control and adjustment device for an accelerometer according to an embodiment. As Figure 3 shown, the control and adjustment device 300 of the accelerometer may include:

[0099] An acquisition module 310, configured to obtain a first parameter value characterizing the acceleration of the accelerometer through the detection device of the accelerometer.

[0100] A first obtaining module 320, configured to input the first parameter value into a preset fast tracking differentiator to obtain a tracking value of the acceleration and a differential value of the acceleration;

[0101] A second obtaining module 330, configured to input the actual given value of the accelerometer and the first parameter value into a preset state observer to obtain a first estimated value, a second estimated value, and a third estimated value of the accelerometer;

[0102] A determination module 340, configured to determine a first error value between the tracking value and the first estimated value, determine a second error value between the differential value and the second estimated value, and determine a comparison value between the third estimated value and the control gain of the accelerometer;

[0103] A third obtaining module 350, configured to input the first error value, the second error value, and the comparison value into a preset feedback control rate model to obtain the feedback control rate of the accelerometer, so that the accelerometer is modulated based on the feedback control rate.

[0104] In some embodiments, the obtaining module 310 is further configured to determine a differential capacitance signal of the accelerometer through the detection device of the accelerometer; input the differential capacitance signal into a preset conversion model to obtain a first parameter value representing the acceleration of the accelerometer.

[0105] In some embodiments, the obtaining module 310 is further configured to determine an operating state of the accelerometer through the differential capacitance signal; when the operating state of the accelerometer is a charging state, input the differential capacitance signal into the first conversion model to obtain a first parameter value representing the acceleration of the accelerometer; when the operating state of the accelerometer is a discharging state, input the differential capacitance signal into the second conversion model to obtain a first parameter value representing the acceleration of the accelerometer.

[0106] <Device Embodiment II>

[0107] Figure 4 It is a schematic diagram of the hardware structure of an electronic device according to another embodiment.

[0108] As Figure 4 shown, the electronic device 400 includes a processor 410 and a memory 420. The memory 420 is used to store an executable computer program, and the processor 410 is configured to execute the method of any of the above method embodiments according to the control of the computer program.

[0109] Each module of the above accelerometer control and adjustment device 300 can be implemented by the processor 410 executing the computer program stored in the memory 420, or can be implemented by other structures, which is not limited herein.

[0110] The present invention may be a system, a method, and / or a computer program product. The computer program product may include a computer-readable storage medium having thereon computer-readable program instructions for causing a processor to implement various aspects of the present invention.

[0111] A computer-readable storage medium can be a tangible device that can hold and store instructions for use by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disc (DVD), a memory stick, a floppy disk, a mechanically encoded device such as a punched card or raised structures in grooves having instructions stored thereon, and any suitable combination of the foregoing. The computer-readable storage medium as used herein is not construed as an instantaneous signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., an optical pulse through an optical fiber cable), or an electrical signal transmitted through a wire.

[0112] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to various computing / processing devices, or downloaded to an external computer or external storage device through a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network may include a copper transmission cable, an optical fiber transmission, a wireless transmission, a router, a firewall, a switch, a gateway computer, and / or an edge server. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in each computing / processing device.

[0113] The computer program instructions for performing the operations of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine - related instructions, microcode, firmware instructions, state - setting data, or source code or object code written in any combination of one or more programming languages, including object - oriented programming languages such as Smalltalk, C++, etc., and conventional procedural programming languages such as the "C" language or similar programming languages. The computer - readable program instructions may be executed entirely on the user's computer, partially on the user's computer, executed as a stand - alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider). In some embodiments, by using the state information of the computer - readable program instructions to customize an electronic circuit, such as a programmable logic circuit, a field - programmable gate array (FPGA), or a programmable logic array (PLA), the electronic circuit can execute the computer - readable program instructions to implement various aspects of the present invention.

[0114] Aspects of the present invention are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer - readable program instructions.

[0115] These computer - readable program instructions can be provided to a processor of a general - purpose computer, a special - purpose computer, or other programmable data - processing apparatus to produce a machine such that the instructions, when executed by the processor of the computer or other programmable data - processing apparatus, create a means for implementing the functions / acts specified in one or more blocks of the flowchart and / or block diagram. These computer - readable program instructions can also be stored in a computer - readable storage medium that causes a computer, a programmable data - processing apparatus, and / or other devices to function in a particular manner, such that the computer - readable medium storing the instructions comprises a manufacture that includes instructions for implementing various aspects of the functions / acts specified in one or more blocks of the flowchart and / or block diagram.

[0116] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device, causing a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process such that the instructions executed on the computer, other programmable data processing apparatus, or other device implement the functions / acts specified in one or more boxes of the flowchart and / or block diagram.

[0117] The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagram may represent a module, a segment of code, or a portion of an instruction, which contains one or more executable instructions for implementing the specified logical function. In some alternative implementations, the functions noted in the blocks may occur out of the order noted in the figures. For example, two consecutive blocks may in fact be executed substantially in parallel, or they may sometimes be executed in the reverse order, depending upon the functionality involved. It should also be noted that each block of the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented by a dedicated hardware-based system that performs the specified functions or acts, or by a combination of dedicated hardware and computer instructions. As is well known to those skilled in the art, implementation by hardware, implementation by software, and implementation by a combination of software and hardware are equivalent.

[0118] The embodiments of the present invention have been described above. The above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the market, or to enable other ordinary skilled in the art to understand the embodiments disclosed herein. The scope of the present invention is defined by the appended claims.

