CN117190998A - Time-sharing switching time sequence self-adaptive adjusting method for resonant gyro electrode - Google Patents
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Abstract
The invention relates to the technical field of resonant gyro control, and provides a time-sharing switching time sequence self-adaptive adjustment method for a resonant gyro electrode. The method comprises the following steps: collecting a first vibration signal of a harmonic oscillator electrode in a detection state and demodulating the signal to obtain a sine and cosine component; based on a dynamics equation, solving sine and cosine components, obtaining a time delay phase of a frequency stabilization control loop, and calculating by a control algorithm according to the time delay phase to obtain a reference signal frequency of a next switching period of a harmonic oscillator electrode; obtaining a frequency control word according to frequency calculation of a reference signal through a direct digital frequency synthesizer, and obtaining a phase accumulation word according to frequency calculation through a phase accumulator; converting the phase accumulated word into an accumulated phase, and calculating according to the accumulated phase to obtain a time sequence signal of the next switching period; a second vibration signal modulated according to the timing signal is applied to the resonator electrode. The invention can keep the efficiency consistent in each period, reduce the time-sharing switching interference and improve the loop stability.
Description
Technical Field
The invention relates to the technical field of resonant gyro control, in particular to a time-sharing switching time sequence self-adaptive adjusting method for a resonant gyro electrode.
Background
Resonant gyroscopes typically employ fixed-orientation electrodes to detect and drive their vibrations. The standing wave angle can be in any direction in the omni-angle mode, and vibration needs to be decomposed to the corresponding electrode direction for detection and driving. Under the use scene, interference factors such as inconsistent gain phase of a circuit channel, crosstalk coupling and the like are introduced into a control loop of the gyroscope, so that an output signal generates additional errors, the performance level of the gyroscope is seriously influenced, and meanwhile, under environmental changes such as temperature and the like, the errors are changed along with the environmental adaptability of the gyroscope is further reduced.
The mode of driving detection electrodes to switch and multiplex in a time-sharing way and the application of a single-channel driving detection circuit are adopted at present, so that the circuit coupling error can be greatly reduced, and the performance level of the gyroscope is improved. However, the time-sharing switching causes the driving and detecting resonant frequency alternating current signals to be broken into intermittent signals, when the gyroscope works, the resonant frequency can change along with factors such as temperature, and the full period synchronization is difficult to keep with the switching time sequence of the fixed frequency, so that the generated frequency error causes dislocation of the driving and detecting every period, further causes additional error disturbance, and reduces the stability of the gyroscope.
Disclosure of Invention
The present invention is directed to solving at least one of the technical problems existing in the related art. Therefore, the invention provides a time-sharing switching time sequence self-adaptive adjusting method for the resonant gyro electrode.
The invention provides a time-sharing switching time sequence self-adaptive adjusting method of a resonant gyro electrode, which comprises the following steps:
s1: collecting a first vibration signal of a harmonic oscillator electrode in a detection state, and demodulating the first vibration signal to obtain a sine and cosine component;
s2: solving the sine and cosine components based on a dynamic equation, obtaining a time delay phase of a frequency stabilization control loop, and calculating by a control algorithm according to the time delay phase to obtain a reference signal frequency of a next switching period of a harmonic oscillator electrode;
s3: obtaining a frequency control word according to the frequency calculation of the reference signal through a direct digital frequency synthesizer, and obtaining a phase accumulation word according to the frequency calculation through a phase accumulator;
s4: converting the phase accumulation word into an accumulation phase, and calculating according to the accumulation phase to obtain a timing signal of the next switching period;
s5: and applying a second vibration signal modulated according to the time sequence signal to the harmonic oscillator electrode to finish time-sharing switching of the harmonic oscillator electrode.
