CN109990773A - A kind of detection of interference optical fiber top loop gain and closed-loop control system and control method - Google Patents
A kind of detection of interference optical fiber top loop gain and closed-loop control system and control method Download PDFInfo
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- CN109990773A CN109990773A CN201910287483.0A CN201910287483A CN109990773A CN 109990773 A CN109990773 A CN 109990773A CN 201910287483 A CN201910287483 A CN 201910287483A CN 109990773 A CN109990773 A CN 109990773A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/58—Turn-sensitive devices without moving masses
- G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
- G01C19/66—Ring laser gyrometers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/58—Turn-sensitive devices without moving masses
- G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
- G01C19/66—Ring laser gyrometers
- G01C19/661—Ring laser gyrometers details
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
- G05B13/024—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system in which a parameter or coefficient is automatically adjusted to optimise the performance
Abstract
The invention discloses a kind of detections of interference optical fiber top loop gain and closed-loop control system to guarantee the stabilization of integral loop gain, and not to influence the output characteristics of optical fibre gyro by stablizing forward path gain and feedback channel gain；System specifically includes the first circuit: forward path, feedback channel, staircase waveform generation module, modulated signal module and rate demodulation module；Second servo loop: forward path, feedback channel, 2 π error demodulation modules, 2 π voltage integrators；Gain Automatic control loop: module, gain error integrator and gain error filter are reconciled in forward path, feedback channel, gain detection module, reference gain module, gain.
Description
Technical field
The invention belongs to fibre optic gyroscope field, more particularly to a kind of interference optical fiber top loop gain detection with
Closed loop control method.
Background technique
Fibre optic gyroscope is a kind of Optical rotation sensor based on Sagnac effect, interference optical fiber top therein
Have that no-rotary part, precision wide coverage, dynamic range be big, high reliability, has been widely used in aviation, boat
It, navigation, weapons, the fields such as the energy.Core devices of the interference optical fiber top as optical fiber inertial navigation system, performance is to inertial navigation
The navigation accuracy of system plays decisive role.
Optical fibre gyro loop gain includes forward path gain and feedback channel gain.Forward path gain includes reaching to visit
Survey the optical power of device, preposition Simulation scale-up circuit gain and digital circuit gain etc.；Feedback channel gain includes DA conversion coefficient,
Feedback driving analog circuit gain and the Y waveguide index of modulation etc..Experiment show optical fibre gyro work temperature environment in (as-
40 DEG C~+75 DEG C), 20% or so, the maximum value of feedback channel change in gain exists the maximum value of forward path change in gain
10% or so；Even if at normal temperature, loop gain also has slow variation in optical fibre gyro works long hours.Forward path
The variation of gain will cause the unstable of gyro detection signal-to-noise ratio, cause the shakiness of optical fibre gyro frequency characteristic and respective bandwidth
It is fixed.In addition, for equipped with the optical fibre gyro for inhibiting gyro dead zone using periodic dither signal, due to the week additionally applied
Compensation is fixed in phase dither signal, and the variation of forward gain can make the compensation inaccuracy of dither signal, can be defeated in optical fibre gyro
The pseudo- tach signal generated due to compensation inaccuracy is added in out, causes the deterioration of bias instaility and random walk coefficient.Instead
The variation for presenting channel gain, can cause reset error, cause additional demodulating error, have an impact to gyro zero bias；Due to closed loop
The presence of system, feedback channel determine the proportionality coefficient of input and output, i.e. constant multiplier；Therefore, feedback channel gain becomes
Change also results in constant multiplier and changes.The second closed loop of gyro is the normal configuration of closed-loop fiber optic gyroscope, it is ensured that feedback channel
Gain stabilization.
Therefore, stablize loop gain to the stability for promoting optical fibre gyro zero bias, constant multiplier, frequency characteristic and bandwidth etc.
It is of great significance.
Summary of the invention
To promote interference optical fiber top stability, the invention proposes the loop increasings based on gain detection and real-time closed-loop
Beneficial automatic control system, by stablizing forward path gain and feedback channel gain, thus guarantee the stabilization of integral loop gain,
And the output characteristics of optical fibre gyro is not influenced.
According to an aspect of the present invention, a kind of detection of interference optical fiber top loop gain and closed-loop control system are provided
System, comprising:
- the first circuit, including forward path, feedback channel, staircase waveform generation module, modulated signal module and rate demodulation
Module；
Second servo loop, including forward path, feedback channel, 2 π error demodulation modules, 2 π voltage integrators；
Gain Automatic control loop, including forward path, feedback channel, gain detection module, reference gain module, increasing
Benefit reconciles module, gain error integrator and gain error filter；
Forward path part includes: interferometer, photoelectric detection module, Simulation scale-up, A/D module；Feedback channel part packet
It includes: D/A module, analog-driven amplification, phase-modulator, the difference link in interferometer.
