CN101968360B - Circuit system for bell-shaped vibrator angular rate gyro - Google Patents

Abstract

The invention discloses a circuit system for a bell-shaped vibrator angular rate gyro, which comprises a vibration mode stabilizing unit, a drive control unit, a differential capacitance detector and an information detection unit. Under the drive of a vibration starting circuit, the gyro begins vibrating, and the vibration mode of the bell-shaped vibrator is stable through the vibration mode stabilizing unit and the drive control unit. The differential capacitance detector charges and discharges a detection electrode and a feedback electrode of the vibrator of the bell-shaped vibrator angular rate gyro; the detected differential capacitance signals are converted into corresponding error voltage signals which are then output to a high precision amplifier; and after demodulation, an input angular rate is calculated by a processor. The circuit system has a simple structure, good performance and high precision; and particularly, the vibration mode stabilizing unit is introduced, so the sensitivity of the output signals of the gyro is improved and the defects of the gyro device per se are effectively overcome.

Description

A kind of Circuits System of bell vibrator type angular rate gyroscope

Technical field

The present invention relates to a kind of Circuits System of angular rate gyroscope, particularly relate to a kind of Circuits System of bell oscillator angular rate gyroscope.

Background technology

Gyro is the core component of inertial navigation, guidance and control system as the inertia device of sensitive carrier angular motion, and wherein oscillation gyro is represented a kind of important inertial technology, has all inertia qualities.Oscillation gyro based on the coriolis force principle is more and more important in the status in inertial technology field, is used as inertia type instrument of new generation by people and is subjected to paying attention to widely.Under the promotion of the science and technology development and the market demand, various oscillation gyros occur in succession.

Application number is: 201010215745.1, denomination of invention is: the patented claim of bell vibrator type angular rate gyroscope provides a kind of bell vibrator type angular rate gyroscope, this bell vibrator type angular rate gyroscope is a kind of oscillation gyro based on the coriolis force principle, and its sensitive components adopts the bell harmonic oscillator of fused silica material.At present, based on the Circuits System of this bell vibrator type angular rate gyroscope is the Circuits System that adopts based on the Circuits System of hemispherical reso nance gyroscope, this Circuits System exist complex structure, measuring accuracy lower, be not suitable for large-scale production and shortcoming such as cost an arm and a leg.The present invention just is being based on this bell vibrator type angular rate gyroscope a kind of Circuits System is provided.

Summary of the invention

The objective of the invention is for overcome bell vibrator type angular rate gyroscope circuit system structure complexity, measuring accuracy lower, be not suitable for large-scale production and defective such as cost an arm and a leg, a kind of Circuits System of simple bell vibrator type angular rate gyroscope has been proposed.

In order to solve the problems of the technologies described above, the technical solution used in the present invention is:

A kind of Circuits System of bell vibrator type angular rate gyroscope, this Circuits System comprise vibration shape stabilization element, driving control unit, electrode drive unit, differential capacitance detecting device and information detecting unit; Driving control unit connection electrode driver element; Electrode drive unit directly drives two drive electrodes of bell oscillator; Vibration shape stabilization element analyzes the vibration shape situation of bell oscillator according to two amplitude detecting electrodes on the bell oscillator, and situation is fed back to driving control unit, makes the bell oscillator vibration shape reach stable; The differential capacitance detecting device connects two tangential displacement detecting electrodes and two amplitude stability electrodes of bell oscillator, simultaneously the output link information detecting unit of differential capacitance detecting device; Information detecting unit is responsible for handling the change in displacement signal of relevant bell oscillator, and the angular speed that will finally calculate output.

Compared with prior art, the invention has the beneficial effects as follows:

1) Circuits System of bell vibrator type angular rate gyroscope provided by the invention, use for reference the Circuits System design philosophy of hemispherical reso nance gyroscope, simplified the structure of circuit, the bell vibrator type angular rate gyroscope Circuits System function admirable of designing, the precision height can suppress the deficiency of gyro sensitive element itself.