According to the self-adaptive adjusting method for the time-sharing switching time sequence of the resonant gyro electrode provided by the invention, the expression of the time delay phase in the step S2 is as follows:
；
wherein,for delay phase +.>Is a harmonic oscillator->Sinusoidal component of the electrode vibration signal, +.>Is a harmonic oscillator->Cosine component of the electrode vibration signal, < >>Is a harmonic oscillator->Sinusoidal component of the electrode vibration signal, +.>Is a harmonic oscillator->Cosine component of the electrode vibration signal.
According to the self-adaptive adjusting method for the time-sharing switching time sequence of the resonant gyro electrode, the control algorithm in the step S2 is PID control.
According to the self-adaptive adjusting method for the time-sharing switching time sequence of the resonant gyro electrode provided by the invention, the expression of the frequency control word in the step S3 is as follows:
；
wherein,for frequency control word>For the reference signal frequency, +.>Bit number for direct digital frequency synthesizer, +.>Is the sampling frequency of a direct digital frequency synthesizer.
According to the self-adaptive adjusting method for the time-sharing switching time sequence of the resonant gyro electrode provided by the invention, the process of calculating and obtaining the phase accumulation word according to the frequency control word in the step S3 comprises the following steps:
s31: an adder in the direct digital frequency synthesizer adds the frequency control word and the current phase data of an accumulation register in the direct digital frequency synthesizer to obtain an addition result;
s32: the adder inputs the addition result to the accumulation register, and the accumulation register sends the addition result as a sampling address to a lookup table to output a phase accumulation word.
According to the self-adaptive adjusting method for the time-sharing switching time sequence of the resonant gyro electrode provided by the invention, the expression of the accumulated phase in the step S4 is as follows:
；
wherein,for accumulating phase +.>Words are accumulated for phase.
According to the self-adaptive adjusting method for the time-sharing switching time sequence of the resonant gyro electrode provided by the invention, in the step S4, the step of obtaining the time sequence signal of the next switching period according to the accumulated phase calculation comprises the following steps:
s41: recording the accumulated phase as an initial phase at the moment 0 of the next switching period;
s42: obtaining an initial state of a next switching period according to the initial phase;
s43: calculating time sequence time according to the frequency stabilization control quantity, wherein the time sequence time comprises driving duration time and detection duration time;
s44: and generating a time sequence signal of the next switching period according to the initial state and the time sequence time, wherein the time except the time sequence time in the time sequence signal is complemented by an idle period.
According to the self-adaptive adjusting method for the time-sharing switching time sequence of the resonant gyro electrode provided by the invention, the expression of the time sequence time in the step S43 is as follows:
；
wherein,for the time of the sequence>Is the termination phase of the working state of the section in the time sequence time, +.>Is the initial phase of the working state of the section in the time sequence time, +.>Is the driving frequency of the working state of the section in the time sequence time.
The self-adaptive adjusting method for the time-sharing switching time sequence of the resonant gyro electrode provided by the invention acquires the accumulated phase of the signal in real time, and self-adaptively adjusts the switching time sequence of the driving detection of each cycle, so that the driving detection of each cycle is in a fixed phase interval under fixed switching frequency, the efficiency consistency of each cycle is maintained, the additional interference of time-sharing switching is reduced, the stability of a loop is improved, and the output noise is reduced.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a method for adaptively adjusting a time-sharing switching time sequence of an electrode of a resonant gyroscope according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. The following examples are illustrative of the invention but are not intended to limit the scope of the invention.
In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In describing embodiments of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the terms "coupled," "coupled," and "connected" should be construed broadly, and may be either a fixed connection, a removable connection, or an integral connection, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in embodiments of the present invention will be understood in detail by those of ordinary skill in the art.
In embodiments of the invention, unless expressly specified and limited otherwise, a first feature "up" or "down" on a second feature may be that the first and second features are in direct contact, or that the first and second features are in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the embodiments of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
An embodiment of the present invention is described below with reference to fig. 1.