Utilize the detection of interference optical fiber top loop gain and the side of closed-loop control system stable fiber gyro loop gain
Method is that gain detection signal is added to be used cooperatively with modulated signal；Particularly, modulated signal can be four state modulated signals；It is special
Other, modulated signal can be square-wave modulation signal.
Utilize the detection of interference optical fiber top loop gain and the tool of closed-loop control system stable fiber gyro loop gain
Body method are as follows:
Four state modulated signals, digital staircase signal, gain monitoring signal are worked together into phase-modulator, described four
The corresponding phase delta phi of state modulated signalmIt is followed successively by φ1, φ2,-φ1,-φ2, frequency is the eigenfrequency v of fiber optic loopk=1/ (2
τloop), τloopIt is the time that light is propagated one week in fiber optic loop, is the transition time；Gain monitoring signal is square-wave signal, frequency
For vk/ 2, the phase difference φ generatedgAn amplitude be φg；
The optical fibre gyro of open loop work, reaches the signal of detector are as follows:
Wherein P0For the maximum value for reaching detector optical power, Δ φsIndicate Sagnac phase difference caused by revolving speed, Δ φm
(t) it changes with time for four state modulated signal corresponding phase differences, Δ φg(t) at any time for gain monitoring signal corresponding phase difference
Between variation, Δ φm(t) and Δ φg(t) amplitude can be guaranteed to stablize by second servo loop；
By gain monitoring signal Δ φg(t) 8 τ in a cycleloop/ 2 periods were denoted as τ respectively1, τ2, τ3, τ4,
τ5, τ6, τ7And τ8, detector signal carries out digital quantization encoding, τ after Simulation scale-up module1, τ2, τ3, τ4, τ5, τ6, τ7With
τ8The corresponding digital quantity of state is respectively as follows:
Wherein, K0For the gain of forward path；
Revolving speed demodulation result under open loop working condition are as follows:
Gain demodulation result under closed-loop working state are as follows:
When there are feedback channel error, i.e. φ1+φ2When ≠ 2 π, it is represented by φ1And φ2Multiplied by a coefficient
A, a ≠ 1,2 π error demodulation results are as follows:
Second servo loop stablizes feedback channel gain；
Reference gain module indicates that the target value of gain demodulation value, gain error are real in the Gain Automatic control loop
The difference of border gain demodulation value and target value；If actual gain demodulation value is consistent with target value, gain error zero；If practical
Gain demodulation value and target value are inconsistent, and the symbol of gain error illustrates that actual gain is more than or less than target value, and gain misses
Difference is connected to the gain error integrator and the gain error filter, output control variable digital gain part Kadj,
KadjFor a part of forward gain, then:
Revolving speed demodulation result are as follows:
Drate=-4K0Kadjsinφ1sinΔφscosφg (6)
Gain demodulation result becomes:
Dgain≈-4K0Kadjsinφ1sinφg (7)
Formula (7) institute indicating value, in target value, and keeps stable by closed-loop control.
Beneficial effects of the present invention:
1) a kind of loop gain automatic control scheme based on gain detection and real-time closed-loop is proposed.Gain closed-loop control
Loop gain keeps stablizing certifiable interference optical fiber top in the actual use environment.
2) modulation /demodulation of three control loops and closed loop separately work at different frequencies, respectively 0.5vk(forward direction
Gain detection and closed loop), vk(Rotating speed measring and closed loop), 2vk(2 π error-detectings and closed loop), and its odd frequency multiplication, are independent of each other,
Between each other without crosstalk.
3) gain being added detects signal, can carry out artificial process control, (such as startup self-detection can be added at any time
When, or when needing periodic calibrating) can also be added for a long time, on gyro other performances without influence.
Detailed description of the invention
Fig. 1 is the timing diagram of the modulation of four states and gain detection square wave.
Fig. 2 is the detector output figure under hybrid modulation.
Fig. 3 is 2 π normal resets and there are when error, detector output waveform figure.
Fig. 4 is Gain Automatic control principle block diagram.
Specific embodiment
Below in conjunction with the attached drawing in the application embodiment, the technical solution in presently filed embodiment is carried out clear
Chu, complete description, it is clear that described embodiment is merely possible to illustrate, and is not intended to limit the application.