2) in the Circuits System of bell vibrator type angular rate gyroscope, driving circuit makes bell oscillator do stable simple harmonic oscillation constantly to the oscillator makeup energy; When the oscillator vibration amplitude increased, the sensitivity of gyro also can increase, and the stability of the scaling factor of gyro output simultaneously also requires the oscillator driving amplitude to keep stable, therefore introduces vibration shape stabilization element circuit.

3) vibration shape stabilization element circuit can drive the mode change of resonance frequency by the bell vibrator type angular rate gyroscope of real-time tracing, in time adjusts the frequency of driving voltage, thereby improves the sensitivity of bell vibrator type angular rate gyroscope output signal.

4) adopt high Precision Detection capacitance difference dynamic formula to read oscillator particle tangential displacement, detection signal is delivered to signal processing circuit calculate input angle speed.

5) adopt the primary processor of high-speed dsp processor, when guaranteeing computational accuracy, can satisfy the requirement of output speed as this circuit.

Description of drawings

Fig. 1 is the bell vibrator type angular rate gyroscope of a present invention Circuits System block diagram;

Fig. 2 is the bell vibrator type angular rate gyroscope of the present invention distribution of electrodes figure;

Fig. 3 is a bell vibrator type angular rate gyroscope Circuits System composition diagram of the present invention;

Fig. 4 is bell oscillator amplitude control principle figure of the present invention;

Fig. 5 is the signal flow diagram of the bell vibrator type angular rate gyroscope of the present invention;

Fig. 6 is the process flow diagram of amplitude control unit of the present invention;

Fig. 7 is that the vibration shape of the present invention is adjusted electrode configuration principle figure.

Embodiment

A kind of Circuits System of bell vibrator type angular rate gyroscope will adopt the mode of static excitation and capacitance detecting in the course of work.Excitation and detecting electrode are to all being to be made of electrode that pastes on the bell oscillator and base electrode, and electrode material is the gold electrode of tape insulation substrate.This Circuits System comprises vibration shape stabilization element, driving control unit, electrode drive unit, differential capacitance detecting device and information detecting unit, as shown in Figure 1.Gyrotron begins vibration under the effect of driving control unit, make the bell oscillator vibration shape stable through vibration shape stabilization element.The differential capacitance detecting device discharges and recharges the electrode of bell vibrator type angular rate gyroscope oscillator, detected differential capacitance signal is changed into corresponding error voltage signal output to information detecting unit, calculates angular speed.

In the Circuits System of bell vibrator type angular rate gyroscope of the present invention, driving control unit connection electrode driver element; Electrode drive unit directly drives two drive electrodes of bell oscillator; Vibration shape stabilization element analyzes the vibration shape situation of bell oscillator according to these two the amplitude detecting electrodes on the bell oscillator, and situation is fed back to driving control unit, makes the bell oscillator vibration shape reach stable; The differential capacitance detecting device connects two tangential displacement detecting electrodes and two amplitude stability electrodes of bell oscillator, and the output of differential capacitance detecting device simultaneously is connected to information detecting unit; Information detecting unit is responsible for handling the change in displacement signal of relevant bell oscillator, and the angular speed that will finally calculate output.

The effect of driving control unit is to keep bell oscillator to be operated in four stable antinode vibrational states, and bell vibrator type angular rate gyroscope adopts two driving control unit that drive two feedbacks.As shown in Figure 4, according to the electrostatic force principle of electric capacity, detect P ₃, P ₇The Oscillation Amplitude Z of position feeds back to driving control unit, at P ₁, P ₅The position applies electrostatic force and finishes bell oscillator amplitude control.

When driving direction displacement x (t) keeps amplitude and frequency constant, the detection side will be directly proportional with angular speed Ω to the amplitude of displacement y (t).But, driving vibration and detect existence coupling between the vibration, this must cause drive displacement x (t) to change along with angular speed Ω, thereby influences the measure linear degree and the precision of gyro, so the present invention has added vibration shape stabilization element.