The invention provides a time-sharing switching time sequence self-adaptive adjusting method of a resonant gyro electrode, which comprises the following steps:
s1: collecting a first vibration signal of a harmonic oscillator electrode in a detection state, and demodulating the first vibration signal to obtain a sine and cosine component;
furthermore, the demodulation algorithm in step S1 may employ multiplication demodulation, least square recognition, etc. to extract in-phase and quadrature components of the sinusoidal signal, which is the same as the conventional demodulation algorithm of the resonant gyro signal, and the calculation of the delay phase of the error amount of the frequency stabilization control loop may employ a dynamic equation or an angle tracking control solution.
S2: solving the sine and cosine components based on a dynamic equation, obtaining a time delay phase of a frequency stabilization control loop, and calculating by a control algorithm according to the time delay phase to obtain a reference signal frequency of a next switching period of a harmonic oscillator electrode;
the expression of the delay phase in step S2 is:
；
wherein,for delay phase +.>Is a harmonic oscillator->Sinusoidal component of the electrode vibration signal, +.>Is a harmonic oscillator->Cosine component of the electrode vibration signal, < >>Is a harmonic oscillator->Sinusoidal component of the electrode vibration signal, +.>Is a harmonic oscillator->Cosine component of the electrode vibration signal.
Wherein, the control algorithm in step S2 is PID control.
S3: obtaining a frequency control word according to the frequency calculation of the reference signal through a direct digital frequency synthesizer, and obtaining a phase accumulation word according to the frequency calculation through a phase accumulator;
further, the frequency control word is used for providing a direct digital frequency synthesizer DDS to generate a sine reference signal and a cosine reference signal, and the DDS basic structure consists of an N-bit phase accumulator, an N-bit adder and an N-bit accumulation register.
Further, the output frequency expression of the DDS is:
；
wherein,for the output frequency of a direct digital frequency synthesizer, +.>For the sampling frequency of a direct digital frequency synthesizer, +.>Bit number for direct digital frequency synthesizer, +.>Is a digital tuning word.
The expression of the frequency control word in step S3 is:
；
wherein,for frequency control word>Is the reference signal frequency.
Further, each clock pulse, the N-bit adder adds the frequency control word and the accumulated phase data output by the N-bit accumulation register, and the added result is sent to the input end of the accumulation register, and the accumulation register feeds back the new phase data generated after the previous clock period to the input end of the adder on one hand, so that the adder continues to add with the frequency control word under the action of the next moment; on the other hand, this value is fed into a look-up table (LUT) as a sampling address, and corresponding waveform data is output according to this address.
The step S3 of calculating and obtaining the phase accumulation word according to the frequency control word comprises the following steps:
s31: an adder in the direct digital frequency synthesizer adds the frequency control word and the current phase data of an accumulation register in the direct digital frequency synthesizer to obtain an addition result;
s32: the adder inputs the addition result to the accumulation register, and the accumulation register sends the addition result as a sampling address to a lookup table to output a phase accumulation word.
Further, the DDS includes 4 design parameters: phase accumulator width, LUT address bits, LUT output length, sampling frequency, which directly affects the effectiveness and spectral characteristics of the waveform signal.
S4: converting the phase accumulation word into an accumulation phase, and calculating according to the accumulation phase to obtain a timing signal of the next switching period;
wherein, the expression of the accumulated phase in step S4 is:
；
wherein,for accumulating phase +.>Words are accumulated for phase.
In step S4, the step of obtaining the timing signal of the next switching period according to the accumulated phase calculation includes:
s41: recording the accumulated phase as an initial phase at the moment 0 of the next switching period;
s42: obtaining an initial state of a next switching period according to the initial phase;
s43: calculating time sequence time according to the frequency stabilization control quantity, wherein the time sequence time comprises driving duration time and detection duration time;
s44: and generating a time sequence signal of the next switching period according to the initial state and the time sequence time, wherein the time except the time sequence time in the time sequence signal is complemented by an idle period.
Wherein, the expression of the time sequence time in the step S43 is:
；
wherein,for the time of the sequence>Is the termination phase of the working state of the section in the time sequence time, +.>Is the initial phase of the working state of the section in the time sequence time, +.>Is the driving frequency of the working state of the section in the time sequence time.