To reach gain closed-loop, first have to realize the real-time testing to gain.By taking the working condition of four states modulation as an example,
While the modulation of four states is added to Y waveguide, need to be added an additional gain monitoring signal.Four states modulate corresponding phase delta
φmIt is followed successively by φ1, φ2,-φ1,-φ2(when without 2 π error, φ1+φ2=2 π, φ1< π, φ2> π, such as φ1=3 π/4, φ2=5
π/4), frequency is the eigenfrequency v of fiber optic loopk=1/ (2 τloop), τloopIt is that light is propagated one week in fiber optic loop for the transition time
Time；The phase difference φ that gain monitoring signal generatesgIt is φ for an amplitudeg, frequency vk/ 2 square-wave signal, and with
Four states modulate time synchronization.Four states modulation corresponding phase difference changes with time Δ φm(t) and gain monitoring signal corresponding phase
Difference changes with time Δ φg(t) and the timing diagram of sum of the two is as shown in Figure 1, Δ φ thereins(t) indicate that revolving speed draws
The Sagnac phase difference risen changes over time.Gain monitoring signal can also be combined with square-wave modulated waveforms, realize similar function
Energy.
Δφm(t) and Δ φg(t) amplitude can be guaranteed to stablize by the second servo loop of optical fibre gyro.As shown in Figure 1, will increase
Beneficial monitoring signal Δ φg(t) 8 τ in a cycleloop/ 2 periods were denoted as τ respectively1, τ2, τ3, τ4, τ5, τ6, τ7And τ8.?
In this case, for the optical fibre gyro of open loop work, the signal for reaching detector can be indicated are as follows:
Wherein P0For the maximum value for reaching detector optical power；ΔφsIndicate Sagnac phase difference caused by revolving speed；It is corresponding
Detector output it is as shown in Figure 2.
Detector signal carries out digital quantization encoding, τ after Simulation scale-up module1, τ2, τ3, τ4, τ5, τ6, τ7And τ8Shape
The corresponding digital quantity of state be respectively as follows: (when no feedback channel error, i.e. φ1+φ2When=2 π)
Wherein, K0For the gain of forward path；
Such as Fig. 2, system sensitive to revolving speed can calculate are as follows:
This formula is the revolving speed demodulation result under open loop working condition, it can be seen that demodulation result is Δ φsSIN function
Form.In Closed loop operation, Δ φ in formulasBy closed-loop error Δ φe(difference of Sagnac phase difference and feedback phase difference) is replaced
Generation.Closed loop operation the result is that making Δ φeClose to 0.With this condition, the gain demodulation result of optical fibre gyro is represented by
The form of formula (4) contains forward path gain K0。
When there are feedback channel error, i.e. φ1+φ2When ≠ 2 π, it is represented by φ1And φ2Multiplied by a coefficient
A, a ≠ 1,2 π error demodulation results are as follows:
Formula (5) is there are when feedback channel error, and 2 π error expressions of interference optical fiber top, Fig. 3 is under 2 π errors
Detector output waveform figure.The controllable 2 π voltage of optical fibre gyro second servo loop, stablizes feedback channel gain.Formula (4) packet
Forward gain K is contained0, for the stabilization for realizing forward path gain, need to carry out closed-loop control to the result of formula (4).It is being added
After gain detects signal, whole Gain Automatic control loop principle is as shown in Figure 4.
The circuit of solid line module and arrow composition in Fig. 4 is traditional optical fibre gyro close loop control circuit, contains four
The parts such as state modulation and staircase waveform feedback, realize digital closed loop structure.To guarantee that serrodyne's reset amplitude corresponds to accurate 2 π,
On the basis of speed closed loop, D/A reference voltage is adjusted by integrator, realizes the closed-loop control of 2 π voltages, that is, realizes the
Two closed-loop controls, the stabilization of the second closed loop ensure that the stabilization of feedback channel gain.In order to stablize forward path gain, Jin Erwen
Determine loop gain, Gain Automatic control loop is increased in block diagram, as shown in figure 4, Gain Automatic control loop and the second closed loop
The common guarantee stabilization of loop gain.Reference gain module illustrates the target value of gain demodulation value；Gain error is practical
The difference of gain demodulation value and reference gain；If actual forward gain demodulation value is consistent with target value, gain error zero；It is no
Then, the symbol of gain error illustrates that actual gain is more than or less than target gain value.Gain error is connected to gain error
Integrator and filter, output control variable digital gain part Kadj, KadjFor a part of forward gain.At this point, revolving speed solution
Result and gain demodulation result is adjusted to become:
Drate=-4K0Kadjsinφ1sinΔφscosφg (6)
Dgain≈-4K0Kadjsinφ1sinφg (7)
When gain error closed-loop control is zero, forward gain value (K0And KadjProduct value) in K0Also can when changing
It enough remains unchanged, reference gain value of the all-the-time stable in setting.The invention can ensure that the gain of optical fibre gyro forward path and feedback
The stabilization of channel gain, to ensure that the stabilization of integral loop gain；The gain of addition detects signal, to other performances of gyro
Without influence；Three closed loops in gyro work independently, from each other without crosstalk.