This vibration shape stabilization element adopts digital control method to realize, the structure of amplitude is carried out modeling, and the signal flow diagram of bell vibrator type angular rate gyroscope as shown in Figure 5.

Drive displacement x and driving force F as can be drawn from Figure 5 _xBetween transport function be:

$\frac{X\left(s\right)}{F_x\left(s\right)}=H_d\left(s\right)=\frac{1}{m_x}\·\frac{1}{s^2+c_{x}s+k_x+\frac{{4s}^2{\mathrm{\Ω}}^2}{s^2+c_{y}s+k_y}}---\left(2\right)$

In the formula, c _xBe the capacitance of x axial electrode, c _yBe the capacitance of y axial electrode, k _xBe the axial scale-up factor of x, k _yBe the axial scale-up factor of y, m _xBe the quality of x axial electrode, m _yQuality for the y axial electrode.Transfer function H _d(s) be time-varying function about angular speed Ω, this will cause the non-linear of gyro to measure, guarantee the stable of driving amplitude so will add controlling unit, and the process flow diagram that adds vibration shape controlling unit as shown in Figure 6.Wherein, K is a control rate, E ₀It is the expectation driving amplitude.The amplitude stability degree of the bell oscillator that the present invention proposes is estimated to reach 10 ^-6

The information detecting unit of bell vibrator type angular rate gyroscope adopts the mode of 4 electrode differential detection displacements in the node of vibration mode position, detected object is the displacement of bell oscillator edge under the coriolis force effect, and this is different on detection mode of detection mode and hemisphere oscillation gyro etc. of the bell vibrator type angular rate gyroscope Circuits System that proposes of the present invention.This detection mode has reduced the complexity of bell vibrator type angular rate gyroscope.Through initial estimate, bell oscillator is at the effect bottom offset amplitude y of coriolis force ≈ 0.5 μ m, and single capacitor detects least displacement y _j≤ 0.02 μ m adopts multi-electrode variate method can also improve the measuring accuracy of displacement y.

When the node location of bell oscillator four antinodes vibration detected displacement, the zero stability of node was most important, and it is directly connected to the precision of angular rate measurement, and it is very important therefore seeking the method that solves node zero drift.Exploration realizes that by the research vibration shape stabilization element zero-bit of node of vibration mode is stable.To be configured and provide the voltage on the electrode and the referring-to relation of drive electrode voltage below to the position of vibration shape stabilization element electrode.

If bell oscillator is at hoop A, 2 of B have exciting force F simultaneously _A(t) and F _B(t), as shown in Figure 7.Wherein, the O point is an initial point, A point position zero degree line, and B point position angle is θ _B, C point position angle is θ _CSuppose F _A(t) and F _B(t) frequency is identical, and to equal housing hoop wave number be 2 the pairing resonance frequency omega of the vibration shape.

At the A point:

The surging force function of A point excitation can be expressed as:

F _A(t)＝F ₀(t)δ(θ) (3)

F wherein ₀(t) be initial excitation power amplitude, formula (3) carried out fourier expansion:

$F_A\left(t\right)=\frac{F_0\left(t\right)}{2\mathrm{\π}}+\frac{F_0\left(t\right)\underset{n=l}{\overset{2}{\mathrm{\Σ}}}\cos 2\mathrm{\θ}}{\mathrm{\π}}---\left(4\right)$

Driving force the hoop wave number only occurs and is 2 the vibration shape under closed-loop control, the oscillator vibration shape is expressed as so:

$U_A\left(t\right)=\frac{F_0\left(t\right)}{\mathrm{\π}}\cos 2\mathrm{\θ}---\left(5\right)$

In the surging force expression formula:

$F_0\left(t\right)=A{e}^{\mathrm{i\ω}(t-t_A)}---\left(6\right)$

On oscillator, only apply F _A(t) time, the oscillator vibration shape can be expressed as:

$U_A\left(t\right)=\frac{A}{\mathrm{\π}}\cos 2\mathrm{\θ}{e}^{\mathrm{i\ω}(t-t_A)}---\left(7\right)$

At the B point:

Work as F _BWhen (t) acting on housing B point separately, the housing vibration shape can be expressed as:

$U_B\left(t\right)=\frac{B}{\mathrm{\π}}\cos 2(\mathrm{\θ}-{\mathrm{\θ}}_B)e^{\mathrm{i\ω}(t-t_B)}---\left(8\right)$

In the formula, B is driving force F _B(t) amplitude.

When A point and B point act on simultaneously:

Work as F _A(t) and F _BWhen (t) acting on A on the housing, B simultaneously at 2, the housing vibration shape is expressed as:

$U_A\left(t\right)+U_B\left(t\right)=\frac{A}{\mathrm{\π}}\cos 2\mathrm{\θ}{e}^{\mathrm{i\ω}(t-t_A)}+\frac{B}{\mathrm{\π}}\cos 2(\mathrm{\θ}-{\mathrm{\θ}}_B)e^{\mathrm{i\ω}(t-t_B)}---\left(9\right)$

Because F in the driving process _A(t) and F _B(t) act on simultaneously, i.e. t _A=t _B=t ₀, then:

$U_A\left(t\right)+U_B\left(t\right)=\frac{A}{\mathrm{\π}}\cos 2\mathrm{\θ}{e}^{\mathrm{i\ω}(t-t_0)}+\frac{B}{\mathrm{\π}}\cos 2(\mathrm{\θ}-{\mathrm{\θ}}_B)e^{\mathrm{i\ω}(t-t_0)}---\left(10\right)$

Following formula can be write as:

$U_A\left(t\right)+U_B\left(t\right)=\frac{C}{\mathrm{\π}}\cos 2(\mathrm{\θ}-{\mathrm{\θ}}_C)e^{\mathrm{i\ω}(t-t_0)}---\left(11\right)$

Wherein,

$C=\sqrt{A^2+B^2+2\mathrm{AB}\cos 2{\mathrm{\θ}}_B}---\left(12\right)$

${\mathrm{\θ}}_C=\frac{1}{2}\mathrm{arctg}\frac{B\sin 2{\mathrm{\θ}}_B}{A+B\cos 2{\mathrm{\θ}}_B}---\left(13\right)$

In vibration shape stabilization element electrode design of the present invention, get θ _B=45 °, formula (12), (13) can further be simplified:

$C=\sqrt{A^2+B^2}---\left(14\right)$

${\mathrm{\θ}}_C=\frac{1}{2}\mathrm{arctg}\frac{B}{A}---\left(15\right)$

When acting on A, the F that B at 2 _A(t) and F _BWhen amplitude (t) changes, the hoop vibration shape of housing is moved.Continuously change the ratio of A, B, just can make the hoop vibration shape generation precession of housing, utilize this principle can make the relative housing of the vibration shape keep static.When the housing anglec of rotation is Ω, angle of precession K Ω and housing direction of rotation that the vibration shape produces, K is the precession factor, the vibration shape is expressed as:

$U_A\left(t\right)+U_B\left(t\right)=\frac{C}{\mathrm{\π}}\cos 2(\mathrm{\θ}-{\mathrm{\θ}}_C+\mathrm{K\Ω})e^{\mathrm{i\ω}(t-t_0)}---\left(16\right)$

Work as θ _cDuring=K Ω, just can make the vibration shape keep stable.Can obtain the ratio of A, 2 power of B again according to formula (15), thus the magnitude of voltage that should apply on definite vibration shape stabilization element electrode.