S5: and applying a second vibration signal modulated according to the time sequence signal to the harmonic oscillator electrode to finish time-sharing switching of the harmonic oscillator electrode.
Further, generating a time sequence signal according to the initial state and each duration, wherein the rest part is complemented by an idle period, and the switching frequency is smaller than or equal to the driving frequency so as to ensure that the detection phase interval is fully covered in each period of driving and avoid signal interception; the driving period is used for selecting a peak interval of a signal phase so as to provide driving efficiency as large as possible; the detection period should select the node interval of the signal phase to ensure that the signal features are obvious and provide a detection signal to noise ratio as large as possible.
In some embodiments, the harmonic oscillator natural frequency is first determined to be about 5.3kHz.
The natural frequency of the harmonic oscillator vibrates to enable the electrode spacing to perform sinusoidal motion, so that the capacitance of the harmonic oscillator changes at the same frequency. In the detection periods D1 and D2, detecting the vibration signals of the harmonic oscillator, wherein the corresponding electrode of the harmonic oscillator works in a detection state, the sinusoidal change of the capacitance value of the electrode is equivalent to a charge source, and the current output with the same frequency is generated. When the harmonic oscillator vibrates stably, each control loop works normally, the amplitude stabilizing loop sets 4V, and the working frequency is about 5312.486Hz. In the detection periods D1 and D2, the gyro detection signal is subjected to least square identificationThe calculated sine and cosine components of the X, Y axis are about:solving the delay phase of the error amount of the frequency stabilization control loop>：
According to the control algorithm, the reference signal frequency of the next switching period is calculated as follows:。
the sampling frequency of the system isThe number of bits of DDS is +.>Bit, then the frequency control word is:
；
the DDS calculates the phase accumulation word as:。
the sine and cosine reference signals are generated according to the phase accumulation word:wherein->Is the sampling time.
Calculate the accumulated phase from the phase accumulated word:
；
the switching frequency is set toI.e. the total time length of one switching cycleSetting the phase interval of the signal in which the driving period C1 is positioned as 72 DEG, 108 DEG]The phase interval of the signal in which the driving period C2 is located is [252 DEG, 288 DEG ]]The detection period D1 is in a signal interval of [112.5 DEG, 247.5 DEG ]]The signal interval where the detection period D2 is located is [292.5 °,427.5 ]]The remaining phase intervals are idle periods.
The initial phase of the current driving period 0 moment is obtained according to the accumulated phase:。
according to the initial phase, the initial working state of the period is an idle period, so the working time sequence of the period is r1-C1-r2-D1-r3-C2-r4-D2-r5.
The duration of each period is calculated as:
；
wherein,for the duration of the r1 idle period, +.>For the duration control time of the C1 driving period, +.>For the duration of the C2 drive period, +.>For the duration control time of the D1 detection period, < >>For the duration of the D2 detection period, +.>For the duration of the r2 idle period, +.>For the duration of the r3 idle period, +.>For the duration of the r4 idle period, +.>For r5 duration of the idle period.
According to the time sequence switching signals r1-C1-r2-D1-r3-C2-r4-D2-r5, in the driving period C1 and the driving period C2, driving signal voltages are applied to corresponding electrodes, and the calculated continuous control time of each idle period and detection period is controlled sequentially, so that the time-sharing switching of the driving detection of the period is completed, the closed loop of a control loop is realized, and each loop is enabled to run stably.