Although for illustrative purposes, it has been described that exemplary embodiments of the present invention, those skilled in the art
Member it will be understood that, can be in form and details in the case where the scope and spirit for not departing from invention disclosed in appended claims
On the change that carry out various modifications, add and replace etc., and all these changes all should belong to appended claims of the present invention
Protection scope, and each step in the claimed each department of product and method, can in any combination
Form is combined.Therefore, to disclosed in this invention the description of embodiment be not intended to limit the scope of the invention,
But for describing the present invention.Correspondingly, the scope of the present invention is not limited by embodiment of above, but by claim or
Its equivalent is defined.
Claims (5)
1. a kind of interference optical fiber top loop gain detection and closed-loop control system, including
- the first circuit, including forward path, feedback channel, staircase waveform generation module, modulated signal module and rate demodulation mould
Block；
Second servo loop, including forward path, feedback channel, 2 π error demodulation modules, 2 π voltage integrators；
Gain Automatic control loop, including forward path, feedback channel, gain detection module, reference gain module, gain tune
Solve module, gain error integrator and gain error filter；
The forward path includes: interferometer, photoelectric detection module, Simulation scale-up, A/D module；The feedback channel includes: DA
Module, analog-driven amplification, phase-modulator, the difference link in interferometer.
2. utilizing a kind of interference optical fiber top loop gain detection described in claim 1 and closed-loop control system stable fiber
The method of gyro loop gain, it is characterized in that, gain detection signal is added and is used cooperatively with modulated signal.
3. according to the method described in claim 2, it is characterized in that, the modulated signal is four state modulated signals.
4. according to the method described in claim 3, it is characterized in that:
Four state modulated signals, digital staircase signal, gain monitoring signal are worked together into the phase-modulator, described four
The corresponding phase delta phi of state modulated signalmIt is followed successively by φ1, φ2,-φ1,-φ2, frequency is the eigenfrequency v of fiber optic loopk=1/ (2
τloop), τloopIt is the time that light is propagated one week in fiber optic loop for the transition time, the gain monitoring signal is square-wave signal,
Frequency is vk/ 2, the phase difference φ generatedgAn amplitude be φg；
The optical fibre gyro of open loop work, reaches the signal of detector are as follows:
Wherein P0For the maximum value for reaching detector optical power, Δ φsIndicate Sagnac phase difference caused by revolving speed, Δ φm(t)
It changes with time for four state modulated signal corresponding phase differences, Δ φg(t) at any time for gain monitoring signal corresponding phase difference
Variation, Δ φm(t) and Δ φg(t) amplitude can be guaranteed to stablize by second servo loop；
By gain monitoring signal Δ φg(t) 8 τ in a cycleloop/ 2 periods were denoted as τ respectively1, τ2, τ3, τ4, τ5, τ6,
τ7And τ8, detector signal carries out digital quantization encoding, τ after Simulation scale-up module1, τ2, τ3, τ4, τ5, τ6, τ7And τ8State
Corresponding digital quantity is respectively as follows:
Wherein, K0For the gain of forward path；
Revolving speed demodulation result under open loop working condition are as follows:
Gain demodulation result under closed-loop working state are as follows:
When there are feedback channel error, i.e. φ1+φ2When ≠ 2 π, it is represented by φ1And φ2Multiplied by coefficient an a, a ≠
1,2 π error demodulation result are as follows:
Second servo loop stablizes feedback channel gain；
Reference gain module indicates that the target value of gain demodulation value, gain error are practical increase in the Gain Automatic control loop
The difference of beneficial demodulation value and target value；If actual gain demodulation value is consistent with target value, gain error zero；If actual gain
Demodulation value is inconsistent with target value, and the symbol of gain error illustrates that actual gain is more than or less than target value, and gain error connects
It is connected to the gain error integrator and the gain error filter, output control variable digital gain part Kadj, KadjFor
A part of forward gain, then:
Revolving speed demodulation result are as follows:
Drate=-4K0Kadjsinφ1sinΔφscosφg (6)
Gain demodulation result becomes:
Dgain≈-4K0Kadjsinφ1sinφg (7)
Formula (7) institute indicating value, in target value, and keeps stable by closed-loop control.