According to above-mentioned principle of work, the present invention has provided relevant Circuits System implementation method.At first, the distribution of electrodes of bell vibrator type angular rate gyroscope as shown in Figure 2, for bell oscillator 2-1 effectively being vibrated and detecting oscillator deformation conveniently, adopts 8 electrode mounting meanss, comprises the first drive electrode 2-5, the second drive electrode 2-9; Be responsible for detected amplitude, the frequency whether stable first amplitude detecting electrode 2-3, the second amplitude detecting electrode 2-7; Be used to detect the first tangential displacement detecting electrode 2-2, the second tangential displacement detecting electrode 2-6, first vibration mode stabilized electrodes 2-4, the second vibration mode stabilized electrodes 2-8 of deformation signal.

The Circuits System of bell vibrator type angular rate gyroscope of the present invention adopts 8 electrode mounting meanss equally, but the effect of 8 electrodes changes to some extent, and the first drive electrode 2-5, the second drive electrode 2-9 do drive electrode and use; The first amplitude detecting electrode 2-3, the second amplitude detecting electrode 2-7 are used as the vibration shape and detect; The first tangential displacement detecting electrode 2-2, the second tangential displacement detecting electrode 2-6, first vibration mode stabilized electrodes 2-4 and second vibration mode stabilized electrodes 2-8 are used as displacement detecting.

Provided Circuits System composition diagram provided by the invention among Fig. 3, the extraction part 3-2 that comprises signal, detecting electrode signal input part one 3-1 of bell vibrator type angular rate gyroscope, detecting electrode signal input part two 3-11, detecting electrode signal input part three 3-29, signal input part four 3-15 of detecting electrode, whether stable feedback is extracted part 3-25 to be used to detect the vibration shape, detect bell oscillator amplitude, feedback electrode signal input part one 3-16 of frequency, feedback electrode signal input part two 3-23, information detecting unit 3-9, vibration shape stabilization element 3-27, electrode drive unit 3-28, user data output bus 3-10, drive electrode signal output part one 3-22, drive electrode signal output part two 3-30.

In Circuits System, it is main detection chip that differential capacitance detecting device one 3-3 among the signal extraction part 3-2 and differential capacitance detecting device two 3-12 adopt AD8222, is equipped with relevant peripheral circuit again; High-precision amplifying one 3-4 among the information detecting unit 3-9, high-precision amplifying two 3-13, detect the vibration shape whether stable feedback to extract the chip that high-precision amplifying three 3-17 among the part 3-25 and high-precision amplifying four 3-24 adopt be OPA2365; Sampling hold circuit one 3-5 among the information detecting unit 3-9, sampling hold circuit two 3-32, detect the vibration shape whether stable feedback to extract the chip that sampling hold circuit three 3-18 and sampling hold circuit four 3-26 adopt among the part 3-25 be AD781; Divider one 3-6 among the information detecting unit 3-9 and divider two 3-14 adopt CD4046; 18 double channel A converter 3-7 among the information detecting unit 3-9 adopt the mode of two AD7982 parallel connections to constitute; 16 double channel A converter 3-19 among the vibration shape stabilization element 3-27 adopt ADS1209; Master cpu 3-8 among the information detecting unit 3-9 uses high-speed dsp chip TMS320C6727; Vibration shape stabilization element controller 3-20 among the vibration shape stabilization element 3-27 uses LM3S1635; Electrode driver one 3-21 among the electrode drive unit 3-28 and electrode driver two 3-31 adopt DAC8831-EP.

When gyro is started working, CPU gives initial amplitude value of vibration shape stabilization element controller 3-20, this controller transmitting two paths of signals is to electrode driver one 3-21 and electrode driver two 3-31, electrode driver one 3-21 and electrode driver two 3-31 transmission signals waveform respectively give drive electrode signal output part one 3-22 and drive electrode signal output part two 3-30, drive electrode signal output part one 3-22 transfers to the first drive electrode 2-5 with signal, drive electrode signal output part two 3-30 transfer to the second drive electrode 2-9 with signal, are used for the starting of oscillation of bell oscillator 2-1.In oscillator vibration, the output of the feedback electrode amount of changing, input signal one 3-16 of feedback electrode and input signal two 3-23 of feedback electrode pass through high-precision amplifying three 3-17 and high-precision amplifying four 3-24 respectively, send into sampling holder three 3-18 and sampling holder four 3-26 more respectively, be input to the binary channels 16 bit A/D converter 3-19 of vibration shape stabilization element 3-27 from the signal of sampling holder three and sampling holder four outputs, again the vibration information of oscillator is sent into the vibration shape and stablized control module controller 3-20, vibration shape stabilization element controller 3-20 can be from the main regulation vibration shape, make the vibration shape reach stable, and send the information of the vibration shape to CPU3-8.

