System and method of measuring quasi-static force with a piezoelectric sensor
A system and method employing a piezoelectric sensor for quasi-static force measurement substantially free of drift and with improved low-frequency response. The output signal from the sensor is sampled and integrated using digital techniques that include a drift compensation algorithm. The algorithm continually monitors the sensor output and estimates bias errors that will cause the output to drift.
1. A quasi-static piezoelectric force sensor, comprising:
a piezoelectric sensor;
a shunt resistor in parallel with said piezoelectric sensor, said shunt resistor having resistance several orders of magnitude smaller than that of said piezoelectric sensor and producing an analog voltage corresponding to the short-circuit current through said piezoelectric sensor;
an analog-to-digital converter (ADC) coupled to said shunt resistor so as to convert said analog voltage to a digital signal having digital values corresponding to respective instantaneous values of said analog voltage; and
a digital signal processor responsive to said ADC and configured to perform numerical integration of a digital signal derived therefrom.
2. The quasi-static piezoelectric force sensor of claim 1 , wherein said digital signal processor is configured to implement a drift compensation algorithm which includes a switched bias estimator having a low-pass filter with a plurality of dynamically selectable time constants, said low-pass filter generating a bias value, said drift compensation algorithm further including means for selecting one of said time constants based on transient conditions of applied force, and means for subtracting said bias value from the output of said ADC.
3. The quasi-static piezoelectric force sensor of claim 2 , wherein said bias estimator has a shorter time constant for small changes in applied force than for large changes in applied force.
4. The quasi-static piezoelectric force sensor of claim 3 , wherein said bias estimator has a time constant of less than approximately one second for small changes in applied force.
5. The quasi-static piezoelectric force sensor of claim 2 , wherein said switched bias estimator incorporates a state machine having first and second primary states associated with first and second time constants of said low-pass filter, and at least one holding state in which a transition between said primary states is inhibited for momentary changes in applied force.
6. The quasi-static piezoelectric force sensor of claim 5 , wherein said state machine stores bias values and conditionally reverts to a previous bias value for subtraction from the current output of said ADC.
7. A quasi-static piezoelectric force sensor, comprising:
a piezoelectric sensor;
an analog-to-digital converter (ADC) having an input coupled to said piezoelectric sensor and configured to convert an analog signal therefrom to a digital signal representative of force sensed by said piezoelectric sensor; and
a digital signal processor having an input coupled to an output of said ADC and configured to perform numerical integration of a digital signal derived therefrom, said digital signal processor configured to implement a drift compensation algorithm and to produce an output signal representative of quasi-static force.
8. The quasi-static piezoelectric force sensor of claim 7 , wherein said drift compensation algorithm includes a switched bias estimator having a low-pass filter with a plurality of dynamically selectable time constants, said low-pass filter generating a bias value, said drift compensation algorithm further including means for selecting one of said time constants based on transient conditions of applied force, and means for subtracting said bias value from the output of said ADC.
9. The quasi-static piezoelectric force sensor of claim 8 , wherein said bias estimator has a shorter time constant for small changes in applied force than for large changes in applied force.
10. The quasi-static piezoelectric force sensor of claim 9 , wherein said bias estimator has a time constant of less than approximately one second for small changes in applied force.
11. The quasi-static piezoelectric force sensor of claim 8 , wherein said switched bias estimator incorporates a state machine having first and second primary states associated with first and second time constants of said low-pass filter, and at least one holding state in which a transition between said primary states is inhibited for momentary changes in applied force.
12. The quasi-static piezoelectric force sensor of claim 11 , wherein said state machine stores bias values and conditionally reverts to a previous bias value for subtraction from the current output of said ADC.