5. according to the method described in claim 2, it is characterized in that, the modulated signal is square-wave modulation signal.
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Cited By (11)
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| CN111174773A (en) * | 2019-12-30 | 2020-05-19 | 浙江大学 | Multi-phase modulation and demodulation fiber-optic gyroscope multi-closed-loop algorithm |
| CN111220142A (en) * | 2020-02-25 | 2020-06-02 | 北京航空航天大学 | Signal processing method and device of novel ultrahigh-precision optical fiber gyroscope |
| CN111238463A (en) * | 2020-01-19 | 2020-06-05 | 湖北三江航天红峰控制有限公司 | Modulation method and device based on random sequence digital closed-loop fiber optic gyroscope |
| CN111998843A (en) * | 2020-08-10 | 2020-11-27 | 中国科学院光电技术研究所 | Low-noise digital double-closed-loop fiber-optic gyroscope signal modulation and demodulation method |
| CN113063410A (en) * | 2021-03-23 | 2021-07-02 | 安徽华驰动能科技有限公司 | Four-state modulation-based integrated optical phase modulator coefficient tracking method |
| CN113074712A (en) * | 2021-03-23 | 2021-07-06 | 安徽华驰动能科技有限公司 | Optical fiber gyroscope loop gain optimization method |
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| CN113790716A (en) * | 2021-08-27 | 2021-12-14 | 北京航空航天大学 | Method for automatically tracking intrinsic frequency of fiber-optic gyroscope on line |
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| CN111174773A (en) * | 2019-12-30 | 2020-05-19 | 浙江大学 | Multi-phase modulation and demodulation fiber-optic gyroscope multi-closed-loop algorithm |
| CN111238463A (en) * | 2020-01-19 | 2020-06-05 | 湖北三江航天红峰控制有限公司 | Modulation method and device based on random sequence digital closed-loop fiber optic gyroscope |
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| CN111998843A (en) * | 2020-08-10 | 2020-11-27 | 中国科学院光电技术研究所 | Low-noise digital double-closed-loop fiber-optic gyroscope signal modulation and demodulation method |
| CN113074712B (en) * | 2021-03-23 | 2023-01-24 | 安徽华驰动能科技有限公司 | Optical fiber gyroscope loop gain optimization method |
| CN113074712A (en) * | 2021-03-23 | 2021-07-06 | 安徽华驰动能科技有限公司 | Optical fiber gyroscope loop gain optimization method |
| CN113074710A (en) * | 2021-03-23 | 2021-07-06 | 安徽华驰动能科技有限公司 | Closed-loop detection method for optimizing precision measurement precision of fiber-optic gyroscope |
| CN113063410A (en) * | 2021-03-23 | 2021-07-02 | 安徽华驰动能科技有限公司 | Four-state modulation-based integrated optical phase modulator coefficient tracking method |
| CN113063410B (en) * | 2021-03-23 | 2023-01-24 | 安徽华驰动能科技有限公司 | Four-state modulation-based integrated optical phase modulator coefficient tracking method |
| CN113310400A (en) * | 2021-05-26 | 2021-08-27 | 桂林电子科技大学 | Laser interferometry synchronous dynamic gain compensation method for closed-loop control |
| CN113310400B (en) * | 2021-05-26 | 2022-03-15 | 桂林电子科技大学 | Laser interferometry synchronous dynamic gain compensation method for closed-loop control |
| CN113790716A (en) * | 2021-08-27 | 2021-12-14 | 北京航空航天大学 | Method for automatically tracking intrinsic frequency of fiber-optic gyroscope on line |
| CN115077510A (en) * | 2022-06-27 | 2022-09-20 | 北京航空航天大学 | Interferometric fiber optic gyroscope modulation method based on alternating amplitude square waves |
| CN115077510B (en) * | 2022-06-27 | 2024-04-26 | 北京航空航天大学 | Interference type optical fiber gyro modulation method based on alternating amplitude square waves |
| CN117647240A (en) * | 2024-01-29 | 2024-03-05 | 中科亿海微电子科技（苏州）有限公司 | Device and method for performing phase-sensitive detection on fiber optic gyroscope |
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