Whether stable feedback is extracted among the part 3-25 to detect the vibration shape, and input signal one 3-16 of feedback electrode connects the first amplitude detecting electrode 2-3, and input signal two 3-23 of feedback electrode connect the second amplitude detecting electrode 2-7.Master cpu 3-8 gives vibration shape stabilization element controller 3-20 with the information transmission of initial amplitude value and amplitude control needs, the two-way drive signal is transferred to electrode driver one 3-21 and electrode driver two 3-31, electrode driver one 3-21 drives the first drive electrode 2-5 by drive electrode output terminal one 3-22, and electrode driver two 3-31 drive the second drive electrode 2-9 by drive electrode output terminal two 3-30.After treating bell oscillator 2-1 starting of oscillation, the first amplitude detecting electrode 2-3 connects feedback electrode input signal one 3-16, the second amplitude detecting electrode is connected with input signal two 3-23 of feedback electrode with detecting electrode 2-3, the analog quantity that the change in displacement that bell oscillator 2-1 vibrating shaft is upwards taken place produces, be sent to operational amplifier three 3-17 and operational amplifier four 3-24 respectively, behind signal process operational amplifier three 3-17 and operational amplifier four 3-24, be delivered into 16 bit A/D converter 3-19 through sampling holder three 3-18 and sampling holder four 3-26 respectively again, under the control of vibration shape stabilization element controller 3-20, with two-way change in displacement analog quantity, convert two ways of digital signals to, be transferred to vibration shape stabilization element controller 3-20, the vibration shape stabilization element controller 3-20 control vibration shape keeps stable.

Detecting electrode signal input part one 3-1 connects the first tangential displacement detecting electrode 2-2, detecting electrode signal input part two 3-11 connect the second tangential displacement detecting electrode 2-6, gather the signal of these two detecting electrodes, by differential capacitance detecting device one 3-3, calculate the variable quantity of bell oscillator node location; In like manner, detecting electrode signal input part three 3-29 connect first vibration mode stabilized electrodes 2-4, detecting electrode signal input part four 3-15 connect second vibration mode stabilized electrodes 2-8, the signal of gathering these two electrodes calculates the variable quantity of two other bell oscillator node location by differential capacitance detecting device two 3-12.The location variation that signal extraction part 3-2 calculates, be the differential signal of the first tangential displacement detecting electrode 2-2 and the second tangential displacement detecting electrode 2-6 and the differential signal of first vibration mode stabilized electrodes 2-4 and second vibration mode stabilized electrodes 2-8, these two groups of differential signals, pass through high-precision amplifying one 3-4 and high-precision amplifying two 3-13 respectively, differential signal is amplified, and the precision during with the assurance signal Processing is in the scope of expectation.Transfer to sampling holder one 3-5 through the signal after the operational amplifier one 3-4 amplification, the signal that comes out from sampling holder one 3-5 also needs to obtain the node location change modeling amount of bell oscillator on this is axial through divider one 3-6; In like manner, transfer to sampling holder two 3-32 through the signal after the operational amplifier two 3-13 amplification, the signal that comes out from sampling holder two 3-32 obtains the node location change modeling amount of bell oscillator on this is axial through divider two 3-14.These two the node location change modeling amounts on are axially delivered among the binary channels 18 bit A/D converter 3-7, under the control of CPU3-8, converted these two analog quantitys to digital quantity, these two groups of digital quantities are handled, obtain angular speed by CPU3-8.In addition, CPU3-8 makes the angular speed of measuring too big drift can not take place according to the scale-up factor of ruuning situation adjustment high-precision amplifying one 3-4 and high-precision amplifying two 3-13.