Claims

1. A control and adjustment method for an accelerometer, characterized in that: The method comprises: Acquiring, by means of a detection device of the accelerometer, a first parameter value characterizing the acceleration of the accelerometer; Inputting the first parameter value into a preset fast tracking differentiator to obtain a tracking value of the acceleration and a differential value of the acceleration; Inputting the actual given value of the accelerometer and the first parameter value into a preset state observer to obtain a first estimated value, a second estimated value and a third estimated value of the accelerometer; determining a first error value between the tracking value and the first estimated value, determining a second error value between the derivative value and the second estimated value, and determining a comparison value of the third estimated value and a control gain of the accelerometer; The first error value, the second error value and the comparison value are input into a preset feedback control rate model to obtain a feedback control rate of the accelerometer, so that the accelerometer is modulated based on the feedback control rate.

2. The method according to claim 1, characterized in that The accelerometer is a quartz perturbation accelerometer; The acquiring, by means of the detection device of the accelerometer, a first parameter value characterizing the acceleration of the accelerometer comprises: Determining a differential capacitance signal of the accelerometer by means of a detection device of the accelerometer; The differential capacitance signal is input into a preset conversion model to obtain a first parameter value representing the acceleration of the accelerometer.

3. The method according to claim 2, characterized in that The conversion model includes a first conversion model and a second conversion model; the step of inputting the differential capacitance signal into a preset conversion model to obtain a first parameter value representing the acceleration of the accelerometer includes: Determining the working state of the accelerometer through the differential capacitance signal; When the working state of the accelerometer is a charging state, inputting the differential capacitance signal into the first conversion model to obtain a first parameter value representing the acceleration of the accelerometer; When the working state of the accelerometer is a discharge state, the differential capacitance signal is input into the second conversion model to obtain a first parameter value representing the acceleration of the accelerometer.

4. The method according to claim 3, characterized in that The expression of the first conversion model includes: The expression of the second conversion model includes: Among them, U is the final value voltage when the capacitor of the accelerometer is charged, V0 is the initial velocity of the accelerometer, e, R and C are all set values, and E0 is the initial voltage when the capacitor of the accelerometer is discharged.

5. The method according to claim 1, characterized in that The fast tracking differentiator includes a third conversion model and a fourth conversion model; The expression of the third conversion model includes: The expression of the fourth conversion model includes: Among them, v is the actual given value of the accelerometer, v1 is the tracking value of the actual given value, v2 is the differential value of the actual given value, r is the velocity factor, h is the sampling step, and a is the parameter value of the control signal that controls the operation of the accelerometer.

6. The method according to claim 1, characterized in that The expression of the state observer includes: in, is an uncertain nonlinear function, y represents the first parameter value, b is the input gain coefficient of the set first parameter value, z1 is the first estimated value of the accelerometer, z2 is the second estimated value of the accelerometer, z3 is the third estimated value of the accelerometer, β1, β2, β3 are the set state observer gains, and h is the sampling step size.

7. The method according to claim 1, characterized in that The expression of the feedback control rate model includes: Wherein, v1 is the tracking value of the actual given value, v2 is the differential value of the actual given value, z1 is the first estimated value of the accelerometer, z2 is the second estimated value of the accelerometer, z3 is the third estimated value of the accelerometer, b is the input gain coefficient of the set first parameter value, k p and k d All are set values.

8. A control and adjustment device for an accelerometer, characterized in that: The device comprises: Acquiring, by means of a detection device of the accelerometer, a first parameter value characterizing the acceleration of the accelerometer; Inputting the first parameter value into a preset fast tracking differentiator to obtain a tracking value of the acceleration and a differential value of the acceleration; Inputting the first parameter value of the accelerometer and the first parameter value into a preset state observer to obtain a first estimated value, a second estimated value, and a third estimated value of the accelerometer; determining a first error value between the tracking value and the first estimated value, determining a second error value between the derivative value and the second estimated value, and determining a comparison value of the third estimated value and a control gain of the accelerometer; The first error value, the second error value and the comparison value are input into a preset feedback control rate model to obtain a feedback control rate of the accelerometer, so that the accelerometer is modulated based on the feedback control rate.

9. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the computer program to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 7. Accelerometer control and adjustment method, device, electronic equipment and medium Technical Field The embodiments of the present disclosure relate to the technical field of accelerometers, and more specifically, to a control and adjustment method, device, electronic device, and medium for an accelerometer. Background Art An accelerometer is a device that measures the acceleration of an object and is widely used in aviation, aerospace, and automobile manufacturing. At present, the output of existing accelerometers is mainly analog current. When building an inertial navigation system, it needs to go through an AD conversion circuit or an IF conversion circuit, which may cause a loss of accuracy. Summary of the invention An object of the embodiments of the present disclosure is to provide a new technical solution for controlling and adjusting an accelerometer. According to a first aspect of the present disclosure, a control and adjustment method for an accelerometer is provided, the method comprising: Acquiring, by means of a detection device of the accelerometer, a first parameter value characterizing the acceleration of the accelerometer; Inputting the first parameter value into a preset fast tracking differentiator to obtain a tracking value of the acceleration and a differential value of the acceleration; Inputting the actual given value of the accelerometer and the first parameter value into a preset state observer to obtain a first estimated value, a second estimated value and a third estimated value of the accelerometer; determining a first error value between the tracking value and the first estimated value, determining a second error value between the derivative value and the second estimated value, and determining a comparison value of the third estimated value and a control gain of the accelerometer; The first error value, the second error value, and the comparison value are input into a preset counter.

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