The self-adaptive adjusting method for the time-sharing switching time sequence of the resonant gyro electrode has the following advantages:
firstly, the time-sharing switching time sequence of the driving detection is calculated in real time, so that the driving detection in each period is kept in a fixed phase interval, the efficiency consistency is ensured, the extra instability is reduced, and the gyro stability index is improved; secondly, the time-division switching time sequence is adjusted in real time, the switching frequency is not changed, the original control program and control algorithm are not required to be changed, extra errors are avoided being introduced, and the method has good adaptability; thirdly, the switching time sequence is calculated in real time on software, so that hardware modification on a traditional time-sharing control circuit is not needed, and the method has strong applicability and portability.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A resonance gyro electrode time-sharing switching time sequence self-adaptive adjustment method is characterized by comprising the following steps:
s1: collecting a first vibration signal of a harmonic oscillator electrode in a detection state, and demodulating the first vibration signal to obtain a sine and cosine component;
s2: solving the sine and cosine components based on a dynamic equation, obtaining a time delay phase of a frequency stabilization control loop, and calculating by a control algorithm according to the time delay phase to obtain a reference signal frequency of a next switching period of a harmonic oscillator electrode;
s3: obtaining a frequency control word according to the frequency calculation of the reference signal through a direct digital frequency synthesizer, and obtaining a phase accumulation word according to the frequency calculation through a phase accumulator;
s4: converting the phase accumulation word into an accumulation phase, and calculating according to the accumulation phase to obtain a timing signal of the next switching period;
s5: and applying a second vibration signal modulated according to the time sequence signal to the harmonic oscillator electrode to finish time-sharing switching of the harmonic oscillator electrode.
2. The adaptive tuning method of time-sharing switching timing of a resonant gyro electrode according to claim 1, wherein the expression of the delay phase in step S2 is:
；
wherein,for delay phase +.>Is a harmonic oscillator->Sinusoidal component of the electrode vibration signal, +.>Is a harmonic oscillator->Cosine component of the electrode vibration signal, < >>Is a harmonic oscillator->Sinusoidal component of the electrode vibration signal, +.>Is a harmonic oscillator->Cosine component of the electrode vibration signal.
3. The adaptive tuning method of time-sharing switching timing of a resonant gyro electrode according to claim 1, wherein the control algorithm in step S2 is PID control.
4. The adaptive tuning method of time-sharing switching timing of a resonant gyro electrode according to claim 1, wherein the expression of the frequency control word in step S3 is:
；
wherein,for frequency control word>For the reference signal frequency, +.>For the number of bits of a direct digital frequency synthesizer,is the sampling frequency of a direct digital frequency synthesizer.
5. The adaptive tuning method of time-sharing switching timing of a resonant gyro electrode according to claim 1, wherein the step S3 of calculating a phase accumulation word according to the frequency control word comprises:
s31: an adder in the direct digital frequency synthesizer adds the frequency control word and the current phase data of an accumulation register in the direct digital frequency synthesizer to obtain an addition result;
s32: the adder inputs the addition result to the accumulation register, and the accumulation register sends the addition result as a sampling address to a lookup table to output a phase accumulation word.
6. The adaptive tuning method of time-sharing switching timing of a resonant gyro electrode according to claim 4, wherein the cumulative phase in step S4 is expressed as:
；
wherein,for accumulating phase +.>Words are accumulated for phase.
7. The method for adaptively adjusting the time-sharing switching timing of a resonant gyro electrode according to claim 1, wherein in step S4, the step of obtaining the timing signal of the next switching period according to the accumulated phase calculation includes:
s41: recording the accumulated phase as an initial phase at the moment 0 of the next switching period;
s42: obtaining an initial state of a next switching period according to the initial phase;
s43: calculating time sequence time according to the frequency stabilization control quantity, wherein the time sequence time comprises driving duration time and detection duration time;
s44: and generating a time sequence signal of the next switching period according to the initial state and the time sequence time, wherein the time except the time sequence time in the time sequence signal is complemented by an idle period.
8. The adaptive tuning method of time-sharing switching timing of a resonant gyro electrode according to claim 7, wherein the expression of the timing time in step S43 is:
；
wherein,for the time of the sequence>Is the termination phase of the working state of the section in the time sequence time, +.>Is the initial phase of the working state of the section in the time sequence time, +.>Is the driving frequency of the working state of the section in the time sequence time.
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