When the angular speed input is arranged, signal joint detection electrode signal input end one 3-1, detecting electrode signal input part two 3-11 of detecting electrode output, reach among differential capacitance detecting device one 3-3, pass through high-precision amplifying one 3-4, sampling holder one 3-5, divider one 3-6 again, the deformation data of the oscillator of divider one 3-6 output is reached among the binary channels 18 bit A/D converter 3-7.In like manner, signal joint detection electrode signal input end three 3-29, detecting electrode signal input part four 3-15 of detecting electrode output, reach among differential capacitance detecting device two 3-12, pass through high-precision amplifying two 3-13, sampling holder two 3-32, divider two 3-14 again, the deformation data of the oscillator of divider two 3-14 output is reached among the binary channels 18 bit A/D converter 3-7, by converter 3-7 information transmission is advanced CPU3-8 and be used to resolve current angular speed, by digital interface 3-10 the relevant information of angular speed value and gyro is exported to the user at last.

Circuits System provided by the invention can be simplified the gyro structure, also for producing the condition of providing convenience in batches.

Claims (4)

1. the Circuits System of a bell vibrator type angular rate gyroscope, it is characterized in that: this Circuits System comprises vibration shape stabilization element, driving control unit, electrode drive unit, differential capacitance detecting device and information detecting unit; Driving control unit connection electrode driver element; Electrode drive unit directly drives two drive electrodes of bell oscillator; Vibration shape stabilization element analyzes the vibration shape situation of bell oscillator according to two amplitude detecting electrodes on the bell oscillator, and situation is fed back to driving control unit, makes the bell oscillator vibration shape reach stable; The differential capacitance detecting device connects two tangential displacement detecting electrodes and two amplitude stability electrodes of bell oscillator, simultaneously the output link information detecting unit of differential capacitance detecting device; Information detecting unit is responsible for handling the change in displacement signal of relevant bell oscillator, and the angular speed that will finally calculate output.

2. the Circuits System of bell vibrator type angular rate gyroscope according to claim 1 is characterized in that: described driving control unit adopts two modes that drive two feedbacks.

3. the Circuits System of bell vibrator type angular rate gyroscope according to claim 1 is characterized in that: described vibration shape stabilization element comprises 16 double channel A converters (3-19) and vibration shape stabilization element controller (3-20); Under the control of vibration shape stabilization element controller (3-20), 16 double channel A converters (3-19) convert two-way change in displacement analog quantity to two ways of digital signals, are transferred to vibration shape stabilization element controller (3-20).

4. the Circuits System of bell vibrator type angular rate gyroscope according to claim 1, it is characterized in that: described information detecting unit comprises high-precision amplifying one (3-4), high-precision amplifying two (3-13), sampling hold circuit one (3-5), sampling hold circuit two (3-32), divider one (3-6), divider two (3-14), 18 double channel A converters (3-7), master cpu (3-8); Transfer to sampling hold circuit one (3-5) through the signal after high-precision amplifying one (3-4) amplification, the signal that comes out from sampling hold circuit one (3-5) obtains the node location change modeling amount of bell oscillator on this is axial through divider (3-6); Transfer to sampling hold circuit two (3-32) through the signal after high-precision amplifying two (3-13) amplification, the signal that comes out from sampling hold circuit two (3-32) obtains the node location change modeling amount of bell oscillator on this is axial through divider two (3-14), these two the node location change modeling amounts on are axially delivered in 18 double channel A converters (3-7), under the control of master cpu (3-8), convert these two analog quantitys to digital quantity, by master cpu (3-8) these two groups of digital quantities are handled, obtained angular speed.

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